Three-layer airborne flight control device for micro four-rotor aerial vehicle

Abstract

The invention relates to a three-layer airborne flight control device for a micro four-rotor aerial vehicle, and belongs to the technical field of micro aerial vehicles. A navigation control layer consists of a navigation controller, an inertial measurement unit, a micro laser distance measuring sensor, a micro vision sensor and a wireless fidelity (WiFi) wireless network; an attitude control layer consists of an attitude controller, a gyroscope, an accelerometer, a magnetometer, a pressure sensor, an ultrasonic sensor, a remote controller and receiver unit and a ZigBee wireless communication unit; and a motor speed regulation control layer consists of four brushless motor speed regulators and four actuator units. The attitude controller is added, so that the whole flight device becomes intelligent, can perform autonomous navigation positioning, can avoid obstacles, is independent of manual operation of a remote controller, and becomes an intelligent robot in the real sense.

Description

technical field [0001] The invention belongs to the technical field of micro-aircraft, and in particular relates to a three-layer airborne flight control device of a miniature four-rotor aircraft. Background technique [0002] Micro Aerial Vehicle (MAV: Micro Aerial Vehicle) has the characteristics of small size, light weight, easy to carry, simple operation, good concealment, and flexible maneuverability. More and more researchers in the field of robotics and aviation are paying attention. In the military, micro-aircraft can be used for enemy reconnaissance, target tracking, electronic interference, damage assessment, nuclear, biological and chemical sampling, deployment of sensors, relay communications, and even active offense and defense; in civilian use, micro-aircraft can be used for various types of monitoring, monitoring, patrolling , search and rescue, photography, surveying and mapping, surveys and expeditions. [0003] Although the initial drone market was mainly...

AI Technical Summary

Problems solved by technology

Due to the multi-path propagation characteristics of electromagnetic waves, electromagnetic interference with airborne equipment, and human interference, etc., GPS positioning will fail. Therefore, reliable GPS positioning signals are often not available in urban areas and indoor environments with tall buildings.

In addition, since most of the current micro-flying robot systems lack odometry systems, disastrous consequences will be produced when there is no GPS signal or the GPS signal is wrong

Therefore, the current miniature four-rotor flying robot is not suitable for autonomous search, rescue, environmental detection and monitoring in areas such as indoors, dangerous mines, tunnels, and urban areas with dense buildings.

Images