基于核相关滤波的无人机偏航角跟踪控制系统设计

Design of uav yaw Angle tracking control System based on nuclear correlation filtering

摘要:

针对非线性自抗扰控制技术设计的系统、线性自抗扰技术设计的系统受到噪声影响，导致信号传输受到阻碍，出现偏航角跟踪控制结果精准度低的问题，提出了基于核相关滤波的无人机偏航角跟踪控制系统设计。在系统总体架构支持下，采用STM32F407型号主控芯片，保证无人机控制系统稳定性。在方向盘下安装有转向角传感器，为ESP电子控制单元提供方向盘。使用频率为2.4 GHz遥控器接收机生成具有不同脉冲宽度PWM信号，通过控制旋翼偏航控制器，推动旋翼在不同角度指令下旋转。利用核相关滤波器过滤目标图像，通过滤波器的输运来估计目标运动位置，并确定地面参考坐标系与无人机机体坐标系，构成无人机在空间中六个自由度，由此设计偏航角跟踪控制软件流程，跟踪控制无人机偏航角。由实验结果可知，该系统滚转角与实际值轨迹一致，误差为0；俯仰角与实际值轨迹有偏差，误差为0.05°，为无人机向不同方向精准飞行提供系统支持。

Abstract:

Aiming at the problem that the system designed with nonlinear ADRC technology and the system designed with linear ADRC technology are affected by noise, which leads to the obstruction of signal transmission and the low accuracy of yaw Angle tracking control results, a design of uav yaw Angle tracking control system based on nuclear correlation filtering was proposed. Under the support of the overall system architecture, STM32F407 master control chip is adopted to ensure the stability of uav control system. Steering Angle sensors are mounted under the steering wheel to provide the steering wheel for the ESP electronic control unit. The 2.4ghz remote control receiver is used to generate PWM signals with different pulse width.By controlling the rotor yaw controller, the rotor is pushed to rotate under instructions from different angles. The target image is filtered by the nuclear correlation filter, the target motion position is estimated by the transport of the filter, and the ground reference coordinate system and the frame coordinate system of the UAV are determined, which constitute six degrees of freedom of the UAV in the space. Thus, the yaw Angle tracking and control software flow is designed to track and control the yaw Angle of the UAV. The experimental results show that the roll Angle of the system is consistent with the actual value trajectory, and the error is 0. There is a deviation between the pitch Angle and the actual value trajectory with an error of 0.05°, which provides system support for the uav to fly accurately in different directions.