An Analysis System for Attitude Angles of Four-rotor Aircrafts

Abstract

accurate attitude angles can make the control of four- rotor aircrafts more precise. Various filters have been adopted to get more precise attitude angles. However, so far there is no suitable analysis system to evaluate the performance of filters. In this paper, an analysis system has been designed which can get the realistic attitude angles directly and compare the processing results of filters so as to analyze the performance of filters. The hardware of the analysis system contains the main control module, data acquisition module and wireless communication module. And the software of the system which is designed by LabVIEW mainly includes displaying and saving module, analysis module and the front panel. An extended Kalman filter and an innovation-based extended Kalman filter are compared by the system and results show that the attitude angles got by the innovation-based extended Kalman filter are more accurate than the extended Kalman filter. better fusion effect than Kalman filter for the nonlinear characteristic (5). In the paper (6), Kalman filter combines 3- axis gyroscope and computed quaternion to determine pitch and roll angles. This algorithm is adequate for the real-time estimation of the orientation of a quadrotor. A nonlinear complementary filter that combines accelerometer output for low frequency was proposed by Euston (7). The results were provided with a real-world data set and the performance of the filter was evaluated against the output from a full GPS/INS (Global Position System/ Inertial Navigation System) that was available for the data set. The Four-rotor aircraft system is nonlinear system. At present, the most widely estimator used in the four-rotor aircraft is extended Kalman filter. In this paper, a simple and practical analysis system is designed of hardware and software. The system implements a hardware platform of real-time data measurement and transmission. The hardware contains the main controller design, the data acquisition module design and the wireless communication module design. The programs of the lower computer are written in the C++ language and the upper computer is designed by LabVIEW (8, 9). First, the attitude angles are measured by sensor MPU6050, and transmitted through the wireless communication module to the computer. Then these data are estimated accurately by the extended Kalman filter based on innovation and shown by the virtual oscilloscope. The system can provide more real and accurate data for the four-rotor aircrafts' control system and the interface of the system is real-time, high speed and intuitive.