The Research And Design Of Multi-rotor MAVs Autonomous Flight Systems Based On GPS/INS

Multi-rotor MAVs have the functions of aerial photography, search and rescue, meteorological surveys etc. They can fly even in narrow areas due to their vertical takeoff and landing (VTOL), fixed-point hovering capabilities, they attracted wide attention in recent years, a large number of universities and research institutions devoted to the study of Multi-rotor MAVs. This article discussed the research and development of micro quadrotors autonomous flight systems.First of all, according to the requirements of achieving multi-rotor MAVs autonomous flight ultimately, this article designed the hardware circuit system that carried by a multi-rotor MAVs which could achieve autonomous flight. The whole hardware circuit board was made up of two circuit boards, including DC/DC converter circuit system, sensors circuit system, data acquisition systems microcontroller module, PWM signal isolation circuits, wireless communication module, among circuits, three single-axis angle velocity gyroscope, a three-axis accelerometer and a magnetometer, ADC sampling system and microcontrollers could consitute a attitude measurement system for estimating the aircraft attitude information.Second, this article studied on the application of attitude angle estimation algorithm. The measured acceleration includes not only coordinate transformation components of gravity on the body coordinate system, but also contains the kinetic caused by the movement of the sensors, the kinetic acceleration effects limited its application. This paper put the kinetic acceleration into observation equation as the noise term, and then use quaternion attitude estimation algorithm based on extended kalman filter to reduce errors. Then briefly describes optimal control theory.Again, according to the structure of micro quad rotor, this article analysed its principles and modeled, designed LQG controller on the basis of model of four rotary wing MAVs. LQG controller consisted of kalman filter andLQI controller. On one hand kalman filter can solve noise problems of random system, on the other it can estimate the status variables which couldn’t be measured by the system. Finally, this article simulated the designed LQG controller.Finally, this article introduced the process of loading controller actually and the ground station system. This article changed controller parameters and improving flight stability through a large number of indoor and outdoor flight experiments.Then analysed the actual flight test data, MAVs could flight steady from the actual flight test results and flight effects, obtained the ideal effect.