小型无人机航向测量技术研究

RESEARCH ON HEADING MEASUREMENT TECHNOLOGY OF SMALL UAV

王欣欣

11849301

硕士

电子与通信工程领域工程

韩松

2020-05-27

2020-07-20

哈尔滨工业大学

深圳

近年来，无人机的发展越来越趋向于小型化、智能化、集成化，在各个领域都得到了普遍应用。当小型无人机在空中飞行时，由于其结构特点，受气流和风速的影响较大。航向测量系统作为无人机导航参数信息的主要来源，是无人机实现平稳飞行的基础构成部分。根据小型无人机的特点以及对航向测量系统的需求，本课题开展对小型无人机的航向测量系统的研究。现阶段，小型无人机难以采用造价昂贵、体积庞大的高精度惯导设备，而满足小型无人机要求的MEMS惯性器件不能自主寻北并且很难达到理想的精度要求。为了解决以上问题，本课题利用地磁场进行磁航向测量。使用磁阻传感器HMC1053进行磁场测量，利用陀螺仪和加速计组件MPU6050进行姿态补偿。为降低姿态角误差对磁航向测量精度的影响，本课题提出了基于数字仿真和静态试验相结合的互补滤波参数优化方法，提高了基于陀螺仪和加速计互补滤波的姿态角测量精度。针对磁传感器在实际工作环境中易受到传感器自身及外部磁场环境干扰，导致磁航向角的测量精度降低的问题，本课题提出了基于椭球拟合自校准和卫星测向信息融合的磁航向误差联合校准方法，一方面采用椭球拟合算法对磁传感器自身输出数据进行校准，另一方面利用卫星测向信息融合技术，对航向测量系统进行外部的补偿与校准。在系统总体设计和算法研究的基础上，本课题进行了嵌入式硬件设计及软件开发，研制出满足小型无人机应用的航向测量系统样机，采用椭球拟合自校准以及卫星测向信息融合技术，实现了对磁航向测量误差的有效补偿，联合校准后的磁航向均方根误差为1.06°，验证了系统的可行性与补偿算法的有效性。本课题研制的航向测量系统可以达到长时间高可靠的性能要求，大大提高了小型无人机在不同工作环境下的航向测量精度和系统的鲁棒性。

In recent years, unmanned aerial vehicle, which can simply be called UAV, are gradually developing towards miniaturization, intelligence, integration, low cost, and low power consumption, and their applications in military, civilian, and has been widely used in various fields. When a small UAV is flying in the air, due to its structural characteristics, it is greatly affected by airflow and wind speed. As the main source of UAV navigation parameter information, heading measurement system is the basic component of UAV to achieve smooth flight. According to the characteristics of small unmanned aerial vehicles and the demand for heading measurement systems, this subject conducts research on small unmanned aerial vehicles' heading measurement system.At this stage, it is difficult for small UAV to use high-precision and bulky high-precision inertial navigation equipment, and MEMS inertial devices that meet the requirements of small UAV cannot autonomously seek north and it is difficult to achieve the desired accuracy. In order to solve the above problems, this subject used the geomagnetic field for magnetic heading measurement. Magnetic field measurement was performed using the magnetoresistive sensor HMC1053, and attitude compensation was performed using the gyroscope and accelerometer assembly MPU6050. In order to reduce the influence of attitude angle error on the accuracy of magnetic heading measurement, this subject proposed a complementary filtering parameter optimization method based on a combination of digital simulation and static test, which improved the accuracy of attitude angle measurement based on complementary filtering of gyroscope and accelerometer. In order to solve the problem that the magnetic sensor was easily interfered by the sensor itself and the external magnetic field environment in the actual working environment, resulting in a reduction in the measurement accuracy of the magnetic heading angle, this subject proposed a joint calibration method for magnetic heading errors based on ellipsoid fitting self-calibration and satellite direction finding information fusion. On the one hand, it used the ellipsoid fitting algorithm to calibrate the output data of the magnetic sensor. On the other hand, it used satellite direction finding information fusion technology to externally compensate and calibrate the heading measurement system.Based on the overall system design and algorithm research, this subject carried out embedded hardware design and software development, and developed a prototype of the heading measurement system to meet the application of small UAV. Using ellipsoid fitting self-calibration and satellite direction finding information fusion technology, the effective compensation of the magnetic heading measurement error was achieved, and the RMSE of the magnetic heading after calibration is 1.06°, which verified the feasibility of the system and the effectiveness of the compensation algorithm. The heading measurement system developed by this subject can achieve high-reliability performance requirements for a long time, which greatly improved the heading measurement accuracy and system robustness of small UAV in different working environments.

小型无人机 姿态测量 航向测量 互补滤波 磁航向校准

propert-ies microstructure superalloy

中文

联合培养

南方科技大学

王欣欣. 小型无人机航向测量技术研究[D]. 深圳. 哈尔滨工业大学,2020.