Design And Implementation Of Multi-task UAV Flight Control System

In the past two decades,researchers have increased their investment in UAV research.As a result,UAV technology has become more and more mature and its application fields have become wider and wider,such as agricultural plant protection,safety inspections,personal aerial photography,Logistics and transportation,etc.This has created a demand for highperformance UAVs,and the improvement of UAV performance requires the integration of excellent methods in all aspects.This article mainly studies the three aspects of UAV’s obstacle avoidance,terrain following,and positioning,and integrates the results of these three aspects into a flight control system,so that the UAV’s performance will be more powerful,and it can complete more Complex and diverse tasks.In this paper,the multi-task UAV flight control system is researched.The obstacle avoidance is mainly based on the real-sensing depth camera.The depth camera is used to obtain the depth image during the flight,and then the obstacle position information is obtained according to the depth image.The obtained obstacle information is sent to the flight control system of the UAV,and the flight control system generates corresponding obstacle avoidance instructions to control the flight of the UAV.Compared with searching the entire image to find a feasible flight area,this method directly generates obstacle avoidance instructions through the obstacle position information obtained by the depth camera,which is helpful for fast calculation and real-time processing.The terrain following is mainly based on lidar.According to the laser beam emitted by the lidar,the terrain information during the flight is obtained,and then the terrain information is sent to the flight controller.The flight controller generates the corresponding terrain following algorithm according to the terrain.,And establish a smooth flight trajectory on this basis,and then closely follow this flight trajectory through the designed controller.The positioning is mainly based on multi-sensor fusion.The ANav S multi-sensor RTK module is mainly used,which can provide accurate position,speed and attitude information.The pseudorange and carrier phase are measured first,and then the pseudorange and carrier phase measurements are pre-corrected for satellite position and clock offset estimation,and then the pre-corrected pseudorange and carrier phase measurements are used to form a double difference to eliminate the clock Offset and bias and suppress atmospheric delay.The UAV position obtained in this way will still be inaccurate due to the floating-point ambiguity problem,so the Kalman filter is then used to solve this problem.Finally,a multi-task flight scenario is designed,the above method is integrated into a flight control system,and the feasibility of the above method is verified through simulation experiments and field flight.