Research And Design Of Gesture Control And Fixed Point Hovering Technology For Quadrotor Aircraft

When the quadrotor is controled by the remote control,there are novice operation errors and poor concealment.The high-rise buildings block the GPS signal,which causes the quadrotor to locate inaccurately.In response to these problems,this paper designs a new type of quadcoptor,which can realize gesture control and fixed-point hovering functions.It has the advantages of one-handed control,low price,easy operation,stable hovering and so on.The main research contents are as follows:1.Flight control module.The flight control module mainly includes microcontroller STM32F411,wireless communication chip NRF51822,nine-axis sensor MPU9250,motor and so on.The flight control module analyzes and judges the received control commands.When a gesture control instruction is received,the quaternion method is used to calculate the attitude parameters of the aircraft at the current time,and the motor is driven to rotate to control the flight status of the quadrotor,and then the solution result is returned to the gesture control module to realize the gesture control the function of the quad-rotor aircraft;when receiving the fixed-point hovering control command,the complementary filtering algorithm is used to process the sensor measurement data,and according to the current attitude of the aircraft,the motor is controled to rotate to realize the fixed-point hovering function.2.Gesture control module.Design the hardware circuit of the module,draw the PCB board and make the real object,and write the program corresponding to each component.The gesture control module sends control instructions through wireless communication according to user requirements,and then receives the attitude parameters and calculation results sent from the flight control module,and displays them on the OLED screen.3.Fixed-point hovering module.The module is directly installed at the expansion interface of the quad-rotor.The optical tracking sensor and the laser ranging sensor are integrated inside,and the serial SPI and bus IIC communication methods are used to communicate with the flight control module in real time.After the fixed-point hovering module receives the control command sent by the controler,it judges the current horizontal and vertical position information of the aircraft according to the data measured by the optical tracking sensor and the laser ranging sensor,and then calculates it through the flight control module.The solution result is displayed on the OLED screen.4.System test.With the help of the ground station,a debugging platform was built to debug the designed quadrotor to verify the reliability and stability of gesture control and fixed-point hovering functions.