应用于远程图像监控的四轴飞行器  

A Quadcopter for Remote Image Monitoring

作　　者：廖健林 许生鸿 蔡展标 刘燕[1] 胡均万[1] Liao Jianlin Xu Shenghong Cai Zhanbiao Liu Yan Hu Junwan(Jiaying University, Meizhou 514015, Guangdong)

机构地区：[1]嘉应学院电子信息工程学院,广东梅州514015

出　　处：《电脑与电信》2016年第11期24-28,共5页Computer & Telecommunication

基　　金：2016年广东省大学生创新训练项目;项目编号:201610582023;嘉应学院自然科学研究项目;项目编号:314E23

摘　　要：介绍一种基于5.8G图像传输技术,可以用于森林防火防盗巡逻、电力巡检等情况的四轴飞行器。该飞行器采用Cortex-M4架构的STM32单片机作为主控芯片,以MPU6000运动传感器、HMC5883L磁力计来获取无人机姿态位置信息。主控芯片将传感器所采集的值,利用惯性导航技术和数据融合技术通过四元数运算求出当前的飞机姿态,然后通过PID算法实现稳定飞行。This paper mainly introduces a kind of quadcopter based on 5.8G image transmission technology, which is widely used in the power patrol and daily forest patrol. This design takes Cortex-M4 architecture of STM32 microprocessor as the center core, and obtains the position and attitude of the UAV by the MPU6000 and HMC5883L. The data of the sensor is collected by the main control chip, and the current attitude of the aircraft is obtained by using the inertial navigation technology through the four element calculation. Finally, the control of flight attitude is realized by the PID algorithm.

关 键 词：5.8G图像传输 STM32单片机 惯性导航技术 数据融合 四元数 PID算法 

分 类 号：V249[航空宇航科学与技术—飞行器设计]