一种基于红外传感器的无人机姿态测量方法

针对红外温度传感器能灵敏感应天空地面热辐射的特点,提出了一种基于红外传感器测量无人机姿态信息的方法,相比传统姿态测量传感器,红外传感器具有体积小、重量轻、无漂移、成本低等优点;针对该方法介绍了由三对正交安装的红外传感器测量姿态角的基本原理及能获得更好视场角的45°安装方式;并通过场地实验获得了红外传感器的对地倾角和输出电压的函数关系;通过推理得到无人机姿态测量算法,实现了根据红外传感器的差动输出信号计算无人机的姿态角;同时对太阳的干扰问题作了适当的研究;为了验证算法的可靠性,进行了机载飞行实验。实验结果表明,该方法可以有效的测量无人机的姿态角。

An attitude measurement for UAV based on infrared sensor

An attitude measurement approach based on Infrared sensor is presented,which shows the advantages over traditional attitude measurement methods especially in the small size,light weight,drift-free and low cost.The basic principle of the attitude measurement by three pairs of orthogonal installed Infrared sensors is introduced,and the relationship between the inclination angle and the output voltage is obtained through the field experiment.After the theoretical derivation the attitude measurement algorithm is put forward.UAV attitude angles could be calculated with the subtracted signal output of the infrared sensor.The interference of the sun is also discussed.In order to verify the reliability of the algorithm,the airborne flight test is performed.The experimental results show that this method can effectively measure the UAV attitude angles.