Design Of Small Quadrotor Filght System

With the rapid development of computer and automation technology, Development and application of intelligent robots gradually become the research focus of academic organizations and research insitiuions. As the hotspot in intelligent robots research field, small quadrotor, with its novel structure, flexible handling performance, smaller geographical limitations and other advantages, attracts more and more attention in the military and civilian fields.Based on the analysis of the current research status of quadrotor at home and abroad、trend and application prospect, this paper aims to propose an experimental platform based on a small quadrotor aircraft, which can meet basic engineering applications. Firstly, explain the quadrotor aircraft coordinate system and basic principle of flight, then introduce the overall design framework of aircraft, the filght core will be equipped with s5pv210, which runs the Linux operating system,as the control core processor for aircraft,and equipped with inertial measurement module, brushless DC motor drive module, wireless communication module, GPS navigation module and image acquisition module, in order to realize the adaptive control of aircraft. The system uses quaternion Kalman filter algorithm to merge and analysis the data acquired by gyroscope and accelerometer, in order to estimate the optimal body attitude of the aircraft. In addition, the flight control system is simulated in the MATLAB Simulink, to prove the control algorithm has the effectiveness and robustness. The algorithm is transplanted to the ARM embedded system, the control parameters are optimized. Finally, test and analyze the whole system and verify the feasibility of the aircraft platform.This paper studies related algorithms based on the hardware platform, using PID control algorithm to complete the basic posture correction and flight control. The ground station software can collect flight data, simulate flight attitude, show video images captured by the camera, and also achieve the basic aircraft control by related commands. This paper initially establishes a small quadrotor flight experimental platform, completes the relevant performance simulation, and lays the foundation for further research of control algorithm.