农情监测四旋翼飞行器姿态控制仿真与实现

Simulation and Implementation of Attitude Control for Agricultural Condition Monitoring UAV

为解决垦区农作物生长环境监测问题,提出使用搭栽高光谱相机的四旋翼飞行器低空航拍的方法。建立了四旋翼飞行器运动学模型和动力学模型。使用旋转矢量插值法解算飞行器的姿态,使用基于卡尔曼滤波器的PID控制算法对飞行器姿态进行控制。对系统进行了Matlab仿真,并通过设计硬件电路和编写软件实现了功能。通过试飞,验证了以上理论与方法的可行性。

To solve the problem of crops growth environment monitoring of agricultural areas,a quad-rotor equipped with hyperspectial camera is used to take pictures for the farmland by low-altitude flying.The dynamic model and kinematics model are established for the quad-rotor.The rotating vector and interpolation algorithm is used to obtain the optimal attitude of the aircraft.The PID regulator based on Kalman filter is used to control the attitude of the aircraft.The whole system is simulated by Matlab.The functions are realized by designing the circuit and software of the controller.Test flights verify that above theory and methods are feasible.