无人机飞行参数在线测量技术研究

    近年来，无人机的应用越来越广泛，船载无人机在飞行时，容易受到气压和风力等外界条件的干扰，影响飞行安全。实时准确地得到无人机飞行的姿态参数和机翼的形变量对飞行安全有重要意义，针对于此本文开展了基于自适应卡尔曼滤波的航姿测量研究，以及采用光纤光栅传感技术结合Ko位移理论的机翼形变重构研究。
    针对航姿测量，设计了以误差四元数作为状态量，以加速度计和磁力计作为量测的卡尔曼滤波系统。针对航姿测量过程中出现的外部加速度干扰，设计了基于加速度检测的自适应卡尔曼滤波算法，该算法通过对加速度状态进行检测，从而自适应调整量测噪声矩阵，实现对卡尔曼滤波算法的优化。从结果来看，在受到前向加速度和向心加速度干扰的情况下，该算法比标准卡尔曼滤波算法和互补滤波的结果更好，其姿态角误差下降了40$\%$以上。
    针对机翼形变测量，采用光纤光栅传感器进行应变测量，结合Ko位移理论计算简单、准确的特点，开展了基于Ko位移理论的应变到形变重构，并通过Ansys仿真对传感器数量和布设位置进行了优化。在仿真的基础上进行了实物实验，在7.5kg的负载下整体最大误差0.31mm，均方根误差为0.19mm，证明了利用光纤光栅传感器进行形变重构的可行性和Ko位移理论的有效性。

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