Key Technology Research Of Micro And Small UAV Control System Based On MEMS Sensors

Micro and small UAVs are playing a more and more significant role in military andcivilian fields. The research on the flight control system, which is the core component of theUAV systems, has important practical significance.A small fixed-wing UAV used for aerial photography in the practical engineering is takenas application platform in this paper. On the basis of summing up micro UAV flight controlsystem design in domestic and foreign, a low cost flight control system was established usingMEMS sensors, and the research was done on the key technologies of the measurement andcontrol system.Firstly, according to the application requirements, the paper puts forward the overallscheme of the flight control system, including the hardware system module divisionand detailed design. The UAV Control System uses STM32F4family microcontroller as themain chip and integrates sensor module, GPS module, the servo signal input and output drivermodule, power management module and expansion interface part in order to ensure the goodscalability of the hardware.Secondly, attitude solution algorithm based on MEMS sensor is discussed. According tothe aerial flight characteristics of small UAV, this paper designed the attitude Kalman filteralgorithm based on the attitude error quaternion. Under different working conditions of thebody, different sensor data and fusion methods are used to calculate the UAV attitude. Themethod has better application effect on small maneuvering aerial UAV.In the design of measurement and control system, the hierarchical modular design ideawas used to design the rational flight control system software architecture. According toMicro UAV flight dynamics model, UAV longitudinal and lateral control loop control lawresearch and design were done.Finally, the function of flight measurement and control system is tested on the groundand the plane, which verified the functionality correctness and reliability and feasibility of the hardware and software modules of the flight control system.