Reserch Of The Quarotor And The Application In Mobile Data Collection Experimentation

In recent year, the quadrotor is a new type of aircraft which is capable of vertical takeoff and landing, stable and low-speed flight in the air, flexible movement of aircraft. Mobile data collection in the field of wireless sensor networks is a very promising mode of data collection, which can effectively solve the bottleneck problem of energy in wireless sensor networks traditional data collection methods exist. The main work of this paper is to develop a set of four rotorcraft platform,and apply it in the mobile data collection experiment of wireless sensor networks, and the main results are as follows:(1)Four rotor aircraft capable of stable flight were developed. the hardware modules of the four rotor aircraft are set up and programmed the aircraft flight control program which built on the dynamics simulation model of four rotor aircraft, aircraft attitude estimation algorithm, and PID(Proportion Integration Differentiation) control algorithm. In this paper, a dynamic model of four-rotor aircraft was bulit. And use the quaternion attitude updating algorithm and complementary filtering algorithm designed and implemented the aircraft attitude angle and height solver algorithms. Based on the above, designed and implemented the PID control algorithm, and the simulation and actual flight experiments verify the effectiveness of the algorithm.(2) Use C# language to develop a four-rotor ground monitoring software, and the machine-to display the serial communications, flight data, map navigation, and database four functions. Among them, the navigation map can be used to assist the operator to achieve operating aircraft flight path planning; Database functions to achieve the collected wireless sensor data storage and display.(3)A wireless sensor networks mobile data collection experiment system was built based on the aircraft platform. And conducted field experiments and the mobile data collection experiment confirmed the effectiveness of the four-rotor aircraft platform, the experiments also shows that the quadrotor has the potential to be the mobile Sink nodes's carrier platform to collect data from the wireless sensor networks.