UAV System Design Based On MAVLink Protocol

Along with the progress of science and technology,the UAV system is developing by leaps and bounds.The UAV system has the characteristics of interdisciplinary in technology,which combines the field of intelligent hardware,intelligent algorithm,sensor application,advanced materials,wireless communication technology and so on;and owing to the UAV has the advantage of airspace,UAV enjoys facorable prospects of application and the advantageous value of research.This thesis made a deep study on issues like imperfect flight control,lack of effective communication networking and flying without a license by surveying the present situation and existing problems of UAVs,then designed a kind of flying control algorithm for quad-rotor aircrafts aimed at shortage in flying control system,completed the corresponding design and test of hardware and software.At the same time,this thesis proposed a set of UAV networking scheme based on MAVLink protocol for networking scheme problems and black flight control.To verify the UAV networking scheme,the thesis completed the handheld ground monitoring system with UAV supervisory system.Flight controller section dedicated to solve problems such as flight control stability defect.The thesis put forward a set of quad-rotor aircraft system solutions,completed the design,implementation and testing work for flight control hardware circuit and onboard hardware,then designed a set of UAV attitude algorithm based on mathematical theory,and completed the corresponding flight control software to verify,test and expand the algorithm,made the UAVs more stable and more perfect.In communication section,the thesis proposed a set of UAV networking scheme applied to the communication with UAVs and cloud monitoring server according to the MAVLink protocol,and developed the handheld ground monitoring system to prove the networking scheme.In this thesis,the principle of networking scheme and the design of hardware and software were described in detail.Handheld ground monitoring system not only can remote control and monitor UAVs,but also can connect UAVs to UAV supervisory server platform through the Internet for unified supervision.The UAV supervisory server platform can monitor the state of UAVs,in order to prevent them broke into the no-fly zones,which may cause black fly event.