Development Of Multi-rotor Unmanned Surface-Aerial Vehicle Control And Water Information Collection System

In China,a large number of coastal areas,rivers,lakes,marshes,reservoirs and other water areas need to collect water information such as underwater topography,depth,water quality and storage capacity.At present,it is mostly achieved through manual operation or by using Unmanned Aerial Vehicle(UAV)or Unmanned Surface Vehicle(USV)alone.In some waters that are not easy to reach by manpower,it is of certain exploratory significance for the field of water information collection to combine UAV with USV to replace manpower for flexible,safe and efficient operations.Therefore,this paper developed a water information acquisition system of water and air dual purpose multi-rotor unmanned surface-aerial vehicle with vertical take-off and landing,and focused on the control method of multi-rotor unmanned surface-aerial vehicle.Under normal circumstances,the multi-rotor UAV can get better control effect by using traditional PID controller.However,in order to make the unmanned spacecraft developed in this paper have stronger anti-interference ability when taking off from the wavy water surface,this paper adopts External disturbances have good estimation and compensation capabilities,and the easy-to-implement Active Disturbance Rejection Control(ADRC)algorithm develops the attitude and height controller design of unmanned spacecraft.The main work and innovation of this paper are as follows:(1)In terms of hardware,this paper designs a set of core control board,using STM32 microcontroller as the processor for data analysis and processing,attitude calculation,motor control.The board integrates MPU9250 inertial measurement unit,MS5611 barometer and other sensors for obtaining status information.The core control board adopts the modular design idea,and reserves the general digital interface for connecting modules with different functions.(2)In terms of software,this paper designs an attitude calculation algorithm based on quaternion and a position calculation algorithm based on complementary filtering to achieve the acquisition of the attitude and position information of the unmanned spacecraft.At the same time,an unmanned spacecraft control algorithm based on PID-ADRC is designed to realize the control of the aerial attitude and height of the unmanned spacecraft and the control of the course and speed in the water..(3)Aiming at the application scenario of waves on the water surface,in order to reduce the influence of waves on the take-off process,this paper designs a take-off control method based on wave measurement.The wave height and period of the wave are measured in real time through accelerometers,and then the appropriate take-off time is selected.Realize the control of the unmanned spacecraft to take off safely from the wavy surface.