Visual Control Of Quadrotor Micro-aircraft Based On Android System

In recently years,as micro-aircraft related hardware and software technology advance constantly, as well as the influence of the countries in the world continuously open policy low altitude areas, quadrotor micro-aircraft appear constantly in the military, industrial and agricultural production and many kinds of commercial flyingLine activities application, It has become the focus of low-flying aircraft research. Due to the high research value of quadrotor micro-aircraft in flight control technology and practical application field, in this paper,the quadrotor micro-aircraft flight control was to be carry on the related research.In practical application in the process of the quadrotor micro-aircraft often combined with visual image equipment.In this paper, around the aircraft control system set up and control program based on Android vision research on two aspects,the ultimate goal of this paper is to complete the target of the vehicle tracing and fixed-point hovering flight. First, by analyzing quadrotor micro-aircraft dynamics and kinematics equation, set up a mathematic model of the quadrotor micro-aircraft;Then designed flight controller by adaptive inversion sliding mode control algorithm,And design the simulation experiment in the MATLAB software, the experimental results show that the adaptive inversion sliding mode controller for quadrotor microaircraft control has good robustness and anti-interference.Then, completed a miniature four rotor aircraft flight control system design by choosing appropriate components,design of hardware circuit, design of software system control process,ontrol program; Finally Completed on the Android system development and testing of control program,and image processing program of trajectory image information processing test by studied Android development and visual control system programming in the image processing algorithm, its laid a solid foundation for the further implement aircraft flying in visual control way tracing and fixed-point hovering.The current popular visual control is applied to the quadrotor micro-aircraft control in this topic, provides a new way for quadrotor micro-aircraft, at the same time,combined the visual control method with Android smart mobile devices,to make this research topic have a positive effect for the practical application of quadrotor microaircraft.