Flight Stability Control of Unmanned Aerial Vehicle Based on Micro Inertia Attitude Adjustment

摘要

In the UAV flight, due to the influence of attitude jitter and sensor gyro error, the flight stability is not good. In order to improve the flight stability of the UAV, a new control method of flight is proposed based on micro inertial attitude adjustment, gyroscope, and other sensitive elements are used for information acquisition of attitude data of unmanned aerial vehicle (UAV). Error compensation and filtering is taken based on sensor data of micro AHRS reading, the deflection correction and control of attitude angle are carried out by using high-precision sensor gyroscope, Euler angle method is used to calculate attitude angle, and the collected original data of acceleration and magnetometer is processed by Kalman filtering, multi sensor information fusion method is used for UAV micro inertial attitude adjustment. According to the updated information fusion parameter output, Kalman equation update is taken and flight stability control of unmanned aerial vehicle is obtained. The simulation results show that, the control method has good stability in flight attitude adjustment of UAV, which can realize accurate attitude positioning of UAV, and improve the accuracy and reliability of flight attitude positioning control.