無人直昇機慣系導航系統

Inertial Navigation System for Unmanned Helicopter

楊長圃(Chang-Pu Yang)

指導教授 ： 陳傳生

元智大學/工程學院/機械工程學系/碩士(2004年)

摘要

本論文以實現無人直昇機所需的慣性導航系統（Inertial Navigation System for Unmanned Helicopter），提供控制無人直昇機所需的動態測量資料及導航資訊：
動態測量資料：飛行速度、飛行姿態、旋轉。
導航資訊：位置、方位角。
所完成的慣性導航系統中包含二個子系統：姿態方位角參考系統（Attitude and Heading Reference System,簡稱AHRS）及慣性導航系統/全球定位系統（Inertial Navigation System/ Global Positioning System, 簡稱INS/GPS）。作者應用Kalman Filter的技術，整合不同的外部感測器，提供系統更為準確的資訊。外部感測器包括全球定位系統（Global Positioning System, 簡稱GPS）、電子羅盤（Compass）與3軸加速規及微機電陀螺儀。全球定位系統提供地球座標上的絕對位置與載具移動速度；電子羅盤根據感應的地磁方向，提供0~360度方位角資訊。
配合未來的直升機控制系統，姿態方位角參考系統以Quaternion模型計算載具的姿態.並且應用Kalman Filter技術，整合三軸加速度及電子羅盤估算載具傾斜角，推導機身的Quaternion向量，然後轉換至姿態Euler角。
慣性導航系統/全球定位系統，慣性導航系統以加速度，積分一、二次，計算出載具的速度、位移；由於積分運算過程會累積誤差,導致結果逐漸偏離正確值.為提高導航系統提供可靠度,作者應用Kalman Filter技術，結合全球定位系統的資訊，預測慣性導航系統的速度及位移誤差做回授修正。
全部的系統軟體開發應用MATLAB xPC Target、Matlab Real-Time Workshop、Matlab Simulink、Microsoft C/C++ ；系統硬體使用PC104工業規格：單板電腦、A/D、CAN；YZ PIC PROTO Microchip電路板、Wireless LAN。
為驗證上述無人直昇機慣性導航系統的性能，作者將該設備裝置在一輛四輪驅動的模型車上，駛上傾斜台驗證系統載具姿態；在元智大學校園內的標準400m田徑跑道進行環繞跑道的道路數次,以驗證系統的定位準確度。

關鍵字

慣性導航系統 ； 卡曼濾波器 ； 全球定位系統 ； 姿態方位角參考系統

並列摘要

We fulfill inertial navigation system for unmanned helicopter to collect flying speed, attitude, rotation, position, and azimuth.
Inertial navigation system for unmanned helicopter includes attitude and heading reference system (AHRS) and inertial navigation system/global positioning system (INS/GPS). Kalman filter integrate GPS, compass, 3D accelerometer, and micro gyroscope. GPS can tell the absolute coordinate of position and the speed of object. Compass indicates the azimuth with magnetic flow.
We propose the quaternion model to calculate the attitude of flying object with kalman filter according to 3D accelerometer, compass and transfer to euler angle.
INS/GPS integral two time to calculate the speed and position, but the integral error will appear and the kalman filter to reduce the error increase the accuracy and combine the GPS feedback to revise and predict the error of speed and position.
All of Software used Matlab, xPC Target, Real-Time Workshop, Simulink, and Microsoft C/C++. System Hardware used industrial PC/104 computer, industrial PC/104 A/D, industrial PC/104 CAN, YZ PIC Proto microchip board, and wireless LAN.
To experience inertial navigation for unmanned helicopter, a 4 wheel-drive model car has been test on the model platform with slope trail, 400-meter track yard also to identify the accuracy of our design system.
Keyword: Inertial Navigation System, Global Position System, Attitude and Heading

並列關鍵字

Inertial Navigation System ； Kalman Filter ； Global Positioning System ； Attitude and Heading Reference System

參考文獻

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