| Based on vision positioning system by infrared motion capture and localization,an indoor test system for multi rotor Unmanned Aerial Vehicle(UAV)is built.The test system has a high positioning accuracy and high real-time performance,so it is suitable for a lot of experiments like multi UAVs formation flight.It also can be used as a platform to test control algorithm which has an important research significance.In this paper,the hardware platform of indoor test system for multi rotor UAV is built,and it includes vision positioning system and multi rotor body platform.We design the communication link scheme of the test system,and verify the reliability of test system hardware platform by computing the delay time of the system.Based on QT,ground station system is designed and developed to achieve the data transmission between the visual positioning system and multi rotor control system and between ground station and multi rotor.In addition,the ground station can monitor and display the flight state of aircraft.The hardware platform and ground station constitute the indoor test system for multi rotor UAVs.Secondly,based on the Newton Euler equations,the dynamic model of the linear movement and angular motion of six-rotor is established,and the dynamic model is simplified according to the reasonable assumption.Then,the LQR controller is designed,and the simulation experiments are carried out to achieve the stability control and error tracking of attitude,altitude and X-Y position of the multi rotor.Finally,the experimental scheme of the six rotor autonomous control is designed,and the autonomous hover experiment of the UAV is realized on the indoor test system.The experimental results of this paperare compared with the experimental results of MIT's RAVEN to vertify the feasibility and reliability of the system. |
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