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四旋翼无人机是一种具有四个螺旋的无人飞行器,具有体积小、结构简单、机动性强、成本低及隐蔽性好等特点具有重要的军事和民用价值,是当前的研究热点。介绍以STC15w4k32s作为主控制器,以MPU6050为航向姿态参机载传感器,以NRF24L01芯片模块为通讯模块,采用串级PID控制算法的四旋翼飞行器的设计,基本实现了四旋翼无人机的可靠飞行。
Quadrotor UAV is an unmanned aerial vehicle with four helicopters. It has the characteristics of small size, simple structure, strong maneuverability, low cost and good concealment, which are important military and civilian values. It is the current research hotspot. This paper introduces the design of quadrotor with STC15w4k32s as main controller, MPU6050 as heading attitude sensor, NRF24L01 chip module as communication module and cascade PID control algorithm, which can basically realize the reliable flight of quadrotor UAV .