基于GPS定位的四旋翼无人机位置跟踪控制

GPS Positioning-based Position Tracking Control for Quadrocopter Drones

针对当前多旋翼无人机的广泛使用以及GPS导航技术的日益成熟,使得GPS在小型飞行器上的应用成为了可能。该文研究了以APM自驾仪为核心的四轴飞行器导航系统的动力学建模原理,建立起了串级PD控制动态模型,通过MATLAB/Simulink仿真后可以得到四旋翼无人机的稳定运行效果。最后对无人机进行了航迹规划,通过实验结果证明了串级PD算法能较好地改善四旋翼无人机搭载GPS时的飞行效果。

In view of the current widespread use of multi-rotor UAVs and the increasing maturity of GPS navigation technology,which makes it possible to apply the GPS in small aircrafts.This paper studies the dynamic modeling principle of the four-axis aircraft navigation system with the APM autopilot as the core,and establishes the cascade PD control dynamic model.After the MATLAB/Simulink simulation was established,the stable operation effect of the four-axis aircraft could be obtained.Finally,the trajectory-planning of UAV was carried out,and the experimental results proved that the cascade PD algorithm can improve the flight effect of the quadcopter when equipped with GPS.