基于Android的微型四旋翼无人机地面控制系统设计

发布时间：2018-01-05 17:21

本文关键词：基于Android的微型四旋翼无人机地面控制系统设计　出处：《南京航空航天大学》2016年硕士论文　论文类型：学位论文

【摘要】：近年来,四旋翼无人机由于体积小、机动性好、结构较简单、性价比高等特点,在军事领域和民用方面有着巨大的应用价值,是目前研究的热门项目。而四旋翼无人机的地面控制系统作为其中的重要配套系统,也在不断地发展之中。传统的地面控制系统体积较大、不易携带、待机时间短。本文利用现阶段广泛应用的安卓系统,提出了一种新的基于Android的四旋翼无人机地面控制系统的设计方法;同时设计了一种新的基于蓝牙和数传模块的四旋翼无人机通信系统;并且区别于传统的四旋翼机载平台,将航迹控制回路设计在安卓地面控制系统中。首先,对四旋翼无人机的特点和发展现状进行了研究,搭建了四旋翼无人机平台,提出了整个系统实现的技术方案,并且对地面控制系统的需求进行了详细分析。其次,对四旋翼无人机的无线通信系统进行了研究设计,利用蓝牙、数传、单片机完成了通信系统的软硬件设计,并使系统能耗降到最低,对一些技术细节进行了阐述。再次,根据地面控制系统的设计需求,在Eclipse平台下对蓝牙、数据传输、仪表盘、遥控、GPS、航点地图、校准、日志记录等模块分别进行了自主设计开发,并且在航点导航模块实现了航迹控制算法,有效减轻了机载平台的运算负荷。最后,制订了有针对性的测试和验证方案,分别对无线通信系统和地面控制系统的功能性进行了大量可靠性验证和实际飞行验证。测试结果表明,方案中的各项关键技术问题得到了有效解决,设计方案及思路的正确性得到了验证,各模块的功能设计、性能指标能够满足四旋翼无人机地面控制系统的应用需求。
[Abstract]:In recent years, the four rotor UAV due to the small size, good flexibility, simple structure, high cost, has great application value in the field of military and civilian areas, is a hot research project at present. The ground control system and four rotor UAV as an important supporting system which is in constant development. The traditional ground control system. The volume is large, is not easy to carry, standby time is short. The Android system is widely applied to the present, we propose a new design method of Android based on the four rotor UAV Ground Control System; at the same time, design a new Bluetooth and data transmission module based on four rotor the man-machine communication system; and different from the traditional four rotor aircraft platform, will track control loop design in Android ground control system. Firstly, characteristics and development status of the four rotor UAV are The research, build four rotor UAV platform, puts forward technical scheme to realize the whole system, and the control system on the ground needs a detailed analysis. Secondly, the wireless communication system of the four rotor UAV are studied and designed, using Bluetooth, digital monolithic machine, designs the hardware and software of the communication system. And the system energy consumption to a minimum, some technical details are discussed. Thirdly, according to the design requirements of the ground control system, under the Eclipse platform for data transmission, Bluetooth, dashboard, remote control, GPS navigation, map, calibration, logging and other modules are independent design and development, and in the navigation point the navigation module realizes the tracking control algorithm, effectively reduce the computation load of the airborne platform. Finally, formulate targeted testing and verification scheme, respectively, function of the wireless communication system and the ground control system. For a large number of reliability verification and the actual flight test. Test results show that the scheme of the key technical problems have been solved effectively. The correctness of the design scheme and ideas have been verified, the functional design of each module, the performance index can satisfy the application requirements of four rotor UAV Ground Control System.

【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279;TP316

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