多旋翼无人机地面监控系统设计

发布时间：2018-05-07 19:36

本文选题：地面监控系统 + WPF　；参考：《南京信息工程大学》2017年硕士论文

【摘要】：近年来,随着多旋翼无人机在农业植保等领域的应用愈加成熟,作为整个无人机系统中的指挥与控制中心,地面监控系统逐渐成为研究热点,性能稳定可靠的地面监控系统在无人机执行作业飞行任务中扮演的角色越来越重要。本文结合自主研发的多旋翼无人机,设计了一款基于WPF技术的地面监控系统软件。文章对地面监控系统的总体结构与硬件选型进行了概括性的介绍,着重阐述了地面站中各个功能模块的设计与界面布局的设计。本设计在VS2013软件平台上,使用XAML语言设计了地面监控系统的界面,后台则使用C#语言进行逻辑关联与功能实现。本设计在地面站与无人机通讯方面,设计了自定义的通信协议并同时实现了无线网络通信与串口通信,实现数据的实时存储和数据回放、数据显示、波形显示以及数据自检的功能。采用GMap.NET地图控件实现地图操作功能,并设计了无人机自主飞行的轨迹规划、航迹绘制和航迹回放功能。设计实现了地面站端传感器的校准,无人机飞行相关参数的设置。设计实现了在地面站端对飞控模块固件的在线升级。文章还通过使用DirectShow技术处理视频流,实现了多旋翼无人机视频的实时播放和拍照功能,实现了轨迹规划功能中区域边界点的准确采集,并运用OpenGL实现虚拟仪表的构建和无人机3D模型显示。最后通过地面站监控系统与多旋翼无人机的户外实际飞行测试实验,验证了本设计中地面监控系统中各个功能模块的可行性与稳定性,满足了功能需求,并且能够稳定可靠的运行,实现预期效果。
[Abstract]:In recent years, with the more mature applications of the multi rotor unmanned aerial vehicle in the field of agricultural plant protection and other fields, as the command and control center of the whole UAV system, the ground monitoring system has gradually become a hot spot. The role of the ground monitoring system with stable performance and reliable performance is becoming more and more important in the mission of the UAV. A multi rotor unmanned aerial vehicle (UAV) is developed independently. A ground monitoring system software based on WPF technology is designed. The general structure and hardware selection of the ground monitoring system are introduced briefly. The design of each functional module in the ground station and the design of the interface layout are emphatically expounded. This design is used on the VS2013 software platform and uses XAM The L language designs the interface of the ground monitoring system, the backstage uses the C# language to carry out the logic Association and function realization. This design has designed the custom communication protocol in the ground station and the UAV Communication, and realized the wireless network communication and serial communication at the same time, and realized the real-time storage of data and data replay, data display, and waveform display. The function of GMap.NET map control is used to realize the function of map operation, and the trajectory planning, track drawing and track replay function of the UAV autonomous flight are designed. The calibration of the ground station end sensor and the setting of the flight related parameters of the UAV are designed and realized. The design and Realization of the firmware of the flight control module at the ground station is designed and realized. Through the use of DirectShow technology to process video stream, the paper realizes the real-time playing and photographing of multi rotor UAVs video, realizes the accurate collection of regional boundary points in the trajectory planning function, and implements the virtual instrument construction and the unmanned aerial vehicle 3D model display using OpenGL. Finally, the monitoring system and the ground station monitoring system are carried out. The experiment of outdoor actual flight test of multi rotor unmanned aerial vehicle (UAV) proves the feasibility and stability of each function module in the ground monitoring system in this design, and meets the functional requirements, and it can run steadily and reliably, and realize the expected effect.

【学位授予单位】：南京信息工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V279;TP277

【参考文献】