Research On Flight Control Of Small Fixed Wing UAV Based On PIXHAWK

With small fixed wing UAVs are gaining more and more attention in military and commercial area,there is a trend on developing low cost and high efficiency small fixed wing UAVs.And researching small fixed wing UAVs has its special meaning on developing UAV market.This paper introduced a method based on open source self-guided flight control panel PIXHAWK,with the dual 32 bit processor and dual sensor such as double gyroscope,accelerometer and compass and so on,combined with the research on kalman filter.These research on hardware and software achieved stability and reliability of flight control.Meanwhile,in order to optimize the control on flight,this paper analysised and redesigned PID motion controller.Firstly,this paper discussed flight algorithm and the flight state parameters and kinematic equations of the small fixed wing UAV,And EKF algorithm for UAV attitude estimation is compared through MATLAB,the error has been analysised.Furthermore,it analyses the longitudinal control and lateral control of UAV and makes the simulation experiments to analysis the result.Finally it introduced the hardware structure of PIXHAWK and the schematic design of each sensor and ports,as well as the power supply characteristics of flight control board.Then a real time monitor of the distance between the ground obstacle and the small fixed wing UAV in the flying,through the LiDAR-Lite laser rangefinder connected to the PIXHAWK,communication,and in the Mission Planner to monitor the height data.In the end the actual flight test results shows that double 32 bit STM32 processor PIXHAWK,and through mutual cooperation between the various sensors,the small fixed wing posture information can be quickly collected and processed,the flight control state has good reliability and stability.so the theories and methods used in this paper has the reliability and feasibility.