Design And Implementation Of Space Data Acquisition System Combining Mobile Phone And Rotorcraft UAV

Rotary-wing UAV is extensively used in civil and military fields because of its distinctive hovering,vertical lifting,in-situ turning ability,excellent maneuverability and high reliability.It is an ideal low-altitude remote sensing platform for carrying.In order to facilitate spatial image acquisition,transmission and later automatic processing of target area,the traditional UAV remote sensing platform also needs to be equipped with independent optical camera,pose sensor and data transmission system,which has the disadvantages of complex technology and high cost of customized integration of professional remote sensing system.In addition,traditional UAV platforms mostly rely on satellite navigation system(such as GPS)for space flight positioning,which makes it difficult for existing UAV platforms to complete space data acquisition flight tasks in indoor environment due to the shielding of satellite navigation system signals.At present,smart phones have been implanted with a variety of MEMS sensors,including light intensity,acceleration,gyroscope,geomagnetometer and so on,and support bluetooth,WIFI,USB and other communication modes,which enables smart phones not only to collect image data through the built-in camera,but also to be easily used for spatial image collection and transmission.To sum up,a set of dimensional data collection system suitable for interior and outdoor space is developed in this paper,with smart phones as spatial image data acquisition equipment and rotorcraft UAV as flight carrying platform.The leading work finished in this paper is as follows:(1)On the basis of the functional requirements of the system,the space data collection system assembling smart phones and rotorcraft UAV is divided into two parts: rotorcraft UAV system and smart phone data acquisition and transmission system,and the overall scheme of space image acquisition system of rotorcraft UAV based on smart phones is designed.According to the requirements of image data acquisition system,the Android development environment,uav secondary development environment and UAV simulation environment are built.(2)According to the environment of space data collection and the load requirements of data collection system,considering the airframe,power and development interface,and taking Pixhawk flight control as the control platform,the rotor-wing UAV system scheme is designed,including flight control system,indoor and outdoor positioning system and lidar obstacle avoidance system.Finally,the rotorcraft UAV can fly stably in indoor and outdoor environment and avoid obstacles autonomously.In order to solve the synchronous control problem between the mobile terminal and the uav flight platform,the CH340 module is used to build the mobile phone and flight control communication system.When the rotorcraft UAV is collecting data,the camera trigger interface of the flight control can send signals to control the mobile phone to take photos.(3)A data collection and transmission system composed of smart phones,routers and PCS is designed and accomplished.Developed data collection APP software based on Android platform,which mainly completed image and sensor data collection in the operation area.The ground PC software of the data acquisition platform is developed on C#.net platform.The data acquisition and transmission system uses WIFI to transfer the camera preview frame,sensor data and data files from the smartphone to the ground PC,and sends the ground station commands to the smartphone.(4)This paper designed a series of experiments on the above data acquisition system,including the performance experiment of the rotor UAV flight system and the overall experiment of the data system,to verify the feasibility and effectiveness of the UAV flight and data acquisition system in interior and outdoor environment.The test results demonstrate that,The space data collection platform combining mobile phone and rotorcraft UAV has the characteristics of small volume,low cost and strong expansibility,which can complete the observation tasks in the target area.