Research And Design Of Automatic Landing Method For Four Rotor UAV

With the rapid development of inertial navigation sensors and embedded processor technology,in recent years,the efficient and versatile flight control of unmanned aerial vehicle(UAV)has become a very popular research field.The automatic landing control of the four rotor UAV is one of the key technologies of the UAV flight control system.It plays a vital role in the stability,security,real-time and reliability of the four rotor UAV landing.Therefore,it is of great practical significance to study the method of automatic landing control for the four rotor unmanned aerial vehicle(UAV).This research work is to design and implement the four rotor UAV automatic landing control system,developed the hardware circuit design and software,study the UAV attitude,altitude data filtering algorithm,on the basis of PID algorithm,a novel automatic landing control algorithm is developed.In this paper,mainly research work are completed as follows:Firstly,a nonlinear dynamic model of four rotor UAV is established and studied.According to the structural characteristics and dynamic characteristics of the four rotor UAV,the flight mode and the basic control mode are analyzed.It lays a theoretical foundation for the further study of UAV landing algorithm.Secondly,based on industrial STM32F407VET6 micro controller as the core,designed four rotor UAV automatic landing control system prototype.Gives the circuit design of each functional module in detail,and the hardware circuit design is analyzed and summed up the experience.Thirdly,using the Keil Vision4 software development platform,the hardware driver is written,and the attitude and height filter and the program design are completed.Fourthly,Based on four elements,the sensor data filtering algorithm is designed using on the complementary filtering attitude calculation algorithm to achieve a high precision,good real-time performance of the four rotor UAV attitude calculation methodFifth,the theory and implementation of PID control algorithm are studied,according to the control characteristics of four rotor unmanned aerial vehicle(UAV),a new automatic landing control algorithm is developed based on PID control algorithm,the results show that the proposed algorithm improves the stability of the four rotor unmanned aerial vehicle and reduces the landing time.Finally,through hardware and software debugging test,completed the four rotor UAV automatic landing test,landing attitude stability test,and the landing speed test,to verify the design of the UAV automatic landing control system feasibility.The test results show that the prototype designed in this paper has realized the automatic landing function,and the landing process has better stability and faster landing speed.