The Design And Implement Of Wi-Fi-Based UAV Controller

With the development of aviation control technology, microelectronics technology and sensor technology, the UAV technology has experienced a rapid development. It has a wide range of application in the fields of military and civilian, especially in the tasks of ground environment reconnaissance and surveillance. It also has great implication in the disaster rescue and relief. The Quad-rotor UAV is a four-propeller aircraft, characterized as light weight, small size and low power consumption. The Quad-rotor UAV can achieve various actions simply by changing the speed of the rotor, which is the main difference to normal UAV.Firstly, this thesis analyses the physical structure, kinematics characteristic and working principle of the Quad-rotor UAV, and obtains a series of six dimension-aviation motion control methods. Considering the characteristics of the Quad-rotor UAV, a Wi-Fi wireless network control strategy is proposed, and then the Wi-Fi protocol physical layer and MAC layer are analyzed, and the wireless communication network between the PC and the Quad-rotor UAV is connected.Secondly, this thesis describes the hardware equipement of the Quad-rotor UAV system in details. Resort to the hardware device and the addtional sensor measurements, the correspongding hardware is designed and several tests and experinments are performed on all platforms. As for the software part, the wireless communication between the host computer and the UAV is applied through the Winsock client mode in the Visual Basic software development environment. Based on the above works, the real-time attitude control of the UAV is built up.Finally, in order to construct the path tracking system of the quad-rotor UAV, the video data is sampled through the UAV SDK interface. Then the sampled video data is processed through the Visual Basic programming, the procedure of the single image sampling is discussed in detail, especially the image gray processing, segmentation processing and binarization processing. In this way, the flight path and the aviation angle of the UAV are acquired, and the path tracking system of the Quad-rotor UAV is realized.By building a real-time control system for the Quad-rotor UAV in laboratory environment in this thesis, a real-time path tracking control scheme is implemented for the Quad-rotor UAV through Wi-Fi communication.