一种多旋翼无人机及相机位姿控制平台设计  

Design of UAV and Camera's Position-attitude Control

作　　者：韩青岩 刘胜兰[1] 赵雪冬[1] HAN Qingyan;LIU Shenglan;ZHAO Xuedong(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics ＆ Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械制造与自动化》2018年第4期201-204,共4页Machine Building & Automation

摘　　要：针对多旋翼无人机系统在航拍中的应用,设计了一种控制相机位姿的地面平台系统。系统的控制原理是基于航点文件,通过控制无人机经度、纬度、高度、偏航和相机俯仰、横滚,实现了对航拍时相机的6个自由度的控制。开发地面平台系统包含位姿控制软件和地面站平台。位姿控制平台加载航点文件并通过地面站平台将航点指令发送给飞行控制器,然后通过飞行控制器引导无人机飞行和相机角度的变化,解决了航拍中相机位姿自动控制和拍摄任务监控的问题。An UAV and camera＇s position-attitude control system is proposed for aerial-photography. Based on waypoint text,the target position and attitude are achieved through the control of UAV＇s longitude,latitude,height,yaw and camera pitch,roll. The system consists of the position-attitude control platform and ground station platform. The waypoint text is loaded by the position-attitude control platform,then it is sent to the flight controller through the ground station platform,thus conducting the camera auto control and mission supervise.

关 键 词：多旋翼无人机 地面平台系统 相机 位姿控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP391[自动化与计算机技术—计算机应用技术]