Attitude algorithm system design of quad-rotor aircraft based on STM32

机译：基于STM32的四旋翼飞行器姿态算法系统设计

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In this paper, a quad-rotor attitude algorithm system based on STM32 is discussed. This system uses a low-cost AHRS reference system to measure the attitude of aircraft, to merge data with complementary filter algorithms and PI control and to calculate the attitude with the data of gyroscope, accelerometer and magnetic by coordinate transformation. Experiments proved that the attitude algorithm system solved the noise interference and optimal estimation of attitude and achieved the requirement of steady, accurate and reliable data output for a long time.

机译：本文讨论了一种基于STM32的四旋翼姿态算法系统。该系统使用低成本的AHRS参考系统测量飞机的姿态，将数据与互补滤波算法和PI控制合并，并通过坐标变换与陀螺仪，加速度计和磁场数据一起计算姿态。实验证明，姿态算法系统解决了噪声干扰和姿态最优估计问题，达到了长期稳定，准确，可靠输出数据的要求。

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来源
《Fifth Asia International Symposium on Mechatronics》|2015年|1-4|共4页
会议地点 Guilin(CN)
作者
C. He; Z. Li; Y. J. Wang;
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作者单位

Guilin University of Electronic Technology, Guangxi, 541004, China;

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会议组织
原文格式 PDF
正文语种 eng
中图分类
关键词
PI control; attitude algorithm; complementary filter; quad-rotor aircraft; quaternion;

机译：PI控制；姿态算法；互补滤波器；四旋翼飞行器；四元数;

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4. Attitude algorithm system design of quad-rotor aircraft based on STM32 [C] . C. He, Z. Li, Y. J. Wang Asia International Symposium on Mechatronics . 2015

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8. Study of Design Methodologies for Digital Attitude Control System Algorithms. Volume 2: Attitude Control Subsystems (AOCS) Software Procurement [R] . Teule, F., Zwartbol, T., Slippens, C., 1982

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Attitude algorithm system design of quad-rotor aircraft based on STM32

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