Design Of Remote Control And Tracking System For Quadrotors

Quadrotor aircraft with its structural advantages, easy to realize the control algorithm, in recent years become a hot research topic in unmanned aerial vehicles field. As the mature of quadrotor hardware structure, position detection algorithm, the controller design, the emergence of efficient motor and large capacity power battery, quadrotor aircraft show a growing demand for remote flight, but it's traditional communication data link transmission distance is limited, and data with unidirectional transmission. In this paper, through the study of the existing quadrotor system, introducing the mature GSM mobile network to modify its hardware and software system, and develop hand-held embedded control platform, in order to realize the remote control and position tracking of the quadrotor.First of all, this paper simply analyse the flight principle and dynamic characteristics of the quadrotor, on this basis establish the system mathematical model, and design the cascade PID controller based on the classical PID control, set up MATLAB/Simulink environment simulation platform to verify the effectiveness of the control algorithm.Secondly, built the physical hardware platform based on open source flight control board and software design of each part are completed. Introducing the GSM module to expand system control signal input mode, make the system control mode switch between re and handheld device. By debugging parameters completed stability control of the quadrotor, and on this basis set up seven basic mode.Subsequently, completed the hand-held device hardware circuit design and material welding. In order to ensure the reliable communication,we custom message format transfer between hand-held device and quadrotor, and the GPS coordinates of the two is processed to get relative distance and azimuth, in combination with the hand-held device inertial navigation components to design 3D electronic compass to realize real-time tracking of quadrotor. With the support of uCGUI graphics system design the user interface of beautiful and practical.The joint test between quadrotor and hand-held device show that each part of the system can run normally.Via handheld device can make the aircraft complete preset flight mode, and be able to receive the location information feedback by the quadrotor to realize the position tracking of the quadrotor...