Structure Design And Navigation System Research For A Quadrotor With Patrol And Survey Function

Quadrotor has extensive application prospect in military and civilian fields with the advantages of high flexibility, strong adaptability and stable performance, for the reasons of its unique airframe structure and flexible way of fight. In recent years, with the continuous development of high-tech and transformation of scientific research achievements, the level of automation and modernization improve steadily. According to the requirements of China's public security department, fire fighting department and transportation department, the research of the quadrotor with functions of patrolling and investigation will reduce their working danger and intensity, and also will improve the work efficiency and reaction rates for relevant departments, when facing emergency incidents. To this point, starting from flying principle and mechanical structure, the paper based on the study of navigation system, works on the design of quadrotor carrying auxiliary equipment.Analysis of the actual working environment of the quadrotor, on the basis of consulting relevant literature,the engineering application requirements are confirmed. Taking the safe reliability, simple manipulation, low cost as the primary considerations,the overall requirement of design is put forward in endurance time, effective load, control scope, then the experimental quadrotor is designed.According to the principle of mechanics, analysis of the force of the aircraft during the flight,the flight dynamics is established.PID controller is designed on the basis of dynamic model,and the simulations verify the control effect of the attitude, height, position control loops.According to the general requirements of design, modular hardware system that has a certain universality and scalability is designed.Taking the reliability,low power consumption, high precision as the main considerations,hardware system is constructed with the core control chip ATMEGA1284.The positioning process of GPS navigation is analyzed,then discusses the attitude calculating and speed calculating method of inertial navigation system.Research on design method and the algorithm flow of the Unscented kalman filter in integrated navigation system.The designs of the hover experiment, flight attitude control and position control experiment verify that the quadrotor is stable and reliable in the process of flight. Quadrotor carried a camera, two axis stable platform, image transmission module and other auxiliary functional modules.Traffic environmental monitoring experiment proves that the realization of the quadrotor's patrolling and investigation functions meet the overall requirements of the design.