Research On The Quad-rotor Unmanned Aerial Vehicle Autopilot System Based On ARM

In recent years,with the rapid development of science technologies,UAV are gradually entering people's lives.Because of its flexible operation,good mobility,easy to use,it is widely used in the frontier,investigation,civilian,land support and many other fields.In order to ensure its autonomous flight in the course of operation,the research on the automatic driving system has gradually become the central area of the scholars.The design of the core control chip is based on ARM core cortex M4 STM32F407ZGT6.The highest frequency of up to 168 MHZ,embedded DSP command,with the advantages of fast processing speed and rich module interface.First of all,the principle of the four rotor UAV is introduced,the analysis of overall demand,according to the performance index and the overall demand will be divided into the main control module of unmanned aircraft,UAV attitude sensing system,data communication system,power supply system and power device,ground station system,Based on the function module design the structure of the UAV.The establishment of the four rotor UAV body coordinates and geographical coordinates,and analyzed the UAV,and its mathematical modeling,the UAV attitude information collected are solved by four element method,and get the best interest by Kalman attitude channel filtering algorithm,while the design of the PID controller,flight the controller for the automatic driving system is designed by using MATLAB software,the software simulation of the controller,pitching rolling motion and yaw motion,height,and the simulation waveforms were analyzed.Finally,ready to work through the theory of the four rotor UAV,the UAV hardware platform to build,using F450 frame in the design,through an extensive flight test to adjust the control parameters of P,I,D,obtained the most suitable parameters,to achieve stable autonomous flight aircraft.Based on the analysis of the actual flight data,the flight control system of the automatic driving system is stable,and the expected results are achieved.