摘要
通过研究四旋翼飞行器的结构特点、姿态解算算法及其飞行控制原理,设计了以STM-32系列微控制器为核心的自动飞行系统,包括硬件电路设计和程序算法设计.试验测试表明,该系统能够在搭建的狭小空间主动避开障碍,实现稳定飞行.
Based on the studies of structural features,attitude estimation,control principle of quadrotor aircraft,an auto-flight system with STM-32 microprocessor as the core was designed,which including the hardware circuit design and the programming algorithm design. The experiment shows that it can take the initiative to avoid obstacles in narrow and small space and achieve stable flight.
出处
《上海工程技术大学学报》
CAS
2015年第1期49-52,共4页
Journal of Shanghai University of Engineering Science
基金
上海市大学生创新训练计划资助项目(CS1302003)
