Research On Key Technology Of Quadrotor Aircraft Based On Multi-sensor Fusion

Four-rotor aircraft (Quad-Rotor) is a new kind of rotor-type unmanned aerial vehicles (UAV) concept, which has a great difference between the common main rotor plus tail rotor coaxial helicopter and helicopter propellers. Quadrotor aircraft in the circle with the distribution of four rotors, only need adjust the speed of the four rotors to control the flight attitude and the flight speed, without the need for complex pitch moment control. As to obviate the mechanical control unit, enabling the fly-by-wire, and enhance the system stability and easy maneuverability. In addition, the quadrotor aircraft can achieve the realization of fixed-point omni-directional movement which other aircraft can not achieve, so particularly suitable for implementation in low-altitude areas of reconnaissance, surveillance, communications relay missions, research and application of high value.In this paper, we just have a preliminary research and design about quadrotor aircraft. First, we introduced the research status about the quadrotor aircraft at home and abroad and the main research contents of this issue. Second, primary discussion on quadrotor aircraft aerodynamics and kinematics model from the theoretical, and the classical PID control algorithm is applied to the negative feedback of the airframe balance system. Then, the prototype quadrotor aircraft has been designed, including the overall framework of the design, control system software design, hardware design and debugging and flight test, and finally have a brief summary and outlook about this project.The aircraft flight control platform use ATMegal28MCU as a controller, and software entirely in C programming language. The whole control system including power modules, alarm and indication module, multi-sensor fusion module, online debug module, wireless remote control module, motor driver module and main control module, in which multi-sensor fusion module is the core of the entire system which has four sub-modules, including the attitude heading reference system (AHRS), barometric altimeter, ultrasonic range finder and GPS global positioning system. The control system laid the foundation for the further study of quadrotor aircraft and achieving self-control.