基于北斗导航的无人机系统设计  

Design of UAV System Based on BeiD ou Navigation

作　　者：陈玺光 王尔申 任旭[3] 舒皖森 吴黎艳 徐嵩 张树宁 马毓徽 CHEN Xiguang;WANG Ershen;REN Xu;SHU Wansen;WU Liyan;XU Song;ZHANG Shuning;MA Yuhui(Liaoning General Aviation Academy,Shenyang Liaoning 110136,China;School of Electronic and Information Engineering,Shenyang Aerospace University,Shenyang Liaoning 110136,China;Information Network Center,Shenyang Aerospace University,Shenyang Liaoning 110136,China;School of Civil Aviation,Shenyang Aerospace University,Shenyang Liaoning 110136,China;School of Innovation,Shenyang Aerospace University,Shenyang Liaoning 110136,China)

机构地区：[1]辽宁通用航空研究院,辽宁沈阳110136 [2]沈阳航空航天大学电子信息工程学院,辽宁沈阳110136 [3]沈阳航空航天大学信息网络中心,辽宁沈阳110136 [4]沈阳航空航天大学民用航空学院,辽宁沈阳110136 [5]沈阳航空航天大学创新创业学院,辽宁沈阳110136

出　　处：《电子器件》2021年第5期1248-1253,共6页Chinese Journal of Electron Devices

基　　金：辽宁省“兴辽英才计划”项目(XLYC1907022);辽宁省教育厅项目(JYT2020142);沈阳市高层次创新人才计划项目(RC190030);沈阳航空航天大学创新创业项目(X20201014310,X202010143230,X202010143296,X202010143341)。

摘　　要：随着无人机技术的发展和成本的降低,无人机的应用越来越广泛,被广泛应用于军事侦察、民用等领域。我国自主研发的北斗卫星导航系统(BeiDou Navigation Satellite System,BDS)全球组网完成,可为无人机提供精确的位置、速度、时间等飞行状态信息。本文设计了基于北斗导航的低成本微型四旋翼无人机,给出了无人机系统的总体和软硬件详细设计。研究了无人机姿态控制算法,给出了四旋翼无人机的运动方程和传递函数,对PID控制算法进行了仿真。并讨论了无人机定高、定点控制算法,给出了仿真结果。对四旋翼无人机进行了实际测试,结果表明:设计的无人机系统能够较好地控制飞行姿态,同时具有低成本、体积小等特点。With the development of unmanned aerial vehicle technology and the reduction of cost,the application of unmanned aerial vehicle has become more and more extensive,and it is widely used in military reconnaissance,civil use and other fields.Our country’s self-developed BeiD ou Navigation Satellite System(BDS)has completed global positioning,which can provide UAV with accurate position,speed,time and other flight status information.The lowcost micro four-rotor UAV based on BeiD ou navigation is designed,and the overall design of the UAV system and detailed software and hardware is researched.The UAV attitude control algorithm is studied,the motion equation and transfer function of the four-rotor UAV are given,and the PID control algorithm is simulated.And the UAV’s fixed-height and fixed-point control algorithms are studied,and the simulation results are given.The actual flight test of the four-rotor UAV has been carried out.The results show that the designed UAV system can better control the flight attitude,and has the characteristics of low cost and small size.

关 键 词：四旋翼无人机 北斗导航卫星系统 串级PID 控制仿真 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]