Study On UAV Flight Controller Based On Dual Mode Navigation

In recent years, with the maturity of micro-electromechanical systems(MEMS), sensor technology and inertial navigation algorithm, with multi rotor as the representative, the unmanned aerial vehicle(UAV) has been developed rapidly. Because of the simple structure, flexible characteristics and a certain load capacity of the multi rotor UAV, it is widely used in military operations, aerial photography, logistics and other fields. Flight controller is the core part of UAV, which directly affects the flight performance of UAV. The purpose of this paper is to study and design a multi rotor UAV flight controller, which is based on GPS and Beidou dual mode navigation. The main work includes the following aspects:Study the UAV flight control basic theory. The paper introduced the basic structure and control methods of multi rotor UAV, analyzed the coordinate transformation which is used for UAV attitude acquisition. According to the structure of a certain type of multi rotor UAV, PID control algorithm is used and the control system model is built.Design of multi rotor UAV Flight Controller. A modularized design thought is used for Microcontroller Unit(MCU), relevant sensor, dual mode navigation module, power management chip, interface circuit hardware selection and circuit design. MCU selected STM32 series single chip micyoco. Sensors selected as followings: gyroscopes L3GD20 H, accelerometer and magnetometer LSM303 D, digital compass HMC5883 and barometer MS5611. Dual mode navigation module selected NEO-M8 N.The paper carried out a test to the flight controller, analyzed the corresponding index. The test results showed that the flight controller meets t he design requirements. Finally, the flight controller was equipped on a certain type of multi rotor UAV and achieved the flight.