쿼드로터 헤딩 방향 제어를 위한 지자기 센서 보상 및 센서 융합

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이유진;류정래
Lee, You Jin;Ryoo, Jung Rae

  • 투고 : 2016.03.30
  • 심사 : 2016.06.28
  • 발행 : 2016.07.25

초록

쿼드로터의 헤딩 방향 감지를 위하여 일반적으로 활용하는 지자기 센서에서는 주변 자기 간섭 및 롤/피치 축 기울기로 인한 오차가 발생한다. 본 논문에서는 쿼드로터 헤딩 방향 제어를 위하여 지자기 센서와 자이로 센서의 측정 결과를 융합하는 방위각 측정 방법을 제안한다. 롤/피치 축 방향 회전으로 인하여 발생하는 지자기 센서의 좌표축 변화를 분석하고, 수평 자세 제어를 목적으로 측정된 롤/피치 축 각도를 활용하여 지자기 센서의 기울기 보상을 적용한다. 또한, 요 축 각도 측정에 상보필터를 활용하여 지자기 센서의 요 축 각도와 자이로스코프 센서의 요 축 방향 각속도 데이터를 융합한다. 제안한 방식을 실험에 적용하고 결과를 제시하여 요 축 각도 측정의 타당성 및 효과를 검증한다.

키워드

quadrotor;heading direction control;complementary filter;geomagnetic sensor;gyroscope sensor

참고문헌

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과제정보

연구 과제 주관 기관 : 한국산업기술진흥원