四旋翼飞行器实时航拍及GPS定位系统设计

Real-Time Aerial Photography and Global Positioning System for A Quadrotor Design

针对国内民用无人飞行器功能单一、不易操控等缺点,设计了以Cortex-M3内核为核心、实现图像实时传输与GPS(Global Positioning System)定位并基于PID(Proportion Integration Differentiation)算法控制的多功能四旋翼飞行器。结合建立的动力学模型对飞行器进行姿态分析和控制,采集飞行中的姿态、油门幅值及位置参数等数据并通过无线方式传输到上位机中。对比飞行姿态的理论数据和实测数据,根据算法调整其响应时间短、稳定性高的控制参数,并实现传感器数据的绘图和保存。测试结果表明,飞行器平稳飞行,航拍图像传输距离为110 m,并能实现多功能操控。

Because of single function and difficult control of the current unmanned aerial vehicle, a muhifunctional quadrotor aircraft, based on PID （Proportion Integration Differentiation） control algorithm, is designed to realise real-time aerial photography transmission and GPS （Global Positioning System） locating in the core of Cortex-M3, controlling the posture of the quadrotor aircraft by the angle of yaw, roll, pitch, acquiring the data including flight posture, throttle range and position parameter, building a dynamical model. Added with the wireless transmission, the data measured practically are transmitted to upper computer, compared with theory data. Then the controlling parameter is adjusted to shorten response time, steady the flight in accordance with algorithm and accomplish plotting and saving with the sensors data. The result shows that the quadrotorcan fly steadily with muhifunctional control and the distance of real-time aerial photography transmission can reach 110 meters.