基于WiFi的微型四旋翼飞行器设计  

Design of WiFi-based Mini Four Rotor Aircraft

作　　者：符长友[1] 蔡洪斌[2] 李行[1] 谢伟[1] 舒琪[1] 

机构地区：[1]四川理工学院计算机学院,四川自贡643000 [2]电子科技大学计算机科学与工程学院,四川成都610054

出　　处：《实验室研究与探索》2016年第10期117-120,154,共5页Research and Exploration In Laboratory

基　　金：国家863计划项目(2015AA016010);四川省院士工作站基金项目(2014YSGZZ01);2015年四川省大学生创新创业训练计划项目(201510622004);2015年自贡市科技创新苗子工程项目(2015CXM07);2016年四川省教育厅科研重点项目(16ZA0258);物联网工程专业课程体系的改革与实践项目

摘　　要：为了进一步提高微型四旋翼飞行器的稳定性、转向灵活性与可控性,提出并采用多种传感器、WiFi无线通信、嵌入式微控制器等多种技术,并结合四元数、双闭环PID控制等,设计出一款基于WiFi的微型四旋翼飞行器。详细阐述了该系统构成、硬件设计与软件设计。实践表明,飞行器机身采用"X"型设计,软件系统采用四元数、双闭环PID控制等,其飞行稳定性高、可控性好、转向更灵活。In order to further improve the stability,steering flexibility and controllability of mini four-rotor aircraft（ MRRA）,an MRRA based on WiFi has been designed by adopting various techniques,such as multiple sensors,WiFi wireless communication,embedded microcontroller,etc. It was also combined with quaternion and dual closed-loop PID. This paper described system structure,hardware design and software design of the MRRA based on WiFi in detail.Practice shows that the MRRA based on WiFi has some more traits,such as high flight stability,good controllability,flexible steering by the ＂X＂type design in hardware and the quaternion dual closed-loop PID in software.

关 键 词：四旋翼飞行器 微型 WIFI 多种传感器 四元数 PID 

分 类 号：V249.122.2[航空宇航科学与技术—飞行器设计]