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为了解决传统旋翼无人机因手动遥操作而导致飞行不稳定的问题,研究了基于插补导航的全自主旋翼机的设计与控制方法。首先,根据导航系统和地面站,获得当前无人机与目标点之间的位置姿态关系;然后基于插补控制算法,利用机载控制器输出相应的能够控制无人机稳定飞行的脉冲宽度信号,实现脱离手动遥操作的四旋翼无人机全自主飞行控制。最后,通过全自主插补导航飞行仿真与实验,验证了该全自主无人机设计的可行性。结果表明,该全自主控制架构能够有效地模拟遥操作信号,实现无人机的全自主飞行控制,且具有更高的稳定性。
In order to solve the problem of flight instability caused by manual remote operation of a conventional rotary UAV, the design and control of an autonomous rotary wing based on interpolation navigation are studied. Firstly, based on the navigation system and the ground station, the current position and attitude relationship between the UAV and the target point is obtained. Then, based on the interpolation control algorithm, the controller outputs the corresponding pulse width signal which can control the stable flight of the UAV , To achieve full manual flight control of the four-rotor UAV from manual remote operation. Finally, the feasibility and feasibility of this fully autonomous UAV design are verified by the fully autonomous navigation and flight simulation. The results show that this fully autonomous control architecture can effectively simulate the teleoperation signals and achieve autonomous flight control of the UAV with higher stability.