【作者】 胡勇；

【导师】 王道波；

【作者基本信息】 南京航空航天大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 无人机飞行控制系统拥有的众多的传感器构成了一个多传感器系统。信息融合技术是解决多传感器信息综合处理问题强有力的手段,利用信息融合的方法处理多传感器信息能够有效地提高飞行控制系统的精度和可靠性。本论文旨在研究信息融合技术在无人机高度和姿态信号测量中的应用,主要研究工作如下:基于联邦滤波理论,利用气压高度传感器、GPS、线加速度计和姿态信息,提出了一种高精度和高可靠性的高度确定方法。给出了一种利用捷联加速度计和姿态信息的有效方法来计算无偏的垂向加速度;通过分别设计子系统,解决输出频率不同的传感器的测量信息融合问题;提出一种基于信息融合的初值计算方法,大大减少了故障隔离后对系统重新初始化的时间,保证了系统故障后的快速恢复。设计多传感器的组合姿态测量系统,有效解决了当无人机机动飞行时,采用加速度计校正陀螺误差的测姿系统不能有效地修正陀螺漂移的问题,利用GPS速度、捷联加速度和角速率等信息建立了基于欧拉角描述的融合测姿系统,该方法可以有效地估计出陀螺的漂移误差,从而得到无人机准确可靠的姿态测量,同时可以修正无人机的运动速度。通过建立飞行仿真模型,在给定的飞行航迹段,对高度和姿态测量系统进行了仿真研究。仿真结果表明:高度测量系统具有较高的测量精度,同时有着较好的故障检测和恢复能力;姿态测量系统能够有效地减小模型误差的影响,得到准确的姿态测量。更多还原

【Abstract】 Numerous sensors which belong to flight control system for unmanned aerial vehicle (UAV) make up a multi-sensor system. Information fusion technology provides forceful methods for comprehensive processing of the multi-sensor information. It is effective for improving the precision and reliability of flight control system to process multi-sensor information by means of information fusion. The aim of this paper is to study the application of information fusion technology on attitude and altitude measurement of UAV. Main research work is as follows.An approach of altitude measurement with high precision and reliability for UAV is presented by using barometric altitude sensor, GPS, accelerometer and attitude information based on the theory of federated filter. An effective method of calculating unbiased vertical acceleration is proposed by using accelerometer and attitude information. The problem of measuring information fusion of sensors with different output frequency is resolved by designing subsystems respectively. Calculation method for initial value is presented based on the theory of information fusion. The re-initialization time after fault isolation of the system is reduced greatly. The method ensures that the system has fast fault restoration characteristic.Attitude determination system uses accelerometer and gyro, when the UAV fly in maneuvering state, accelerometer can’t modify the error of gyro drift effectively. Multi-sensor attitude determination system is designed aiming at this problem. Velocity data measured by GPS, strap-down acceleration data and angular rate data are used to build the attitude measurement system described by Euler’s angles. The method can evidently estimate the drift error of gyro. The attitude measurement with high precision and reliability can be got and velocity can be modified meanwhile.Simulation study on the altitude and attitude determination system is done through establishing flight simulation model under given flight track passage. Simulation results show that the altitude determination system can give much more accurate estimation than other ones and has good ability of fault detection and restoration, the attitude determination system can alleviate the effect of model uncertainties effectively and output attitude accurately.更多还原