Four-axis Aircraft Research And Design

The four-axis aircraft is a new structure, new high-performance UAV which has importantapplications in many fields, covered many areas of high precision and advanced technology.This thesis further analysis the value and feasibility of its application in the wireless sensornetwork with its unique movement and superior processing performance, then proposes a planthat using the four-axis aircraft as the moving-flying Sink node; It will improve loadimbalance and lead to premature paralysis of the status quo of the network, and ultimatelyenhance the network performance. The thesis focuses on the analysis and the design of thecontrol system for four-axis aircraft works.Based on researching the structural features、Attitude Algorithm and flight controlprinciple of four-axis aircraft, this thesis designed a control system which with STM32familyof processors as the core and MPU6050inertial measurement devices. The system parsed2.4G Wireless PPM remote control signal, fused the attitude data of the sensors, estimatemotion posture, and then calculated the motor adjustment amount to control the aircraft motorto adjust the attitude. Finally, the system got good attitude estimation by using the Euler anglesand Complementary fusion algorithm attitude solution.The thesis tested the design result and simulated the algorithm. The test showed that thedesign of the four-axis aircraft has taken to achieve a mobile flying of function, and the fusionalgorithm design could be good for aircraft attitude estimation; The four-axis aircraft designprovide a viable technical solution for the application of moving-flying Sink node.