Design And Implement Of Hardware And Attitude Reference System For The Flight Control System Of Small UAV

With the opening up of the country's low-altitude airspace, small UAV has been widely used in various fields. As the center of small UAV, flight control system has very high research value. In this thesis, the hardware and attitude reference system of small UAV flight control system are designed and implemented, based on the analysis of the research status of the small UAV and flight control system.Firstly, this thesis puts forward the overall design of the flight control system and describes the function of flight control system. The hardware system is the key component of the whole UAV system, and it is the hardware foundation to realize all kinds of information measurement, software operation, and flight control. The hardware system uses STM32F103 RE as the flight control computer, which integrates sensor data acquisition module, GPS module, and other functional modules. The hardware of flight control system and the main driver module program are designed in details.Secondly, the attitude reference system is explored, and it is the key technology to solve the accurate measurement of UAV flight attitude. The thesis specifies the attitude expression of UAV and describes the process of the establishment of the direction cosine matrix in detail. The process of using the angular velocity of the gyro output is to update the direction cosine matrix. According to the error caused by gyro drift, the fusion of multi sensor data is used to correct the direction cosine matrix, which can effectively improve the accuracy of attitude measurement.Finally, according to the order from the local to the whole, this paper describes the test of the flight control system. The test experiments of the main function module verifies that the main function modules can work well independently. The static and dynamic tests were carried out on the aircraft attitude reference system, which verified the accuracy of the measurement results. The additional tests are also carried out under the actual flight condition, which proves that the designed system is stable and reliable.