无人机环绕目标飞行控制技术研究

Research on Surround Flight Control of Unmanned Aerial Vehicle

摘要: 论述了利用激光雷达测量信息解算无人机机头方向与环绕目标中心方向角度差即转差角和无人机与环绕目标间距离的方法。通过EKF融合陀螺仪、加速度计和磁力计数据用于无人机的姿态解算，采用具有角速率内环和角度外环的双环PD控制器进行无人机的姿态控制。将由激光雷达信息解算出的转差角反馈到转向控制PID控制器，控制器的输出量接入偏航角控制器用于机头锁定目标。将目标距离反馈到定距控制PID控制器，控制器的输出量接入俯仰角控制器用于维持无人机与环绕目标间的距离。两控制器相结合控制无人机环绕目标飞行。搭建了四旋翼无人机实验平台，通过柱状物体环绕实验验证了利用激光雷达解算数据控制四旋翼环绕目标飞行的可行性。

Abstract: In this paper, we discussed the method of using laser intensity direction and ranging (LIDAR) to solve the difference between the direction of the head of the unmanned aerial vehicle (UAV) and the direction of the target center, and the distance between the UAV and the target. The EKF fusion gyroscope, accelerometer and magnetometer data are used to analyze the attitude of the UAV. The attitude control of the UAV is carried out using a bicyclic PD controller with angular rate inner ring and angular outer ring. The feedback angle calculated by the lidar information is fed back to the steering control PID controller, and the output of the controller is connected to the yaw angle controller for the head locking target. The target distance is fed back to the pitch control PID controller, and the output of the controller is connected to the pitch angle controller to maintain the distance between the UAV and the surround target. The combination of two controllers controls the UAV to fly around the target. The experiment platform of quad-rotor is designed. The feasibility of using the lidar around the target flight is verified by the lidar object experiment.