农田地形测绘无人机增稳系统设计与实现

Design and Implementation of Stability Augmenting System of Agricultural Topographic Surveying Drone

获取高精度的农田地形数据是进行精准平整地作业的必要条件。多旋翼无人机具有自动化程度高、方便操作等特点,被广泛应用在航空摄影与遥感测绘作业中。然而,无人机飞行时机体倾角在机械振动与气流横风等因素的作用下大幅度动态变化,影响负载设备的工作性能。针对地形测绘无人机设计了一种增稳系统,用以抵消无人机倾角变化对地形测绘精度的影响。该系统基于STM32单片机,采用MPU6050加速度传感器实时采集测绘无人机的倾角数据,并利用步进电机输出相应的角位移,驱动曲柄连杆机构对无人机的机体倾角进行动态补偿,最终使激光测距仪始终处于竖直姿态,提高地形测绘数据的精度。试验数据表明,当地形测绘无人机倾角>15°改变姿态时,增稳系统补偿后的调平盘倾角变化<3°,试验证明增稳系统的动态调平效果显著。

Acquisition of accurate agricultural topographic surveying data is prerequisite for precision land leveling.Unmanned drone has characteristics of high automation and simple operation, which is widely used in operations of aerial photographing and remote sensing.However,tilt angle of drone’s body changes dynamically under action of mechanical vibration,cross wind and other factors,which results in deterioration of performances of onboard device. Therefore, a stability augmenting system based on STM32 single chip microcomputer was designed for land topographic surveying drone.This stability augmenting system collected drone’s tilt angle data by using a MPU6050 acceleration sensor in real time.It also used stepping motors to drive crank rod mechanism to compensate tilt angle,so that laser range finder could always maintain a vertical state and therefore accuracy of topographic surveying data could be improved.Experiment data indicated that tilt angles of leveling plate after compensation were less than 3 degrees under condition that topographic surveying drone dynamically changed tilt angle beyond extension of 15 degrees, which showed significant stabilizing performance of stability augmenting system.