六旋翼对称布局+可旋转机臂，实现高精度全向飞行控制
MOMAV: A highly symmetrical fully-actuated multirotor drone using optimizing control allocation
- 六臂沿八面体顶点布局，每臂可绕自身轴旋转
- 飞行定位与姿态误差均小于12mm和3.3°，重复性优异
- 适合需要精准姿态控制的科研或工业场景
MOMAV（Marco's Omnidirectional Micro Aerial Vehicle）是一种全驱动多旋翼无人机，可独立控制姿态而不受位置影响。其高度对称结构使飞行效率不受当前朝向影响。该设计采用六根旋翼臂对齐八面体顶点，并支持每臂沿长轴主动旋转。主要创新包括：相比其他全驱动构型具有更高飞行效率；设计了含滑环的可旋转臂组件以实现连续旋转；提出基于序列二次规划（SQP）的新型控制分配算法，实时计算油门与臂角设定值。飞行测试表明，当扫掠位置设定值时，平均位置/姿态误差为6.6mm、2.1°（标准差：3.0mm、1.0°）；扫掠姿态设定值时，平均误差为11.8mm、3.3°（标准差：8.6mm、2.0°）。
原文摘要 · Abstract (English)
MOMAV (Marco's Omnidirectional Micro Aerial Vehicle) is a multirotor drone that is fully actuated, meaning it can control its orientation independently of its position. MOMAV is also highly symmetrical, making its flight efficiency largely unaffected by its current orientation. These characteristics are achieved by a novel drone design where six rotor arms align with the vertices of an octahedron, and where each arm can actively rotate along its long axis. Various standout features of MOMAV are presented: The high flight efficiency compared to arm configuration of other fully-actuated drones, the design of an original rotating arm assembly featuring slip-rings used to enable continuous arm rotation, and a novel control allocation algorithm based on sequential quadratic programming (SQP) used to calculate throttle and arm-angle setpoints in flight. Flight tests have shown that MOMAV is able to achieve remarkably low mean position/orientation errors of 6.6mm, 2.1° (σ: 3.0mm, 1.0°) when sweeping position setpoints, and 11.8mm, 3.3° (σ: 8.6mm, 2.0°) when sweeping orientation setpoints.
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