四旋翼无人机地面监控系统的设计

发布时间：2018-05-22 09:13

本文选题：四旋翼无人机 + 地面监控系统　；参考：《东北农业大学》2017年硕士论文

【摘要】：近年来,四旋翼无人机因机动性强、灵活度高、成本低等优点,在军事侦查、灾情监测、地理测绘、航拍摄影等领域得到了广泛的应用。地面监控系统作为无人机系统的监控指挥中心,可以实时监测无人机的飞行状况,对无人机进行飞行控制管理,研究地面监控系统所涉及的关键技术和实现方法,对整个无人机系统的飞行安全和任务执行质量有着十分重要的意义。本文针对当前四旋翼无人机所用地面监控系统航迹规划电子地图实用性不高、系统软件平台的可重用性差的缺点,以四旋翼无人机地面监控系统做为研究对象,结合系统的实际功能需求,搭建了系统硬件平台,使用跨平台图形界面框架Qt作为系统软件和功能的开发平台,结合FFmpeg编解码库、Open GL、Qwt图形库和Google地图电子分片等技术,设计了一套功能完整、界面友好、可跨平台的四旋翼无人机地面监控系统。首先,对地面监控系统的总体方案进行了设计。根据监控系统的实际功能需求对系统所需的硬件设备、系统软件的功能模块结构和软件界面功能布局做了设计。然后,根据监控系统软件的功能设计,详细介绍了主要功能模块的设计和实现过程。一是通信功能的设计实现,制定了四旋翼无人机与监控系统之间的通信协议,设计了串口通信数据的接收处理、航拍视频采集以及数据存储的实现过程;二是数据显示和数据处理功能实现,主要包括飞行虚拟仪表的绘制、飞行姿态和飞行轨迹的三维可视化显示、飞行回放功能以及数据分析曲线绘制的实现;三是离线地图和航迹规划功能的设计,对航迹规划所用离线地图的功能显示结构和坐标转换算法做了详细设计,并对航线规划所需的基本操作功能做了设计。最后,通过与四旋翼无人机进行联机测试,对监控系统软件的各个功能做了整体测试。测试结果表明:该地面监控系统工作稳定、可靠,地面监控系统软件可跨平台进行应用部署,能够准确的接收和显示四旋翼无人机的监测数据和航拍视频,对航拍视频进行压缩编码存储,对飞行姿态和飞行轨迹能够正常的实现三维可视化模拟显示,进行数据分析时能够以曲线方式绘制显示飞行监测数据,离线地图能够正确的响应航点和航迹规划等操作。
[Abstract]:In recent years, the four-rotor UAV has been widely used in the fields of military reconnaissance, disaster monitoring, geographic mapping, aerial photography and so on because of its strong mobility, high flexibility and low cost. As the command center of UAV system, ground monitoring system can monitor the flight status of UAV in real time, manage the UAV flight control, study the key technology and realization method of ground monitoring system. It is of great significance to the flight safety and mission execution quality of the whole UAV system. Aiming at the shortcomings of low practicability of track planning and poor reusability of system software platform in track planning of ground monitoring system for four-rotor UAV, this paper takes the ground monitoring system of four-rotor UAV as the research object. Combined with the actual functional requirements of the system, the hardware platform of the system is built. The cross-platform graphical interface framework QT is used as the development platform of the system software and functions, and the FFmpeg codec library, Open GLG Qwt graphics library and Google map electronic slicing technology are combined. A four-rotor UAV ground monitoring system with complete function, friendly interface and cross-platform is designed. Firstly, the overall scheme of ground monitoring system is designed. According to the actual function requirement of the monitoring system, the hardware equipment, the function module structure of the system software and the function layout of the software interface are designed. Then, according to the function design of the monitoring system software, the design and implementation process of the main function modules are introduced in detail. The first is the design and realization of the communication function, the communication protocol between the four-rotor UAV and the monitoring system, the receiving and processing of serial communication data, the realization process of aerial video capture and data storage; The second is the realization of data display and data processing, including the rendering of flight virtual instrument, the visualization of flight attitude and flight trajectory, the function of flight playback and the realization of drawing data analysis curve. Thirdly, the function of off-line map and track planning is designed. The display structure and coordinate conversion algorithm of off-line map are designed in detail, and the basic operation function of route planning is designed. Finally, through the online test with the four-rotor UAV, the functions of the monitoring system software are tested as a whole. The test results show that the ground monitoring system works stably and reliably, and the ground monitoring system software can be applied and deployed across the platform, and can accurately receive and display the monitoring data and aerial video of the four-rotor UAV. The aerial video can be compressed and stored, the flight attitude and trajectory can be visualized and displayed normally, and the flight monitoring data can be drawn and displayed by curve when analyzing the data. The off-line map is able to respond correctly to operations such as point and track planning.
【学位授予单位】：东北农业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V279;TP277

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