Research Self-balancing UAV Takeoff and Landing Control System Based on Quadruped Robot

Aiming at the advantages of UAVs in field survey and search as well as their difficulties in taking off and landing in poor ground environment in the field, a simple self-balancing UAV take-off and landing control system based on a quadruped robot is proposed. Firstly, the simple physical model of the system is established and the mathematical analysis is carried out. Secondly, the inverse kinematics of the single leg model is derived. Thirdly, the attitude sensor is used to measure the attitude angle data of the system platform, and the Kalman filter is used in the software design to filter the attitude angle data, and the PID control algorithm is used to control each leg joint. Finally, The design is simulated by MATLAB and experimentally analyzed, and the test results meet the design requirements.

A dynamic adaptive AHRS algorithm for UAV based on SVDCKF

Aiming at the attitude solution accuracy and robustness for small UAVs in complex flight conditions, this paper proposes a dynamic adaptive attitude and heading systems(AHRS) estimator with singular value decomposition Cubature Kalman filter(SVDCKF). Considering the problem of random bias for the low-cost attitude sensor, this paper designs a method that the sensor random bias is used as the state vector to eliminate the effect of the sensor random bias. Due to the non-linearity of small UAVs AHRS model and the non-positive definite phenomenon of the covariance matrix, a nonlinear AHRS filter combined with the Cubature Kalman filter and singular value decomposition is designed to improve the attitude solution accuracy. In addition, when the UAV flies in the different flight conditions, the three-axis acceleration of the attitude sensor will affect the attitude solution. Thus, a dynamic adaptive factor based on adaptive filtering is used to adjust continuously the acceleration noise variance to improve the robustness of the AHRS. The experimental results show that the method and algorithm proposed not only improve the attitude solution accuracy, and satisfy the flight requirements of small UAVs, but also eliminate the influence of the attitude sensor random bias and three-axis acceleration for the attitude solution to improve the proposed algorithm robustness and anti-interference.