四轴飞行器及其无线视频传输毕业论文

毕业设计(论文)

题目四轴飞行器及其无线视频传输与

定位系统设计

学院信息科学与工程

系别自动化

专业测控技术与仪器

年级2011级

学号10111740

姓名栗源兴

导师杜红彬

定稿日期：2015 年 6 月12 日

摘要

四轴飞行器是近几年来较为流行的一种飞行器，从2010年开始，其算法、理论已经基本成熟。四轴飞行器是一种结构简单，飞行自由度较高的一种飞行器，涉及多个学科，具备很高的研究价值。文中通过介绍其结构特点，姿态解算方式及飞行控制，设计了以K60系列处理器为核心、MPU-6050 为惯性测量器件的飞行控制系统。系统通过解析接收器PPM 遥控信号，融合当前传感器的测量数据，估算运动姿态，再计算得到电机调节量，来控制电机以调整飞行器运动姿态。系统中使用了欧拉角的方式描述姿态，并采用了互补融合的算法进行姿态解算，达到了很好的估测效果。在飞行稳定后，可以轻松的加上航拍的设计。

关键词：四轴飞行器，姿态解算，互补滤波，航拍，GPS，Zigbee

Abstract

The four-axis aircraft is a new structure, new high-performance UA V which has important applications in many fields, covered many areas of high precision and advanced technology. This thesis further analysis the value and feasibility of its application in the wireless sensor network with its unique movement and superior processing performance, then proposes a plan that using the four-axis aircraft as the moving- flying Sink node; It will improve load imbalance and lead to premature paralysis of the status quo of the network, and ultimately enhance the network performance. The thesis focuses on the analysis and the design of the control system for four-axis aircraft works.

Based on researching the structural features、Attitude Algorithm and flight control principle of four-axis aircraft, this thesis designed a control system which with STM32 family of processors as the core and MPU6050 inertial measurement devices. The system parsed 2.4G Wireless PPM remote control signal, fused the attitude data of the sensors, estimate motion posture, and then calculated the motor adjustment amount to control the aircraft motor to adjust the attitude. Finally, the system got good attitude estimation by using the Euler angles and Complementary fusion algorithm attitude solution.

Keywords：Four-axis aircraft; Mobile Sink; Attitude solution; Inertial Measurement; Complementary fusion

目录

1绪论 (1)

1.1四旋翼飞行器简述 (1)

1.2国内外四旋翼飞行器研究现状 (1)

1.3研究意义和发展前景 (2)

1.4本文主要内容 (3)

2四轴飞行器工作原理 (4)

2.1四轴飞行器结构框架及工作原理 (4)

2.2四轴飞行器姿态与升力的关系 (7)

2.3飞行器姿态确定 (9)

2.4遥控接收技术 (11)

2.5PID控制器 (12)

3控制系统设计 (14)

3.1总体设计 (14)

3.2设计目标 (14)

3.3硬件模块设计 (14)

3.4软件系统设计 (18)

3.5设计实现 (24)

4定位与航拍设计 (27)

4.1GPS定位原理 (27)

4.2程序实现 (27)

4.3定位效果 (27)

4.4航拍原理 (28)

4.5航拍结构设计 (28)

5上位机调试 (30)

5.1通信原理 (30)

5.2调试内容 (30)

5.3调试结果 (30)

6结果分析及改进 (32)

6.1设计结果 (32)

6.2算法分析 (33)

6.3控制系统改进 (33)

7总结与展望 (36)

7.1研究总结 (36)

7.2未来的研究展望 (36)

参考文献 (37)

致谢 (40)