Design Of Micro Four Axis Aircraft And Realization Based On Kinect Gesture Control

At present, unmanned aerial vehicles are widely used in military, civil and scientific research and other fields. Compared to other types of aircraft, multi-rotor type aircraft has the advantages of simple control method, the easy adjustment of control parameters, and reliable mechanical structure, and other superiorities. And, the Micro Quadcopter gets the favour of people with its unique characteristics of symmetrical structure and flexible control, etc. Meanwhile, with the development of humancomputer interaction techniques, gesture control has become a new type of control. The combination of gesture control and aircraft control can realize to control the aircraft more flexible and intuitive.This article completed the design of the miniature four axis aircraft with ARM processor as the core of the control system. On this basis, completed the control system of aircraft, which based on the hand gesture recognition of Kinect somatosensory sensor. And my paper realized the idea that human gestures to control the micro four axis craft. The mainly work of this paper as follows:Firstly, this paper analyzes the four-axis aircraft system architecture, Vehicle system dynamics model and the movement principle of Aircraft six degrees of freedom in three-dimensional space. This section also studied the common attitude estimation algorithm and PID control algorithm.Secondly, this thesis designs the operation scheme of miniature four axis aircraft system. The program directly to the PCB board as the aircraft frame, and designed the hardware circuit. Design scheme Design analyzes the microcontroller circuit, power circuit, the sensor module circuit, motor drive circuit and a wireless communication circuit.Thirdly, this paper completed the aircraft bottom software design according to the hardware circuit design software. My thesis realized the aircraft attitude estimation based on four element complementary filtering algorithm, and solved the singularity problem of Euler Angle method. At the same time, my paper adopted the Angle and the control algorithm of angular velocity loop PID to solve the problem of aircraft drift under the control of Angle single loop PID. And this paper completed debugging of each software module.Fourthly, this paper implements the design of gesture recognition system based on the Kinect sensor. My thesis completed the gesture recognition PC software design. Meanwhile this design combined with four axis aircraft control system and completed the commissioning flight.In the process of field test flight, gesture recognition PC software can fast accurate of gesture recognition. It is possible to perform accurate flight instruction after Quadcopter receiving the control command. So the four axis vehicle gesture recognition based on access control system of my design has realized the good interaction between people and vehicles, which has good prospects.