Guidance and implement of micro system based on GPS

WEI Qiang; WANG Xiao-hao; ZHOU Zhao-ying; XIONG Shen-su

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Guidance and implement of micro system based on GPS

Article | 更新时间：2020-08-12

- Guidance and implement of micro system based on GPS
- Optics and Precision Engineering Vol. 17, Issue 7, Pages: 1660-1664(2009)
- 作者机构：
  
  清华大学精密测量技术与仪器国家实验室北京,100084
- 作者简介：
- 基金信息：
- DOI：
  CLC： V241;P228.4;TP301.6
- Received：07 December 2008，
  
  Revised：30 April 2009，
  
  Published Online：25 July 2009，
  
  Published：25 July 2009
- 稿件说明：
移动端阅览
魏强, 王晓浩, 周兆英, 熊沈蜀. GPS的微型系统及其制导[J]. 光学精密工程, 2009,17(7): 1660-1664

WEI Qiang, WANG Xiao-hao, ZHOU Zhao-ying, XIONG Shen-su. Guidance and implement of micro system based on GPS[J]. Editorial Office of Optics and Precision Engineering, 2009,17(7): 1660-1664
魏强, 王晓浩, 周兆英, 熊沈蜀. GPS的微型系统及其制导[J]. 光学精密工程, 2009,17(7): 1660-1664 DOI：

WEI Qiang, WANG Xiao-hao, ZHOU Zhao-ying, XIONG Shen-su. Guidance and implement of micro system based on GPS[J]. Editorial Office of Optics and Precision Engineering, 2009,17(7): 1660-1664 DOI：

摘要

基于微型飞行器(MAV)尺寸小、载重及能量供给有限

难于获取完整的飞行状态参数

对机载的设备和导航控制系统要求很高等特点

提出了一种应用于翼展680 mm的电动微型飞行器的基于航迹角度和偏航距误差的几何导航控制算法

并利用MEMS传感器设计了飞行控制系统

给出了PID控制率。Matlab仿真试验表明

该系统在3种PID控制率下均可很好地实现导航控制

偏航控制误差低于30 m;空中飞行试验表明

提出的算法有效地实现了电动微型飞行器的导航控制飞行

在2级风情况下

偏航误差低于30 m。

Abstract

Micro Air Vehicles(MAV) are characterized by their small sizes

low powers and load ability

so it is difficult to obtain the full state measurements in real time and short of a full control degree.In order to solve the problems of autonomous fight control and stability

this paper presents a guidance algorithm for the relative miniature GPS-based navigation system of an electrically MAV. One standard geometric method for solving autonomous flight is adopted to derive a class of algorithm based on the heading angle error and yawing distance error and the MEMS sensors are used to design a flight control system. Simulation and practical experiments show that the guidance algorithm used in the MAVs is effective with different PID controlling parameters

which can obtain a yawing distance error less than 30 m. The TH680 equipped with the GPS-based autonomous flight control system loading the designed geometric algorithms has been successfully tested in a flight

and the yawing distance error is less than 30 m in a 2 level wind.

关键词

Keywords

references

GRASMEYER J M, KEENNON M T. Development of the Black Widow micro air vehicle . AIAA-2001-0127, 2001.[2] GAD-EL-HAK M. Micro-air-vehicles: Can they be controlled better[J]. Journal of Aircraft, 2001,38(3):419-429.[3] THOMAS J P. Composite materials with multifunctional structure-power capabilities . Proc. American Composites 16th Technical Conf, 2001(9):9-12.[4] ZHANG R H, JIA H G, CHEN T,et al.. Attitude solution for strapdown inertial navigation system based on quaternion algorithm[J]. Opt. Precision Eng. , 2008,16(10):1963-1970.(in Chinese)[5] WU H Y, SUN D, ZHOU ZH Y. Micro air vehicle: configuration, analysis, fabrication and test[J]. IEEE/ASME Transactions on Mechatronics,2004,9(1):108-117.[6] SERAKOS D. Linearized kappa guidance[J]. Journal of Guidance, Control and Dynamics, 1995,18(5):975-980.[7] YANG J X, YUAN G N. Design and experiment for INS based on MIMU/GPS[J]. Opt. Precision Eng.,2008,16(2):285-294. (in Chinese)[8] ZHANG J B, LIU H, JIA H G,et al.. Model identification and corrector design for servo system of electromechanical actuator[J]. Opt. Precision Eng.,2008,16(10):1971-1976.(in Chinese)

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