四旋翼无人机毕业设计.docVIP

渤海大学本科毕业论文（设计） 四旋翼无人机设计与制作 The Manufacture and Design of Quad Rotor Unmanned Aerial Vehicle 学 院（系）： 专 业： 学 号： 学 生 姓 名： 入 学 年 度： 指 导 教 师： 完 成 日 期： 摘 要 四旋翼无人机飞行器因为它的推导实现控制系统STM32f103zet单片机为核心，根据的，采用不同的校正方法对各个传感器数据进行校正以及低通数字滤波处理，之后设计了互补滤波器对姿态进行最优估计，实现精确的姿态测量调试与现有优秀算法做对比验证最终设计出能够。STM32微型处理器；数据融合；PID The Manufacture and Design of Quad Rotor Unmanned Aerial Vehicle Abstract Quad-rotor unmanned aerial vehicle aircraft have a simple structure, and it is very easy to control, so it has become popular in recent years. Here article describes in detail the design and the process of making the four-rotor aircraft, including Quad-rotor UAV aircraft flight principle, hardware introduction and selection, implementation and realization of derivation attitude reference algorithm, the system software . The Quad-rotor aircraft control system STM32f103zet microcontroller core, and the advantages and disadvantages based on the accelerometer sensor, a gyro sensor and electronic compass sensors using different correction methods for correcting various sensor data and low-pass digital filter processing, after design complementary filter to estimate the optimal posture, precise attitude measurement. Finally, GPS control and attitude control PID control is superimposed four-rotor aircraft four motors to achieve a variety of flight maneuvers to achieve the purpose. Four-rotor aircraft in the production process, a lot of debugging and do comparison with the existing excellent algorithm validation, the final design to stabilize the Quad-rotor UAV flying aircraft. Key Words：MEMS Sensor; Quaternion; STM32 Processor; Data Fusion; PID 摘 要 I Abstract II 1 绪论 1 1.1 研究背景及意义 1 1.2 国内外四旋翼飞行器的研究现状 1 1.2.1国外四旋翼飞行器的研究现状 1 1.2.2国内四旋翼飞行器的研究现状 3 1.3 本文研究内容和方法 4 2 四旋翼飞行器工作原理 5 2.1 四旋翼飞行器的飞行原理 5 2.2 四旋翼飞行器系统结构 5 3 四旋翼飞行器硬件系统