Design And Implementation Of Flight System Along The Road By UAV

With the rapid development of Unmanned Aerial Vehicle(UAV)technology,UAV has been widely used in military,agricultural,monitoring and management and logistics.In order to improve the performance of UAV in road traffic supervision,regional environmental monitoring,express delivery and other services,this thesis designs a set of UAV autonomous flight system along the road.By using 4G network and the method of introducing road detection,the UAV can fly independently according to the path planned in the mission,making the UAV safe in the city and other environments with complex airspace environment to complete the flight mission stably and accurately.Firstly,this thesis introduces the research background and significance of UAV along the road flight system,analyzes the technical status of UAV Ground Station at home and abroad,especially the research status of UAV autonomous flight and multi-sensor data fusion positioning technology.Then,based on the system functions and non-functional requirements required by the project,the overall design is divided into four parts: network communication,data processing,flight along the road and user interface.Then the system function,system workflow and ground station software are designed in detail.Secondly,through the analysis of the methods of autonomous flight along the road,combined with the environmental characteristics of the city’s flight along the road,this thesis designs a method of autonomous flight along the road,which combines the road detection,processes the data captured by the video sensor,obtains the required road detection results,analyzes the results,extracts different values for the common,corrective and emergency modes,and then combines with Global Positioning System(GPS).The UAV is controlled by eight direction PID controller based on Kalman filter.Then the detailed design and implementation of each part of the system is completed,including human-computer interaction,data display,data communication,database storage and call,and flight along the road.Finally,the functions of the system are tested one by one.The test results show that the control system and the UAV can quickly connect,and can receive,analyze,store and display the flight information returned by the UAV in real time and stably,and can also accurately send the control information to the UAV.Furthermore,the system not only has the functions of data communication and processing,flight control,map positioning,path planning,parameter setting,road detection,data retrieval,path comparison,etc.,but also has a good performance in the function of flight along the road by using the method of autonomous flight along the road designed in this thesis,which meets the needs of the project.