Autonomous UAU Flight Control System Design And Implementation

The multi-rotor UAV has the characteristics of safety,speed,and low cost,so it has a wide range of uses in both civilian and military applications.However,the existing drone flight control system exhibits poor perception of the environment and needs manual control.In this paper,the design of the existing drone flight control system is designed and an autonomous control system for UAV is proposed.This autonomous control system includes two parts:the control method of the flight area and the advanced command system.The control method of the flight area is used to ensure that the drone moves away from the no-fly zone.The advanced command system is used to send flight zone control commands to autonomously drone aircraft outside the flight control zone.In order to realize and verify the autonomous control system proposed in this paper,a four-rotor UAV development platform was built.The main contributions of this paper are as follows:This paper first built a development platform for the quadrotor UAV.This development platform includes hardware system and software development platform.Among them,the hardware system includes Pixhawk flight controller,Rapberry Pi 3 micro pc,digital link transmission system and image acquisition and transmission system.The software development platform mainly uses ArduPilot,on which firmware compilation,SITL testing,log analysis and ground station development can be performed.Therefore,independent development and testing of UAV functions can be completed on the development platform built.Then,in order to solve the problem that the drone’s environment perception is weak,this paper proposes a control method for the flight area.The operating procedure of this method is to first write the determined flight control area into the EEPROM of the drone,and then continuously detect these flight control areas during the flight of the drone so that the drone approaches the no-fly zone.Reduce the speed of flight and eventually stop outside the no-fly zone.In addition,the AprilTag QR code detection method was used to determine the location of the flight control area.Finally,this method was tested and analyzed.The results show that this method can ensure that drones fly in the specified area.Finally,in order to solve the problem that the drone requires manual control to complete the complex operation,this paper presents an advanced instruction system.The advanced instruction system can decompose the created high-level instruction into multiple basic instructions and run,which can reduce the sending time of the instruction and reduce the error rate of the data.This article first tested the basic instructions,then created two different high-level instructions and decomposed them into basic instructions to test the feasibility of the proposed system.