Research On Low Cost Flight Control And Application Of UAV

With the progress of science and the change of military strategic, Unmanned Aerial Vehicles have great applications in both military and civil fields. When UAV carry out a task like attack, investigation, aerial photography, mapping and so on, it always need onboard video camera to shoot the target. This paper researches on camera motion automatically following head motion at first, and then relative technology problems were developed.In first part, this paper introduces a low cost head following platform system which can be used in the monitoring system of UAV. The system can improve the coordination between remote monitoring system and UAV operator, and improve efficiency of the shoot mission. In this part, this paper mainly introduces the head tracking control theory, and hardware design and integration. In next part of this paper, the UAV`s flight control system was introduced. In this part, firstly, the mathematical model of UAV was developed. The mathematical model includes dynamics equation and kinematics equation. The nonlinear numerical simulation model was build in MATLAB /SIMULINK, and the control response of mathematical model was analyzed. Secondly, in order to acquire the flight navigation parameters of UAV, the design of the integrated navigation system which is combined with GPS and strapdown inertial navigation system was studied. The integrated navigation system can give the flight control system real-time flight parameters of UAV. Finally, the method of feedback 1inearization is adopted to design the flight control system. The original nonlinear system was linearized into two two-order system and two one-order system. And then classical PID control is used to design control laws. Path planning and path tracking control law of UAV is also discussed. The simulation results obtained satisfactory performance, so it proved the theories and methods used in this paper are feasible.