| Quad-rotor aircraft is through the multi-sensor data fusion solves for their own state,to control the four motors with a propeller,to complete the vertical takeoff,hover,free flight and other activities.Quad-rotor aircraft involved in motor learning,aerodynamics,automatic control science and other techniques to broaden its research value and range. Moreover, because of its small size,flexible,easy to carry and other features,and now are beginning to appear in its presence in many application areas,such as aerial photography,reconnaissance,mapping and other,very broad application prospects.The main work of this paper is to limit the problem of aircraft control and video transmission distance for the proposed based on embedded Linux,3G network and aircraft controllers STM32 transmission control system.1:System design and hardware platforms. Complete overview of the system and hardware platform of choice introduced, using ARM9+STM32 hardware architecture,ensuring the stability of the system and real-time,chose to develop the required model development board, camera model,3G transmission standard and modules,as well as the transport of choice for embedded Linux system.2:The four-rotor design. Mainly to complete the driving STM32 development, complete MPU6050 and HMC5883 readings quaternion based data integration and attitude solution and using cascade PID control of the aircraft to complete the stable.3:Embedded Linux transplant. According to the board’s hardware platform and application, complete embedded Linux kernel cutting, configuration and compilation, compiled Bootloader start the program, produced yaffs2 file system.4:System application software design. Completion of the video server application software to build and porting Mjpg-streamer and web servers, complete STM32 control port driver development and applications, compiled transplanted 3G network card driver, complete 3G dial-up script, complete C# based PC write control program. |
PDF Full Text Request