基于STM-32的自动四旋翼飞行器设计  

Design of Quadrotor Aircraft Based on STM-32

作　　者：叶利栋 都庆庆 胡征[1] 梁鉴如[1] 沈佳俊[1] 师晨竹 

机构地区：[1]上海工程技术大学电子电气工程学院,上海201620

出　　处：《上海工程技术大学学报》2015年第1期49-52,共4页Journal of Shanghai University of Engineering Science

基　　金：上海市大学生创新训练计划资助项目(CS1302003)

摘　　要：通过研究四旋翼飞行器的结构特点、姿态解算算法及其飞行控制原理,设计了以STM-32系列微控制器为核心的自动飞行系统,包括硬件电路设计和程序算法设计.试验测试表明,该系统能够在搭建的狭小空间主动避开障碍,实现稳定飞行.Based on the studies of structural features,attitude estimation,control principle of quadrotor aircraft,an auto-flight system with STM-32 microprocessor as the core was designed,which including the hardware circuit design and the programming algorithm design. The experiment shows that it can take the initiative to avoid obstacles in narrow and small space and achieve stable flight.

关 键 词：四旋翼飞行器 姿态解算 STM-32微控制器 

分 类 号：TP368[自动化与计算机技术—计算机系统结构]