简易室内定高四旋翼飞行器设计

Design of simple indoor quad-rotor aircraft flying at constant height

本文设计一款可在低空区间(对地高度0.3~5 m)保持指定高度飞行的简易四旋翼飞行器。控制器采用STM32F103RCT6单片机,通过惯性测量单元集成的数字传感器MPU6050和超声波测距模块分别测量得到飞行器的姿态角信息和飞行器对地高度,从而实现近地定高飞行目的。该四旋翼飞行器体积小、飞行灵活、有一定的运载能力,且成本低廉易于实现,该设计为室内等狭小空间的探测提供了理想平台。

A simple quad-rotor aircraft capable of flying at a specified height within a low altitude range(0.3-5m height)was designed.STM32F103RCT6 microcontroller was adopted in the desigh,and the attitude angle and the flying height of the aircraft were measured by using an MPU6050 digital sensor and an ultrasonic distance measuring module,respectively,which were integrated into an inertial measurement unit,so as to reach the goal of low-altitude and fixed-height flying.The quad-rotor aircraft is small in size,flexible in flight,with a certain carrying capacity and low in cost allowing easy manufacture.The present design provides an ideal platform for the detection in a limited space like room.