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

A technology for a quadrotor aircraft and a control method, which is applied in attitude control, three-dimensional position/channel control, etc., can solve the problems of the limited positioning system of the aircraft, such as the effective measurement space, low update rate, and high price, and achieves a low-cost control strategy. Effect

Active Publication Date: 2014-06-11
SUN YAT SEN UNIV
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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

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

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[0034] The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as a limitation on this patent.

[0035] Such as figure 1 As shown, a small-sized four-rotor aircraft control system based on airborne sensors, including an inertial measurement unit module, a microprocessor 4, an electric regulator 5, an ultrasonic sensor 6, an optical flow sensor 7, a camera 8, a wireless module 9, DC brushless motor 10;

[0036] The inertial measurement unit module is connected to the IIC bus int...

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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...

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
Inventor 成慧陈有生
Owner SUN YAT SEN UNIV
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