基于Cortex-M4的无人飞行器安防系统研究

Security System Based on Cortex-M4 of Unmanned Aerial Vehicles

针对大型园区、厂区安防人工成本高,及时性差等问题,设计了无人飞行器安防系统.飞行器采用四旋翼结构,其控制系统以Cortex-M4为架构,通过获取惯性传感器数据,使用串级比例积分微分控制实现自平衡,并利用GPS与气压计获取自身位置、高度信息,使其按照预定路线自动巡逻.控制中心通过无线网络接收飞行器采集的视频,使用跟踪学习检测算法对视频数据进行分析,当锁定目标后,远程控制飞行器进行跟踪.经过试验,飞行器具有很好的悬停能力,能够按照预定轨迹飞行.跟踪算法能锁定动态目标,并对飞行器进行实时控制.结论表明无人器可以完成巡逻和跟踪任务,自动化程度高,节省人力.

A security and protection system using unmanned aerial vehicles（UAV）was designed aiming at the high labor cost and poor promptness in protecting large industrial parks and factories. The UAV is a quadrotor with its control system based on Cortex-M4 architecture,and its self-balancing ability was realized by collecting data from the inertial sensor and applying cascade proportion integration differentiation control. The UAV can perform automatic patrol along planned routes by using a GPS device and barometer to obtain information on its location and height. The control center receives videos recorded by the UAV through wireless network and analyzes the video data using the tracking learning detection algorithm. Once locking a target,the center would command the UAV remotely to track it. It has been verified through experiments that the UAV has excellent hover performance and can fly along planned routes,and the tracking algorithm performs well in locking mobile targets and controlling the UAV in real time. Results indicate that the highly automated UAV is competent for the tasks of patrolling and tracking,and can economize on manpower.