南京理工大学学报（自然科学版）2016，Vol.40Issue(4)：386-391,6.DOI:10.14177/j.cnki.32-1397n.2016.40.04.002
基于双处理器的四旋翼飞行器设计
Design of quadrotor based on dual processor
摘要
Abstract
Aiming at the problem that the ordinary quadrotor is inconvenient to carry out and the vibration is easily disturbed,a folding quadrotor based on the dual processor is designed. In order to suppress the interference of the vibration of the wing, the moving average filter is put forward. Considering the structural characteristics of an aircraft, the hardware circuit based on the dual processor is designed to realize the stable hovering of the aircraft. Flight tests show that the filtered accelerometer fluctuation range of the signal is only ±0. 2 m/s2,and the lag is very small;Kalman attitude fusion algorithm based on the dual processor has good performance of dynamics and stability. Quadrotor attitude angle ranges are ±0. 5° and ±1° respectively when hovering at low and high altitudes, which satisfy the hover requirements, and when subjected to large disturbances, quadrotors can return to maintain hover condition only through 0. 4 s.关键词
折叠式四旋翼/双处理器/硬件电路/卡尔曼滤波/姿态融合/加速度计/滑动平均滤波/飞行试验Key words
folding quadrotors/dual processors/hardware circuits/Kalman filtering/attitude fusion/accelerometers/moving average filting/flight tests分类
信息技术与安全科学引用本文复制引用
胥加林,王洪亮,游安华,李柯,姜翠环..基于双处理器的四旋翼飞行器设计[J].南京理工大学学报（自然科学版）,2016,40(4):386-391,6.基金项目
国家自然科学基金(51205209,51205204) （51205209,51205204）
中国博士后科学基金(2013M531360) （2013M531360）
