基于模型拼接技术的四旋翼无人机全飞行包线建模

Yinan Yu, Yi Liang, Tao Song*, Defu Lin

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

2 引用 (Scopus)

摘要

Quadrotor vehicles have found wide application in both military and civil fields. However, the onboard sensors of quadrotor vehicles are poor in reliability and accuracy, and the dynamic models of quadrotors vary considerably under different flight conditions. This study systematically examines the flight path reconstruction, frequency domain system identification, and full flight envelope modeling of quadrotor vehicles. To overcome the shortcomings of significant constant bias errors and unknown statistical characteristics of measurement noise of the airborne low-cost sensors, we use the flight path reconstruction technology based on Extended Kalman Filter(EKF) to reconstruct the airspeed of UAVs in flight tests. The frequency domain method is adopted to identify the body dynamics model under different flight conditions aiming at the different characteristics in dynamic models of quadrotor UAVs with different flight speeds. In view of the high-precision control requirements of the four rotor UAVs in large-span areas, a systematic full flight envelope modeling scheme based on the model stitching technology is proposed, which is verified to be accurate and reliable.

投稿的翻译标题Full flight envelope modeling of quadrotor vehicles based on model stitching technique
源语言繁体中文
文章编号724321
期刊Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica
41
DOI
出版状态已出版 - 25 12月 2020

关键词

  • Extended Kalman filter
  • Flight path reconstruction
  • Full flight envelope quadrotor modeling
  • Model stitching
  • System identification

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