四旋翼无人机控制系统研究与仿真  

Research and Simulation of Four-rotor UAV Control System

作　　者：王宜腾 杨明[1] 

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022

出　　处：《工业控制计算机》2025年第3期37-39,共3页Industrial Control Computer

摘　　要：无人机领域的仿真控制系统日趋成熟,以基于NuttX操作系统的PX4飞控系统,来控制计算机建模工具进行软件在环(SITL)仿真,将ROS melodic创建的四旋翼无人机模型导入到Gazebo仿真器中,利用MAVLink建立PX4飞控、QGroundControl地面站和Gazebo仿真器三者的通信,并引入白噪声模拟真实环境。设计了飞行器悬停、偏航、轨迹规划等实验,通过观测分析实验数据,验证了设计四旋翼飞行控制系统的硬件可行性,Gazebo实验数据与QGroundControl理论数据误差较小,飞行器反应迅速,实现了相关功能。This paper uses the PX4 flight control system based on the NuttX operating system to control the computer modeling tool for software-in-the-loop(SITL)simulation.After importing the quadrotor UAV model created by ROS melodic into the Gazebo simulator,MAVLink is applied to establish communication between the PX4 flight controller,QGroundControl ground station and Gazebo simulator,with white noise being introduced to simulate the real world.Experiments such as aircraft hovering,yaw,and trajectory planning are designed.Through observation and analysis of experimental data,the hardware feasibility of designing a quadrotor flight control system is verified.The error between Gazebo experimental data and QGroundControl theoretical data is small.The aircraft responds quickly and implements relevant functions.

关 键 词：四旋翼飞行器 SITL Gazebo 飞行轨迹规划 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]