An autopilot platform for a small unmanned helicopter comprises a high-precision micro-electromechanical sensor module for acquiring angular velocity, acceleration and inclination data in real time; an attitude solving module for updating a quaternion in real time and performs normalization using a rotation quaternion method and a fourth-order Runge-Kutta numerical integration method; a data fusion module for fusing data from a gyroscope, an accelerometer and an inclinometer on the basis of a complementary filtering algorithm to correct an attitude solving error, compensate for low sensor precision and susceptibility to noise interference, and ensure the long-term stability and dynamic precision of attitude information; and an attitude control module using a cascade PID controller to hierarchically process outer loop attitude angle control and inner loop angular velocity control, which solves the dynamic coupling problem in attitude control and significantly improves the system's dynamic response performance and anti-disturbance capability.
AUTOPILOT PLATFORM FOR SMALL UNMANNED HELICOPTER
26.06.2025
Patent
Elektronische Ressource
Englisch
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