Quadrotor Design And Track The Overall Tracking Ground Control Software Design

This thesis mainly aims to design a set of four-rotor aircraft system which is capable for improving the performance of flight missions. The system not only relevant to hardware design of the aircraft itself and the sensor system, but also the aircraft control algorithms and the data fusion algorithms of sensor. In order to ensure the flight missions can be achieved successfully, design of a ground station software is involved.This paper firstly reviews the evolution of four-rotor aircraft in an arduous process of historical development. Furthermore, this paper also demonstrates the current situation of multi-rotor technology, which is raising like a blowout outbreak, under the rapid development of modern MEMS technology. Additionally, it analyses the related research status and outcomes of four-rotor aircraft in China and abroad as well. The designed four-rotor system in this theses is based on the predecessors’ works so as to take further in-depth study and enhancement.Based on the four-rotor aircraft then this paper addresses the airframe coordinates and inertial coordinates, and Attitude dynamics model and dynamic model of the position of four-rotor aircraft is developed in the base of Newtonian Mechanics. According to the actual situation of the aircraft, here in this paper raises several assumptions and the next is to simplify the mathematical model of four-rotor aircraft. Moreover a PID controller about poise and location with a simplified model designed. The paper introduced the classical Kalman filter applied in Sensor Data Filtering, Attitude measurement and position calculation in the sensor system used in the Kalman filter sensor data fusion,to improve information accuracy for guarantee the stability of the four-rotor aircraft controller.In order to complete the design of this system, this paper makes an illustration in details for the hardware experiment test of this system. Specifically regarding to two significant parts, sensor system and master control system, to respectively demonstrate such as the performance, parameters, and functional interface in further details.Based on the basis of this article on the developed experimental platform, we also explicitly explain the key technology of such as data acquisition, location conversion, and data fusion which for achieving this four-rotor aircraft system.Finally, this paper describes the ground station control system software requirements analysis and software design, based on C # to write a four-rotor aircraft for more communication with the ground station and arranged mission software, with Google Map and Google Earth API implements open 2D / 3D electronic map display.