小型无人机飞行姿态测量系统的设计

摘要

Attitude is one of the important parameters in UAV flight. To solve the problem that current attitude measurement systems are of large scale, high power consumption, short life and not suitable for small or micro UAV. A DSP-based flight attitude measurement system for unmanned micro air vehicle was presented. Acquisitions of MIMU real-time data and attitude updating with four orders Runge- Kutta approach were implemented on the DSP. Detailed module design concept and μC/OS- II software design process were described also. Compared with NAV440CA-200 IMU. The relative error of roll angle is 0. 5°and that of pitch is 0. 4*. Experimental status shows that the presented system holds high measurement accuracy, consumes little volume, and demands little cost, it satisfies the design requirements.%飞行姿态是无人机飞行时最重要的参数之一,针对现有多数姿态测量系统体积大、功耗高、续航时间短,并不适合应用于小型或微型无人机上等问题,提出了一种基于DSP的小型化无人机飞行姿态测量的设计方案;完成了微固态陀螺实时数据采集,并通过四阶Runge- Kutta方法对其姿态角进行了求解;给出了姿态测量系统各模块的设计思想及基于μC/OS-Ⅱ的软件设计流程;与NAV440CA- 200型IMU对比结果显示,在35秒的测试时间内滚转角相对误差为0.5°,俯仰角相对误差为0.4°;试验结果表明,该姿态测量系统具有较高的测量精度、体积小、功耗低等特点,满足设计需要.