Ground Control System Construction Of The Four-rotor Aircraft And Its Embedded Development And Application

In recent years, with the rapid development of chip technology,sensor technology, communication technology, energy and motor driver technology, and other high-tech, micro four-rotor aircraft technology has also constantly moved forward and gradually perfected. This has prompted the study of the development and application of micro four-rotor aircraft has become a current hot topic. At present, the theoretical research on the aircraft is mainly concentrated on its modeling and simulation, control algorithm and other aspects. what's more, the instances of application development on it are constantly emerging. Micro four-rotor aircraft has been used in many aspects, such as monitoring, aerial photography, aerial search and rescue. Therefore, the study of the micro four-rotor aircraft has practical significance.This thesis chooses Parrot AR.Drone 2.0 four-rotor aircraft as the research object, and at the beginning of the article we expound the study background and the research significance. Then, the paper makes an introduction of the software and hardware development platform which the research relies on and puts forward the overall development framework. In this paper, research work on the four -rotor aircraft are mainly reflected in three aspects.First of all, we do research on development and application of the micro four-rotor aircraft based on embedded Linux system. On the basic of this research, the four-rotor aircraft was equipped with a GPS module, and by the use of UDP protocol socket network communication technology, we completed the design and programming of GPS data real-time transmission program, realizing the navigation and positioning functions of the aircraft. Then, we completed the design and construction of the ground control station system of the aircraft, the system can control the attitude of the aircraft, real-timely display related flight parameters of the four-rotor aircraft and realize real-time acquisition, decoding and display for the aircraft camera capturing image. At the same time, we conduct a secondary development of Google Earth and embed it in the ground control system, thus realizing the pre-show of the aircraft planning-path and dynamic simulation of a simple flight process. Last but not least, in order to improve the practical application value of the aircraft, we design and develop the aircraft ground area calculation system. In this system, we propose a new algorithm for calculating the area of the polygon, this algorithm can be used to complete the graphics segmentation, triangle split and the final area calculation of the complex polygon. Accordingly, we can use the system to calculate the area of an irregular polygon, which is the projection of the closed flight path in the horizontal plane. In addition, by using of the related secondary development interface of Google Maps, we complete the secondary development of Google Maps this is to say, we add a function in Google Maps to calculate the area of the closed path, and embed it in the ground area calculation system. Consequently, we can achieve two area calculation results of one closed path,one from Google Maps, the other one from the new algorithm proposed in this paper, and then by analyzing and comparing the two results we can improve the reliability of the area calculation result. Finally, by experiments/we draw a conclusion that the new algorithm has a high efficiency, good accuracy and good practical value.