[1]陈 钊,年晓红,熊红云,等.四旋翼无人机自主飞行系统优化设计与实现[J].控制与信息技术(原大功率变流技术),2019,(01):32-38.[doi:10.13889/j.issn.2096-5427.2019.01.007]
 CHEN Zhao,NIAN Xiaohong,XIONG Hongyun,et al.Optimal Design and Implementation of Autonomous Flight System for Quadrotor UAV[J].High Power Converter Technology,2019,(01):32-38.[doi:10.13889/j.issn.2096-5427.2019.01.007]
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四旋翼无人机自主飞行系统优化设计与实现()
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《控制与信息技术》(原《大功率变流技术》)[ISSN:2095-3631/CN:43-1486/U]

卷:
期数:
2019年01期
页码:
32-38
栏目:
控制理论与应用
出版日期:
2019-02-05

文章信息/Info

Title:
Optimal Design and Implementation of Autonomous Flight System for Quadrotor UAV
文章编号:
2096-5427(2019)01-0032-07
作者:
陈 钊年晓红 熊红云周文孝
(中南大学 信息科学与工程学院, 湖南 长沙 410083)
Author(s):
CHEN Zhao NIAN Xiaohong XIONG Hongyun ZHOU Wenxiao
( School of Information Science and Engineering, Central South University, Changsha, Hunan 410083, China )
关键词:
四旋翼无人机硬件实现参数辨识测量精度抗扰性能
Keywords:
quadrotor UAV hardware implementation parameter identification measurement accuracy disturbance resistance
分类号:
TP391.41
DOI:
10.13889/j.issn.2096-5427.2019.01.007
文献标志码:
A
摘要:
文章从无人机硬件实现角度出发,介绍了无人机自主飞行系统构成,并分析了参数辨识及试验飞行过程的常见问题;针对实验过程中无人机定位精度、高度测量精度、视觉传感器测量信息及抗扰性能等问题,分析了单个传感器测量对无人机飞行性能的影响,并利用多传感器信息融合提高了系统测量精度;设计了自主飞行控制算法,提高系统对外部扰动的抑制能力,并通过实验验证了其有效性。
Abstract:
From the UAV (unmanned aerial vehicle) hardware realization point of view, this paper introduced the composition of an UAV autonomous flight system, and analyzed common problems of parameter identification and test flight process. To ensure the UAV positioning accuracy, height measurement accuracy, visual sensor measurement information and anti-disturbance performance during the experiment, the influence of single sensor measurement on UAV flight performance was analyzed. The measurement accuracy of the system is improved by multi-sensor information fusion, and the autonomous flight control algorithm was designed to improve the system’s ability to suppress external disturbance. The validity of the design was verified by experiments.

参考文献/References:

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相似文献/References:

[1]李国仁,年晓红,周志豪.基于视觉的四旋翼无人机目标跟踪研究[J].控制与信息技术(原大功率变流技术),2018,(06):68.[doi:10.13889/j.issn.2096-5427.2018.06.011]
 LI Guoren,NIAN Xiaohong,ZHOU Zhihao.Research on Target Tracking of Quadrotor UAV Based on Vision[J].High Power Converter Technology,2018,(01):68.[doi:10.13889/j.issn.2096-5427.2018.06.011]

备注/Memo

备注/Memo:
收稿日期:2018-10-15
作者简介:陈钊(1994—),男,硕士研究生,研究方向为四旋翼无人机硬件开发及无人机编队控制。
基金项目:国家自然科学基金项目(61473314)
更新日期/Last Update: 2019-02-28