The Design Of UAV Autopilot System Based On Linux

The UAV is an abbreviation of unmanned aerial vehicle.It is an autonomous or semi-autonomous flight performed by the ground remote control device and the aircraft's own program.Whether its use scenario or the research on the UAV has both become very popular subject nowadays.The long distance,self-control capability,mobility and flexibility of drone make it widely used in military and civilian areas such as military attacks,personnel assistance,exploration resources,etc...And UAV do not need to be driven during the flight,so it is more suitable for dirty,dangerous occasions.But with the development of UAV applications,the requirements of the UAV has been shifted from the single smooth flight to the high performance with intelligent control.As the core technology of the UAV--the autopilot system,also has been put forward with higher requirements.However,no matter from the R&D system or technology,our country has a considerable gap with foreign countries in this respect.This paper is based on the above background,based on the related topics of the laboratory,this paper studies the design method and control algorithm of autopilot.This paper gives a concise description of the historical process of autopilot,outlines the main application areas and developing perspectives,then elaborates on the development of autopilots with core control devices,and introduces the principle of autopilot and various sensors.This paper combines several embedded real-time operating systems currently used,chooses Linux as the operating system of the autopilot,and gives a brief description of Linux porting to the autopilot.The autopilot system transfers the collected UAV sensor information,calculated control quantity,waypoint information and output control,etc.to the corresponding control algorithm,so as to achieve the control of specific tasks and according to the different importance,the task is divided into six.Most algorithms used in the UAV is still in PID,but its parameters must be adjusted several times according to different environments.At the same time,it is easy to oscillate during adjustment.To solve this problem,the paper introduces the ADRC algorithm,which has made great improvements of the common PID,and the ADRC was simulated to verify its reliability.Finally,at the end of the paper,a summary of the whole paper and follow-up research directions are provided.