Design Of Multiple UAVs Flight Control Experiment System Based On Indoor Optical Positioning System

In recent years,the investigation of Unmanned Aerial Vehicles(UAV)becomes a globally popular topic.However,there are still some problems with the verification stage of the UAV research.First,some of studies on UAV are only focused on theoretical deduction rather than experimental verification,which makes the further research hard to be improved.Second,at present,many institutions have some UAV experimental platforms,but much performance of the experimental platforms is unsatisfying and they cannot provide more accurate verification standards.Thus,in terms of the problems above and basing on the‘Optitrack’ optical positioning system,this article designed an experimental system of multi-UAV flight control with purpose of providing a reliable experimental platforms for control studies of UAV.The main work is as follows:First of all,in order to capture the maximum scope of vision,it is necessary to finish the constructions of the‘Optitrack’ optical positioning system and complete the layout of the indoor cameras and debugging.This work selects MATLAB and ROS system as the upper monitor to realize the control algorithms and an communication transfer station.They cannot only increase the speed of computing control algorithms but also reduce the computation pressure of body hardware on movement.Then,it finished the communication between the upper monitor and the drones.In this work,firstly,with the help of PPM communication method,we designed a multimoving body communication control device to fulfill the communication between them.Secondly,the ROS system was used to complete the communication with the UAV which is also equipped with ROS system.The above two experimental schemes have been verified by flight control,then some good results can be obtained.Again,quadcopter was designed by using the raspberry pie development board.This section completed the development environment configuration of raspberries pie,UAV modeling work,the underlying derivation and simulation of control algorithms.And then,we utilize the Kalman filter algorithm to make a filter process of sensor and the telecontroller signals.Furthermore,the software design of the quadcopter control system has been successfully completed.Finally,this paper proposed the cascade PID trajectory tracking control law based on feedforward control strategy and implemented the program in MATLAB.And,it has presents good performance of trajectory tracking when we were implementing it on the flight control experimental platform.Meanwhile,the performance of the multiple UAVs flight control platform can be ultimately verified.