【作者】 杨丽莎；

【导师】 王慧；

【作者基本信息】 浙江大学 ， 系统工程， 2005， 硕士

【摘要】 本文的主要工作是提出并实现了基于RTLinux平台的微型UAV姿态解算算法。 微型无人自主飞行器一般指装备了嵌入式导航计算机、GPS、惯性导航单元、摄像机以及无线通信设备的自主飞行器，能在一定范围内自主飞行，完成目标识别和定位等工作，所以又被称为“空中飞行机器人”。 对于微型无人直升机(UAV)的控制、定位和导航而言，飞行器相对于大地坐标的姿态信息是必不可缺少的。微型无人直升机系统往往通过换算机载的罗盘、三个加速度计和三个陀螺的实时输出来得出微型无人直升机机体的实时欧拉角值。与平台式惯导系统不同，由于微型无人直升机的体积与负重限制，所有的惯性传感器都是按照捷联的方式组合的。这就牵涉到两个必须解决的问题。首先是姿态解算问题，即如何将捷联惯导系统直接输出的相对于机体坐标系的姿态信息转换成相对于大地坐标的载体姿态信息(这是UAV精确导航和准确控制的基础)；其次是不同传感器的信息融合问题。 针对以上问题，本文首先介绍了目前微型无人直升机的具体应用，给出了现有国内外微型UAV姿态解算的方法以及应用。在此基础上，分析了由本课题小组自主研制的微型UAV系统对姿态解算方法的要求，并提出适用于该系统的微型UAV姿态解算方法。 本文随后介绍了微型UAV机载嵌入式软件平台的搭建，在分析了普通Linux的各软件子系统基础上，给出了改造成嵌入式Linux的方案。在普通Linux基础上实现了符合本系统要求的实时嵌入式Linux系统后，成功地移植到了PC／104计算机上。最后，给出了在PC／104平台上实现微型UAV的姿态解算的运行结果。更多还原

【Abstract】 In this thesis, the attitude estimation algorithm for a RTLinux platform based miniature UAV(unmanned aerial vehicle) is designed and implemented.Miniature UAV generally refer to those which are equipped with embedded computer, GPS, IMU(inertial measurement unit), cameras and wireless comunication quipments, etc.. They could accomplish autonomous flight within limits, object recognition and location, so it is also called aerial robot.It is necessary to know its position and attitude relative to earth frame in order to locate a helicopter and control the dynamics of it. To estimate the realtime Euler angles, we make use of a compass three accelerometers and three gyros. because of the volume and weight limits of the helicopter, all sensors are mounted in a strapdown way in contrast to using a gimballed platform. Thereby, there are two problems which need more considerations. One is the attitude estimation, which is how to convert the data relative to the body frame received from sensors to the attitude relative to the earth frame. It is the basic of precise navigation and accurate control of the helicopter. The other problem is to fuse the data sets from different sensors.To solve the problems above, the thesis is arranged as follows. At first, we introduce comprehensive applications of autonomous miniature UAV. Then overseas and domestic studies and applications of attitude estimation algorithms are described. Furthermore, requirements of the miniature UAV designed in our lab is analysed and appropriate attitude estimation algorithm is presented.The design and implementation of the onboard embedded software platform for miniature UAV are also introduced in details. after the analysis of each subsystem of general Linux, How to obtain an embedded Linux satisfying our system requirements and transplant it onto PC/104 is explained. At last result of the attitude estimation algorithm running on the PC/104 platform is given.更多还原