视觉跟踪的四轴飞行器系统设计

Design of four axis aircraft system for visual tracking

项目采用STM32作为控制器,采用惯性模块MPU6050,通过四元数加互补滤波的方法对飞行器姿态解算获得欧拉角,利用加速度计和气压计实现高度观测,结合双闭环PID控制器实现飞行器的悬停,通过OPENCV机器视觉库对实时回传电脑的图像进行处理,并将目标坐标通过蓝牙发给遥控器,遥控器再将指令传给飞控以实现对目标的跟踪。

The project uses the STM32 as the controller, using inertial module MPU6050, through four yuan number complementary filtering method for aircraft attitude solution for Euler angle, to achieve a high degree of observation using accelerometer and pressure gauge, with double closed-loop PID controller to achieve the aircraft hover, processed image by machine vision library OPENCV for real-time computer return, and the target coordinates to the remote controller via Bluetooth remote controller, then send control instructions in order to achieve the target tracking.