矢量共轴双旋翼无人机的设计与仿真研究

Research on Design and Simulation of Vector Coaxial Two-Rotor UAV

设计了一款新型的具有矢量定向机构的共轴双旋翼无人机。在Webots移动机器人仿真软件的环境下完成对矢量共轴双旋翼无人机的实体造型与动力学建模,基于ROS机器人操作系统编写了矢量共轴双旋翼无人机的飞控程序,引入了双目定位算法进行空间定位。通过仿真实验验证了矢量共轴双旋翼无人机机构、飞控程序和双目定位算法的可行性,对快速开发新型无人机飞控和接入新型传感器有参考价值。

A new coaxial twin-rotor UAV with vector orientation mechanism is designed in this paper.In the environment of Webots mobile robot simulation software,the solid modeling and dynamic modeling of vector coaxial two-rotor UAV are completed.Based on the ROS robot operating system,the flight control program of the vector coaxial twin-rotor UAV is compiled,and the binocular positioning algorithm is introduced for spatial positioning.The feasibility of the mechanism,flight control program and binocular positioning algorithm of vector coaxial twin-rotor UAV is verified by simulation experiments.It has reference value for rapid development of new UAV flight control and access to new sensors.