| In recent years,frequent air pollution incident make serious effects in people’s lives.it is urgent to control Air pollution.However,the real-time,accurate monitoring of air pollution condition has vital impact on air pollution prevention and management.By now,the commonly atmospheric environmental monitoring approaches use the fixed or hand-held monitoring device.Fixed monitoring devices have many problems in practice,such as small measuring range and monitoring-point layout,making it difficult to veraciously characterize concentration distribution of air pollutants.Because hand-held monitoring device must be carried by the operators,making it difficult to monitor in bad condition.To solve the above problems,an atmospheric environmental monitoring system based on quadrotor aircraft is designed.The system measures the major contamination in atmospheric environment through the air quality measurement module in the quadrotor,and transfers the data to the ground monitoring terminal by wireless transmission system.As a means of flowing and three-dimensional monitoring,it can implement detection in complex and dangerous environments.The main tasks of this article are given as follows:Firstly,quadrotor aircraft is designed.This article has analyzed the composition structure and the working principle of quad-rotor aircraft.According to the motion characteristics and mechanical characteristic of quadrotor,the mathematical model of a quadrotor aircraft is established based on Euler-Newton equation.With STM32F407 as the main controller,the thesis has designed and actualized flight control system.The selection of the master controller,attitude measurement sensors,wireless data transmission module and the design of circuit are finished during the designing process.In the aspects of software design,the program design process of sensor data collection is analyzed.The attitude algorithm is designed based on the quaternion theory and complementary filtering algorithm.the attitude stable control is realized by cascade PID control algorithm.The construction and debugging of quad-rotor aircraft are finished ultimately.Secondly,aim at measuring the major contamination parameters in atmospheric environment such as PM2.5,PM10 and CO,air quality data acquisition system is designed,the hardware and software of the system has been accomplished.Then,the ground monitoring terminal is developed in C# language,which includes thedesign of monitoring terminal interface,data communication and storage module.Finally,systematic integration on various functional modules are studied,test experiments are carried out to check the atmospheric environmental monitoring system based on quadrotor aircraft.Test results show that the system can flight steadily and accurately measure air quality data,realize the integrated air-to-ground monitoring to the atmospheric environment.The feasibility and reliability of this system are verified through experiments. |
