An Attitude Control System of Small Unmanned Aerial Vehicle for Oil-gas Field Surveillance
LEI Xu-sheng1,2, PEI Bao-qing1, LIANG Jian-hong1, WANG Tian-miao1
1. Robotics Institute, Beihang University, Beijing 100191, China; 2. School of Instrumentation Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China
雷旭升, 裴葆青, 梁建宏, 王田苗. 油气田环境巡视小型无人飞行器航姿控制系统[J]. 机器人, 2008, 30(6): 531-535..
LEI Xu-sheng, PEI Bao-qing, LIANG Jian-hong, WANG Tian-miao. An Attitude Control System of Small Unmanned Aerial Vehicle for Oil-gas Field Surveillance. ROBOT, 2008, 30(6): 531-535..
Abstract：Focusing on the high precision control problem of small unmanned aerial vehicle for oil-gas field surveillance, an adaptive Kalman filter algorithm is proposed to get high precision attitude information,and an optimized fuzzy logic control method is trained to realize heading control algorithm.Based on the heading error,flight control parameters are adjusted on-line to provide accurate oil-gas field information for the remote control center to improve decision efficiency. Finally,effectiveness of the proposed method is proved by a series of simulations and flight tests.
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