基于遗传算法的四旋翼无人机系统参数辨识

Parameters identification method for unmanned quadrotorbased on the genetic algorithm

摘要:

建立准确地系统模型是实现四旋翼无人机的自动飞行控制的基础,为此提出了一种遗传算法,并将其应用于四旋翼无人机系统参数辨识当中。首先,根据四旋翼受力分析建立了小角度下的线性系统模型；然后,将遗传算法应用于线性模型未知参数的辨识中；最后,分别对比了滚转、俯仰和偏航方向的加速度值与实际测量值。实验结果表明在悬停状态或小角度飞行状态下,该辨识方法能够建立比较精确的系统模型。

Abstract:

Building the accurately dynamic system model is the foundation of unmanned quad rotor automatic flight control. An genetic algorithm is proposed to identify the system parameter of unmanned quadrotor. This paper built the system model under the condition of the small angle hypothesis first. Then an genetic algorithm is used for system identification of quad rotor. At last, comparing the system output of real system and identified system based on the same input. The result shows the method is effective and accurate in hover or small angle.