As an aerial robot, miniature unmanned helicopter has a broad application prospect in military and civil fields, and has been developed greatly in recent years. Navigation method and controller design are the key contents when designing unmanned helicopter control system, and the techniques of navigation and control are pivotal to realize autonomous flight of unmanned helicopter. In thought of the practical needs of miniature unmanned helicopter, this thesis focuses on the navigation method, attitude modeling and heading control, the main context is as follows: Firstly, the general research development of miniature unmanned helicopter was introduced. Then the information fusion methods adopted in navigation system were reviewed. Moreover, the characteristics of miniature unmanned helicopter and typical control methods used in miniature unmanned helicopter control system were surveyed. Secondly, the basic calculative methods of strapdown inertial navigation (SINS) attitude, velocity and position were introduced. Then the nonlinear error models of SINS based on attitude error angles and quaternions were given. Thirdly, unscented Kalman filtering (UKF) method was introduced, and an initial alignment method for low cost SINS was studied. In the initial alignment of low cost SINS, the coarse alignment was assisted by digital compass and UKF was used in the fine alignment. On this basis, a low cost SINS/GPS/digital compass integrated navigation method was proposed, in which the digital compass was applied to yaw angle measurement and UKF was adopted to estimate the errors of integrated navigation system. The simulation results demonstrated that compared with the low cost SINS/GPS integrated navigation method, the low cost SINS/GPS/digital compass integrated navigation method can estimate the error of yaw angle and improve the performance of SINS/GPS integrated navigation system effectively. Fourthly, the identification model of attitude was developed based on the motion equations of unmanned helicopter and the miniature unmanned helicopter aerodynamics. Then a parameterized coupling dynamical angle model of roll and pitch channel and a single input single output model of yaw channel for a miniature unmanned helicopter were obtained by using time-domain system identification technique based on the outdoor flight experimental data. These models were verified by comparing the models output with the output collected during flight test. Fifthly, by employing...
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