WO2020040331A1 - Système de commande de position de quadricoptère à l'aide d'un filtre combiné - Google Patents

Système de commande de position de quadricoptère à l'aide d'un filtre combiné Download PDF

Info

Publication number
WO2020040331A1
WO2020040331A1 PCT/KR2018/009767 KR2018009767W WO2020040331A1 WO 2020040331 A1 WO2020040331 A1 WO 2020040331A1 KR 2018009767 W KR2018009767 W KR 2018009767W WO 2020040331 A1 WO2020040331 A1 WO 2020040331A1
Authority
WO
WIPO (PCT)
Prior art keywords
quadcopter
filter
sensor
attitude
angle
Prior art date
Application number
PCT/KR2018/009767
Other languages
English (en)
Korean (ko)
Inventor
최원혁
Original Assignee
한서대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한서대학교 산학협력단 filed Critical 한서대학교 산학협력단
Publication of WO2020040331A1 publication Critical patent/WO2020040331A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present invention relates to a quadcopter attitude control system using a fusion filter, and more particularly, to a quadcopter attitude control system using a fusion filter for controlling quadcopter attitude by fusing a complementary filter and a Kalman filter in the attitude information of a MEMS inertial sensor. It is about.
  • Unmanned aerial vehicles are used for a variety of purposes and can easily perform dangerous or inaccessible parts.
  • quadcopters have a lower weight than other unmanned aerial vehicles and are used for various purposes. In other words, it is receiving a lot of attention in various industrial fields such as research or rescue of disaster environment, inaccessible to humans, research in environment, transportation, etc.
  • This quadcopter is not only free takeoffs and landings, but also has the advantage of easy maintenance. As a result, the missions of existing helicopters are gradually changing to quadcopters.
  • quadcopters are also affected by airflow and external factors. More movement by external factors not only consumes more battery but also has more difficulty in control. In addition, due to the zero point, bias error, and drift phenomena, many cumulative errors occur in the process of calculating the tilt angle of the sensor, which causes disturbance of motion.
  • Quadcopter must detect the fluctuation caused by disturbance and maintain accurate posture and position in order to hover, and posture control is important to overcome this disadvantage.
  • Quadcopter controls the aircraft's attitude and movement by adjusting the relative speeds of the four rotors.
  • the quadcopter uses MEMS inertial sensors to estimate attitude based on gyro and acceleration data.
  • MEMS inertial sensors are used to receive the quadcopter attitude information.
  • the cumulative error is generated, which causes disturbance of motion. .
  • An object of the present invention for solving the above problems is to provide a quadcopter attitude control system using a fusion filter that can control the quadcopter attitude by fusing the complementary filter and Kalman filter the attitude information measured by the MEMS inertial sensor There is.
  • Quadcopter attitude control system using a fusion filter of the present invention for achieving the above object, MEMS inertial sensor for measuring the attitude information; A receiver for receiving the attitude information; MCU for collecting the attitude information and controlling the quadcopter attitude by removing the angular error caused by the vibration and noise through the fusion of the complementary filter and Kalman filter; A BLDC motor driving a propeller; A transmission shifting a rotation speed of the BLDC motor; And a battery for supplying power.
  • the MEMS inertial sensor may include a 6DOF (Degrees of Freedom) sensor, which includes both a gyro sensor and an acceleration sensor in one sensor.
  • 6DOF Degrees of Freedom
  • the Kalman filter can reduce the error of the angle by substituting the angle from the complementary filter to determine the estimated value.
  • the attitude information measured by the MEMS inertial sensor may be fused by complementary filter and Kalman filter to remove noise and vibration to control the attitude of the quadcopter.
  • FIG. 1 is a block diagram of a quadcopter attitude control system using a fusion filter according to the present invention.
  • FIG. 2 is a block diagram of a complementary filter according to the present invention.
  • FIG. 3 is a flowchart of a Kalman filter algorithm according to the present invention.
  • FIG. 1 is a block diagram of a quadcopter attitude control system using a fusion filter according to the present invention.
  • a quadcopter attitude control system using a fusion filter includes a MEMS inertial sensor 110 measuring attitude information, a receiver 120 receiving the attitude information, and collecting the attitude information. And the MCU 130 for controlling the quadcopter posture by eliminating the angular error caused by the vibration and noise through the fusion of the complementary filter and the Kalman filter, and the four brushless DC motor (BLDC) motors 150 driving the propeller. , A transmission 140 for shifting the rotational speed of the BLDC motor 150, and a battery 160 for supplying power.
  • the MCU 130 may control the MEMS inertial sensor 110, the receiver 120, the transmission 140, and the battery 160.
  • the MEMS inertial sensor 110 measures the attitude information of the quadcopter with a 6 degrees of freedom (DOF) sensor which includes both the gyro sensor 111 and the acceleration sensor 112 in one sensor.
  • DOF degrees of freedom
  • the data measured by the gyro sensor can not be used as it is because the drift phenomenon occurs due to a cumulative error by calculation when integrating to obtain an angle.
  • the acceleration sensor has low precision in posture information due to a large variation in the error range. It is also sensitive to shock, vibration and external forces. It is difficult to extract the actual inclination information, and it is impossible to measure the inclination value only by the acceleration sensor in the non-stop motion state.
  • the complementary filter and the Kalman filter are fused and applied to remove the angular error that greatly affects the quadcopter's posture due to the drift phenomenon of the gyro sensor and the error of the acceleration sensor.
  • FIG. 2 is a block diagram of a complementary filter according to the present invention.
  • the angle measured by the gyro sensor Is Integrate directly to the angle measured by the acceleration sensor Multiply by 1 / a Integrate to At this time
  • the angle can be reduced to precisely control the attitude of the quarter.
  • Equation 1 the angle measured by the gyro sensor and the acceleration sensor ( ) can be expressed as in Equation 1.
  • the Kalman filter is used to iteratively estimate estimates that minimize errors from inaccurate measurements, to find or remove desired signals from noisy signals, and to estimate damaged signals using system models.
  • Such Kalman filter is used to predict the change of attitude of quadcopter and its weight changes over time.
  • FIG. 3 is a flowchart of a Kalman filter algorithm according to the present invention.
  • the current measured data (the measured value is the angle value )) Value and prediction from first time update Multiply the difference (error) by Kalman Value to add the final estimate Determine.
  • the improved estimated value is used to control the attitude to be used to reduce the error of the angle caused by noise and vibration.
  • Error covariance Is an estimate This is a measure of how accurate this is, and the error covariance is examined to determine whether to use the previously calculated estimate or discard it. At this time, if the error covariance is large, the reliability is lowered. Therefore, if the error covariance is large, it passes without using it.
  • the present invention it is possible to precisely control the quadcopter's posture by reducing the angular error caused by noise and vibration through the complementary filter and eliminating it through the Kalman filter.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système de commande de position de quadricoptère à l'aide d'un filtre combiné comprenant : des capteurs inertiels MEMS permettant de mesurer des données de positionnement ; un récepteur permettant de recevoir les données de positionnement ; une MCU permettant de commander la position du quadcoptère par collecte des données de positionnement, et d'éliminer, au moyen de la combinaison d'un filtre complémentaire et d'un filtre de Kalman, des erreurs angulaires qui se produisent en raison du bruit et des vibrations ; un moteur BLDC permettant d'entraîner une hélice ; un appareil de changement de vitesse permettant de changer la vitesse angulaire du moteur BLDC ; une batterie permettant de fournir une alimentation.
PCT/KR2018/009767 2018-08-23 2018-08-24 Système de commande de position de quadricoptère à l'aide d'un filtre combiné WO2020040331A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR20180098282 2018-08-23
KR10-2018-0098282 2018-08-23

Publications (1)

Publication Number Publication Date
WO2020040331A1 true WO2020040331A1 (fr) 2020-02-27

Family

ID=69593335

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2018/009767 WO2020040331A1 (fr) 2018-08-23 2018-08-24 Système de commande de position de quadricoptère à l'aide d'un filtre combiné

Country Status (1)

Country Link
WO (1) WO2020040331A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022063120A1 (fr) * 2020-09-22 2022-03-31 深圳市领峰电动智能科技有限公司 Procédé et appareil d'initialisation de système de navigation combiné, support et dispositif électronique

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130082327A (ko) * 2012-01-11 2013-07-19 충남대학교산학협력단 가속도 센서가 구비된 오브젝트의 진동 제어 방법 및 장치
KR101564020B1 (ko) * 2013-07-26 2015-10-28 삼성중공업(주) 이동체의 전자세 예측 방법 및 이를 이용한 전자세 예측 장치
KR20180035090A (ko) * 2016-09-28 2018-04-05 광주과학기술원 자세추정 시스템 및 자세 추정 시스템을 포함하는 무인 이동 장치
KR20180054007A (ko) * 2016-11-14 2018-05-24 동국대학교 산학협력단 드론을 제어하기 위한 시스템 및 방법

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130082327A (ko) * 2012-01-11 2013-07-19 충남대학교산학협력단 가속도 센서가 구비된 오브젝트의 진동 제어 방법 및 장치
KR101564020B1 (ko) * 2013-07-26 2015-10-28 삼성중공업(주) 이동체의 전자세 예측 방법 및 이를 이용한 전자세 예측 장치
KR20180035090A (ko) * 2016-09-28 2018-04-05 광주과학기술원 자세추정 시스템 및 자세 추정 시스템을 포함하는 무인 이동 장치
KR20180054007A (ko) * 2016-11-14 2018-05-24 동국대학교 산학협력단 드론을 제어하기 위한 시스템 및 방법

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
LIM, HYUN WOO: "Fusion Filter for Quad Copter Attitude Control Using MEMS Sensor", THE GRADUATE SCHOOL OF HANSEO UNIVERSITY. AERONAUTICAL SYSTEM ENGINEERING THESIS (MASTER'S), 1 August 2017 (2017-08-01), pages 1 - 65, XP055687117 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022063120A1 (fr) * 2020-09-22 2022-03-31 深圳市领峰电动智能科技有限公司 Procédé et appareil d'initialisation de système de navigation combiné, support et dispositif électronique

Similar Documents

Publication Publication Date Title
WO2020220729A1 (fr) Procédé de solution de navigation inertielle basé sur un accéléromètre/gyroscope/accéléromètre angulaire
Abeywardena et al. Improved state estimation in quadrotor mavs: A novel drift-free velocity estimator
EP2885676B1 (fr) Caméra volante avec ensemble de ficelle à des fins de localisation et d'interaction
WO2010002152A2 (fr) Appareil et procédé de correction d’erreurs dans un capteur gyroscopique de robot mobile
CN108827313A (zh) 基于扩展卡尔曼滤波器的多模式旋翼飞行器姿态估计方法
CN109238277B (zh) 视觉惯性数据深度融合的定位方法及装置
WO2013158050A1 (fr) Système de commande de stabilisation pour plateformes volante ou immobile
JP2007232443A (ja) 慣性航法装置およびその誤差補正方法
CN112683269B (zh) 一种附有运动加速度补偿的marg姿态计算方法
Magnussen et al. Experimental validation of a quaternion-based attitude estimation with direct input to a quadcopter control system
CN109764870B (zh) 基于变换估计量建模方案的载体初始航向估算方法
CN109521785A (zh) 一种随身拍智能旋翼飞行器系统
CN112665574A (zh) 基于动量梯度下降法的水下机器人姿态采集方法
JP2007232444A (ja) 慣性航法装置およびその誤差補正方法
Xu et al. A robust incremental-quaternion-based angle and axis estimation algorithm of a single-axis rotation using MARG sensors
CN111141286A (zh) 一种无人机飞控多传感器姿态置信解算方法
WO2020040331A1 (fr) Système de commande de position de quadricoptère à l'aide d'un filtre combiné
JP2018052489A (ja) 機首方位測定システムにおけるセンサ測定の欠如を補償するシステムと方法
JP4946562B2 (ja) 姿勢検出装置および方法
KR101257935B1 (ko) 관성 항법 시스템의 바이어스 추정치를 이용한 정렬 장치 및 그 항법 시스템
CN116125789A (zh) 一种基于四元数的姿态算法参数自动匹配系统及方法
WO2020040330A1 (fr) Système de commande de position de quadricoptère à l'aide de capteurs inertiels mems
Wang et al. Attitude estimation for UAV with low-cost IMU/ADS based on adaptive-gain complementary filter
Xu et al. EKF based multiple-mode attitude estimator for quadrotor using inertial measurement unit
Baranek et al. Model-based attitude estimation for multicopters

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18931143

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18931143

Country of ref document: EP

Kind code of ref document: A1