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四旋翼无人飞行器可垂直起降、悬停,适合某些特定场合应用,但其自动控制较为复杂。使用FPGA实现有限状态机,自动读取惯性器件的数据;应用高性能ARM处理器融合GPS位置、气压计高度、磁场强信息,进行姿态解算;并以PID控制方法对横滚、俯仰与旋偏角进行控制,最终实现了四旋翼无人飞行器的自动定点悬停、定高等功能。
Quadrotor unmanned aerial vehicles can take off and land vertically, hovering, suitable for some specific occasions, but its automatic control is more complicated. The finite state machine (FPGA) is used to realize the finite state machine, and the data of inertial device is read automatically. The high-performance ARM processor is used to integrate the position of GPS, the height of barometer and the information of magnetic field to solve the attitude problem. The PID control method is applied to roll, pitch and spin Declination control, the ultimate realization of the Quadrotor unmanned aerial vehicle automatic fixed-point hovering, set high and other functions.