Position And Attitude Control For A Indoor Mini Quadrotor UAV

Natural disasters such as Earthquakes and fires burst out all in sudden, response after the disaster rapidly is the key to rescue, and timely and efficient information is the key to response after the disaster. Quadrotor in disaster rescueing has a great advantage as the good mobility and flexibility. However, indoor environmental after disaster are complex and hard to predict, for UAV navigation and exploration, great difficulties are encountered. Aiming the unknown indoor environments, study of the positioning and attitude control for the quadrotor makes exploreing in unknown indoor environments possible.Firstly, the current study on the related technology is introduced. On this basis, a mini quadrotor kinematics and dunamics are studied and models are builded. Two main aerodynamic phenomenons and its affects on control system of quadrotor are illustrated which lays a theoretical foundation for the subsequent chapters.Secondly, the thesis studies the attitude detection and control methods of small quadrotor. Through fusion of variety of alttitude sensor, timeliness and accuracy are improved. Quadrotor attitude control system is constructed based on the Arduino. In the hovering, Quadrotor attitude control has an error about ±2°, vibration period of about 0.5s.Then, with the base of ROS, positioning and mapping of indoor unknown environment algorithms are experimental studied, including monocular vision, stereo vision and laser radar methods. Through the comparison of several algorithms, the algorithm for mini quadrotor indoor positioning is resolved, which enabls the quadrotor to explore and rescue in unknown indoor environment. A quadrotor position control system is builded, rely on the GPS positioning, such control system is proved by experiment.Finally, the position detection, position control, attitude detection and attitude control are made up into a quadrotor control system, a better quadrotor airframe is designed, and a path planning algorithm for automatic discovery of unknown environments were proposed. Related experiments in unknown environment without GPS shows that the quadrotor position control accuracy of about ±1m, for up to five minutes no significant position drift is detected.Experimental results show that fully autonomous quadrotor UAV is abled to be used in exploration and mapping the unknown indoor environment.