四旋翼飞行器系统硬件平台设计与实现  

Hardware platform design and realization of quadrotor UAV system

作　　者：吉一纛 潘汛 郭玉坤[1] 余瑶[1] 

机构地区：[1]北京科技大学自动化学院,北京100083

出　　处：《计算机工程与设计》2016年第1期76-80,共5页Computer Engineering and Design

基　　金：国家自然科学基金项目(61473324);国家杰出青年科学基金项目(61125306);高等学校博士学科点专项科研基金项目(20130006120027);北京市高等学校青年英才计划基金项目(YETP0378);中央高校基本科研业务费基金项目(FRF-TP-14-118A2)

摘　　要：为实现对四旋翼飞行器的应用和研究,根据现有项目对飞行控制系统的功能、设备接口、使用环境等要求,设计一套基于数字信号处理器的飞行器系统硬件平台。详细叙述硬件平台总体设计方案和具体硬件选型情况,重点介绍数字信号处理器、惯性测量单元、超声波传感器等主要器件的性能、通信接口、工作模式等。实际飞行测试结果表明,该硬件平台性能可靠、安全可行,满足研制要求。To realize the practical application and control research of the quadrotor UAV system,a hardware platform based on digital signal processor（DSP）was introduced according to the project requirements of the flight control system on performance,device interface and application environment.The total design scheme of the hardware platform and the specific selection of the electron components were described in detail,and the DSP controller,the inertial measurement unit（IMU）and the ultrasonic sensor were introduced in terms of their performances,communication interfaces and work patterns.The flight test results show that the hardware platform is reliable and feasible.

关 键 词：四旋翼飞行器 硬件平台 数字信号处理器 惯性测量单元 超声波传感器 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术]