[1]李帅阳,武凌羽,张长毛,等.基于多传感器的微型四旋翼室内自主悬停研究[J].应用科技,2017,(06):60-65.[doi:10.11991/yykj.201612014]
 LI Shuaiyang,WU Lingyu,ZHANG Changmao,et al.Study on indoor autonomous hovering of micro-quadcopter based on multi-sensors[J].yykj,2017,(06):60-65.[doi:10.11991/yykj.201612014]
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基于多传感器的微型四旋翼室内自主悬停研究(/HTML)
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《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
期数:
2017年06期
页码:
60-65
栏目:
自动化技术
出版日期:
2017-12-05

文章信息/Info

Title:
Study on indoor autonomous hovering of micro-quadcopter based on multi-sensors
作者:
李帅阳 武凌羽 张长毛 马忠丽
哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001
Author(s):
LI Shuaiyang WU Lingyu ZHANG Changmao MA Zhongli
School of Automation, Harbin Engineering University, Harbin 150001, China
关键词:
微型四旋翼悬停多传感器光流超声波气压计速度位置
Keywords:
micro quadcopterhoveringmulti-sensoroptical flowultrasonicbarometerspeedpositioning
分类号:
TP242
DOI:
10.11991/yykj.201612014
文献标志码:
A
摘要:
针对微型四旋翼在室内环境下不能通过外部定位系统实现自主悬停的问题,给出一种基于多传感器的微型四旋翼自主悬停控制方法。采用四旋翼分布式多传感器构建环境信息检测系统,实时获取四旋翼飞行器姿态和相对位置信息;通过设计控制装置对飞行器姿态进行控制,实现自稳飞行;通过室内基站定位平台与光流传感器的速度反馈,实现水平方向位置控制;通过超声波、气压计融合,实现飞行高度控制,最终完成对四旋翼飞行器的室内空间位置控制,使飞行器能够在室内空间中的任何一点悬停,并仅在小范围内波动。通过自主悬停仿真研究验证了方法的有效性。
Abstract:
A micro-quadcopter is hard to realize autonomous hovering by external positioning system indoors, therefore, a hovering control method based on multi-sensor was proposed: establishing an environmental information detection system by adopting the distributed multi-sensor for obtaining the pose of the quadcopter aircraft and the relative position information in real time; controlling the pose of aircraft by designing a flight controller for realizing smooth flight; realizing the position control in horizontal direction by the speed feedback from the indoor base station positioning platform and the optical flow sensor; by the fusion of ultrasonic wave and air gauge for realizing the control on flight height. By the above designs, the indoor space position of the quadcopter aircraft can be controlled, thus the aircraft can hover at any point in the interior space and only fluctuate within a very small scope. The results of the simulation experiments show the effectiveness of the proposed approach.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2016-12-20。
基金项目:黑龙江省自然科学基金项目(LC201425);黑龙江省教育教学十三五规划课题项目(GJC1316082)
作者简介:李帅阳(1996-),男,大学本科;马忠丽(1974-),女,副教授,博士
通讯作者:马忠丽,E-mail:914843936@qq.com
更新日期/Last Update: 2018-01-06