The Anti-collision Design Of Four-rotor UAVs

A four-rotor UAV control method has been researched based on PID algorithm, and the effect of four-rotor UAV flight performance and environmental parameters of the control system performance, through simulation demonstrated the effectiveness of the algorithm.For the problem of multi UAV unified operation in a flight region, a conflict resolution and prediction of UAV algorithm is proposed. By reading the sensor parameters(attitude, position, height)to calculate the probability of conflict among UAV. According to the probability of conflict find the conflict member during the navigation stage, then make practical and effective coping strategies: height adjustment, course adjustment and speed adjustment.An anti-collision system platform was developed aim at UAV supervision consists of two parts: flight part of automatic driving ability and supervision part of the ground station. Based on the analysis of the functional requirements of this platform, hardware and software, a hardware and software system platform was preliminary designed, an anti-collision control system framework was build. The part of flight is composed of flight management unit(FMU), sensor measurement unit(IMU), power management unit(PSM), ADS-B radios,Beidou navigation module II, GPRS communication module.FMU get altitude, heading, speed, longitude and latitude information of UAV by IMU and navigation module. UVA avoid aircraft actively by let ADS-B receives aircraft position information in aviation airspace. The ground station communicate with UAV by GPRS, responsible for panel display, parameter setting and calculation of conflict avoidance algorithm. Experimental results show that the ground station system can obtain attitude and path information of UAV completely. In case of conflict, the path need re-planning based on the algorithm and update to UAV system, UAV can also respond.