The Research Of Navigation And Control System For Quad-Roter Aerial Vehicle

Quad-rotor aircraft with novel structure can implement vertical takeoff and landing,fixed-point hovering,and have space activities of six degrees. Compared with the helicopterwhich using conventional structure, this kind of aircraft has advantages of simple structureand high reliability,and has broad prospects in the field of military and civilian.However,quad-rotor aircraf is a typical underractuated system,nonlinear and strong coupling makecontrol technology of this aircraft an important research direction of the field.The other hand,combination of navigation system and quad-rotor aircraft,can effectively expand itsfunctionality.However, due to limitation of carrying capacity,it is difficult to usehigh-precision and high precision navigation systems in this aircraft.To solve the aboveproblem,this paper did lots of research.Firstly, choosing DSP as control center and designning the hardware part of controlsystem and navigation system for quad-rotor aircraft.The aircraft navigation system used aintegrated navigation system constituted by SINS(Strapdown Inertial Navigation System)composed of MEMS inertial measurement unit and GPS.Realizing the function of usingnavigation system of low precision micro sensor to provide navigation to the aircraft.Sencondly, according to the characteristics of structure and dynamics,established themovement model of quad-rotor aircraft.In this paper,the attitude matrix is builded onquaternion method.From this matrix,Getting the movement modelof aircraft in thegeographic coordinate system.Analyzing the basic law of the motion modelfor the quad-rotoraircraft and simulating the motion model of this aircraft in MATLAB.Then,the basis for flightcontrol system designning can be provided.Thirdly,the article studied on the navigation system.Including principles of SINSnavigation,navigation equations,initial alignment of the navigation system,AHRS solver andattitude matrix solved by rotation vector.Using the extended Kalman filter to combine SINSwith GPS.Exported posture and position information of the carrier.Fourthly,considering the motion characteristics of quad-rotor aircraft, established theflight control system by using PID controller.Simulated the flight control system forsimulation by using motion model of the aircraft.Using fuzzy PID controller to improve theattitude stabilization loop of aircraft.Improved the controlling power of the attitudestabilization loop.Finally, verified the aircraft ’s navigation and control system by testting the quad-rotor aircraft.Concluded navigation algorithms and flight control algorithms through thecomparison of experimental results.