PID控制及图像识别的自主循迹四旋翼设计

Design of Autonomous Four-rotor Tracking Aircraft Based on PID Control and Image Recognition

本文四轴平台以STM32F407微控制器作为飞行控制的核心,硬件包括用于飞行姿态信息采集的MPU-9150九轴陀螺仪传感器,用于飞行器高度和航线图像信息采集的US-100超声波模块和配置了云台的OV7670摄像头模块,为四轴飞行高度和航线提供期望修正参数。另增加一片STM32F407芯片进行图像处理,提高图像采集的实时性和处理的快速性。通过姿态解算、PID控制以及结合图像实时处理来实现四轴的平稳飞行和自主循迹。

In this paper,STM32F407 microcontroller is used as the core of flight control,and the hardware includes MPU-9150 nine-axis gyroscope sensor which is used to collect flight attitude information.The US-100 ultrasonic module is used to collect the image information of the aircraft altitude and the route,and the OV7670 camera module of the cloud head is configured to provide the desired correction parameters for the four-axis flight altitude and the route.An additional STM32F407 chip is added for image processing,that improves the real-time and fast processing of image acquisition.The stable flight and autonomous tracking of four-axis are realized by attitude solving,PID control and real time image processing.