定位导航空投救援无人机的设计
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摘要
基于空投救援活动的需求,设计一台能平稳飞行的户外微型无人机(Unmanned Aerial Vehicle,UAV)。无人机以APM飞控芯片(Ardu Pilot Mega,APM)作为核心,能够提供一个适应能力强、抗干扰能力稳定的飞行控制平台。飞行器芯片内部采用了多传感器融合技术,如气压传感器协同控制来实现空中稳定飞行。同时,飞行器采用了单片机构建的空投救援模块,来实现空投救援任务。其中,空投救援模块采用热释电传感器捕捉人的信号,从而实现空投外设电机触发转动,释放空投物资。试验结果表明,飞行器现阶段可以完成垂直起降、直航、左右偏转、空投以及GPS返航等功能。
Based on the requirements of airdrop rescue activities,this paper proposes a design method of an outdoor micro UAV.In the design,using APM as the core,the UAV can provide a control platform with strong adaptability,robust anti-jamming capability and stable flight.Many sensors such as air pressure sensors are integrated into the UAV,such that the aircraft can fly steadily in the air under the control of remote controller.Meanwhile,based on single chip microcomputer,UAV is provided with an airdrop rescue module to achieve the task of rescue.Within the module,the pyroelectric sensor is exploited to capture the human signal and trigger the rotation of the air-drop peripheral motor to release the air-drop material.The experimental results show that the designed UAV can have such functions as vertical take-off and landing,direct navigation,left-right deflection,air-drop function,and return flight via GPS.
Based on the requirements of airdrop rescue activities,this paper proposes a design method of an outdoor micro UAV.In the design,using APM as the core,the UAV can provide a control platform with strong adaptability,robust anti-jamming capability and stable flight.Many sensors such as air pressure sensors are integrated into the UAV,such that the aircraft can fly steadily in the air under the control of remote controller.Meanwhile,based on single chip microcomputer,UAV is provided with an airdrop rescue module to achieve the task of rescue.Within the module,the pyroelectric sensor is exploited to capture the human signal and trigger the rotation of the air-drop peripheral motor to release the air-drop material.The experimental results show that the designed UAV can have such functions as vertical take-off and landing,direct navigation,left-right deflection,air-drop function,and return flight via GPS.
引文
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[15]杨阳,储祝颖.基于APM开源飞控平台的四轴旋翼飞行器[J].信息通信,2015,29(8):68.
[16]古训,田洪兴.基于APM自驾仪的四旋翼飞行控制系统设计[J].贵阳学院学报(自然科学版),2015,31(4):18-21.
[2]周祥生.无人机测控与信息传输技术发展综述[J].无线电工程,2008,38(1):30-33.
[3]郑攀.小型无人机在公共安全领域的应用前景展望[J].警察技术,2013,29(4):53-55.
[4]岳基隆,张庆杰,朱华勇.微小型四旋翼无人机研究进展及关键技术浅析[J].电光与控制,2010,17(10):46-52.
[5]戴大伟,龙海英.无人机发展与应用[J].指挥信息系统与技术,2013,4(4):7-10.
[6]LIU Changan,LIU Yang,WU Hua.A Safe Flight Approach of the UAV in the Electrical Line Inspection[J].International Journal of Emerging Electric Power Systems,2015,16(5):503-515.
[7]方璇,钟伯成.四旋翼飞行器的研究与应用[J].上海工程技术大学学报,2015(2):113-118.
[8]高燕,虞旦.四旋翼飞行器的建模及控制算法仿真[J].工业控制计算机,2014,27(9):98-100.
[9]廖卫中,宗群,马亚丽.小型四旋翼无人机建模与有限时间控制[J].控制理论与应用,2015(10):1343-1350.
[10]李成勇.STM32嵌入式平台下四旋翼飞行器模型研究[J].无线电工程,2018,48(6):453-456.
[11]刘晓杰.基于视觉的微小型四旋翼飞行器位姿估计研究与实现[D].长春:吉林大学,2009.
[12]李建.热释电传感器原理与应用[J].传感器世界,2015,11(7):34-36.
[13]易金桥,黄勇.廖红华.热释电红外传感器及其在人员计数系统中的应用[J].红外与激光工程,2015(4):1186-1192.
[14]江衍煊,郑振杰游德智.单片机连接ULN2003驱动步进电机的应用[J].机电元件,2010,30(3):28-31.
[15]杨阳,储祝颖.基于APM开源飞控平台的四轴旋翼飞行器[J].信息通信,2015,29(8):68.
[16]古训,田洪兴.基于APM自驾仪的四旋翼飞行控制系统设计[J].贵阳学院学报(自然科学版),2015,31(4):18-21.