Control system for four-rotor aircraft and control method of control system

A quadrotor aircraft and control system technology, applied in the field of aircraft, to achieve the effect of accurate and reliable data and stable control

Inactive Publication Date: 2015-03-25
NANJING UNIV OF INFORMATION SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing small quadrotor aircraft generally use the inertial measurement unit to measure the attitude, so as to control the flight attitude of the aircraft, and the positioning system to obtain the position information of the aircraft, and seldom fuse the information between the inertial measurement unit and the positioning system

Method used

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  • Control system for four-rotor aircraft and control method of control system
  • Control system for four-rotor aircraft and control method of control system
  • Control system for four-rotor aircraft and control method of control system

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Embodiment Construction

[0024] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0025] Such as figure 1 The system structural block diagram of the present invention shown, a kind of control system of quadrotor aircraft, comprises master controller and inertial measurement unit, geomagnetometer, ranging sensor and GPS module connected with it respectively, also comprises camera module, image processing unit , a motor drive module and 4 motors, the camera module is connected to the main controller through the image processing unit, the main controller is respectively connected to 4 motors through the motor drive module, and the 4 motors drive 4 propellers of the quadrotor aircraft respectively; The inertial measurement unit, magnetometer, distance measuring sensor and GPS module respectively detect the inertial data, azimuth data, height data and position data of the quadrotor aircraft and transmit these data to the main...

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Abstract

The invention discloses a control system for a four-rotor aircraft. The control system comprises a master controller, an inertial measurement unit, a geomagnetometer, a distance measuring sensor, a GPS module, a camera module, an image processing unit, a motor drive module and four motors, wherein the inertial measurement unit, the geomagnetometer, the distance measuring sensor and the GPS module are connected with the master controller, the camera module is connected with the master controller through the image processing unit, the master controller is connected with the four motors through the motor drive module, and the four motors drive four airscrews of the four-rotor aircraft respectively. The invention further comprises a control method of the control system. The control method involves an attitude control algorithm, a height determination control algorithm and a data fusion algorithm. Data fusion of the inertial measurement unit and a positioning system is adopted for a control structure and the control method, and stability and reliability of the system are improved.

Description

technical field [0001] The invention belongs to the field of aircraft, and in particular relates to a control system and a control method of a quadrotor aircraft. Background technique [0002] An unmanned aerial vehicle refers to an aircraft that does not need to be operated by a driver, is controlled by radio remote control or its own program, uses aerodynamics to fly and can be recycled and reused. Unmanned aerial vehicles appeared in the 1920s. When they first appeared, they were used as target drones for target shooting by anti-aircraft artillery units. After the Gulf War, due to the excellent performance of drones in the war, countries all over the world are scrambling to develop drones. Advanced drones can carry various detection equipment to perform reconnaissance and surveillance tasks, and can even be equipped with attack Weapons perform strike missions. [0003] Unmanned aerial vehicles are divided into two types: fixed-wing and rotary-wing. Compared with fixed-w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 王其陈景研曾雪峰宁俊
Owner NANJING UNIV OF INFORMATION SCI & TECH
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