Research On The Ground Control System Of Quadrotor Unmanned Aerial Vehicles

The quadrotor unmanned aerial vehicle (U AV) has special configuration which results in better m obility, sim pler structural design, and higher flight security comparing with other rotorcrafts. Meanwhile, the value of the quadrotor UAVs in both military use and civil use is huge. Therefore, more and more researchers have begun the research on quadrotor UAVs. As an important part of autonomous quadrotor UAV systems, ground contro l system ( GCS) willl provide necessary functions for the system, such as hum an-manchine interface, flight data processing , flight path planning and so on.In this thes is, the desig n and im plementation of the GCS f or an automom ous quadrotor UA V is investigated. The data of the quadrotor UA V is received successfully and in real time, through the wireless network programming. The attitude data of the quadrotor U AV can be displa yed visually via the developm ent of the virtual instr uments. The rea l-time loca lization and navigation for the UA V is completed via the customization of the electric map and the graphic function in Visual Studio environment. The input of the joystick is read su ccessfully, via the use of DirectInput class, and furthe r m ore, the input can also be converted into control commands to the quadrotor UA V. Also, property pages are used to calssify dif ferent technologies, for the purpose of making the control interface easier to use. At last, the use of multi-thread progr amming technology m akes it possible for the above technologies to work together stably and orderly.In this thesis, a dialog-based project is established for each te chnology that can run independently. Meanwhile, several m odules based on the above technologies are debugged together to verify the possibility of the co-operation between them. At last, results of indoor and outdoor experiments for the GCS ar e provided, and the runni ng frequency of every thread is set properly . Through the results of these experiments, it can be concluded that the ground contro l system works stab ly, an d the desired objectives are achieved.