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本四旋翼自主飞行器采用STM32F407ARM芯片作为飞控主控制核心,硬件包括了飞行姿态采集模块、超声波测距模块、摄像头循迹模块、无刷电机驱动模块以及STM32F407摄像头数据处理模块等。飞行姿态处理由MPU-9150加速度计陀螺仪提供,实现了飞行器的平稳飞行。超声波测距模块和摄像头循迹模块为飞行器提供导航参数,使飞行器可以按照规定航线并以一定高度飞行。为了保证摄像头数据处理的实时性,本设计中增加了一片STM32F407芯片专门处理摄像头数据。通过姿态解算、PID控制算法、摄像头数据采集处理,使飞行器实现一键式起飞,定高跟着赛道线稳定飞行,最终平稳降落。通过多次测试,证明该基于双STM32芯片和OV2640的自主循迹四旋翼飞行器稳定、可靠。
The four-rotor autonomous vehicle uses STM32F407ARM chip as the main control center of flight control. The hardware includes the flight attitude acquisition module, the ultrasonic distance measurement module, the camera tracking module, the brushless motor drive module, and the STM32F407 camera data processing module. Flight attitude processing by the MPU-9150 accelerometer gyroscope to achieve a smooth flight of the aircraft. The ultrasonic ranging module and the camera tracking module provide navigation parameters for the aircraft so that the aircraft can fly at a given altitude and at a given altitude. In order to ensure the real-time nature of camera data processing, this design adds a STM32F407 chip specialized in camera data. Through attitude solution, PID control algorithm and camera data acquisition and processing, the aircraft achieved one-button takeoff, set high and followed the track line and stabilized flight, finally landing smoothly. Through several tests, it is proved that the autonomous tracking quadrotor based on dual STM32 chips and OV2640 is stable and reliable.