A Four Rotor Ground Station System Design And Implementation

Mine serious casualties continue to occur because of the complex and changeableunderground mine environment, in order to implement the rescue timely, effectively avoid thesecondary unknown underground environment damage accident on the rescue team membersbecome a serious problem.After the study of the past rescue methods, this paper proposed themine rescue disaster environment evaluation system based on autonomous aircraft. Theevaluation system includes four rotor aircraft, the airborne systems and ground stations threemodules. Four rotor aircraft acquisition the business data and perform the flying assignments.On the one hand, the airborne system needs to send business data to ground station and on theother hand, the airborne system receives the flying assignments from ground station andcontrols the four rotor aircraft based on the flying assignment. As the monitoring andcommand centers of the system, ground station mainly to complete aircraft flight conditionmonitoring, evaluation the underground environment state and send the flying assignments tothe airborne system.The content of this paper is to focus on design and implementation of mine rescuedisaster environmental assessment system ground station software. As a monitor andcommand center of the entire system, ground station complete three tasks after establishing acommunication connection via a wireless network with the onboard system. First, groundstation receive the business data that is sent in real time via a wireless network from airbornesystem, and then analysis, decode and storage the business data. The business data is the flightattitude parameters and environmental parameters. Flight attitude parameters includes AngleNick, Angle Roll, Acc Nick, Acc Roll, Acc Z, Hight Value, Gas, Compass Value, Voltage,the remote channels controls. Environment parameters include the underground temperature,the methane concentration, oxygen concentration and the concentration of combustible gases.Second, analyzing the environmental parameters of the explosive in real-time. According tothe environmental parameters, combined with the gas explosion triangular theory to evaluatethe explosion risk of underground environment and give the assessment results. Third, the four-rotor aircraft state was pre-controlled. Ground station send pre-control commands to theairborne system via a wireless network, after received and analyzed pre-control commands,airborne system instruct four motor speed, in order to complete the four rotor aircraft flightattitude control. Ground station‘s software development use Visual Studio2008platform C#language.Currently, the ground station modular function has been largely achieved, and verified tomeet the basic requirements of the ground station through experimental test subjects, but alsohas good scalability and real-time.