Design Of Control System For Quadrotor And Research On Integrated Navigation

The quadrotor is a multi-rotor aircraft which can take off vertically and fly horizontally.It is also capable of flying indoors and in places where other autonomous helicopters cannot reach.In recent years,researchers have been working on all aspects of the quadrotor,and the main reason is that the quadrotor can acquire useful information of its environment and collect data of initial state data,related position,speed,direction and posture etc.When the quadrotor is in indoor,the GPS signal is disturbed or even lost,and GPS cannot be used for precise positioning.Therefore,a new indoor navigation technology is needed to achieve accurate indoor navigation.This paper gives a detailed research on basic principle,control system design,attitude calculation and integrated navigation of quadrotor.Firstly,this paper introduces the research fields and development prospects of the quadrotor,then describes the basic principles of the quadrotor and the representation of the flight attitude,such as the quaternion method,the Euler angle method,and the direction cosine method,and the mathematical model of flight is also touched upon in this paper.As for the research model,according to the function of the quadrotor system,the quadrotor hardware system and software system were designed.The quadrotor experimental platform was installed,and debugged,and PCB was fabricated.Secondly,this paper innovatively proposes two kinds of aircraft integrated navigation methods to improve the accuracy of indoor navigation of the quadrotor.One of combined navigation methods can estimate the attitude parameters of the quadrotor based on mathematically transformed data collected by laser distance sensor,and then combined with inertial system data;another integrated navigation method combines the imaging,inertia and altitude data of the quadrotor to improve the navigation accuracy of the quadrotor.Finally,in order to verify the effectiveness of the integrated navigation,static,horizontal sliding and dynamic testing were carried out respectively on the development board with laser ranging sensor and inertial system.The imaging,inertia and altitude combined navigation experiments were carried out on the quadrotor experimental platform.The experimental results showed that the two integrated navigation methods could effectively improve the navigation accuracy of the quadrotor.Admittedly,there are deficiencies and shortcomings in both integratednavigation modes.The further plan and prospects of future research work are proposed in the conclusion.