Design and realization of quad-rotor airplane attitude detection method

JIANG Xiang-ju; ZENG You-han; LIU Er-lin

doi:10.13873/j.1000-9787(2017)07-0079-04

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Design and realization of quad-rotor airplane attitude detection method

更新时间：2025-09-11

- Design and realization of quad-rotor airplane attitude detection method
- Vol. 36, Issue 7, Pages: 79-82(2017)
- 作者机构：
  
  1. 兰州交通大学自动化与电气工程学院
  2. 兰州交通大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-9787(2017)07-0079-04
  CLC： TP212;V249.1
- Published：2017
- 稿件说明：
移动端阅览
[1]姜香菊,曾幼涵,刘二林.四旋翼飞机姿态检测方法设计与实现[J].传感器与微系统,2017,36(07):79-82.

JIANG Xiang-ju, ZENG You-han, LIU Er-lin. Design and realization of quad-rotor airplane attitude detection method[J]. 2017, 36(7): 79-82.
[1]姜香菊,曾幼涵,刘二林.四旋翼飞机姿态检测方法设计与实现[J].传感器与微系统,2017,36(07):79-82. DOI： 10.13873/j.1000-9787(2017)07-0079-04.

JIANG Xiang-ju, ZENG You-han, LIU Er-lin. Design and realization of quad-rotor airplane attitude detection method[J]. 2017, 36(7): 79-82. DOI： 10.13873/j.1000-9787(2017)07-0079-04.

摘要

为了解决四旋翼飞机的姿态检测问题

设计了基于MPU6050和HCM5883L的九轴传感器

并提出了基于正弦算法的四旋翼飞机姿态角计算方法

该方法不需要判断即可由检测值直接获取角度大小及正负

较方向余弦算法具有更好的实用性。针对陀螺仪和加速度计的优缺点

设计了互补数据融合算法。仿真及实践均证明了检测方案的有效性。

Abstract

In order to solve the problem of quad-rotor airplane attitude detection

a nine-axis sensor are designed based on MPU6050 and HCM5883 L. An aircraft body attitude angle calculation method which is based on sine algorithm are proposed. The calculation method based on sine is better than based on cosine. It can gain angle and positive or negative. According to advantages and disadvantages of gyroscope and accelerometer

a complementary data fusion algorithm is designed. The validity of the scheme is proved by the simulation and practice.

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references

MPU9250传感器的姿态检测与数据融合 [J]. 刘春阳,徐军领,程洪涛,王东方,薛玉君. 河南科技大学学报(自然科学版) . 2015(04)

基于卡尔曼滤波的两轮自平衡车姿态检测 [J]. 刘二林,姜香菊. 自动化与仪器仪表 . 2015(02)

基于多传感器的四旋翼飞行器硬件系统设计 [J]. 李运堂,贾宇宁,王鹏峰,赵静一,楼晓春. 传感器与微系统 . 2015(02)

互补滤波算法在四旋翼飞行器姿态解算中的应用 [J]. 万晓凤,康利平,余运俊,林伟财. 测控技术 . 2015(02)

基于卡尔曼滤波的两轮自平衡车姿态检测方法 [J]. 杨凌霄,李晓阳. 计算机仿真 . 2014(06)

基于卡尔曼滤波的四旋翼飞行器姿态估计和控制算法研究(英文) [J]. 汪绍华,杨莹. 控制理论与应用 . 2013(09)

两轮自平衡机器人角度检测数据融合算法 [J]. 姜香菊,刘二林. 计算机工程与应用 . 2013(08)

四旋翼无人机建模及其四元数控制律设计 [J]. 吴成富,刘小齐,马松辉. 飞行力学 . 2013(02)

基于四元数和卡尔曼滤波的两轮车姿态稳定方法 [J]. 叶锃锋,冯恩信. 传感技术学报 . 2012(04)

基于多传感器的四旋翼飞行器硬件电路设计 [J]. 于雅莉,孙枫,王元昔. 传感器与微系统 . 2011(08)

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