北京航空航天大学 多旋翼飞行器设计与控制 讲义 PPT 合集 可靠飞行控制研究组

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1 北京航空航天大学 多旋翼飞行器设计与控制 讲义 PP 合集 可靠飞行控制研究组 tt://rfly.uaa.u.cn/

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8 .ཐ ཐᰁ㘲ᢶᵥਇኋ ਨ.ཐ ཐᰁ㘲ᢶᵥਇኋ ਨ ᵏ(-) ᵏ(-) 㠘Ⳟ㘇 㛋8䊣-5㛋9䊣 㠘Ⳟ㘇 㛋8䊣-5㛋9䊣 伔ᵰශਭ ޢ ਮ Siri Stingray5 AR.Dron. AirDog Patric Ewars-Daugrty Curtis Young Bloo Parrot Hlico Arosac Inustis Rolling Sir IRIS+ Nixi GHOS. Min4 insir Bo Vrtx VOL Syio Stairon Flar Airorg H65 ਇᐹ 䰪 ളᇬ 伔ᵰශਭ ޢ ਮ ཝ 㗄ള ള 㝧㔪Ӑ Parrot 4.7 ള Slas Dron SOLO Panto XPlant Pnox D Rootics Fly nxi EHANG AirMin DJI Parrot CoQustVnturs Syio 㗄ള 㗄ള ѣള ѣള ѣള ള ཐ唄 㗄ള Uran Drons D Rootics DJI XAIRCRAF Ryo KonouraȽKnso Miyosi CyPy Wors Lily xcraft Stairon o Fligt cnologis ށ 㗄ള ะӄUuntuⲺਥ㕌ぁᰖӰᵰ ޞ 俌ⅴ䠅ӝⲺ 䖪ਥ ẞ䐓伔㺂ಞ 㜳㓾ㄥ ȽᰖGPS㜳 ᛢ ڒ ਥᣎਖᕅȽу䴶㾷 㜳ᢁᵰ䘑㺂 θր䐕 ޞ ཟ Ⲻᖻળᤃ 〥ቅ㙂䖱θ䞃 ҼжѠ 䖜䖤 θਥԛᇔ ൦р䐇Ƚ ㅿ ж䭤dᢡᨅᔰ θ㠠 䐕䑠Ƚ㠠 䖞䘯伔㺂ᤃ ь рㅢжⅴਥサᡪᰖӱᵰδᾰᘫ䱬 ε 㓥ᢁᵰ θ㠠 䐕䳅 ь р俌ⅴะӄᆿউ 㔕ⲺᰖӰᵰ ᖘ 䎭䎭㩳 BoᱥะӄAR.DronⲺ ޞ 䶘ॽ㓝 ሼཐᰁ㘲фരᇐ㘲伔㺂ಞⲺ Վ 䘑㺂ᴿᵰ㓺 ਠ 䙐 ཪθቧ㜳ᇔ 㠠ѱሲ㡠 ߨシ䚵 ރ 㜳 δቐ ශ䱬 ε 儎ᕰᓜⲺ 㓚㔪ᵰ䓡Ƚ䱨 㜳θᵢ䓡䘎 ᣎਖ 4 7// CyPy LVL Lily PonDron airstir ayu Rootics Prsctiv Rootics AG FPVStyl Extr Flirs Fiot Vantag Rootics Avanc Rootix Cororation 7// Yairέ ayu Fotoit Pi 䀈 X Micro Dron. Fiot Sna Flyi ളᇬ 㗄ള 㗄ള ѣള ѣള ᰛᵢ 䱨 䇴䇗θਥԛ ڒ 䶘р 䳼ᴶ ݾ 䘑Ⲻᢶᵥӄж䓡θᨆ儎㡠ᤃ 僂 䳼ᡆҼ儎 ഴՖȽ㿼㿿ᇐփȽ4K ᵰㅿ ݾ 䘑ᢶᵥ 㜳㿺ࡈ㡠㓵Ƚ 㜳௭ 㔕Ƚ 㜳 ㅿ жⅴਥ㕌ぁⲻᰖӱᵰθ䏩ཕቅƚ䠃䠅䖱θਥ Ӱᢁр䎭伔䲃㩳 㗄ള ᒩ伔㺂ᤃ ᵰ䓡уՐ ٴ ᯒ 㗄ള ਥᢁᣑ䎭伔Ƚ㠠 䐕䳅Ƚ䱨 㾵 PonDron ᇔቧᱥжѠཌ僞僲Ṽ θ 㜳ᢁᵰ䮬ᎂ Ṽ ѣ㓺㻻ѱ 㠠 伔㺂Ⲻ 㘲ᰖӰᵰ ᗭള 㗄ള ޞ ぁ㠠 ⲺᰖӰᵰ 㔕 ༡ ਥᣎਖθᰖ䴶ㅿᖻGPS䬷ᇐᡌṗ ѣള 伔䙕ᘡ 㤧ള D㲐ᤕ Ⲻᢶᵥ ѣള ะӄ 㜳ᢁᵰᒩਦ 㗄ള ӄ䟽 ඍ Ⲻ䇴䇗θ ඍҁ䰪䟽 ᙝ䘔 ಞ䘔 㗄ള 䞃 ᢁ㺞ශ䚛 ಞθ䟽 LCDᱴ ኅθঋ ᵼ 䖢ⴎ䞃 ᵰ θਥԛ䙐䗽䳅ᵰⲻvr 䮒ᇔ ㅢж㿼䀈伔㺂Ⱦᒬъਥԛ㠠 ᦘ Ⱦ 4.ཐ ཐᰁ㘲ᢶᵥਇኋ ਨ.ཐ ཐᰁ㘲ᢶᵥਇኋ ਨ ሿ㔃 ᵏ(-) 䁈㭖Ⳟ㘇 㬒㬧䋍䇃㾼 ⱁ㿞䅎㬨㬒ヅ 㹐᱄ ཐᰁ㘲Ⲻ ガᴪ څ 㜳 Ƚ㗚 Ⱦ 䇓ミ㾂㾮 ᱃ェ㰄㚽㑇䊞 䊞㣠᱃ 㔫㳂㪞᱃ 㚽㑠㗽Ⱙ㳂㪞᱃ ᒪθ㤅唄ь㚊䛜 ᐛᆜ䲘Ⲻ ᯆ 䐨㚽㬷 ᱃Goro䊬Ⱀ㼁 ᱃ 䊟 㪈ㅜ㶙㕈 ቊ ᆿᗭࡍᮏ EDGloalⲺᵰಞӰ 䄜㳆 ⶥ 㑬㳆䂊 㬚 㾱ビ ᱄ ᇔ僂ᇚኋ Ҽ ᰁ㘲ⲺᜀӰ䘆 ᵰ㜳Ⱦ ਇᐹ 䰪 AR.Dron᱃ ㅏ㾂 㒊Panto lj㠚 NJਇ㺞㔲䘦ᮽㄖ ኋᵑҼ ቅශ㠠ѱᰖӰᵰ 亼ตⲺ〇ᆜ മ.9: ཊ 㘬᮷ ᮠ䟿ਈ 䎻 ᢶᵥȾ 4 7// 44 7// 4.ᵢ ᵢ䰞䈴Ⲻᆿ 4.ᵢ ᵢ䰞䈴Ⲻᆿ ⴞⲵ 㔃ᶴ δεӻሯཐᰁ㘲䇴䇗 䏙Ⲻ ᆜθਥ৸ ㅢж 䇨Ƚ䇴䇗ঋ ݹ ㅢॷӊ䇨 㗦 ㅓ㬻ⱁ㿞䅎㪉ェ᱃Ⱀ㲍㚄㾮ㅉ㑃᱃䓕㲍 ェ᱃ 䐧 ㉗ Ⳟ㘇 䈴ぁχ 䐋㬗᱄ 䇱㑞 㲹 ᱑ 㾵᱒ ᱑㻖㵔㾵᱒᱄ δεӻሯཐᰁ㘲 㾵 䏙Ⲻ ᆜθਥ৸ ㅢж 㑇㤔㉙ ⱁ㿞䅎㪇ゑ 㚻㦾㚽 䓵 㬚 䇱䓵Ⱀ 䓉 䇨Ƚ ශঋ ݹ Ƚ ঋ ݹ ㅢॷӊ䇨䈴ぁχ 䄖 䐋㬗 䁈㪛 㚽 㳞Ⰿ䎃㗦 ᱄ δεӻሯሯཐᰁ㘲 㻖㵔㾵 䏙Ⲻ ᆜθਥ৸ 㚠 㬨ㆊ㩽ⱁ㿞䅎 㾱㡘㻖㵔㾵 㦌㗓 ⱙ 㬨㚔䄜 ゝ㭖 ㅢж䇨Ƚ ශঋ ݹ Ƚ ᱄ 㵉 ⱁ㿞䅎 䓴 ㅌ㩃㕅 䐋㬗㬖 ᱄ ঋ ݹ Ƚߩㆌঋ ݹ ㅢॷ ӊ䇨䈴ぁⱦ 45 7// 46 7// 䍺 㠪䉘 䉘 㓺ᡶᴿ ᆜ ()ਥ䶖伔㺂 ガ㓺ѱ享䈴ぁѣᗹ( ޞ 䜞䈴Ԭс䖳) tt://rfly.uaa.u.cn/cours () ਥ䶖伔㺂 ガ㓺 ޢ Սਭ uaarfly(ᮽㄖƚ䍺䇥ㅿ) () ཐᰁ㘲䇴䇗ф Ӛ QQ㗚:8648 (4) 㿼仇䈴ぁ(MOOC) ਇᐹθ㖇᱉Ӈ䈴 ᩒ ćཐᰁ㘲ĉ tt://stuy.6.co/cours/introuction/755.t (5) ѣᮽҝᵢᮏᶆʌཐᰁ㘲伔㺂ಞ䇴䇗ф Ɇ ሼ ᆆᐛѐ θ 䈭ᵕᖻ (6) ᴿ 䰤ਥ㚊 䈴ぁᙱ ᮏᡪ䇣 θ䛤 φai@uaa.u.cn 7// 47 Ѱᵢ䰞䈴ぁ Ⲻ䍗 Ⱦ 7// 48

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10 7// // 7// 4...: 7// 5.: aruilot.org 7// 6.. Diagonal Si F45 F55 HIGHONE.: 7// 7 7// 8

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15 4. tt:// tt:// tt:// 4. GPS GPS IMU 4 5 IMU 7// 4 7// On-Sourc Projcts Aruilot Onilot Paarai Pixaw Mirootr KKulticotr Multiwii Aroqua Crayfli CraPony W sit URL tt://aruilot.co tt:// tt://aaraiuav.org tts://ixaw.t.c/ tt:// tt:// tt:// tt:// tts:// tt:// Autoqua MgaPirat Erlroot MgaPiratNG tt:// tt:// tt://autoqua.org/ tt://gairatx.co/inx. tt://rlrootics.co/ tt://co.googl.co//gairatng 7// 4 7// aulas Flxot Dronco() Prcto() Parrot API(SDK) DR DRONEKI(SDK) DJI DEVELOPER(SDK) DJI MARICE + DJI Guianc SDK for XMission(SDK) EHANG GHOS SDK(SDK) W sit URL tt://foru.taulas.org/ tt:// tts:// tt:// tts://rojcts.arron.org//arron-ai/inx.tl tt:// tt://v.ji.co/cn tts://vlor.ji.co/cn/atric-/ tt:// tt://v.ang.co/ Dscrition () (g) (MH) APM (Aruilot) Aga56 6 MPU-6 MPU-6 HMC584 MS56 Onilot SMFCB 7 ISZ/IDC-5 ADX HMC584 BMP85 Paarai(Lisa/M) 55.8 SMF5RC6 6 MPU-6 MPU-6 HMC584 MS56 Pixaw 4. 8 LPC48 6 ISZ/IDC-5 SCA- D4 HMC584 BMP85 Mirootr Aga644 ADXRS6 LIS44ALH KMZ5 MPX45A Kulticotr Aga68 ENC- Multiwii N/Aa N/Aa Aruino 8- ISZ/IDC-65 LISLAL HMC588L BMP85 Aroqua N/Aa N/Aa Aruino 8- IG ADXL45 HMC588L BMP85 Crayfli SMF45 68 MPU-95 MPU-95 MPU- 95 LPS5H CraPony-II(4) 8.9*9.55 SMf8U6 7 MPU65 MPU65 HMC588L MS56 5IV x SMF 7 MPU65 MPU65 HMC588L HC-SR4 V SMF47 68 MPU65 MPU65 AK8975 MS56 a:multiwii Aroqua: Aruino Li H, Par J, L D, t al. Buil your own quarotor: On-sourc rojcts on unann arial vicls. IEEE Rootics & Autoation Magain,, 9(): // 45 7// APM.: 7// 47 7// 48

16 4. DSP.DR.Onilot 4. 4MH95MH95 MH 4 MH95 MH MAVLin MAVLin LGPLLssr Gnral Pulic Licns9OnilotUAVal 7// 49 7// 5 5. ( ( ()() tt://rfly.uaa.u.cn/cours () uaarfly() () QQ:8648 (4) (MOOC) tt://stuy.6.co/cours/introuction/755.t (5) (6) ai@uaa.u.cn 7// 5 7// 5 7// 5 7// 54

17 7/5/... 7/5/ 7/5/ 4.. +X X.: (a) ().: 7/5/ 5 7/5/ [] / r.57 [] Boorqu F. Rotor ovr rforanc an syst sign of an fficint coaxial rotary wing icro air vicl [P. D. issrtation], Univrsity of Marylan Collg Par, USA, 7. Eang () 84 (a) ().:.4: C C o (a) ().5:.6:CyPyLVL C o 7/5/ 7 7/5/ 8

18 . CyPyLVL. Panto XMission Xlorr Gost ) 7/5/ 9 7/5/.. r ax r ax r ax r ax r ax r ax R R 9 R 6 R R 9 R 6 n r.7: R rax() rax rax R sin 8 sin n 7/5/ r.7: []. r r.5 r ~.r ax [] Harrington A M. Otial Proulsion Syst Dsign for A Micro Qua Rotor [Mastr issrtation]. Univrsity of Marylan Collg Par, USA,. 7/5/., M, M RJ r a 4 R 4 4 C r R a R Mitc,roll R R 5 M R 5 5 Myaw M M CM r M R 5 5 R, J R J R (~ ) r a, R R v Rg r Rg r a, R 7/5/..8: Frfly 7/5/ 4.. (a) ().9: (c) ().9: 7/5/ 5 7/5/ 6

19 . [].: [Fig.7] [] Bristau P J, Martin P, Salaun E, t al. rol of rollr aroynaics in t ol of a quarotor UAV. In: Control Confrnc (ECC). Euroan: IEEE, /5/ 7.,, () ().: Pixaw/APM 7/5/ : 4CFD.: 7/5/ 9 7/5/ /5/. GPS ) 7/5/..5: Nixi,., 7/5/ 7/5/ 4

20 ...g.5 g.g.6: aruilot.org 7/5/ 5 7/5/ 6. 4 Duro O 4.7:, aruilot.org.8:. 4 7/5/ 7 7/5/ 8. ; 7/5/ 9. ) ) ) 4) 5) 7/5/. ()() tt://rfly.uaa.u.cn/cours () uaarfly() () QQ:8648 (4) (MOOC) tt://stuy.6.co/cours/introuction/755.t (5) (6) ai@uaa.u.cn 7/5/ 7/5/

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24 .. G ovr I U I N M G 5 N 6, 4 M DCn r 6 N M D C f, U, I, U I fi, I U fu, I U fu, M, N I fi, M, N I nr I I otr ovr f, I G I N f, U, I, U,,,U 5 N M DCM 6 U fu, M, N I fi, M, N I fi, I I nr I I otr U fu, I I, U, M, N r 6 nnm UI 7// 7 7// 8,,,U. G.8 f, U, I, U.8 5 N M DCM 6 U fu, M, N I fi, M, N 4 N C D 6 Gaxloa n r G ax arccos G n r I, U, M, N 7// G G 4.5 F rag F Gtan Frag CDV S C C sin C cos V D D D 7// rag n G cos r G tan SC [ sin cos ] CD D. 4G G 4.5 F rag GCMD M Cn cos r (in) N 6 G CDncos 4 r ax Z, ax 7//. [,] 5% 4 7// (N). =5, t =5 APC x45mr (D =inc, H =4.5inc, B =) Sunnysy Angl A(K V =98RPM/V, R =., U =V, I =.5A, I Max =A ) I Max =A, R =.8 ACE (C =4A, U =V, R =.6, K =5C) (A) // 7// 4

25 . 4.Flyval.co G=4.7N, n r =4.5in.in flyval.co. 7// 5 7// 6 4.Flyval.co // 7 7// 8 ()() tt://rfly.uaa.u.cn/cours () uaarfly() () QQ:8648 (4) (MOOC) tt://stuy.6.co/cours/introuction/755.t (5) (6) ai@uaa.u.cn 7// 9 7// 7//

26 7// 7// 7// // 5 x y o o x x y o y o x 5. x y EartBoy 7// 6 o x y o 5. x y,, x, y,,, x, y,,, x, y,,, 7// 7,, n,, o o o n ( n) ( ) 5. 7// 8 n n n n( )

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29 q v q v v v q q v v cos v q v sin Soa K. Quatrnions. Dartnt of Coutr an Inforation Scinc, Univrsity of Pnnsylvania, USA, 994 [Onlin], availal: tt:// v/rsourcs/quatut.f 5.8 7// 5 x o v y vv cos v, vv v v v v v v v v v v v v v sin sin cos vv q sin v v v v v vv vsin v v v v v 7// 6 v v v 5.9 v q q v v vvv * * v v q q v v v v * * v v v q v v v v v v * * q v v v v q q * v v v v 5.9 7// 7 v q q v v x o v v v y q q v v 7// 8 v o x v( v ) y x y q q q q q q q q q q q q q q r r q q q q q q q q q q q q q q q q r r q q r q q q q q q q q q q q q ( qq qq ) ( qq qq ) r C( q ) r Cq ( ) ( qq qq ) q q q q ( qq qq ) ( qq qq ) ( qq qq ) qq qq R C( q ) 7// 9 q q q q x y q q q q y x cos sin cos sin cos sin n o o o n ( n) n q q r r qqyqx qqyqx r = qx qx qy q qqy r cos cos cos sin sin sin sin cos cos cos sin sin q cos sin cos sin cos sin cos cos sin sin sin cos 7// ( ) n n( ) q q r r r = q qy qx q qy qx r qx qy q q qyqx 7// cos cos cos sin sin sin sin cos cos cos sin sin q cos sin cos sin cos sin cos cos sin sin sin cos ( qq qq ) tan q q sin qq qq qq qq tan q q cos sin q cos sin 7// ( qq qq ) arctan q q arcsin qq qq qq qq arctan q q

30 t t t q q q cos sin, t, q v v t q t 7// q t q ttq t q t li t t q t qq t li t t q t t q t li t t t I q t q t t t li t t q t 7// 4 q t q q q t v q q qv q qv I qv W R R t q t q t 5. 7// 5 7// 6 ()() tt://rfly.uaa.u.cn/cours () uaarfly() () QQ:8648 (4) (MOOC) tt://stuy.6.co/cours/introuction/755.t (5) (6) ai@uaa.u.cn 7// 7 7// 8 7// 9

31 7// 7// 7// // 5 7// 6 v W v R R v q qv q qv I qv 7// 7 7// 8

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33 4 i i f c 4 x c 4 y c 4 c M 4 x x 45 o y o 6. c c c c f c c c c x y c c c c 4 c c c c M M M M M4 7// 7 y f c c c c sin c sin n csin x r nr y c cos c cos n ccos r n r cm cm cmn r nr Mn r 4n i r r Mn, i, i,, nr n r x nr o n y // 8 U U = U U C ss R ss ss s c c M 6.4 ( ) C R s 7// 9 7// 6.5 a c 6.6 a A BAB / c Avancing la Rtrating la / 7// 7// x 6.7 x v f v g R x, y v v v gsin f, f x, y rag x y x y y v v v gcossin y x x f v x y rag x f v rag y 7// 7// 4

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36 7// 7// 7// 4 a // 5 7// 6 7. MEMS 7// // 8

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42 Px P c x P R P c yc y P P c M fpx c Px i P c fp Py i P c yc P xc Px i f Py c y f i P c s P P P u xi X P v yi Y u v 7// 49 7// 5 x u X u f c R Py Y P s v v f Px x u c R P y y v MM M P X X M P f x u u X f y v v Y M M Coutr Vision Syst oolox Matla Ra tt://cn.atwors.co/l/vi sion/inx.tl Cara Caliration oolox for tt:// Matla ougutj/cali_oc/ Cara Caliration oolox for Gnric Lnss tt:// caliration/caliration.tl DLR Cara Caliration oolox tt://lr./rc/r/n/sto fault.asx/tai- 95/684_ra-9/ Fully autoatic cara an an to tt:// y caliration Han-Ey Caliration twar/caliration_toolox//cali ration_toolox. Cara Caliration ools tt:// an.stoyanov/cali/ Oniirctional Caliration oolox Hyrolic, tt:// Paraolic, Fol Mirror, i/oolox.tl SricalWi-angl. Cara Caliration oolox for Gnric Multil Caras tt://quanquan.uaa.u.cn/cal irationoolox.tl 7// 5 7// 5 ()() tt://rfly.uaa.u.cn/cours () uaarfly() () QQ:8648 (4) (MOOC) tt://stuy.6.co/cours/introuction/755.t (5) (6) ai@uaa.u.cn 7// 5 7// 54 7// 55 7// 56

43 7// 7// 7// // 5 * * x fc t, x x ft, x, u * x xx x ft, x, gt, x x f c + t, x u g t, x fc t, x f t, x f t, x x * f t, x * c c c xu x f x 7// 6 x fx x n R, r, x r x t R, t, x n r, x rlit x t, x n,, r, t, t x t x, xb, r x n. tt:// [] Slotin J-J, Li W. Ali Nonlinar Control. Nw Jrsy, USA: Prntic Hall, 99 7// 7 x t t x r r x() rr = 7// 8

44 どᇐᙝ ᦤ どᇐᙝ ᦤ ཊ 㘬ᱟ 䶉っᇊⲴ нਈ䳶 δ εᇐѿ 㘹㲇ㅢ ޣ 䇨ѣ ශⲺㆶ ᖘᕅθу㘹㲇 Ȧ u J Ȧ G a ㅿφ Ĭ Ȧ Ĭ J IJ Ȧ Ȧ u Ȧ രᇐ㘲ѱ㾷уӻ 㷰ᰁẞ Ⲻ 䠃 θ䘎 グ Ⲻ䱱 ॽ θ ѣॽ 䐕 㠠䓡Ⲻ ᘷᱥ ⲺȾᆹՐ ഖരᇐ㘲 ᘷⲺ 㙂 θ ഖ ਥԛᖘᡆж 侾䈹㢸 ᘷȾ䘏ቧᱥѰӶѾཐᰁ㘲 䴶㾷㠠傴Ԡᢃ㜳ཕ 伔ᵰ᱉ ӄ θ㙂ሯӄരᇐ㘲㡠 θ ࡏу䴶㾷㠠傴ԠȾ ᖈ㓩Ѱ ᘷ ぁᖘᕅφ ѣφ ªu «u A A I º, u»¼ ªĬ º Ȧ¼ ᘷ ぁⲺ䀙Ѱφ t At ะӄJoranḽ ශৱ 䀙 䱫 θਥ 䀙ᱥуどᇐⲺδ ᖷṯ䜳Ѱ䴬εȾ 9 7// Ԅ䳼 SѣжѠ ਇⲺ 㔕䖞㓵 䘒 ڒ Sѣθ䛙Ѿ〦䘏ж Ѡ䳼 S〦ѰжѠ ᘷ 㔕Ⲻу 䳼Ⱦ δ εቶ䜞у 䳼ᇐ 㘹㲇㠠 䶔㓵ᙝ 㔕 x f x θ ѣfᱥ䘔㔣ⲻⱦ ᆎ ᴿж䱬 䘔㔣 څ ሲ Ⲻḽ䠅 V(x)θ ᗍφ εሯӄաᝅⲻ l \ θ V x lᇐѿⲻ :l ᱥжѠᴿ ตχ εv x f x wv x wx, x :l ٽ 䇴 R Ѱ :l V x Ⲻᡶᴿ 䳼 θm Ѱ R ѣⲻᴶཝу 䳼θ䛙Ѿᖉ 䰪 t o f θԅ :l ਇⲺ жѡ䀙䜳䏁ӄ M 7// どᇐᙝ ᦤ どᇐᙝ ᦤ нਈ䳶 нਈ䳶 δ εቶ䜞у 䳼ᇐ δ εቶ䜞у 䳼ᇐ φѵ ٽ 䇴 R Ѱ :l V x Ⲻᡶᴿ 䳼 θm Ѱ R ѣⲻᴶཝу 䳼θ䛙Ѿᖉ :l ^x \ R ^x \ n n V x l V x l ` ` V x :l M x v v V x ` V x V x :l Rѣᴶཝу 䳼φ x v x v x v M x v R ^ ^ x, v x, v ` ᴶཝу 䳼Mѣਠ ᒩ㺗 ᗍ 䳼 Rφ x, v x v ` :l θᡶԛ 㔕 䘇どᇐ x v x x, v x, v нਈ䳶ⲵ䳶ਸ ޣ 7// 7// どᇐᙝ ᦤ どᇐᙝ ᦤ нਈ䳶 ањㆰঅ 㔏Ⲵっᇊᙗ 㘹㲇 сⲻӂ䱬 ᘷ 㔕 δ ε ޞ ቶу 䳼ᇐ x v v u 㘹㲇㠠 䶔㓵ᙝ 㔕 x f x θ ѣfᱥ䘔㔣ⲻⱦ ᆎ ᴿж䱬 䘔㔣 څ ሲ Ⲻḽ䠅 V(x)θ ᗍφ ε x o f V x o f ٽ 䇴 u v x x x Ѱ' ಞθࡏ 㔕ਥԛ Ѱ A ªx x º «v x», A ¼ Vн䴰㾱Ѫ ᮠ f x wv x wx, x \ n ٽ 䇴R ᘷグ䰪 V x n n ᇐѿᶄ䳻 䈰ཡ ᒬ ሲφ ` M ε V x ^x \ R x v 㘹㲇 㔕φ v x v 䰪 t o f θԅ :l ਇⲺ жѡ䀙䜳䏁ӄ M ^x \ :l Ⲻᡶᴿ 䳼,MѰRѣⲺᴶཝу 䳼θ䛙Ѿᖉ ᇐ φ,! 䛙Ѿ lit of t 䰪 t o f θᡶᴿⲻ䀙䜳 ޞ ቶ 䘑 ᮑӄMȾ ª nun «I n In º I n»¼ 䘑ж Ⲻθ nu ޞ ቶ どᇐȾ 䇷᱄isφ t At θaⲻ ᖷ ٲ ൽᴿ䍕ᇔ䜞θะӄJoranḽ ශৱ 䀙 䱫 θਥԛᗍ ᇐ ѣⲻ㔉䇰ⱦ 7// どᇐᙝ ᦤ sat g u, a ањᑖ価 㔏Ⲵっᇊᙗ ᇐ φ x v v sat g u, a മ. Ⲵਜ਼ѹ ٽ 䇴 u v x x x ѰPD ಞθᒬъ sat g u, a, u f a,a \ a u, u f!a f ѣ u >u " \ n, u f ax u,", un どᇐᙝ ᦤ u ањᑖ価 㔏Ⲵっᇊᙗ a 㘹㲇 сⲻӂ䱬 ᘷ 㔕 Na u 4 7//,! 䛙Ѿ lit of t 䇷᱄φ x v v sat g u, a N a u u, жӑᔶ 㠠傴Ԡθ PX4θ䟽 Ҽ 侧 θ фu ж㠪ⱦ x x x v v x 䘑ж Ⲻθ x v v Na u u nu ቶ䜞 どᇐȾ Cuᱥ ᇐѿⲺ ݿ ᴨ㓵θ ᱥḽ䠅u t θࡏ ³ Cu u ³ u t s ᇐѿᶄ䳻 䈰ཡ θᒬ ሲ V v v ³ Cu N a u u u V v v N a u u u N a u u u у 䳼 έ 7// 5 7// 6

45 , lit t n x v v sat g u,a x xx v v x x v v a V x V xvx, V vv a V a a uu u vv uuu uuu Cu 7// 7 u u V un v x n x v x x M V n n v x n v n n x, v n n u 7// 8 n 985 F-5A-4N 957 F-5 A-4N A-4N F-5 x AxBux, A, B, u n n n n xt t, t u t, t xt n C AB, B AB A B ran CAB, n tts://taviationist.co/4/9/5/f-5-lans-wit-on-wing/ 7// 9 7// A =, C, = B A B B AB n n, n n x AxBux A, B, u (A, B) x t t = t x (a) ().4 x xu, u -. 7// 7// n n, n n x AxBux A, B, u xt t, t xt u t, t C AB, A v vbuu [] Brar R F. Controllaility in linar Autonoous systs wit ositiv controllrs. SIAM Journal on Control, 97, (): // A v vbu u v vbu u A vx vaxvbu y vx, vbu 7// 4 y yvbu

46 x u f f x y v x y g g 44 I4 A 88 B J f 84 J iag J,, J, J f xx yy 44 x AxB u g 7// 5 f u f, n r n U, r f f K i i u B f, u u B f, fu f f f f f f U u uu g, u [4] Du G-X, Quan Q, Yang B, Cai K-Y. Controllaility analysis for ultirotor licotr rotor graation an failur. AIAA Journal of Guianc, Control, an Dynaics, 5, 8(5): f f.5 g, in g u f, u f g, g [5] Du G-X. Rsarc on t Controllaility Quantification of Multirotor Systs. Doctoral sis. Biang Univrsity, Cina, 5. [In Cins] x AxB u g g, g 7// 6 f u g, A v vbu u g C AB, A Matla oolox for Calculating an Availal Control Autority Inx of Multicotrs. tt://rfly.uaa.u.cn/rsourcs/ 7// 7 g, PNPNPNPPNNPN.6 PN..55 g g 9.8 /s.75 K i, i =,, N J xx.4 g J yy.478 g J.599 g μ. - 7// 8 PNPNPNPPNNPN. PNPNPNPPNNPN C (A, B) PNPNPN PPNNPN / = 8.7 = 8.45 = = = 8 6 = 8 7// 9 PNPNPNPPNNPN N N 6 6 o o P o 5 5 P P 4 P N 4 N (a)pnpnpn ()PPNNPN.7 7//. tts:// x v 6 q, u f x y, f g g, I A 6 B, J f J iag J,, J f xx yy, x AxB u f g u f, n r n U, r f f K i i u B f, u u B f, fu f f f f f f 7// 7//

47 PNPNPN. g, g, K a g,,. 5/8.6 [6],,.. CN977B 7// 7// 4 PNPNPN. [7] Mar W. Mullr, an Raffallo D Anra. Staility an control of a quarocotr sit t colt loss of on, two, or tr rollrs [C]. IEEE Intrnational Confrnc on Rootics an Autoation, 4: // 5 x AxB u g [8],,,.. : CN978B [9],,,,. [C]. 4(CCC 4). 4:-7 f 7// 6 [],.., 4, 4(): ()() tt://rfly.uaa.u.cn/cours () uaarfly() () QQ:8648 (4) (MOOC) tt://stuy.6.co/cours/introuction/755.t (5) (6) ai@uaa.u.cn 7// 7 7// 8 7// 9 7// 4

48 7/5/ 7/5/ 7/5/ 4,, f, f n,,,,, n,,,,,, n.,, v f,,. f, 7/5/ 5 7/5/ 6 J + Ga f x sin sincos sin cos v f f y cos sincossinsin v g R f g coscos =W J x y v R J 7/5/ 7,,,, f g, sin,cos,sin,cos cos sin ga R sin cos ga f v x sin sincos sincos v f f v g R y cos sincossinsin v ga x cos sin,,, R y sin cos A R 7/5/ 8

49 v f v g R =W J f g cos cos W I v f v g = J v f v g R =W J v v v ga f v g = J 7/5/ 9 7/5/. 7/5/ St-Point Control t t rajctory racing t :, t t t Pat Following t t t [] Hsana J P. rajctory-tracing an at-following of unractuat autonoous vicls wit aratric oling uncrtainty. Autoatic Control, IEEE ransactions on, 7, 5(8): /5/,, f R, f 7/5/ v v A g K K K ga K K g A K K 7/5/ 4 v f v g 7/5/ 5 f g f g lit t v v K lit v t lit t v v v f li t v lit t, li t lit v t lit t lit t lit t.4 lit t t 7/5/ 6

50 li t g v ga A K K K v v vi v v v g A K K K v v vi v v v t v lit t t t v t li f li t v lit t, li t lit v t lit t lit t lit t.4 lit t t v f g v v vi v v v f li t v lit t, li t lit v t lit t lit t lit t.4 lit t t 7/5/ 7 7/5/ 8 PID PID g A K K g A K K K v v vi v v v 7/5/ 9 PID PID sat g A K K,a g a sat g x,a PID v v sat g v v, a sat g g A Kv v K viv K v v, a a a, 7/5/ PID sat g x,asat x,a a x sat g x,a a x sat x, a x, x a sat x, a,sat x, a asign x, x a sat xn, a x, x sat g x, a x a, x x a a y PID sat, sat, g.4 x Y Position P y () sat g g sat 4 5 X Position () P x ().5 7/5/ 7/5/ f sat g g, a a v v sat g v, 4 v a f sat ggv i, v v v v v a 5 a4, a5 sat g x,a sat x,a 7/5/ R SO R R R, v f R R R.6 7/5/ 4 R,,,

51 r [] R, K K K v v v v v v v v v a v v v R f g r a, sat g i, a a sat g i, g a r, g a v f v g R 7/5/ 5 [] L,, Loy M, an McClaroc N H. Gotric tracing control of a quarotor UAV on SE(). In: Procings of t 49t IEEE Confrnc on Dcision an Control. Atlanta, Gorgia, USA: IEEE, r r r,,, g a r, g a R R r, r, r, r,, r, R r cos cos r cos sin sin 7/5/ 6 r, r,, r, r r, r, r, r r r, r r,, r, r, r r, r r R,,,, RR I cos r, sin,, R r, r, r, r, r, r, cos sincos sinsin a r, sin sin cos cos sin a. coscos a,,,, arctan ( a cos a sin, a ), arctan ( a cos a sin, a ), arcsin( a sin a cos ), sign.,,, (*) 7/5/ 7 7/5/ 8,, R f f r, f g r, a r, r,r, f r g a f f, f in ax, f sat f f f f f f r,ga, g in ax ax in in ax R li t t t li RR I t Rt R t f li t v lit t, li t lit v t lit t lit t lit t lit t t 7/5/ 9 7/5/. 9 7/5/ li t t = K li t t li t t J = K K K i K, K, K i 7/5/

52 R R R R R R R R I lit R t I R vx RRR R x x x x x x, x x x,vx x x x x = RR KRR K 7/5/ K R,K K K J RR RR R R [] L,, Loy M, an McClaroc N H. Gotric tracing control of a quarotor UAV on SE(). In: Procings of t 49t IEEE Confrnc on Dcision an Control. Atlanta, Gorgia, USA: IEEE, /5/ 4 uv t t uv t g t n g : B n uv t Bt u v t g t f c c c c x c c y c c c M cm cm cm 4 M4 f c c c c sin c sin c sin x nr y ccos ccos ccos n r cm cm cm nr nr Mn r 44 M 4 P4 M4 Pn M r nr nr 4 4nr Pn M n r r 7/5/ 5 7/5/ 6 f, f, Pn r, n r i,, i,,, nr M n r c, cm, 7/5/ 7 c c c M csin csin csin nr c, cm, ccos ccos ccosn r nr cm cm cmn r P iag c c c c a M Mn c, cm, PM a n,, r Mn c, cm, Mn,, Pa r 7/5/ 8 r r M 6c, cm, c c c c c c c c c c M6 c, cm, c c c c M6,, 6 c c cm cm cm cm cm c M x 6, f c, f -? x c PID 6,, a 6,, M P M y c PID,6 c M 5 6 y 4.7 7/5/ 9,,,, nr, lit,,,, i CR s, i 7/5/ 4

53 ,,,,, n r a,, f, a, PID 7/5/ 4 7/5/ 4 ()() tt://rfly.uaa.u.cn/cours () uaarfly() () QQ:8648 (4) (MOOC) tt://stuy.6.co/cours/introuction/755.t (5) (6) ai@uaa.u.cn 7/5/ 4 7/5/ 44 7/5/ 45

54 7// 7// 7// 4 SDK 7// 5 7// 6 7// 7 7// 8

55 RC + ++ u u u u + SAA + v x v y v () +,,, x y x x u u u u x y y. 7// 9 7// v v v u v u u u R v v K v g v K K K u u u u u () t () t x() t x () t x() t x() t B ( 4, ) x = x= B (, ) 4 7// 7//. Matla. CIFER.4 7// 7// // 5 7// 6

56 .4.5 7// 7 7// 8 - v v v u v u v u u v v u u v u s G s u s u 7// 9 7// - v v s G s u s v u s G v u s u s s u - u u u u u u u s G su s u 7// 7// - v s G s u s v u s G v u s u s s 7// u - s iag, R Gv u s u s s s R iag, Gv s u u s s s R R 7// 4

57 - u K v u v K v g = v K K K u u u K v u v K v g v = v v K K v K K K u u v u v v v v s G s u s v u v v 7// 5 PID y u y.5 PID u ( ) i u i u K R K R K R i 7// 6 PID DIC y G G y G Ĝ G Ĝ G y 7// 7 7// 8 y y Gu ys y y G u y s Gu Gu y y y Quan Quan, Kai-Yuan Cai. Aitiv-Outut-Dcoosition-Bas Dynaic Invrsion racing Control for a Class of Uncrtain Linar i-invariant Systs. 5st IEEE Confrnc on Dcision an Control,, Maui, Hawaii, USA, // 9 s () s G u su s s ˆ s G su s Gˆ su s s u u s l G sgˆ su s u u u s u s ˆ s Gu s u s s s s s G s u s u l 7// () u s Gˆ s s s Qu ˆ Q s G s Q u u u l s.6 7// u ˆ u s Q s G s s s l ˆ G Qu s Gu s u s Gˆ u s l () () Gˆ u s () Qu s Gu s Qu () su ˆ Gu j G u j Q u j (4) u t () t 7// Quan Quan, Kai-Yuan Cai. Aitiv-Outut-Dcoosition-Bas Dynaic Invrsion racing Control for a Class of Uncrtain Linar i-invariant Systs. 5st IEEE Confrnc on Dcision an Control,, Maui, Hawaii, USA,

58 (4) ˆ u s Q s G s s s u u l ˆ l u s s G s u s ˆ s s s s s u Q G v v v uv v u v vl s s ˆ s s v G u v l v u v v 7// 7// 4 u v, u, u u v,, u, u G.7 Zanr J () AR Dron Siulin. tts://gitu.co/justynaanr/ar Dron Siulin. Accss Jan 6 7// 5 7// 6 v v v u v u u u R v 7// 7 v K v g v K K K u u PDP u u u u u K v u v v R I xy, Gvu () s u () x v v s x x v () s G () () v u s u s v v Gvu () s u () y v v s y y,, iag(.,). K v 7// 8 (/ s) v x () () x 5 5 (s).7s (/ s) v y ( ra ) y 5 5 (s) 5.85s (Puo-Rano Binary Signals, PRBS)...5s.76s (s) (s).8 7// 9 7// 4

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61 7// 7// 7// 4.. Mission Plannr 7// 5 7// 6 w, nw w, nw w, nw 5 w, nw 6,,,,, n w, w, w, w, w,,, n w w,nw w, nw w, nw 4 w, nw 7, tts://youtu./f4je5fq w,. S 7// 7 7// 8

62 ޞ 㠠ѱ ԫ 㿴ࡂ ޞ 㠠ѱ w,nw w,nw w,nw 5 ԫ 㿴ࡂ w,nw 6 ԫ 䴰 δ ε 䇴䇗 w,n 䗉 ޛ φཐᰁ㘲ᇔ փ㖤 ᚥ θᇔ 䠅 ᚥ Ⱦ 䗉 φᇔ ⴤḽփ㖤 δ Ѱփ㖤 ಞᵕᵑ䗉 ޛ εⱦ ε ᇐ ᖘ ตආḽ χ εṯᦤա 䴶 ᡆ䴶㾷䚃 Ⲻ㡠䐥 w, w,,", w,,", w,nwආḽ ݻ ㄏආḽ w, θᒬሼ ᡶᴿ㡠䐥 ආḽ ޛ ⅗ד Ḿѣχ w, εԛ nw θᒬԛᖉ ⴤḽ㡠䐥 Ѱ w, θ䇴 㖤 H!, t! θ ѣ H ӄ ᯣཐᰁ㘲ᱥੜ 䗴㡠 മ.4 㡚䐟 ޕ Ḹ മ 䐥 θt ᱥ 䠅䰞䲆 ٲ χ ķཐᰁ㘲ԅ ݻ ㄏ w, ਇθ 6ශ 䚃 ᡶᴿᵕᵑ㡠䐥 Ĺᖉ 䠅քӄ䰞䲆 ٲ θཐᰁ㘲 ᆎ ᖉ փ㖤ᒬ䘊ഔ ݻ ㄏ ݻ θ ݻ ᇂᡆ 伔ഔ ൦㔝㔣ᇂᡆԱ χ w,nw w,nw ĺ䚃 ᇂᡶᴿ㡠䐥 ཐᰁ㘲伔ഔ ݻ ㄏȾ w,nw 4 w,nw 7 w, മ. Sᖒ䙽শԫ 㿴ࡂ മ 9 7// 7// ޞ 㠠ѱ ޞ 㠠ѱ ԫ 㿴ࡂ θ㔉ᶕա χ w, & θ䈪᱄ա 䘎 ᇂᡆθਠᱥ 䠅䗽ք䘊ഔ ݻ Ⱦᖉཐᰁ㘲 ݻ ᇂᡆ θ ڒ ൦ㅿᖻ䎭伔 ԚȾжᰜ 䎭伔 Ԛθࡏᢝ㺂 ᢗ㹼䗷〻 θ䈪᱄ཐᰁ㘲ᐨ䚃 ᇂ㡠䐥 ੜ ε 䠅 t & w, θ 䈪᱄ཐᰁ㘲 伔 㡠䐥 Ⲻ䗽ぁѣ 䠅 䗽քθ䴶㾷ሼᖉ փ㖤 Ѱ㡠䐥 ޛ Ḿѣθ߃ሼ ݻ ㄏփ㖤 ޛ Ḿѣθԛ ཐᰁ㘲 ݾ 伔ഔ ݻ ㄏ ߃ ݻ 䘊ഔᖉ փ 㖤㔝㔣ᇂᡆԱ θ䈛䗽ぁ䙐䗽ᢝ㺂ԛс Ԛᇔ φ ᱥ 䘎ᴿԱ ϋ 䖢㠩 εੜࡏ䖢㠩 εχ δ ε 䇴䇗 ੜ ᱥ 㔉ᶕ ݻ ੜ w,ᒬ䐩䖢㠩 ε㔝㔣䘆 ݻ ᇂ ϋ ᱥ 䇴㖤сжѠ 㡠䐥, w,, w, w, മ.5 〻മ 㺂χ w, θ䈪᱄ཐᰁ㘲ա 䘎ᵠᇂᡆъ 䠅 ݻ 䏩θᢝ㺂 䟿н䏣噧 ᣔ ൪ ᱥะ൦ϋ ε H θ䈪᱄ཐᰁ㘲ᐨ䘑 ⴤޛ ḽ㡠䐥 θ θ ԫ 㿴ࡂ 䗴㡠䐥 δ ε 䇴䇗 w, & w ࡍ 䱦 ĸᵕᵑ څ 㡠䀈 сжѡ㡠䐥 ε w,, w, w,, w, w, w, w,. w, ੜࡏ䐩䖢㠩 ε㔝㔣䘆㺂ⱦ മ.6 䟿н䏣 Ⲵ 䗷〻 മ θ w, ᒬ䐩䖢㠩 ε㔝㔣ᢝ㺂χ 7// 7// ޞ 㠠ѱ ޞ 㠠ѱ 䐟ᖴ㿴ࡂ w,+,+ δ εะᵢᾰᘫ,+ δ εะᵢᾰᘫ,+ ε䐥ᖺ㿺ࡈφཐᰁ㘲 伔㺂ѣуӻ 䐟ᖴ㿴ࡂ εӱᐛ ൰ φ 㔏ⴤḽ㡠䐥 㓵䐥ᖺ 㠠䓡㓜ᶕⲺ䲆 θ䘎ր 㓜 ᶕⲺᖧ Ⱦ䐥ᖺ㿺ࡈᱥѰҼ㔏ཐᰁ㘲ᨆ 䞃੮ᕋ ൰θ㔏䳒 䞃 ᯛ ൰θ п㔪 w, ב ᰘ 䏩㠠䓡㓜ᶕ 䏩 㓜ᶕⲺਥ伔䐥ᖺȾ മ.7 ޘ ተ䐟ᖴ㿴ࡂ ተ䜘䐟ᖴ㿴ࡂ 伔㺂 ต ӄⴤḽ㡠䐥 Ƚ 㓵䐥ᖺ 䳒 Ⲻਖ ൰ѣθ伔㺂 䈛 ตѣⲺཐᰁ㘲ሼՐ ε ޞ ቶ䐥ᖺ㿺ࡈ ᡆ㡠䐥 θᒬ 㓵ሼ㡠 㻡ⴤḽ㡠䐥 㓵䐥ᖺ ੮ᕋθ㙂㻡䳒 䐥 䘔 䎭ᶛθ䘏ж䗽ぁ〦Ѱ ޞ ቶ䐥ᖺ㿺ࡈχṯᦤቶ䜞 ᶗԬ ཐᰁ㘲Ⲻ ᯛθ ᗍཐᰁ㘲 伔 ⴤḽ㡠䐥 Ⲻ ᆜ䘆 ᆜ㓜ᶕሼ 㓵䐥ᖺᨆ Ѱਥ伔䐥ᖺθ䘏ж䗽ぁ〦Ѱቶ䜞䐥ᖺ㿺ࡈȾ 㓵伔㺂θъ㜳䚵ᔶ䳒 [] Kati O. Ral-ti ostacl avoianc for aniulators an oil roots. intrnational journal of rootics rsarc, 986, 5(): 9-98 [] souros A, Wit B, Sanugavl M. Coorativ at lanning of unann arial vicls[m]. Jon Wily & Sons,. -. 7// മ.8 ൪ മ 4 7// w ޞ 㠠ѱ ޞ 㠠ѱ w,last 䐟ᖴ㿴ࡂ 䐟ᖴ㿴ࡂ δ ε 㓵䐥ᖺ䐕䳅 മ.9 ⴤ㓯䐟ᖴ䐏䲿 മ ε䰤从ᨅ䘦φԛ \ 㺞 ཐᰁ㘲ᖉ փ㖤θ w \ 㺞 ⴤḽ δ ε 㓵䐥ᖺ䐕䳅 ම䏩ਥԛ㺞 Ѱ ε 䇴䇗 c 㡠䐥 θ w,last \ 㺞 ржѡ㡠䐥 Ⱦ䇴䇗ቶ䜞䐥ᖺ㿺ࡈಞᇔ ൦ ᡆᵕᵑփ㖤 \ θᕋሲཐᰁ㘲 w,last \ w \ ҁ䰪ⲻ 㓵 sat g w w,r, a C w w w,last w w,r A I ሼཐᰁ㘲ⵁ 䍞 ශθ 䏩 亵ㅢӂᇐᗁ v w,last w w w,last w,r =A w ѣ ε 䇴䇗 w 䛙Ѿ 䐥ᖺ伔㺂 䗴ⴤḽ㡠䐥 w Ⱦ 7// w,r w,last w w,last w w w,last w,last v u മ. ⴤ㓯䐟ᖴ䐏䲿ࠐօ ޣ 5 7// ぁ A w = 㺞 \ փӄ 㓵㡠䐥рȾ 6

63 V A v v w w w w,, + 7// 7 sat g w A w, a C C w V sat g w A w, a w v v C V,, +, a+ V sat A, a v v u g w w 7// 8 u satg w A w, a sat g, a v V v sat gv, a v v V v sat g w A w, a v, v, u satg w A w, a sat g, a v w,r w,last u= sat gv, a. sat, a g w w,r sat,a C g w w,r w 7// 9 7// Y() 5-5 w,last X(). 7// sat, a g w w,r w Y() 5-5 =.5 =. =. w w,last X() w w w r o o. t. o o ro w r o w,last o w o w o 7// r o. w o o V sat g w, a w v v C o o ro o o o r 7// V sat, V a g w v ov v u o o ro u sat, a sat v, a g w o g o o ro V v sat gv, a V V V t V, t, o o ro V u 7// 4

64 u sat, a sat v, a v V v u= a g w o g o o ro w o, x a a a w,, a x a o o ro, x a x v, v, a w o r o o w w.4 r o o 7// 5 7// 6 w w w o r.5 u= sat gv, a sat, a o oro g w o Y() 5-5 w X() (a) Y() X() () w.6 w =5 = =5 7// 7 7// 8 w,last r o o w Staili Mo Altitu Hol Mo Loitr Mo 7// 9 7// Staili Mo Altitu Hol Mo Loitr Mo 7// Staili Mo Altitu Hol Mo Loitr Mo RC 7//.7

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67 7// 49

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69 (Barotr) 7// 9 (Coass) 45% 5 GPS45 7// GPS GPSGPS GPS 4(Inrtial Navigation Syst) 7// PWM 4 7// PID 7// 7// 4 Halt Evaluation 7// GPS // 6

70 x5 x5 GPS 7// 7 7// 8 APMGPS iag_fil ii-5~5 GPS GPSEKF IMUGPS GPS 7// 9 7// GPS HDOPGPS glitc9gps HDOP.5GPS 4. GPS tt://aruilot.org/cotr/ocs/gs-failsaf-glitc-rotction.tl#gs-failsaf-glitc-rotction 7// 7// actuator x fx Bu w y C x v.5 iag,,, n 7// EKFAugnt-EKF,,,, x fxbu w,, x y C v 7// 4

71 [] Yan J, Zao Z Y, Liu H X, Quan Q. Fault Dtction an Intification for Quarotor Bas on Airfra Viration Signals: A Data-Drivn Mto. In: Procings of t 4t Cins Control Confrnc. Hang Zou, Cina: // 5 7// 6. 7// // 8 Stat of Carg, SoC SoC[,] SoC=SoC= 7// 9 SoC SoC i s S S w, Q R R w ax, SSoC iar Q ax A s w V S i R Cv OCV VVCvOCV(S) OCV-SoC 7// EKFUKFSoCR EKF SoC UKFSoCR SoC SoCSoC UKFSoC [] H W, Williar N, Cn C, t al. Stat of carg stiation for lctric vicl attris using unscnt Kalan filtring[j]. Microlctronics Rliaility,, 5(6): // 7//

72 Disar GPSHOME POSIION 4GPS 7// 7// 4 GPSGPS 4 7// 5 Disar 7// 6 Low Battry Rsrv MAH 7// 7 7// 8 POWER OFF SAE SANDBY SAE GROUND_ERROR SAE 7// 9 MANUAL FLIGH MODE (LOIER MODE)(ALIUDE HOLD MODE) (SABILIZE MODE) REURN-O-LAUNCH MODE AUO-LANDING MODE 7// 4

73 PE (a) () 4.8 / PE 4.9 7// 4 7// 4 AE AEGPS AE AE4 AE5 AE6 AE7- AE8 AE9 AE 7// 4 7// 44 C C9 C C8 C7 C C C4 C5 C C4 C C5 C C6 4. C C8 C9 C7 C6 C 4. C C C7 C8 C C C9 C C4 C C5 C5 C6 4. C C4 C (MIE=)&(MIE=)&(AE=)&( AE5=)&(AE6=)&(AE7=) MIE= AE=&AE5= AE6=4 AE7=5 MIE= 7// 45 7// 46 C C8 C9 C7 C6 C C9 C C8 C7 C C C4 C5 C C4 C C5 C C6 4. 7// C7 (AE=&AE=&AE=&AE4=& AE5=&AE=)&[(MIE=&AE7 ) (AE6=&AE7) (AE7=)] MIE= AE7 AE6= AE7 AE7= GPS AE=&AE=&AE=&AE4= &AE5= AE= 47 C6AE= AE4= 4. GPSAE= AE4= C7AE= AE= C8AE=&(AE= AE4=) AE=GPSAE= AE4= C9AE=&AE4= GPSAE=&AE4= CAE=&AE=&AE4= GPSAE=&AE=&AE4= CAE= AE= 7// 48 C

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