Design And Implementation Of A C# Based Agricultural Spraying UAV Ground Control Station

Recently, unmanned aerial vehicle(UVA) is applied to some civil areas, such as aerial photo, modern logistics and agricultural spraying. As an important part of the UVA system, UVA ground station could run the function of real-time monitoring of the flight mode and make travel plan for the UVA by the wireless data transmission equipment. The objective of the paper is to design a software of UVA ground station exclusively used in agricultural spraying. This paper introduces the principle of the organization of the UVA ground station and some relevant special technologies. At the same time, this paper focuses on the research of the software of the agricultural spraying UVA ground station. Here are some important points in this paper.The integrated design and level division of the software of UVA ground station. The author divides the whole structure into 4 parts: application layer,planning layer, executive layer and transmission layer. According to the division of the function of ground station, the author introduces the design and realization of the modules of virtual instrument,electronic map, agricultural mission planning, data transmission and data management, and implements features on Windows C#.NET platform. The virtual instrument is based on the Open GL and GDI+ to show the flight mode and devices condition by decoding the data. The module of E-map is a second development by GMap.NET to implement the operations of scaling and translation of E-map. According to the longitude and latitude information of flight data, the location of the UVA could be shown on the E-map. The agricultural mission planning which concludes the calibration setting of UVA flight, parameter setting of spraying devices, spraying region partition setting and UVA spraying mission planning. The data transmission and management module is designed to connect the port and the platform with informationreading and instructions-sending, The module is also equipped to not only store the information and instructions, but to present the required information onto the virtual instruments module and the E-Map module, realizing the reconstruction of the trajectory.The author tests the software after the whole design using the flight controller to stimulate the flight mode of UVA to transmit the information to the computer on the ground station. According to the real-time data on the ground station, the result is in accordance of the design of the data transmission, mission planning and real-time monitoring. After the UAV tests and analyses, the software could meet the needs of this project and has been applied to use in one type of multi- propeller UVA to realize the control and mission planning of agricultural spraying UVA.