基于ROS的多旋翼飞行器飞行控制系统的开发与设计

Development and Design of Flight Control System for Multi Rotor Vehicle based on ROS

小型飞行器路线制导和控制系统的改良升级主要以更精准的飞行器定位和遥控功能为核心技术评判指标,但飞行器飞行的复杂环境影响和不确定性干扰因素,会对飞行器控制者的信号接收/传导造成不可预期的影响,致使无人机在飞行过程的定位偏差造成剐蹭或碰撞事件,严重者甚至影响到控制信号的实时传输,造成失控和航迹偏移现象。文中针对在GPS信号缺失环境下的多旋翼飞行器的系统定位和自主飞行控制问题,设计开发出一种基于视觉导航构建的中央自控系统,其设计引入新式Pixhawk模块作为核心算法,协同ROS飞行系统,共同建立稳定低耗的通信导航网络,实现多旋翼无人机自主飞行控制系统和自主航迹修正。

The improved upgrade of the small aircraft route guidance and control system is mainly based on the more accurate aircraft positioning and remote control function as the core technology evaluation index,but the complex environment and uncertain disturbance factors of the aircraft flight will results in unpredictable effects of the reception/transmission of the signal of aircraft controller,resulting in unmanned aerial vehicles in the flight process positioning bias caused by cutting or collision events,serious and even affect the real-time transmission of control signals,resulting in out of control and track migration phenomenon. In this paper,a central control system based on visual navigation is designed and developed for the system location and autonomous flight control of multi-rotor aircraft in the absence of GPS signal. The new Pixhawk module is designed as the core algorithm,cooperative ROS flight system to establish a stable and low-cost communication and navigation network,and achieve multi-rotor unmatched autonomous flight control system and autonomous track correction.