Research Of Four-rotor UAV Attitude Monitoring Based On Low-altitude Management System

In recent years,with a boom of the civil unmanned aerial vehicle(UAV)industry,the population of private UAVs has been increasing.Civilian UAVs mostly belong to the category of low-altitude airspace aircraft.This kind of aircrafts has the special characters,such as small size,close distance to the surface,independence on landing site and low radar reflector.Therefore,the management of general aviation cannot be directly applied to the management of low-altitude UAVs.At present,China's low-altitude UAVs have been in a disordered flying state and lacked effective management,which has brought great security risks to public safety.With the technology of modern computer,wireless communication and database management,the UAVs management plan is studied in this paper to apply to national conditions in China,and integrated all low-altitude UAVs into the information management system.Through its functions,such as remote monitoring and online services,it can greatly shorten the flight application,examination and approval period,improve the utilization rate of low-altitude airspace,so as to promote the smooth development of the UAV industry in China.This paper takes the four-rotor UAV attitude monitoring and low-altitude UAV management system as the research objects,and respectively carries out the research and development in four-rotor UAV's flight attitude movement model,structure model,3D flight simulation,3D flight visualization,and low-altitude UAVs' management system and its database.The four-rotor UAV's attitude monitoring module is mainly based on the four-rotor UAV's flight attitude movement.The four-rotor UAV's model is established by 3ds Max.Its 3D flight attitude visualization is realized by using the numerical motion methods based on Unity3 D engine.The SQLite database is used as the middle layer,and the flight data is interrelated with the SQL Server database.Eventually,the attitude monitoring module is embedded into the low-altitude UAVs' management system.On the basis of relevant theoretical research,the four-rotor UAV's flight simulation based on the physical motion methods of Unity3 D engine has been realized.Through flight simulation generated four-rotor UAV's flight data,real-time transmission to the monitoring module of low-altitude management system can be achieved as well as browsing the attitude data analysis and monitoring the UAV's flight attitude.The low-altitude UAVs' management system adopts with the C/B framework,and combines the Microsoft Visual Studio development platform and Unity3 D engine with C# as the development programming language,and its design is based on the SQL Server database.The system adopts the modular design scheme,which mainly realizes the functions such as flyers' registration,UAVs' binding,flight plans' application and approval,flight records' evaluation,flight data's storage and real-time monitoring of flight attitude,and standardizes the related information data.After loading experimental data,the attitude of UAV's model in the attitude monitoring module is consistent with that of flight simulation.The simulation flight data is accurate and the UAV's attitude monitoring system is stable.