The Design And Implementation Of Micro Quadrotor UAV Based On CC3200

Micro quadrotor UAV is becoming a research hotspot in the uav research field for its manoeuvrability,simple mechanical structure and relativily low cost.When designing a micro quadrotor UAV,a stable embedded flight control system is the key to a steady flight.Throughout current open-source micro quadrotor UAVs' flight control systems,most of their hardware designs are using the same scheme as the "MCU+wireless communication module".Although this scheme somehow increases extendibility of the flight control board,it also lower its robustness and make it not easy to downsize.Meanwhile,most of these flight control systems have a mediocre flight stability,and usually don't have a height control function or its precision is poor.To address these problems,this paper proposes a new scheme of the flight control system,using a single chip MCU called CC3200 which integrates Wi-Fi communication function as the main MCU of the flight control board,with an improved sensor data filtering and fusing method,and taking advantage of a ultrasonic sensor to implement flight height control,so that it could improve flight control board's integration level and stability,reduce its volume.Meanwhile,it also improve the flight stability of the micro quadrotor UAV and implement a higher precision of flight height control.The main contents of this paper's research and design work can be summarized as follows:1.Knowing the composition and structure of a micro quadrotor UAV,this paper deeply analyzes its flight control principle and relevant algorithms,proposes a sensor data filtering and fusing method based on complementary filter and Mahony filter to improve an existing algorithm,helping it to solve the existing problem in real practice.After that,studies the application of PID control algorithm in the flight altitude control of micro quadrotor UAVs,and implements the design of according control systems.2.Based on main MCU CC3200,designs the hardware sytem of a micro quadrotor UAV.It includes the design of the overall frame of the system,hardware circuits of the flight control board and the model selecting process of other hardware components.3.Designs the software system of this micro quadrotor UAV according to system's requirement,completes the design of micro quadrotor UAV's firmware,PC debugging software and an Android remote control App in the smartphone.4.After completing hardware circuit soldering and testing,whole componentsassembling and control algorithm parameter tuning,conducts a comparison field flight test,presents test data analysis and test conclusion,also elaborates some of the typical problems encountered and its solution.The flight test shows that the designed micro quadrotor UAV based on CC3200 could achieve steady flight and hovering as controlled and become an experiment platform for future studies.