Research And Design Of The UAV Airborne Post-earthquake Search System Based On Embedded System

In recent years,earthquakes have occurred repeatedly over the world,most of these earthquakes are sudden earthquake.In the current level of science and technology,short impending earthquake cannot be forecast accuracy.Once the earthquake occurred in the case of failure of forecast,it will cause great loss to the lives and property of the people.The actual experience shows that knowing the trapped persons' position information and life status information can greatly help rescue workers to rescue victims quickly and effectively.Therefore,it is very important to research the acquisition of the trapped persons' position and information after the earthquake.This thesis first describes the research background and the current status of the development in the world of the unmanned aerial vehicle(UAV)airborne post-earthquake search system,and puts forward to the purpose and significance of the research,then the working principle and the key technology of the post-earthquake search system are analyzed in detail.An UAV airborne post-earthquake search system based on ARM and Linux is researched and designed in this thesis,this system mainly includes the airborne search platform and the ground display platform,the application platform for obtaining the location information and life status information of the trapped persons is built.On this basis,in order to make the UAV flying stably over the ruins,and has strong anti-gust disturbance ability,the flight control strategy of UAV is studied,and an optimal control algorithm is selected.In the design of hardware,using S3C2440 A as the main controller to control ranging sensor,life detection sensor,image acquisition module,4G network communication module,BeiDou module,the acquisition of position information and life status information of the trapped persons is realized,and this information is transmitted to the ground display platform in real time.In the design of software,Linux operating system is used,ultrasonic ranging program,image acquisition program,4G communication program and the BeiDou positioning program are designed,based on Qt embedded graphics library,the display platform of the post-earthquake search system is designed on PC,the data transmitted by the airborne search platform is stored and displayed on the Qt/GUI interface,the man-computer interaction function of the post-earthquake search system is realized,which provides help for the rescue workers to expand the rescue work quickly and effectively.In the UAV flight control,according to the working principle of the quad-rotor UAV,the dynamic model of the quad-rotor UAV is built,based on this model,the simulation platform of PID control algorithm and active disturbance rejection control(ADRC)algorithm is built by MATLAB/Simulink,the effect of stability control and the performance of anti-gust disturbance of these two control algorithms in the UAV flight control are compared and studied.The simulation result shows that ADRC algorithm has more advantages than PID control algorithm in the aspects of rapidity,accuracy and anti-gust disturbance capacity.