Design Of Unmanned Aerial Vehicle Tracking Navigation Control System

Using unmanned aerial vehicle(UAV)for moving target tracking is an important research direction in the applications of UAV.And as one kind of UAV.four rotor aircraft has been the key research object of a large number of universities,research institutes and enterprises for a long time because of its flexibility and capabilities of vertical take-off and landing and spot hover.SO-this thesis designed a kind of tracking navigation control system on UAV with portability by using four rotor aircraft as a development platform.The main contents are as follows:Firstly this thesis built a four rotor aircraft with STM32F103VC as the main control chip according to the principle of four rotor aircraft and through the design and debugging of software and hardware,which is used as one of the UAV development platform of the tracking navigation control system.Secondly,according to the functional requirements,the system is divided into three parts,namely,the handheld GPS positioning device,the remote controller and the main control device.The handheld GPS positioning device is mainly used to collect and process the GPS coordinates of the tracked target and send the data processed to the main control device.The remote controller is mainly used to decide the function mode which the system will be and process the corresponding information collected and send it to the main control device.The function mode respectively is the manual control mode,autonomous cruise mode and automatic tracking mode.The role of the main control device is to receive data sent by the handheld GPS positioning device or the remote controller and transform it into the corresponding attitude angle,speed and distance for the UAV and encapsulate it into control commands and send commands to the UAV..Then this thesis carries out the design of the system hardware circuit and software program.In the aspect of hardware,according to the different characteristics of the three devices,the overall layout and the size of the circuit board are determined,then the device selection and circuit schematic design are carried out,and then the PCB design of the three devices is completed.In the aspect of software,this thesis first determine the overall flow chart of the system program,and then carries out the design of the module initialization and three functional modes,and then completes the final software program of the three devices.Finally,on the basis of the hardware circuit and software program design,the system software and hardware debugging are carried out.And this thesis carries out the virtual flight test in the simulator.After solving the problems encountered in the virtual flight test,the system is then mounted on the UAV platform to carry out the actual flight test.