关键词: 四旋翼飞行器, Cortex-M3, PID 算法, 全球定位系统, 航拍

Abstract:

Because of single function and difficult control of the current unmanned aerial vehicle, a multifunctional quadrotor aircraft, based on PID(Proportion Integration Differentiation) control algorithm, is designed to realise real-time aerial photography transmission and GPS(Global Positioning System) locating in the core of Cortex-M3, controlling the posture of the quadrotor aircraft by the angle of yaw, roll, pitch, acquiring the data including flight posture, throttle range and position parameter, building a dynamical model. Added with the wireless transmission, the data measured practically are transmitted to upper computer, compared with theory data. Then the controlling parameter is adjusted to shorten response time, steady the flight in accordance with algorithm and accomplish plotting and saving with the sensors data. The result shows that the quadrotor can fly steadily with multifunctional control and the distance of real-time aerial photography transmission can reach 110 meters.

Key words: quadrotor, Cortex-M3, proportion integration differentiation ( PID) control algorithm, global positioning system(GPS), aerial photography