摘要
本文研究了基于STM32F106ZET6嵌入式开发板的微型四旋翼无人机,主要硬件电路包括最小系统、直流电机驱动、基于2. 4 GHz的NRF24L01无线通信、六轴姿态传感器以及人机交互模块。依靠无线通信模块将机身的各种姿态传输回地面,并通过遥控器实时控制无人机的飞行姿态。在软件算法上,将姿态数组通过四元数解法和旋转矩阵,获得机身的飞行姿态。然后通过串级PID,将系统误差最小化,达到准确处理数据的目的,实现无人机的稳定飞行。
The paper introduces a micro quadrotor uav based on STM32F106ZET6.The main hardware circuit includes minimum system,dc motor drive,NRF24L01 based on 2.4 GHz,six-axis attitude acquisition and human-computer interaction module.Various attitude of air frame is transmitted back to the ground by wireless communication module and the flight attitude of uav is controlled in real time by remote control.For software algorithm,the attitude collection array is solved by quaternion method and rotation matrix to obtain the flight attitude of the fuselage.Then,the cascade PID algorithm is adopted to minimize the system error,so as to achieve the purpose of accurate data processing and realize the stable flight of uav.
作者
乔梦甜
冀保峰
吴文乐
范世朝
李鹏
Qiao Mengtian;Ji Baofeng;Wu Wenle;Fan Shichao;Li Peng(School of Information Engineering,Henan University of Science and Technology,Luoyang Henan 471003,China;School of Aeronautics and Astronautics,University ofScience and Technology of China,Chengdu Sichuan 611731,China;School of InformationEngineering,Xizang Minzu University,Xianyang Shaanxi 712082,China)
出处
《山西电子技术》
2019年第2期20-23,共4页
Shanxi Electronic Technology
基金
河南科技大学SRTP(2018076)
国家十三五装备预研基金(6140311030207)
国家重点研发计划(2018YFB0904905)
国家自然科学基金(61801170
61501405
61801435
U1404615
61671144
41605122
U1504619)
教育部产学合作项目(201602011005
201702135098)
中国博士后基金(2018M633351)
西藏民族大学西藏文化传承发展协同创新中心2018年招标第21号课题
2018年西藏自治区自然科学基金"中继增强型毫米波MIMO安全传输关键技术研究"支持
西藏自治区教育科学"十三五"规划2018年重大招标课题(XZJKY201803)
