The Obstacle Detection Method Research Of Quadrotors

It is a new type of technology for coal mine survey that it use the four-rotor aircraft for gas detection.One of the key technologies to realize coal mine detection is obstacle detection on the four-rotor.This paper mainly studies the method of detecting the obstacle detection of quadrotors.Obstacle detection system hardware mainly includes STM32F767 processor as the core control chip module,6 groups of ultrasonic sensor module and attitude sensor module(including accelerometer and gyroscope,magnetometer)and wireless communication module.The software system mainly includes the upper part of the MATLAB platform and the ARM based singlechip software module.The barrier detection system collects data from sensors and sends data to the top machine through wireless communication modules.The four-rotor aircraft obstacle detection function is the bearing estimation of the four rotor on the ground coordinate system.Therefore,the core algorithm of the system is the Kalman filter algorithm.Under the condition of ideal state of motion,the obstacle detection algorithm is:based on data collected by ultrasonic modules Kalman equations of observation,with a posture sensor data provide a reference basis for vehicle movement model,and then calculated by dynamic system optimal estimation algorithm obstacles from the aircraft’s optimal estimate distance.Then respectively from the ultrasonic data "wild" condition,the condition of the vehicle yaw and the system is in under the condition of unbalanced,revised four rotor aircraft obstacle detection algorithm.Finally,the experimental data is used to verify that the algorithm conforms to the design criterion.