Research And Design Of Ambient Air Detection Device Based On Quadrotor Aircraft

The composition and concentration of ambient air are closely linked to people's health and safety.Gaseous pollutants stems mainly from industry exhaust,vehicle exhaust and discharge of residents in daily life.Air pollution has fatal impact on the environment.It plays an extremely important role to detect ambient air.By now,most of air detection devices are fixed or portable.Fixed detection devices have many problems in practice,such as small measuring range and installation issues.Because portable detection devices must be carried by the operators,sometime even have to enter dangerous environment,it is very harmful to the workers.In this article,an ambient air detection device together with a quadrotor aircraft is researched and designed.The detecting system can be widely used in dangerous or complex geographical and gaseous environment.It can implement detection in different regions and expand the detection scope.The most important advantage of the system is to relief the staff of the burdensome work and to keep them away from the dangers.The main tasks of this article are given as follows:First of all,the structure characteristics and flight principle of quadrotor aircraft are studied and the body coordinate system and the ground coordinate system are established.According to the coordinate system,transformation is written out.The mathematical model of a quadrotor aircraft is established based on Euler-Newton equation.For the established model,a flight control system is designed,which includes inside loop(i.e.attitude loop)and outside loop(i.e.position loop).Simultaneously,a PID controller and a fuzzy self-tuning PID controller are designed separately.The simulations are carried out based on Matlab to confirm the advantage of the fuzzy self-tuning PID controller.Then,an ambient air detection device is designed.A chip which typed as STM32F103RBT6 is used as the controller here,and the detection data is saved into SD card through FAT32 system.The device is mainly used for detecting the temperature,humidity,CO concentration,CO2 concentration and smoke concentration in the air.Finally,test experiments are carried out to check the quadrotor aircraft detecting system.The quadrotor aircraft flys at different positions around the fire and detects data of the atmosphere.The detected data show that the system can accurately measure the environment components.Besides,the tests in a normal environment further prove that the system can work precisely and effectively.