四旋翼飞行器的研制及其在移动数据收集实验中的应用

发布时间：2018-06-23 18:56

本文选题：四旋翼飞行器 + 移动数据收集　；参考：《东南大学》2016年硕士论文

【摘要】：四旋翼飞行器是近年来一种新兴的能够垂直起降、稳定低速飞行、在空中灵活运动的飞行器。移动数据收集是无线传感器网络领域中很有前景的数据收集方式,能够有效地解决无线传感器网络传统数据收集方式存在的能量瓶颈问题。本文的主要工作是研制了一套四旋翼飞行器平台,并将其应用到无线传感器网络的移动数据收集实验中。本文的主要成果如下：(1)研制了能稳定飞行的四旋翼飞行器。搭建了四旋翼飞行器的各硬件模块,编写了飞行器的飞行控制程序。该控制程序建立在四旋翼飞行器的动力学模型仿真、飞行器姿态解算算法以及PID控制算法的基础之上。本文建立了四旋翼飞行器的动力学模型。并根据互补滤波算法的基本原理与四元数姿态更新算法,设计并实现了飞行器的姿态角和高度的解算算法。在上述基础上,设计了并实现飞行器的PID控制算法,并进行了仿真和实际飞行验证了算法的有效性。(2)利用C#语言开发了四旋翼飞行器的地面监控软件,实现了机-地的串口通信、飞行数据的显示、地图导航、数据库四种功能。其中,地图导航可以用来辅助操作人员操作飞行器实现航迹的规划、绘制和导航功能；数据库功能用于存储收集到的无线传感器网络数据。(3)基于该飞行器搭建了无线传感器网络移动数据收集实验系统。并进行了场地飞行实验和移动数据收集实验,实验证实了所设计的四旋翼飞行器平台的有效性,也表明该飞行器有潜力作为无线传感器网络的移动数据收集的数据汇聚节点载体平台。
[Abstract]:Four-rotor aircraft is a new type of aircraft which can take off and land vertically, fly steadily at low speed and move flexibly in the air in recent years. Mobile data collection is a promising data collection method in wireless sensor networks, which can effectively solve the energy bottleneck of traditional data collection methods in wireless sensor networks. The main work of this paper is to develop a four-rotor aircraft platform and apply it to the mobile data collection experiment of wireless sensor networks. The main achievements of this paper are as follows: (1) A stable four-rotor aircraft is developed. The hardware modules of the four-rotor aircraft are built and the flight control program is compiled. The control program is based on the dynamic model simulation, attitude calculation algorithm and pid control algorithm of the four-rotor aircraft. In this paper, a dynamic model of a four-rotor aircraft is established. According to the basic principle of the complementary filtering algorithm and the quaternion attitude updating algorithm, the attitude angle and altitude calculation algorithm of the aircraft is designed and implemented. On the basis of the above, the pid control algorithm of aircraft is designed and realized, and the validity of the algorithm is verified by simulation and actual flight. (2) the ground monitoring software of four-rotor aircraft is developed by using C # language. Achieve the machine-ground serial communication, flight data display, map navigation, database four functions. Among them, map navigation can be used to assist operators to operate aircraft to achieve track planning, drawing and navigation functions; The database function is used to store the collected wireless sensor network data. (3) the mobile data collection experiment system of wireless sensor network is built based on the aircraft. Field flight experiments and mobile data collection experiments have been carried out, which verify the effectiveness of the designed four-rotor aircraft platform. It also shows that the vehicle has the potential to serve as a data convergence node carrier for mobile data collection in wireless sensor networks.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V275.1

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