Design Of UAV Autonomous Flight Control System

In order to realize the target tracking,strategic planning and enhance the ability to adapt to complex environment and tasks,autonomous flight of the UAV is needed.The design of the flight control system is the key of the autonomous flight.The flight performance highly depends on the performance of the flight control system.This paper aims to design the UAV flight control system that can realize autonomous flight.The main research work is as follows:1.Analyze the motion control principle from the perspective of dynamics.Based on the analysis,the UAV dynamic model is established,and provide the theoretical basis and design guidance for UAV flight control system.2.According to the performance requirements of the flight control system,the hardware and software of flight control system is corresponding designed: including the selection of the main controller,the attitude and position unit,the communication unit hardware and actuator module,built a stable hardware platform for the UAV.By analyzing the functional requirements,the hardware driver,the functional module program and the application program are compiled.3.The navigation and control algorithm of four rotor UAV is studied.Based on the analysis of the gyroscope,accelerometer and magnetometer,the Kalman filter algorithm is designed to improve the accuracy of attitude information.By means of the complementary filter,the altitude information of UAV is obtained.And for the UAV autonomous flight,the calculation method of the position deviation between two points is given.To realize the attitude stabilization and motion control,the attitude controller and position controller of the UAV are designed by using the PID algorithm.According to the design requirements,the flight control system is debugged and tested under laboratory conditions.The experimental results show that the UAV platform can reliableand stable flight in both manual mode and autonomous mode.