摘要
为了实现四旋翼无人机的自主飞行,设计了该智能导航控制系统。飞行控制器采用陀螺仪与三轴加速度传感器相结合的方式检测飞行器姿态,通过ATMEGA644芯片分别控制4个电机驱动模块调速来实现飞行姿态的改变。导航系统通过ARM7控制GPS模块与电子罗盘,获取飞行器的实时位置,并利用软件滤波的方式提高了定位精度。设计了上位机控制软件,可加载数字地图并且设置飞行路线,通过无线串口与无人机通讯,实现无人机的智能自主飞行。通过实验证明该系统能够实现智能导航的功能。
This intelligent navigation system can achieve the four-rotor UAV＇s autonomous flight.Use ATMEGA644 as the flight controller.Use gyroscopes and three-axis acceleration sensors to detect the aircraft attitude which can be controlled by the BLDC motor driver modules.Use ARM7 to control the GPS and the electronic compass module,get the vehicle＇s real-time location.Use software filtering to improves the localization accuracy.A PC software is designed which can load the digital map and set the flight path.Communicate with the UAV by the wireless serial communication module to drive the UAV flight autonomous.The experiment proved that the system can achieve intelligent navigation features.
出处
《电子测量技术》
2011年第6期1-3,29,共4页
Electronic Measurement Technology
关键词
四旋翼无人机
姿态控制
智能导航
路径规划
卡尔曼滤波
four-rotor micro UAV
attitude control
smart navigation
path planning
Kalman filtering
