A Four Rotor Autonomous Flight Control System Design And Implementation

After the explosion caused by coal gas and coal dust in coal mine, the environment isdangerous. Sending rescuers to the scene of the accident, it easily triggers the secondaryexplosion. But the disaster experts are short for the scene information to make the rescue plan.The robot undoubtedly the most effective and safe way that to detect the underground accidentdamage and environmental information, the feedback in the form of data sending to thecontrol center, which has very important practical significance to coal mine safety production.Based on the above analysis, according to the current domestic mine rescue equipmentsdevelopment status and the scene of the disaster environment complexity, the four rotoraircraft as the research object, the paper proposes a four rotor aircraft autonomous flightcontrol system which based on measuring distance, the results show that the system isavailable. At first, the paper designs the plan of autonomous flight. The plan have two parts:quantify the control signal and reverse output the control signal. According the requirementsof the plan, the paper designs the system hardware and software and selects the ARM7as thesystem hardware development platform, ADS1.2as a software development tool. The systemquantifies the control signal by setting the interrupt and timer, connects the GPIO to theoutput of the receiver. There are many air ultrasonic sensors installing around the aircraft torealize the location in the limited space. The system can collect the quantized value andlocation value to transmit to the upper computer. After many flight experiments, it got a lot ofsample data and summarized the relationship between the control signal and the aircraft flightattitude, especially the take-off, landing and hover. Described the relation by C programminglanguage, the GPIO outputs the same control signal to realize automatic aircraft take-off,hover and landing. In addition, the system collects the concentration of methane and carbonmonoxide, converts to digital form by an AD converter, and transmits to the upper computerwhich installs environmental assessment system the by wireless. The environmentalassessment system will analyze the data and determine it safe or not. It applies the preciousbasis and avoids the secondary disaster. Finally, the paper has carried on the test to the system hardware, software, andsuccessfully realized the four rotor aircraft autonomous take-off, height locking, landing, theresults show that the scheme is feasible.