【摘要】 采用四元数互补滤波算法对IMU单元等多传感器采集到的数据进行解算融合,串级PID为小型无人机飞行姿态系统的控制算法。设计了实时监测子系统,实验结果表明,基于STM32的串级PID控制算法可以实现飞行姿态的有效控制。更多还原

【Abstract】 The quaternions complementary filter algorithm is used for data fusion,which are sampled from IMU unit and other sensors.Cascade PID algorithm is applied into the Unmanned Aerial Vehicle(UAV)pose control system with a real-time monitor.Experimental results indicate that the cascade PID algorithm based on STM32 is effective for the UAV pose control.更多还原