基于STM32的室内四旋翼飞行器的设计与实现  

Design and Implementation of Indoor Four Rotor Aircraft Based on STM32

作　　者：张锦瑞 赵华磊 李试森 吴星华 马益清 ZHANG Jin-rui;ZHAO Hua-lei;LI Shi-sen;WU Xing-hua;MA Yi-qing(College of Artificial Intelligence,Yango University,Fuzhou 350015)

机构地区：[1]阳光学院人工智能学院,福州350015

出　　处：《现代计算机》2020年第26期80-85,共6页Modern Computer

基　　金：福建省大学生创新创业训练项目(No.S201913468013)。

摘　　要：讨论四轴飞行器的设计实现与控制器设计。应用STM32F103C8T6控制器,配合硬件外设实现四旋翼飞行器的实地飞行,应用姿态结算、坐标系转换、四元素求姿态角、PID调节、梯度下降等算法实现四旋翼飞行器实地飞行,并通过多次试验飞行,对姿态融合算法和PID微调让四旋翼飞行器实地飞行更稳定,在四旋翼飞行器稳定飞行的基础上加入硬件外设,OpenMV、云台等,可以实现四旋翼飞行器的循迹和物体识别功能。Discusses the design and implementation of the four-axis vehicle and the controller design.Using stm32f103c8t6 controller and hardware peripherals to realize the field flight of four rotor aircraft,using attitude settlement,coordinate system conversion,four element attitude an⁃gle calculation,PID adjustment,gradient descent and other algorithms to realize the field flight of four rotor aircraft,and through multiple test flights,the attitude fusion algorithm and PID fine adjustment make the field flight of four rotor aircraft more stable and fly in four rotor aircraft,on the basis of stable flight,hardware peripherals such as OpenMV and PTZ can be added to realize the tracking and object recog⁃nition functions of the four rotor aircraft.

关 键 词：四轴飞行器 飞行控制器 姿态角 OpenMV 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]