基于模型拼接技术的四旋翼无人机全飞行包线建模

doi:10.7527/S1000-6893.2020.24321

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基于模型拼接技术的四旋翼无人机全飞行包线建模

于怿男¹, 梁熠², 宋韬¹, 林德福¹

1. 北京理工大学宇航学院无人机自主控制技术实验室, 北京 100081;
2. 军委装备发展部某中心, 北京 100034

收稿日期:2020-04-29 修回日期:2020-05-15 发布日期:2020-06-12
通讯作者: 宋韬 E-mail:282233523@qq.com
基金资助:
国家自然科学基金重点项目（U1613225）

Full flight envelope modeling of quadrotor vehicles based on model stitching technique

YU Yinan¹, LIANG Yi², SONG Tao¹, LIN Defu¹

1. UAV Auto nomous Control Technology Laboratory, School of Aerospace, Beijing Institute of Technology, Beijing 100081, China;
2. Equipment Research and Development Center of Military Committee, Beijing 100034, China

Received:2020-04-29 Revised:2020-05-15 Published:2020-06-12
Supported by:
Key Program of National Natural Science Foundation of China (U1613225)

摘要/Abstract

摘要： 四旋翼无人机在军事和民用领域都有广泛的应用前景。然而，四旋翼无人机具有机载传感器准确性低与可靠性差、不同飞行条件下动力学模型差异大等特点。本文以四旋翼无人机为研究对象，系统地开展了飞行路径重构、频率域系统辨识、全飞行包线建模的相关研究工作。针对机载低成本传感器存在显著常值偏差与量测噪声统计学特性未知的缺点，采用基于EKF的飞行路径重构技术对在飞行试验中无人机的机体空速进行重构；针对不同飞行速度下四旋翼无人机动力学模型差异大的特点，采用频域法辨识得到不同飞行条件下的本体动力学模型；针对四旋翼无人机大跨域的高精度控制需求，利用模型拼接技术，系统性地提出了全飞行包线建模方案，经过验证，所提出模型拼接技术是准确可靠的。

关键词: 扩展卡尔曼滤波, 飞行路径重构, 系统辨识, 模型拼接, 四旋翼无人机全包线建模

Abstract: 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.

Key words: extended Kalman filter, flight path reconstruction, system identification, model stitching, full flight envelope quadrotor modeling

中图分类号:

V212.4

于怿男, 梁熠, 宋韬, 林德福. 基于模型拼接技术的四旋翼无人机全飞行包线建模[J]. 航空学报, 2020, 41(S2): 724321-724321.

YU Yinan, LIANG Yi, SONG Tao, LIN Defu. Full flight envelope modeling of quadrotor vehicles based on model stitching technique[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S2): 724321-724321.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于模型拼接技术的四旋翼无人机全飞行包线建模

Full flight envelope modeling of quadrotor vehicles based on model stitching technique

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