四旋翼无人机控制系统设计

Design of Four-rotor UAV Control System

目前无人机已广泛应用到各行各业,其中无人机的稳定控制一直是研究的核心。在飞控系统中各参数的选择对无人机的稳定控制有着至关重要的作用。以STM32微控制器为核心,利用MPU9250采集四旋翼无人机的姿态数据,配合卡尔曼滤波算法对传感器所采集的数据进行融合滤波,从而实现精准的姿态测量。根据飞行姿态结合PID控制算法,完成对四旋翼无人机飞行姿态的控制。

UAV has been used in all kinds of businesses today.The stability control has always been the core of research.It is important to select parameters for the UAV in stability control.This paper uses STM32 microcontroller as the core,uses MPU9250 to collect the attitude data of quad-rotor UAV,uses Kalman filtering algorithm to fuse and filter the data collected by the sensor,so as to achieve accurate attitude measurement.According to the flight attitude combined with PID control algorithm,the four-rotor UAV flight attitude control is completed.