Small four-rotor aircraft control system and method based on airborne sensor

Abstract

The invention relates to the technical field of four-rotor aircrafts, in particular to a small four-rotor aircraft control system and method based on an airborne sensor. The small four-rotor aircraft control system based on the airborne sensor comprises an inertia measurement unit module, a microprocessor, an electronic speed controller, an ultrasonic sensor, an optical flow sensor, a camera, a wireless module and a DC brushless motor. By merging the information of a light and low-cost airborne sensor system, the six-DOF flight attitude of the aircraft is estimated in real time, and a closed-loop control strategy comprising inner-loop attitude control and outer-ring position control is designed. Under the environment without a GPS or an indoor positioning system, flight path control and aircraft formation control based on the leader followed strategy over the rotorcraft are achieved through the airborne sensor system and the microprocessor, wherein the flight path control comprises autonomous vertical take-off and landing, indoor accurate positioning, autonomous hovering and autonomous flight path point tracking. According to the small four-rotor aircraft control system and method, a reliable, accurate and low-cost control strategy is provided for achieving autonomous flight of the rotorcraft.

Description

technical field [0001] The present invention relates to the technical field of quadrotor aircraft, and more specifically, to a control system and method for a small quadrotor aircraft based on an airborne sensor. Background technique [0002] Due to the small size, light weight, vertical take-off and landing, fixed-point hovering, and high maneuverability of the small quadrotor aircraft, it is widely used in traffic monitoring, natural disaster monitoring and rescue, environmental and pollution monitoring, agricultural and forestry surveys, and emergency response. and other fields have broad application prospects. [0003] Quadrotor aircraft is a complex nonlinear system with multiple variables and strong coupling. Due to the movement in three-dimensional space, the control of its flight attitude and trajectory is more difficult than that of ground robots. Constrained by limited payload capacity and power sources, small rotorcraft sense the external environment based on...

AI Technical Summary

Problems solved by technology

In an environment without GPS signals, such as in an indoor environment, a high-speed, high-precision indoor positioning system (such as Vicon high-speed motion capture system, Optitrack motion capture system, wireless positioning system based on ultra-wideband technology, etc.) Real-time position information, these high-speed, high-precision indoor positioning systems are very expensive, and at the same time, because the aircraft is limited by the effective measurement space of the positioning system, this greatly limits the performance of the autonomous flight of the aircraft

Another solution for aircraft self-localization is to use laser range finders, but laser range finders suitable for small aircraft are expensive and have low update rates

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