Autonomous control system for the quadrotor unmanned aerial vehicle

Abstract

As the development of mechatronics technology, advanced guidance technology and the control technology of microcomputer,the quadrotor unmanned aerial vehicle is widely used in military and civilian aspects by virtue of excellent stability and agility, which attracts high attention of domestic and abroad researchers. It has become one of hot research in multiple fields of the world. In this paper, an autonomous flight control hardware platform is built, the platform adopts the STM32F405 as the controller. The flight control system includes geomagnetic inertial navigation system and the sensor group. The geomagnetism inertial navigation system is composed by three-axis gyroscope, three-axis accelerometer and magnetometer. The sensors group is composed of atmospheric pressure altimeter, ultrasonic sensors and GPS. The posture algorithm based on data fusion is adopted to analyze the posture of unmanned aerial vehicle. The posture deviation of unmanned aerial vehicle is adjusted through classic PID. Based on the platform and the control algorithm, the flight control system hardware and software has been completed and the flight control experiments of the attitude and height are carried out. The experiment result shows that t the hardware platform structure in this thesis is reasonable. The proposed automatic control system acquires better flight control effects. Meanwhile, it is also proved that low-level performance of the micro quadrotor control system is just like the design analysis. With compact structure, special rotor layout and the stabilizing system of multi-sensor cooperation, the quadrotor can complete most of the task under the complex environment of low altitude.