Design Of Plant Protection Uav Flight Control System Based On STM32F429

At present,China's agriculture has problems such as low efficiency,poor safety and weak targeting during plant protection operations.The flexibility,stability,safety and ease of operation of the UAV(Unmanned Aerial Vehicle)can well solve the problem of plant protection operations.The core of the UAV is the flight control system.The whole system mainly controls the operation of the UAV and abnormal processing by analyzing various sensor data.In this paper,a plant protection of UAV flight control system is designed based on STM32F429.Finally,the UAV loaded with this system can complete the plant protection operation efficiently when carrying pesticides.The hardware part of the flight control system in this paper is mainly composed of the main control system,the inertial measurement unit(IMU),the positioning system,the radar system,the spraying system and the power supply system.The power supply system supplies power to each system such as the main control system,IMU,and the positioning system.The main control system obtains and analyzes the data collected by IMU,the positioning system and the radar system to get the flight state information of the UAV,and then performs flight control on the UAV.The main control system controls the spraying system under the premise of obtaining the flight speed and the flying height,thus completing the plant protection operation.IMU mainly uses sensors such as the accelerometer,the air pressure sensor,and the gyroscope to obtain the current attitude angle of the UAV.The positioning system uses GPS to obtain the UAV position information.The radar system includes the obstacle avoidance radar and the ground ranging radar.The obstacle avoidance radar acquires information on obstacles during flight,and the ground-based ranging radar acquires flight altitude information of the UAV.The spray system utilizes information such as flight altitude and flight speed obtained from the positioning system and the radar system for flow-adjustable pesticide spraying.The software part of the flight control system in this paper is mainly designed and written based on the hardware circuit to meet the requirements of plant protection.The internal communication between each system mainly relies on communication protocols such as CAN,SPI,IIC and UART,which ensure the stable transmission of data of each system module.The data acquired from IMU is processed by the Mahony complementary filtering algorithm,and finally the flight attitude of the UAV is calculated.Through the adjustment of the control algorithm,the flight speed and flight angle of the UAV are controlled,and finally realized the stable flight of the UAV.In the implementation of the obstacle avoidance function,when the UAV is flying,the first case is to use the radar system to identify obstacles during the area detection process,and the positioning system records the obstacle position to avoid the obstacle during the actual operation.The second case is the ability to avoid sudden obstacles in real time during the flight.During the whole flight,the UAV exchanges data with the ground station in real time,and the ground station analyzes and plans the flight path of the UAV.The program also handles various functional anomalies and minimizes property damage while ensuring the UAV complete the plant protection operation efficiently.