Multi-rotor UAV Embedded Flight Control System Design

This thesis selected of multi-rotor UAV as the research object and designed an embedded autonomous flight control system.It provided a UAV research platform for further development.The main research contents are as follows.(1)Taking the requirements of real-time and expansibility into consideration,a new type dual-chip hardware structure was proposed and the hardware circuits of the power module,the processor module,the sensor module,the communication module were separately discussed.(2)uC/OS II(Micro Control Operation System Two)ware transplanted to STM32 as the embedded operating system.Then,the main task application program of UART communication,acquisition of sensor data,dual-chip communication ware designed.(3)The Attitude Heading Reference System and the Inertial Navigation System of multi-rotor UAV are studied.The AHRS algorithm introduced the dynamic acceleration and gyro drifts to system equation to improve the accuracy of attitude angle calculation.The INS algorithm calculates the velocity and position information by integrating accelerometer and barometer information to compensate for the inaccuracy of GPS signal.(4)Kinematic modeling for quad-rotor UAV was carried out,and the control system based on incomplete differential PID theory was designed.Simulation and flight experiments verified the effectiveness of the whole embedded control system.