基于头部姿态控制的农田监测无人机云台设计与实现

doi:10.13733/j.jcam.issn.20955553.2022.07.026

摘要/Abstract

摘要： 针对农田监测无人机对大范围观测视野、便利操控和高质量拍摄图像的需求问题，设计跟随人体头部姿态的监测云台。首先，根据云台对小体积、轻量化和易集成的设计要求，设计云台结构，并利用ANSYS有限元分析软件进行静力学载荷校核和动力学模态分析；其次，采用四元数方法进行头部姿态解算，利用互补滤波算法进行加速度计和陀螺仪的数据融合，利用嵌入式平台设计并制作云台控制系统；最后，对云台系统的姿态解算准确度进行动态测试和静态测试，对云台的减振性能进行对比测试。结果表明：云台在结构强度和减震性能上满足需求；控制算法和系统能够稳定可靠的解算姿态，并控制云台实时跟随，动态姿态角度误差不超过2°，600 s的静态角度漂移不超过5.5°；云台具有较好的减振和抗振性能，平飞测试中振动加速度均方根值比航拍云台的小41.8%，机动测试中振动加速度最大幅值比航拍云台小21%。该装置可以为无人机的农田监测任务提供更好的便利性。

关键词: 云台, 农田监测, 姿态解算, 四元数, 互补滤波

中图分类号:

S126: TP391.4

周利杰, 孙迎建, 蔡国庆, 郝瑞林, 刘辉. 基于头部姿态控制的农田监测无人机云台设计与实现[J]. 中国农机化学报, 2022, 43(7): 179-187.

Zhou Lijie, Sun Yingjian, Cai Guoqing, Hao Ruilin, Liu Hui. . Design and implementation of airborne gimbal for farmland monitoring based on head attitude tracking[J]. Journal of Chinese Agricultural Mechanization, 2022, 43(7): 179-187.

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