Small Waterborne UAV Based On Lake Water Quality Sampling Research On Flight Control System

Small waterborne UAV is the use of lake,river and other calm water surface as a takeoff landing site of a special water aircraft,which has the features of mobility,accessibility,and high security.With the rapid development of modern aviation power,manufacturing materials,electronic technology and other aviation technology,making the performance of waterborne UAV has been greatly improved.Therefore,compared with the traditional means of sampling water quality,the use of UAV technology can provide more convenience and advantages,so that it has a certain application development space in the field of environmental monitoring.In the practice of water quality sampling process requires UAV carrier has a smooth posture,in order to complete the corresponding task.In order to solve this problem,the SINS technique is used to acquire the carrier attitude information.Carrier attitude measurement is one of the hotspots both at home and abroad by using SINS.This paper is based on the research and analysis of the present situation of the research on the waterborne UAV at home and abroad,and the serious pollution of domestic freshwater resources,a research program of flight control system for unmanned seaplane based on water quality sampling is proposed.Firstly,The theory of SINS system is introduced in detail,including the definition of coordinate system,the conversion between SINS and the working principle of SINS system.Then,three kinds of attitude correction and updating algorithms are described: Euler Angle method,four element method,direction cosine Finally,according to the application experience of unmanned aerial vehicle engineering,the modular structure of the hardware structure is adopted,and the following functions are mainly composed of the following functions:ARM + DSP dual-core processor,BDS / GPS dual system navigation,water quality collection,MIMU inertia attitude measurement,high barometer,motor drive system(servo),TFT-LCD liquid crystal display and so on.In the system software structure,drive the design and test of each bottom module.First,the design of the hardware circuit for BDS / GPS dual system navigation,MIMU inertia unit,barometer and other modules for application testing;Then,describes the MPU9250,MAG3110,MS5611-01BA03 collected static navigation data,and the relative static error curve is drawn by Matlab.Finally,the paper analyzes the two schemes of measuring the attitude angle of the independent gyroscope and the combined sensor,and then analyzes the attitude angle,the chip temperature and the height of thecarrier.The experimental results show that the combined data fusion is more accurate and more practical.The control rate of waterborne UAV is studied.Firstly,the paper analyzes the water control process of small waterborne UAV and the flight control instruction of each stage,and the specific water quality sampling process is described.Then,according to the characteristics of the waterborne UAV,the incremental PID control algorithm is studied emphatically.The controller designs a real-time and stable control loop system.Finally,the equation is linearized by the principle of small perturbation decoupling,and And the vertical control rate of small waterborne UAV is simulated by Matlab / Simulink.The simulation results show that the controller design is reasonable and reliable,with great engineering value and theoretical significance.