Linux System Development And Ground Control System Design Of A Quadrotor Unmanned Aerial Vehicle

In recent years, Unmanned Aerial Vehicle (UAV) is widely applied in a variety of emergencies and harsh environment. It can complete some dangerous missions that manned aircraft can not complete. UAV can be applied not only to people's livelihood and economic aspects, such as traffic monitoring, environmental detection, search and rescue, etc, and also it play an important role in national defense, such as communications relay, aerial reconnaissance, targeting, etc. As a UAV, Quadrotor UAV compared to fixed-wing UAV and flapping-wing UAV has many advantages: vertical take-off and landing, simple structure, flexible control, good mobility, low power consumption and so on. Quadrotor UAV is a popular field of UAV research project, and more and more scientific research institution pay attention to the function development and ground control systems research of Quadrotor UAV. The paper studies the development of quadrotor UAV airborne Linux system and the design of ground control system. Combined with the secondary development on Google Earth, so that the system can achieve the UAV flight control, navigation data show, video surveillance, navigation and positioning, trajectory tracking and so on.The paper describes the quadrotor UAV research background firstly. By analyzing UAV application areas and the main function, the paper identify the overall program that developing 3G and GPS function modules and designing ground control system.Under Linux system, firstly, the paper analyze the UAV development environment and core, then compile and transplant the needed functional modules. Using ppp protocol, usbmodeswitch and pppd dial tools make the UAV to connect the Internet via 3G module, which provides conditions for remote communication. After in the study of the Socket network communication and UDP transport protocol, the paper apply multi-threading technology and design the wireless communication transmission mode. Finally, it design process to receive and analyze the navigation information from GPS module, extracting key data and transferring data via a wireless link.In a modular way, Ground control system design the four functional modules: network communication module, flight control module, navigation data and video information display module, navigation and positioning modules, Data storage and processing moudle. Through research and analysis the UAV control command, data transfer command syntax structure and related protocols, using C# programming achieve the basic flight control. Followed by UDP transmission, the ground control system receive the UAV navigation data and video information, and decode the video information. Finally, the navigation module uses the received GPS positioning information achieving the map location, trajectory tracking and other functions in Google Earth.