自主巡航四旋翼无人机电气控制系统设计

Design of Eectric Control System of Autonomous Cruise Four-rotor Uav

针对自主巡航四旋翼无人机电气控制部分,完成了电气控制系统硬件方案设计,论述了摄像头、磁力计、超声波传感器、六轴传感器以及CPU芯片的选择,并对所设计的摄像头引导线图像处理算法、四元素角度融合、姿态控制算法、高度控制算法和巡线控制算法分别进行性能测试和调试,通过调试与试验验证了设计方案的正确性。

In this paper, for autonomous cruise four-rotor UAV electric control part, it completes the hardware design of electrical control system, elaborated the selection of camera, magneto meter, ultrasonic sensor, six-axis sensor and CPU, and designs the camera guide line image processing algorithm, four element angle fusion, attitude control algorithm. The high control algorithm and the patrol Line control algorithm perform performance testing and debugging respectively, and the correctness of the design scheme is verified by debugging and testing.