Research On Key Technology Of Unmanned Aerial Vehicle And Tracking

Four rotor aircraft is a small size of the flight platform,the body structure is simple,easy to control,low cost,strong function and the requirements of the flight environment field is not high,very suitable for urban flight.With the rapid development of science and technology and the rapid development of China's market economy,the four rotor aircraft and its related industries have developed rapidly,and widely used in military and civilian fields.This paper proposes an implementation scheme of four rotor aircraft,including its theoretical modeling and hardware implementation,and proposes a scheme for tracking the actual working conditions of aircraft,aircraft to improve the practical value.This paper first introduces the research status at home and abroad,the four rotor aircraft,including its market development history,research results and four rotor aircraft,according to the flight characteristics,establish and analyze the mathematical model mainly solves the problem of automatic control and attitude control algorithm for aircraft,aircraft according to the given mathematical analysis equation of motion control and the related attitude equations.Secondly,according to actual conditions,the paper brings forward a scheme of four rotor aircraft,the flight control system of embedded processor based on ARM series chip,the main control chip for the ARM series of STM32F407,it adopts the ARM Cortex-M4 architecture,has a strong ability of floating-point arithmetic and DSP function module.In this paper,the core of the chip,the design of a number of aircraft peripherals,together constitute the aircraft hardware system.Aircraft design based on modularization idea,its development speed is improved at the same time reduce the maintenance and upgrade difficulty,each module between the functions of the independent and not interfere with each other,reducing the development difficulty and improve the efficiency of aircraft.Hardware mainly includes the main vehicle controller,remote control device,height sensor,attitude sensor,obstacle avoidance device and equipped with a pan tilt camera etc..The hardware system is also loaded with battery power management functions and electrostatic protection,overvoltage and overcurrent protection measures.The executing device of the aircraft is four brushless motors mounted on the machine frame,which can control the speed and direction of the four motors to complete various flight actions.