Research On Navigation And Control Technology Of Quadrotor Based On Motioncapture System

Quadrotor is playing a more and more important role in military, civil and technology fields by its advantages of small size, light weight, good maneuverability and ability of hover and vertical takeoff and landing. The design of navigation and control system is the key of its autonomous flight. Research on quadrotor navigation and control system has great theoretical and application value. In order to eliminate the adverse influence of onboard sensor in the performance test and evaluation of the navigation and control system during the actual flight.. Motion capture system is introduced in this paper and a corresponding test bed is built to have a better research on navigation and control system.Firstly, the research status and key technology of the quadrotor navigation and control system research based on motion capture system are surveyed and analyzed. A general quadrotor is selected as the research object and its structure and operation principle are analyzed. Dynamic model of the quadrotor is established by the method of Newton-Euler.Secondly, improved PID and backstepping methods are used to the design of the quadrotor control system based on the dynamic model. Experiments of hover and trajectory tracking are simulated in Matlab/Simulink. Result proves the accuracy and effectiveness of the designed controller.Thirdly, motion capture system is introduced and its operation principle is analyzed. An acquisition method of navigation information under the motion capture system is researched and verified by experiments. Result shows the method is feasible and the acquired navigation information is accurate. A corresponding ground control station is designed and developed by VS2008. Data transmission protocol is defined and the quadrotor test bed is completed.Finally, according to the design requirements, hardware and software design of the quadrotor navigation and control system are compete and flight test is carried out in the quadrotor test bed.The test result shows that each designed hardware module can work properly and meet the requirements of size, weight, power and stability. The designed software has reasonable structure and high reliability. The design ground control station can realize all the functions of data receiving, processing, display, storage and sending. It can meet the requirements of actual flight and has a well coordination with the motion capture system and quadrotor. The designed controller can fully realize the control of position and attitude and has good control effect.