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针针对四旋翼飞行器姿态解算过程中,噪声干扰误差较大、漂移量难以控制的问题,基于PID控制,设计了一种改进型互补滤波。这种改进在于分别针对加速度计和陀螺仪设计了PI和PD控制器。实验证明这种基于PID改进型互补滤波能有效的消除噪声误差和抖动误差,并能通过补偿预调节机制收敛积分漂移,可以很好的跟踪飞行器姿态,达到优化飞行控制有效性和准确性的效果。
In order to solve the problem of quadruped rotor attitude resolution, the noise interference error is large and the drift is difficult to control, an improved complementary filter is designed based on PID control. The improvement consists in designing PI and PD controllers for accelerometers and gyroscopes respectively. Experiments show that the improved complementary filtering based on PID can effectively eliminate the noise error and jitter error, and can compensate the integral drift by compensating the pre-regulation mechanism to track the attitude of the aircraft well, so as to achieve the effect of optimizing flight control effectiveness and accuracy .