Attitude estimation for an all-rotating monocopter through attitude decomposition and MARG Sensor fusion

IF 5 1区工程技术 Q1 ENGINEERING, AEROSPACE Aerospace Science and Technology Pub Date : 2024-08-22 DOI:10.1016/j.ast.2024.109511

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Abstract

A monocopter is a biology-inspired aircraft based on samara. Due to the constant high spin during flight, attitude estimation is highly challenging. The difficulty of attitude estimation is extracting the effective gravity acceleration information from the large centripetal acceleration interference. Based on the characteristics of monocopters, our study proposes a method to accomplish monocopter attitude estimation through onboard sensor fusion. Our method decomposes the body attitude angles into two-disc attitude angles and three relative attitude angles. Through five steps (a priori body attitude estimation, relative attitude calculation, gravity acceleration information extraction, body attitude estimation through data fusion, and disc attitude estimation), a low-cost attitude determination method relying only on magnetic, angular rate, and gravity sensors is achieved. Finally, the performance of our proposed attitude estimation method is demonstrated through tests on a rotational platform and three degrees of freedom virtual flight testing of a monocopter. The test results show that the attitude estimation method has high precision and the ability for practical applications.

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通过姿态分解和 MARG 传感器融合实现全旋转单旋翼飞行器的姿态估计

单旋翼飞行器是一种基于萨马拉的生物启发飞行器。由于飞行过程中会不断出现高旋转，因此姿态估计具有很高的挑战性。姿态估计的难点在于从巨大的向心加速度干扰中提取有效的重力加速度信息。根据单旋翼飞行器的特点，我们的研究提出了一种通过机载传感器融合完成单旋翼飞行器姿态估计的方法。我们的方法将机身姿态角分解为两个圆盘姿态角和三个相对姿态角。通过五个步骤（先验机身姿态估计、相对姿态计算、重力加速度信息提取、通过数据融合进行机身姿态估计和圆盘姿态估计），实现了一种仅依靠磁传感器、角速率传感器和重力传感器的低成本姿态确定方法。最后，通过旋转平台测试和单旋翼飞行器的三自由度虚拟飞行测试，证明了我们提出的姿态估计方法的性能。测试结果表明，该姿态估计方法具有较高的精度和实际应用能力。

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来源期刊

Aerospace Science and Technology 工程技术-工程：宇航

CiteScore

10.30

自引率

28.60%

发文量

654

审稿时长

54 days

期刊介绍： Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.