Research On Data Acquisition Of Four Rotor UAV Attitude Based On STM32 Microcontroller

Taking the engineering application as a starting point and summarized the research status of four rotorsmicro UAV in the data acquisition and the attitude to put forward the design of UAV’s data acquisition and attitude calculation system,with low cost,high precision and high reliability requirements of the project.Firstly,It should be analyzed the error source of the gyroscope,accelerometer,magnetometer and barometer in detail,and established the error model.The error of the sensor is mainly divided into two parts:one part comes from the process of sensors’design,manufacture and installation;the other part comes from the interference from the sensor,vibration,and the air’s electromagnetic interference,then built the sensor error model based on the sensor data and the actual flight situation.Finally,using the way of the calibration of each sensor and the application of the preliminary filtering method improve the accuracy of data acquisition,and then to lay the foundation of improving the accuracy of algorithm.Secondly,the paper studied the attitude calculation algorithm of UAV.Based on the element number of strapdown inertial navigation system can be obtained UAV’s speed,location,and posture and other information,so how to obtain accurate attitude information is the key technology.Filtering is one of the main methods to solve the error problem of UAV attitude calculation algorithm.So the corecontent of this paper is choosing a reasonable filtering method,now,thepopular filtering methods are Calman filter,extended Calman filter,and complementary filter.Finally,It’s carried out the simulation analysis,and then selected the suitable filtering method based on the simulation results.Then,paper designed the software and hardware system of UAV’s data acquisition and attitude calculation.It takes the STM32F405 MCU as the control core,and base on the electrical characteristics of the sensor to designthe signal processing circuit,and also base on the size of UAVto design PCB board.In order to achieve the performance requirements of the system,paper design 20ms timer interrupt to accomplish the task of data acquisition and attitude calculation.Finally,paper is through the analysis of data acquisition of static,start-up but not flying and hovering flight and free flightto meet the system is satisfy of requirements of low cost,high accuracy and high reliability.