基于混合滤波的四旋翼无人机抗干扰姿态控制系统设计

Design of Anti-jamming Attitude Control System of Quadrotor UAV Based on Hybrid Filtering

摘要:

目前设计的的四旋翼无人机抗干扰姿态控制系统抗干扰能力较差，控制性能较差。为了解决上述问题，基于混合滤波设计了一种新的四旋翼无人机抗干扰姿态控制系统，优化设计了系统的硬件和软件。系统硬件主要包括主控制器、传感器模块、电机驱动控制模块、无线数据传输模块等，采集得到的四旋翼无人机姿态和位置信息需要运用主控制器对其解算，根据下发的空中目标飞行任务，运用姿态控制算法，利用输出PWM波信号对电机的转速进行控制，以此实现对四旋翼无人机飞行姿态和悬停位置的控制，硬件系统集成了双陀螺仪和双加速度结构。通过系统初始化、确定飞行姿态角、输入姿态控制算法实现软件控制流程。实验结果表明，基于混合滤波的四旋翼无人机抗干扰姿态控制系统抗干扰性强、控制能力高以及响应速度快。

Abstract:

The anti-jamming attitude control system of the four-rotor UAV currently designed has poor anti-jamming capability and poor control performance. In order to solve the above problems, a new anti-jamming attitude control system for quad-rotor UAV was designed based on hybrid filtering, and the hardware and software of the system were optimized. The system hardware mainly includes the main controller, sensor module, motor drive control module, wireless data transmission module, etc. The collected attitude and position information of quadrotor UAV needs to be solved by the master controller. According to the air target flight mission, the attitude control algorithm is used to control the motor speed by using the output PWM wave signal, so as to realize the control of quadrotor UAV's flying attitude and hovering position. The hardware system integrates dual gyroscope and dual acceleration structure. Acceleration structure. The software control process is realized through system initialization, determination of flight attitude angle, and input of attitude control algorithm. The experimental results show that the anti-jamming attitude control system based on hybrid filter has strong anti-jamming ability, high control ability and fast response speed.