摘要
为了使多旋翼无人飞行器在飞行过程中获取的机载视频图像清晰且稳定,设计一种基于STM32和自适应互补滤波算法的机载惯性稳定云台。该云台利用自适应互补滤波对俯仰、滚转和偏航三个通道上的姿态信息进行融合,实时驱动直流无刷电机进行机载云台的姿态调整,保持机载云台在惯性空间中的稳定性。实验结果表明,视轴稳定精度达到0.26 mrad,满足多旋翼无人飞行器的应用需求。
An airborne inertial stabilization cloud platform based on STM32 and the adaptive complementary filtering algorithm is designed to make the airborne video images obtained by the multi-rotor unmanned aircraft during its flight clear and stable. On this cloud platform,the attitude information from three channels of pitching,rolling and yaw is fused by means of adaptive complementary filtering to drive the DC brushless motor in real time for attitude adjustment of the airborne cloud platform and keep the stability of the airborne cloud platform in inertial space. The experimental results show that the visual axis ′s stabilization precision is 0.26 mrad,which can meet the application requirements of the multi-rotor unmanned aircraft.
作者
王日俊
曾志强
党长营
段能全
杜文华
王俊元
WANG Rijun;ZENG Zhiqiang;DANG Changying;DUAN Nengquan;DU Wenhua;WANG Junyuan(School of Mechanical Engineering, North University of China, Taiyuan 030051, China)
出处
《现代电子技术》
北大核心
2018年第12期145-148,152,共5页
Modern Electronics Technique
基金
中北大学自然科学基金资助项目(XJJ2016006)~~
关键词
多旋翼无人飞行器
STM32
自适应互补滤波
机载云台
MEMS传感器
视轴稳定
multi-rotor unmanned aircraft
STM32
adaptive complementary filtering
airborne cloud platform
MEMS sensor
visual axis stabilization
