The Design Of UAV Flight Control System Based On STM32Micro Control Unit

The remote-control fixed wing plane is chosen as the research platform, and the low-cost flightcontrol system is designed based on the existing UAV system.Firstly, the scheme of flight control system is conducted, and the detail hardware is developed.The UAV hardware system include flight control system and ground control station. The flight controlsystem is made up of STM32MCU, sensors, GPS module, remote control signal decode module,servo control module, RF module and power supply module. The ground control station is made up ofcomputer, RF module, ground control station software and command box.Secondly, strapdown navigation algorithm is researched. It’s the key technology to an UAVsystem. The error quaternion based attitude Kalman filter is developed in this paper. Consideringinfluence of rigid acceleration, the combined filter is designed to improve the precision of estimation.The simulation test shows good performance of this navigation algorithm. The velocity and positionKalman filter is designed by using of GPS signal.Thirdly, the classical PID control method is used to design control law, and the simulation test iscarried out. Furthermore, the autonomous flight control law is researched, and calculation ofnavigation parameter is designed in both straight line flight path and curve line flight path states.Finally, the experiment is carried out to prove the practicability and reliability of the flightcontrol system and navigation algorithm.