Research On The Control Technology Of Four-axis Aircraft Based On Trace Navigation

Because of its novel structure,simple operation and superior performance,four-axis aircraft has become one of the current promising unmanned aerial vehicles,which involves a lot of high,refined and sharp fields.Aiming to rely on its unique and flexible movement and superior controllability,this paper proposes four-rotor craft can be regarded as a tracing navigation carrier to achieve in positioning and tracking ideas.The focus of this paper is on the design of its function namely tracking,navigation and the realization of its control system.In this paper,by studying and mastering the structural characteristics of four-axis aircraft,flight control principle,attitude calculation methods,PID parameter design and adjustment,design the whole flight control system with the ARM @ stm32F4 processor as the core,six-axis accelerometer MPU6050 and assisted by GPS positioning as inertial measurement devices.Combined with the camera module,the aircraft can obtain the ground image and then get its prospective path in both black and white colors.After using the smooth filter to make the best guided tour,it can get the accurate amount of motor adjustment in the way of PWM signal in terms of the collection of a variety of current data from different types of sensors.In this way,the whole part can move with adjustment over the period when the aim is to track the line.In terms of the software design,it involves the Euler angle to the quaternion attitude description and the transformation method,the use of complementary filtering and fusion filtering algorithm and attained an expected result.The thesis tested the design and did some improvements.The test showed that the design of four-axis aircraft has achieved the movement with guided route.It provides a set of viable technical solutions based on four-axis aircraft as a platform to complete the device with autonomous flight and image analysis.