姿态角作为四旋翼飞行器重要飞控参数,对稳定飞行起着至关重要作用。针对姿态的检测问题,搭建了以STM32F407VG、MPU6050和AK8975组成的姿态检测系统。采取四元数法描述飞行器姿态,通过共轭梯度法对加速度计和电子罗盘测量数据做最优处理,得出的数据融合参数修正陀螺仪累积漂移误差,从而达到最佳融合效果。结果表明该检测及数据处理系统简单可靠,性能稳定,计算量小,能够满足四旋翼飞行器对精度和实时性的要求。

As the importance flight control parameter of the four rotor aircraft, attitude angle played an important role in stable flight. For gesture detection problem, attitude detection system was built with STM32F407VG, MPU6050 and AK8975. Spacecraft attitude was described using quaternion method, and the data of the accelerometer and the electronic compass were optimized by using the conjugate gradient method, then the data fusion parameters were used to correct the gyro drift error, so as to achieve the best fusion effect. Results showed that the detection and data processing system was simple, reliable, stable, easy to calculate and could satisfy the requirements of the accuracy and instantaneity of four rotor aircraft.