基于STM32的多旋翼送餐飞行器研究
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摘要
针对传统餐饮业中送餐方式的单一化、机械化等问题,以STM32F427微处理器为核心,设计并实现了以多旋翼飞行器为平台的智能餐饮配送系统。为提高送餐过程的安全性与可靠性,飞行器的稳定飞行是最基本的条件与保障。采用基于MEMS传感器的航姿参考系统(AHRS)进行飞行器姿态的测量,采用四元数坐标换算,将陀螺仪、加速度计和磁罗盘三者数据进行融合,并用互补滤波算法对姿态数据进行修正。实际测试结果表明,该飞行控制系统精度较好,能够满足送餐过程中对安全性与可靠性的要求。
Aiming at the singleness and mechanization of meal delivery in traditional catering industry,this paper takes the STM32F427 microprocessor as the core,designs and implements the Intelligent service system which takes the multi-rotor aircraft as a platform.In order to improve the security and reliability of the feeding process,the stable flight of the aircraft is the most basic condition and guarantee.In this paper,AHRS based on MEMS sensor is used to measure the attitude of the aircraft.The data of the gyroscope,accelerometer and magnetic compass are merged by using the quaternion coordinate transformation,and the attitude data are corrected by the complementary filtering algorithm.The actual test results show that the flight control system has good accuracy and can meet the requirements of security and reliability during the meal delivery.
Aiming at the singleness and mechanization of meal delivery in traditional catering industry,this paper takes the STM32F427 microprocessor as the core,designs and implements the Intelligent service system which takes the multi-rotor aircraft as a platform.In order to improve the security and reliability of the feeding process,the stable flight of the aircraft is the most basic condition and guarantee.In this paper,AHRS based on MEMS sensor is used to measure the attitude of the aircraft.The data of the gyroscope,accelerometer and magnetic compass are merged by using the quaternion coordinate transformation,and the attitude data are corrected by the complementary filtering algorithm.The actual test results show that the flight control system has good accuracy and can meet the requirements of security and reliability during the meal delivery.
引文
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[12]何川,李智,王勇军.基于STM32的四旋翼飞行器的姿态最优估计研究[J].电子技术应用,2015,41(12):61-64.
[13]万顺飞,祖家奎,刘世隆.农用植保无人直升机飞行航路的自动规划算法与实现[J].电子测量技术,2016,39(4):36-41.
[2]张敏,姜海洋,石照耀.新一代GPS标准中非理想表面模型的建模方法[J].仪器仪表学报,2016,37(1):91-98.
[3]潘银松,刘艳,王攀峰,等.基于DSP的无人机飞控系统的研究[J].电子测量技术,2014,37(7):53-56.
[4]关健生.四旋翼飞行器多传感器硬件的电路设计[J].计算机光盘软件与应用,2014(20):81-82.
[5]陈孟元,谢义建,陈跃东.基于四元数改进型互补滤波的MEMS姿态解算[J].电子测量与仪器学报,2015,29(9):1391-1397.
[6]徐东甫,白越,宫勋,等.多旋翼无人机在变控制量下的三轴磁罗盘校正[J].光学精密工程,2016,24(8):1940-1947.
[7]张浩,任芊.四旋翼飞行器航姿测量系统的数据融合方法[J].兵工自动化,2013,32(1):28-31.
[8]万晓凤,康利平,余运俊,等.基于多传感器数据融合的四旋翼飞行器的姿态解算[J].科技导报,2014,32(19):31-35.
[9]杜杉杉,吴昊,张继文,等.一种面向AHRS的改进互补滤波融合算法[J].国外电子测量技术,2015(3):13-18.
[10]詹镭,贺人庆,谢阳,等.基于微型四旋翼无人机的智能导航系统[J].电子测量技术,2011,34(6):1-3,29.
[11]杨天茂,韩宇龙,吴振鹏,等.基于三轴陀螺仪的飞行器自动飞行控制[J].信息技术,2016(2):39-42.
[12]何川,李智,王勇军.基于STM32的四旋翼飞行器的姿态最优估计研究[J].电子技术应用,2015,41(12):61-64.
[13]万顺飞,祖家奎,刘世隆.农用植保无人直升机飞行航路的自动规划算法与实现[J].电子测量技术,2016,39(4):36-41.