研究了小型四旋翼飞行器惯导系统的姿态解算和控制问题.首先,文章采用三阶近似毕卡四元数算法来解决四旋翼飞行器的姿态解算问题,进而将该算法与卡尔曼滤波器相结合,避免了陀螺仪的积分累积误差,有效消除了四旋翼飞行器机体振动引起的传感器测量误差.其次,根据姿态解算得到的姿态角,设计了积分分离PID和串级PID控制器进行姿态控制.最后,将设计的姿态解算算法和姿态控制算法应用到四旋翼飞行器平台上,实现了四旋翼飞行器的姿态控制,验证了文章算法的有效性.

This paper is concerned with the attitude determination and control for a small four-rotor aircraft plant. First, a third-order approximated Peano-Baker Quaternion algorithm is used to solve the attitude determination problem for the aircraft. Then, the algorithm combined with Kalman filter is introduced to avoid accumulated errors of gyroscope and to eliminate the sensor measurement errors induced by the four-rotor aircraft airframe vibration. Second, based on the obtained attitude solution, the integral separating PID and cascaded PID controllers are designed for the attitude control. Finally, a four-rotor aircraft platform is developed, and the effectiveness of designed attitude determination and control algorithms is illustrated by this platform.