Research On Key Technologies Of Multi-rotor UAV In Mountain Scene Application

The mountain area occupies the quarter part of the overall earth surface.However,around 1/10 population of the world lives in the mountain areas.Besides,about half of population in the world lives on the resources from the mountain areas.In China,the mountain area makes up 2/3 proportion of the territory of this country.Furthermore,the southwest regions have more specific characters,which belong to mountain areas.Combing agriculture and unmanned aerial vehicle(UAV)is the new trend of modern agriculture development.In the mountainous areas,there are cliffy hillside,extremelyhigh mountains and thick fog.Therefore,UAV has become the key technique to apply in mountain region.The content of the paper is as follows:(1)The experiment platform,which is suitable for this study,including designing the hardware circuit of the flight control board and designing ultrasonic sensor circuits that is specific for mountainous environments,has been chosen;(2)The principle of six-rotor aerial vehicle has been introduced,and then a brief overview of Euler angles and quaternions has been illustrated.In the meantime,paving the way for the process of subsequent gesture verification has been made.Additionally,the body coordinate system and the ground coordinate system have been set,and basing on this,the having-read data have been filtered and gesture checking has been done.Considering the ultrasonic sensor circuit of the second character,its driver program has been designed for increasing the accuracy when measuring the height at the low-altitude condition,which is make sure UAV can land stably,avoiding to hit the unexpected obstacles when flying and decreasing the possibility of crash in the mountainous environment;(3)Combing traveling salesmen problem(TSP),the optimum flying trails of the many given object point were drawn.In addition,track planning method for UAV application in the actual mountain area was studied.In track planning method,the first step is building track planning space,then after building the object function,using algorithm to solve the object function;(4)The final step is utilizing MATLAB to process simulation verification.In the fifth charter,four basic action verifications of UAV have firstly been tested,which is used to verify attitude operation in the third charter.The second step is download the trace trail that having been planned in the fourth charter to the fight control board.This is used to test the simulation-design trails.Through the flying experiment verifying,the ideal testing result was obtain.This proves that the theory and method using in this paper is feasible.