Development Of Atmospheric Environment Parameter Measurement System Based On Small Four Rotor UAV

With the rapid development of China's urbanization process in rural areas and the agricultural economy,rural environment atmospheric pollution is increasingly serious.Atmospheric pollution will not only affect human health,land and water resources caused by pollution of farmland,affecting crop growth,and even a serious threat to food security,restricting the sustainable rural development.Atmospheric environment monitoring is the basis and guarantee for the prevention and control of atmospheric environmental pollution.The existing monitoring technology is mainly based on the establishment of ground monitoring stations and satellite remote sensing.For the rural areas with wide geographical environment and complex environment,the monitoring facilities are relatively backward and are often monitored.High cost,poor real-time,low efficiency.This project is based on small four-rotor UAV,carried out research on low-cost system to measure environmental parameters of the atmosphere.Firstly,in the flight platform,the equipment selection and assembling of the aircraft component unit are completed,and the four rotorcraft under the hovering condition is selected as the research object.The mathematical model is constructed by the theory of aircraft dynamics and Newton's classical mechanics,A modified PID control algorithm with pre-value filtering is proposed based on ITAE index.Simulation is carried out using MATLAB Simulink and combining the real machine to complete the test validation.Secondly,from the design of hardware and software module of monitoring system,Arduino UNO as a processor,using DHT11,DSM501 A,MQ-7,MG811 sensors were completed temperature and humidity,particle concentration,carbon monoxide and carbon dioxide data acquisition work,and use Micro SD card module to complete the data read and write,storage work;Then,select the Shihezi University East Campus and Shihezi South Development Zone Thermal Power Plant on the west side of the 200 meters bar for the experimental area,to determine the collection point(each point continued to collect 5min,30 s a cycle,a total of 10 data collection)to complete the acquisition experiment;Finally,The data of the urban and farmland monitoring points obtained by the instrument are used to complete the screening and removal of the coarse error data.The standard data of the official website of the Ministry of Environmental Protection is collected and the sample data of the city after the screening are obtained by the least squares fitting method.The official website data curve fitting,Analyzed using Pearson product-moment correlation coefficient is verified,according to data inversion farmland standard fitting relationship,and then using analytic hierarchy process to achieve a level of environmental quality evaluation of farmland and cities.The experimental results of the system experiment and the software simulation show that for the four rotorcraft system,when the input step signal is small and the disturbance effect is small,the PID control algorithm with the former value filter based on the ITAE index is adopted.state error is zero,adjusting time ts <1s,the overshoot is controlled within 5%,to meet the dynamic performance index error with ? = 2%when the system;data official network data collected by the system high fitting accuracy of the model,the correlation Are above 0.97,the accuracy of the environmental rating rating of 93.3%.The reliability of the acquisition system and the validity of the data are verified by software simulation,actual test and data analysis.It can provide some reference for the future design of such acquisition system.