Hardware circuit design of four-rotor aerial robot based on multi-sensors

YU Ya-li1; SUN Feng2; WANG Yuan-xi1

doi:10.13873/j.1000-97872011.08.008

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Hardware circuit design of four-rotor aerial robot based on multi-sensors

更新时间：2025-09-11

- Hardware circuit design of four-rotor aerial robot based on multi-sensors
- Vol. 30, Issue 8, Pages: 113-115+123(2011)
- 作者机构：
  
  1. 哈尔滨工程大学工程训练中心
  2. 哈尔滨工程大学自动化学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.08.008
  CLC： V249.1
- Published：2011
- 稿件说明：
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[1]于雅莉,孙枫,王元昔.基于多传感器的四旋翼飞行器硬件电路设计[J].传感器与微系统,2011,30(08):113-115+123.

YU Ya-li1, SUN Feng2, WANG Yuan-xi1. Hardware circuit design of four-rotor aerial robot based on multi-sensors[J]. 2011, 30(8): 113-115+123.
[1]于雅莉,孙枫,王元昔.基于多传感器的四旋翼飞行器硬件电路设计[J].传感器与微系统,2011,30(08):113-115+123. DOI： 10.13873/j.1000-97872011.08.008.

YU Ya-li1, SUN Feng2, WANG Yuan-xi1. Hardware circuit design of four-rotor aerial robot based on multi-sensors[J]. 2011, 30(8): 113-115+123. DOI： 10.13873/j.1000-97872011.08.008.

摘要

四旋翼飞行器以其优良的飞行安全性日益受到学术界的关注。为了实现对四旋翼飞行器的控制平台和硬件电路的设计

在对已有样机结构特点与飞行原理分析的基础上

采用多传感器技术对四旋翼飞行器的硬件电路进行了设计。针对陀螺仪的温漂现象

提出了以积分数据补偿和陀螺仪中点修正为核心的"互补算法"。通过仿真实验证明:该设计方法的有效性

解决了温漂问题

为新型无人四旋翼飞行器的研发提供了参考。

Abstract

More attention is paid to four-rotor aerial robot for its excellent flight safety.In order to design the four-rotor aerial rotot control platform and the hardware circuit

on the basis of analyzing the prototype structure characteristics and flight principle

multi-sensor technology is used to design the four-rotor aerial robot hardware circuit.Aimed at temperature drift phenomenon of gyroscope

put forward a complementary algorithm which use integral data compensation and gyroscope mid-point amendment as core.Simulation experiment proves the effectiveness of this method

and provides reference for the research and development of new unmanned four-rotor aerial robot.

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references

基于MMA7260Q的数字倾角传感器设计 [J]. 吴延荣,王克河,王桂娟,隋首钢. 微计算机信息 . 2010(19)

12位A/D-TLV2543与87C51的接口应用 [J]. 张智辉,丘春玲,田地. 微计算机信息 . 2001(09)

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