四旋翼飞机姿态检测方法设计与实现

摘要

In order to solve the problem of quad-mtor airplane attitude detection,a nine-axis sensor are designed based on MPU6050 and HCM5883L.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.%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.