Research On Local Route Tracking Method For Remote Control Spray Pesticide Helicopter Path Planning

With two operating modes of local navigation tracking and remote control line, the small economy practical and easy-to-operate unmanned pesticide spaying helicopter is important to bring science and technology to countryside and promote farmers' economic profit, as well as improve the efficiency of agricultural production and lower labor cost, which has become the main topic in domestic and foreign research nowadays.Concepts and modern popular research methods about local navigation tracking control and route planning has been introduced in this paper. And according to characteristics of small and medium sized farmland, an optimized and system controlled integration scheme of local navigation tracking control and route planning is designed on the basis of simplified operation ideas, which is manual remote control and autonomous cruise operation focus on touch screen operation. Through comparative analysis, traditional pesticide spraying helicopters were either unmanned remote control or manned driving. It needs professional pilots with human-operated pesticide spraying helicopters, which is hard to make it come true for general farmers. To the contrary, it's easy to operate unmanned remote control pesticide spraying helicopters, but its flying route is not accurate. Comparing the above comprehensively, considering current farmers' economic conditions and their general qualities, therefore local navigation tracking control and route planning are chosen to apply in small unmanned pesticide spaying helicopters, and simplify its operation and accurate its flying route.With the above concepts and research methods, programming with C language on the basis of ARM system, getting the helicopter's current coordinate data by GPS module, store in ARM system and form the original coordinates after comparing alignment coordinates. Getting planned route from ARM system, then transmit it to helicopter control mechanism and control helicopter fly in planned route. Meanwhile, a manual definition on inflexion points can be make and form a new route, put it in ARM system and guide helicopter's flying to achieve autonomous cruise. Analyzing the advantages of small unmanned pesticide spaying helicopter, applying local navigation tracking and route planning in it, implementing and technologically improving for integrating operation control into touch screen, then finish the design of small unmanned pesticide spaying helicopter, which has two operating modes of local navigation tracking and remote control line. For the last part of this paper, programming methods on making local navigation tracking, route planning and operation control with touch screen come true is analyzed. It has been proved that local navigation tracking and route planning can be applied in small unmanned pesticide spaying helicopter. And design of integrating operation control into touch screen meet expectations.In addition, through the exploration and research on local navigation, route planning and operation control with touch screen, We hope this thesis can provide useful experience for small unmanned pesticide spaying helicopter going into rural areas and promoting agricultural development with science, technology and modernization positively.