Research And Development Of Quadrotor Monitoring Platform Software

As the quadrotor is becoming more and more popular in all walks of life during the past few years,the ground monitoring platform which is an important part of the unmanned aerial vehicle(UAV)system plays a significant role in the whole system.This thesis presents the design and software implementation of ground monitoring platform,and gets a system which is capable of status monitoring,data analysis and storage and sensor fault detection.The contribution of this work is mainly followed:Firstly,the background and research development of the quadrotor and ground monitoring system are introduced,and the basic functions and features of ground monitoring software are summed up accordingly.Secondly,the overall design scheme of the ground monitoring system is analysed from the two aspects of hardware design and software design.The software tools and the basic theory of fault diagnosis are discussed as well.According to the scheme,the implementation of each module is designed in detail.The serial port class in.NET Framework 3.5 is adopted to accomplish serial communication;and the open source control named AttitudeInstrument is used to display in the virtual instrument.C#language is chosen to code the entire software under Visual Studio 2010 environment.Then the wireless link and communication interface are studied.The NRF24L01 wireless module and flight control hardware are connected through SPI interface,while the module and the ground computer are connected with an adapter board basedon RS232 serial communication.The communication protocols between flight control system of quadrotor and ground terminal are proposed.Besides that,the coding and decoding program of communication message are designed to realize data sending and receiving.At last,the fault diagnosis of onboard sensor is considered,and the principal component analysis(PCA)algorithm for fault detection and identification is analysed.Using several sensor data in normal working condition to build the PCA model,then another sensor data is used for determining whether the sensor is malfunctioning based on squared prediction error(SPE)statistic and contribution chart method.With the real gyroscope data in quadrotor,several experiments are carried out to verify the algorithm mentioned above.The result indicates the PCA method can be used for fault detection and identification of sensor in quadrotor.