微型飞行测控系统（Micro Measurement and Flight Control System ，简称MMFCS）是微型飞行器（Micro Aerial Vehicles，简称MAVs）实现自主飞行的核心子系统。由于微型飞行器体积小、速度低、带载荷能力差，常规飞行测控系统不再适用，因此，本文对微小型固定翼无人机测控技术进行研究，并设计了实用化微型飞行测控系统。本文研究了MMFCS设计中涉及的多个问题，如测控系统软硬件设计、MAVs运动信息测量、飞行器导引算法、飞行稳定策略，并在研究中获得了一些有效的、实用的结果，实现了MAVs的自主飞行。本文利用微机电（Micro Electro-Mechanical System，简称MEMS）传感器和嵌入式处理器设计了MMECS系统，采用模块化开放式结构，可以满足多种微型飞行器及其载荷的测控需求。其体积为65×40×12mm3，重量为22g，已成功地应用于翼展300~1000 mm的多款MAVs。本文研究了MAVs的姿态测量问题，提出了基于矢量估计的姿态融合算法（Three-axis Attitude Determination from Vector Estimation，简称TRIAD-VE方法），利用微惯性/磁组合，配合卡尔曼滤波，实现对磁矢量和重力矢量的分别估计，避免了磁场变化对俯仰角和滚转角的影响，并降低了运算量；引入红外地平系统（Infrared Horizon Detector，简称IHD）评估惯性系统的动态测量有效性，并通过对比方法获得重力矢量滤波器中量测噪声方差阵的替代值，取得了较好的姿态测量效果。针对微型无人机的特点，本文提出了适用于微型固定翼无人机的水平和垂直方向控制体系，实现了在微型无人机上的自主导航飞行：设计了MAVs非线性导引方案，用于风场中的航迹跟踪控制；提出了基于姿态判据的MAVs保护策略，用于无人机的飞行安全控制；在MAVs的内环控制中，采用PID和QFT（Quantitative Feedback Theory，简称QFT）相结合的增稳控制器，提高MAV的鲁棒性和飞行稳定性。 通过在38厘米微型飞行器上飞行试验，验证了本文工作的有效性。应用本文研制的MMFCS系统和测控方法，该微型飞行器可以在2-3级风中，完成对任务航线的跟踪，并具有较好的重复性。
Micro Measurement and Flight Control System (MMFCS) is the core unit of the electronic system for an autonomous Micro Aerial Vehicles (MAVs) to accomplish a flight task such as trajectory tracking in wind filed. Being in small size, low speed and limited payload capacity, most conventional measurement and control system is no longer practical in MAVs. In this paper presents a study on MMFCS system based on criteria of minimum size and low computational complexity to complete the autonomous fly. The thesis includes several engineering technologies, such as design of autopilot system, measurement of flight motion parameters, realization of MAVs autonomous flight control and guidance, which provide practical, effective methods for MAV research.A method of MMFCS based on MEMS sensor and advanced RISC microprocessor was put forward. The MMFCS adopted hierarchy structure, modular hardware and structured software, which made it easy to apply to several kinds of MAVs simple hardware adjustment and software customization. Via using MEMS sensors, such as angular rate gyroscope, accelerometer, and pressure sensors, the developed micro MMFCS is with a size of 65×40×12mm3 and a weight of 22g. The MMFCS system is successfully applied in several fixed-wing aerial vehicles with wingspan from 300 to 1000 mm.A novel linear fusion algorithm with a linear (and simple) Kalman model is presented to estimate the gravity and magnitude vector separately. To implement an effective attitude measurement with high dynamics and vibration, an Infrared Horizon Detector (IHD) is developed to evaluatethe noise covariance matrix. By this way, the MAV attitude can be obtained fast and accurately. Then, the MAV flight controller is designed in the lateral and longitudinal control loop for the trajectory tracking。A nonlinear guided logic is used to accomplish the MAV lateral guidance in wind field. An expert system with piece-wise proportion integration differentiation (PID) controller is developed for the attitude control loop. A hybrid cont roller combining a PID controller with a QFT controller is used to further enhance the robustness and stability of the MAVs.Examples of waypoint-based autonomous fly mission, using the MMFCS system of a MAVs with a wingspan of 380 mm, is presented, with the results demonstrate the effective of the effectiveness of the proposed methods of measurement and flight control.
