The Design And Implementation Of Real Time Controlled Four Axis Aircraft Based On Embedded Linux

Four axis aircraft is an aircraft with four symmetric rotors which can take off and land vertically, the flight attitude can be adjusted when changing the speed of the four rotors.Four axis aircraft can take off,land,fly forward,fly backward,fly to the left and fly to the right,it can also do a lot of complex movements.Four axis aircraft involves in many sophisticated technologies, it can perform tasks in some complex environment that unsuitable for human,such as carrying out ground surveys in the wars,searching and rescuing after a disaster and racking targets.It can also be used for aerial photography.Taobao now use four axis aircraft to delivery.which can reduce the delivery time greatly. Four axis aircraft has more advantages than many other aircrafts, thus researching four axis aircraft is a very valuable thing.At present,the vast majority of four axis aircraft flight control systems are made by single chip microcomputer,the applications which supported by the single chip microcomputer are rarely,so the four axis aircraft can not do many things. From the point of view of aerial,ordinary four axis aircraft puts the memory card and the camera on it, and people can not see the video transmitted by four axis aircraft,which leads to poor aerial effects.Now, some kind of better four axis aircrafts add a new function of image transmission,but the four axis aircraft’s control module and image transmission module are completely independent,which not only increases the cost of hardware of four axis aircraft,but also increases the weight and power consumption of four axis aircraft.So it is necessary to produce the low-price and high-performance four axis aircraft which can transmit video on time.To resolve this problem, we need to use the operation system to make four axis aircraft control system.In addition,if the four axis aircraft control system which using operating system can be made,the four axis aircraft can achieve accurate tracking,3D model construction and other tasks which can not be done by the single chip microcomputer.A real time controlled four axis aircraft based on embedded system is made by studying the BeagleBone Black and embedded Linux operating system. The four axis aircraft uses BeagleBone Black board as control center which has Cortex A8 processor,it connects client using a wireless router.The four axis aircraft using MPU6050 sensor as attitude sensor and it uses sensor data to adjust flight attitude. The experiment shows that this four axis aircraft can perform the mission.The experiments proves that the four axis aircraft based on embedded Linux operating system is feasible,the latter can add more functions which can not be completed by a single chip microcomputer based on this four axis aircraft.