Research And Design Of UAV Airborne Embedded Air Pollution Monitoring System

Environmental pollution,especially air pollution is a serious global challenge.In order to know the distribution and control of air pollutants,people have developed a variety of air pollution monitoring technique.Most of them are based on the way of fixed monitoring stations.These monitoring methods are not flexible enough,and the planning of monitoring stations is complex.Because of unmanned aerial vehicle’s(UAV)strengths of hovering,unpiloted feature,small size,low noise,flexible and convenient control,the source of pollution will be quickly found by the detected equipment which is carried by UAV,and the monitoring task is accomplished flexibly.Therefore,in order to achieve fast positioning and flexible monitoring of air pollution,the UAV airborne embedded air pollution monitoring system is studied in this thesis,which is of great significance to the air environment monitoring of our country,especially to emergency monitoring or unexpected inspection of air pollution.The contents of the thesis mainly includes two parts: monitoring system and UAV airborne platform.The monitoring system is composed of an airborne monitoring terminal and a ground display terminal.The airborne monitoring terminal is responsible for completing the detection of three kinds of air pollution’s concentration,dust’s concentration,temperature and humidity,and getting the position of monitoring area.And then,the detection data and positioning information are transmitted to the display terminal based on the 3G communication technology.The display terminal is a display platform which is achieved by the Qt software on PC.The reception and storage of the data from the monitoring terminal are achieved by display terminal with multi threading technology and QTCPSocket network communication technology.At last,the data is displayed on a Qt/GUI interface with a certain format so that the display terminal can provide a friendly man-machine interactive function.In the design of hardware,each sensor detection module,GPS positioning module and 3G network communication module are controlled by the ARM9 controller S3C2440 A.In the design of software,the software of each sensor detection module,GPS positioning module and 3G network communication module are managed by linux system,and the software of data receiving,storage and display in the display terminal is designed,so the design of the entire monitoring system is completed.In order to ensure that the UAV can be equipped with monitoring system and fly stably,quad-rotor unmanned aerial vehicle’s operating principle and dynamics model are studied in the thesis.By studying and comparing the control effects of PID control algorithm and active disturbance rejection control(ADRC)algorithm in the flight control of quad-rotor UAV,the simulation results show that the ADRC algorithm has more advantages than the PID control algorithm in terms of stability,rapidity and anti-wind capability.Therefore,the ADRC algorithm is selected as the control algorithm of UAV airborne platform in this thesis,so the flight control system of the airborne platform based on the active disturbance rejection controller is studied,which can make the airborne platform be able to fly stably,and quickly adjust it’s attitude.Therefore the monitoring task of air pollution is accomplished by the monitoring system with airborne platform’s cooperation.