Design And Realization Of The Control System Of Quadrotor Aircraft Based On Polarized Light Navigation

Polarized light navigation is based on distribution mode of polarized light in the atmosphere. Compared with the traditional navigation methods, it has the advantages of anti electromagnetic interference and no error accumulation, and it is a new kind of bionic navigation method. In this paper, a Quadrotor aircraft is designed based on the background of the application of a new type of bionic micro nano polarization sensor.Firstly, this paper studies the work principle of the bionic polarized light sensor, and by acquisition process analysis of the yaw angle, necessary conditions for the Quadrotor Aircraft navigation based on polarization sensor is given, which provide more optimal parameter for control system design.Secondly, the hardware platform of Quadrotor Aircraft based on polarized light sensor is designed, including the design of the overall scheme of the flight control system. Then, Quadrotor Aircraft flight control system and software based on the polarization sensor is designed. The yaw angles of the polarization sensor data acquisition process and processing algorithms, initialization and access the polarization sensor data is designed and flight attitude angle parameters accessed by information fusion of direction cosine matrix attitude is given. The attitude control loop is designed by using the PID control algorithm, and the corresponding the flight mode of the attitude control is designed. The position control loop is based on the attitude loop, and the corresponding flight mode of fixed-point hovering is designed. The vortex flight of the model is simulated, and the optimal range of the yaw angle error is obtained, and the corresponding program is designed to eliminate the error.Finally, based on the actual flight experiments, the performance of the flight mode based on the polarized light navigation sensor is compared with that of the flight mode based on the digital compass navigation. In the environment of magnetic interference, the automatic flight of fixed point hover and scheduled route based on the polarized light sensor is tested, which shows that there is a clear advantage in the navigation of polarized light sensor in the environment with electromagnetic interference.