The Research And Design Of Four Rotor Aircraft Ground Target Tracking System

The physical structure of four rotor aircraft is relatively simple,and the characteristics of unit volume can produce larger lift,it provides a platform for the study of technology in the field of sensor technology and scientific applications such as aircraft.Currently,in the term of aircraft,spatial path mapping,multi aircraft cooperative and ground target tracking are the key applications and researchs.At the same time,the use of control system has great study value.The thesis takes the four rotor aircraft ground target tracking system as the research content,and studys the recognition algorithm and tracking controller through the hardware platform.First of all,systematicly analysis the aircraft ground target tracking system,and briefly describes the research emphases of the system.In the process of designing the overall scheme of the system,analysis the project requirements,the hardware design and several problems to be solved in the description.Based on the analysis of the content,introduces the use of the selection of the components of the system,and bulids an integrated hardware platform.The system uses Pixy Cmucam5 as the target acquisition unit.Secondly,the thesis studies the flight principle,dynamic model and ground target tracking model.In the term of algorithmic,adapts color filtering algorithm and blob analysis.According to the determined image information collected by the Cmucam5 Pixy,figures out the target position information,and coordinates data and aircraft to set up tracking system.Finally,briefly introduces the related concepts of real-time operating system FreeRtos,and transplantes the OS to the STM32F407 processor,divides several function modules,and designs software framework.In the light of the software controller,cascades PID controller as the ground target tracking control system.Tunes the controller parameter through the analysis of experimental color filter and blob image data and controller parameters.Based on the analysis of the actual experimental test and the analysis of the results,proves the feasibility and reliability of the system design.