Design And Implementation Of Small Quad-rotor Based On Arduino

Quadrotor is widely used,in civilianfields, such as aerial photography, power line inspection, postal service, and in military fields, such as investigation, patrol etc.Quadrotor UAV has many advantages, such as small and flexible,hovering, Vertical Take-Off and Landing. In this paper, the environmental monitoring of military airfields and radar positionsis the application background, and this paper aimed at the design and implementation of quadrotor aircraft which is universal and reliable. First, established mathematical model and improvedsome shortcomings of traditional modeling, completed control algorithm simulation and the design of hardware ang software, established the actual systemfinally. it focuses on the navigation and controldifficulties of the quadrotor aircraft, and propose some solutionsfor these problems. Now the main contents of the paper are summarized as follows:(1) Based on thetraditional modeling ideas, the mathematical model of quadrotor UAV is established,and combined with the flight environment, dynamic analysis is made.At the same time,the paper proposedthe disadvantages of the traditional model which is the measurement of accelerometers along the pitch axis and horizontal axis are not zero,then this paper derives the verification base on the blade element theory. According to this new model, an improved attitude estimation algorithm based on the Kalman filter was proposed.(2) A Proportional Integral Derivative(PID)was introduced based on the motion model,the inner attitude control loop and outer position control loopwere designed. Some simulation experiments were conducted to verify the feasibility of the control algorithm. Besides, it summarized the methods of adjusting the PID parameters, and designed a system for adjusting parameters quickly in Bluetooth communication, based on an open source APP.(3) The flight control system was established on Arduino platform with the chip of ATMEGA328P. First, it designed the attitude measurement unit with MPU6050, in order to improve measurement accuracy, some methods of damping and calibration the accelerometer were proposed;Secondly,the hardware of electronic compassHMC5883L which is used to sense direction is designed,and ellipse fitting method for the compensation of the magnetic deviation was applied; At last, the barometer module MS5611 and ultrasonic sensorHC-SR04are used for the measure of height,the temperature compensation process of the barometer and the calculation method of ultrasonic sensor were designed.It proposed a video overlay methodwith MAX7456, and achieves thevideo overlayfunction.Designed the ESC with the chip of ATmega8, and the launch policy to solvethe problems during startup is set up.(4)Tested the accuracies of theMEMS inertial devices by experiments. Designedan integrated Navigation Systembased on the EKF,made the data fusion from INS, GPS,geomagnetic and barometer to estimate attitude and position information. After the completion of the actual system, some tests including laboratory test,outdoor test and flight test were done to verify the actual operation of the integrated navigation system, and the results were analyzed.