Research on integrated attitude determination methods based on MEMS device for quadrotor UAVs

摘要

Recently, there has been increased interest in the development of quadrotor UAVs The low-cost and small-size quadrotors can realize fixed-point hover and vertical take-off and landing, but also have the advantages of easy operation and clear control logic. The attitude measurement based on the MEMS device becomes the focus of the quadrotor UAVs technology research. However, the accuracy of the MEMS sensor is not high, the attitude errors accumulate with time. In this paper, a set of integrated attitude measurement system based on micro inertia device and magnetometer is designed and realized, which improves the accuracy of quadrotor attitude measurement. The accuracy of the attitude calculation in the case of the ideal output of the inertial device is solved by using the Picard method to solve the quaternion differential equation. Then, the attitude angles error of the method before and after filtering is compared. When the MEMS accelerometer and magnetometer are combined, the dynamic error of the MEMS gyroscope and the dynamic error of the accelerometer and magnetometer are compensated. However, there is a problem with the use of an accelerometer and a magnetometer for attitude measurement, that is, the line acceleration of the quadrotor itself has an effect on the measurement of the attitude.