| 基于光流传感器的四旋翼飞行器设计 |
| |
| 引用本文： | 颜瑞,何亮,邓小飞,向晓燕,陈善荣.基于光流传感器的四旋翼飞行器设计[J].吉首大学学报(自然科学版),2020,41(2):36-41. |
| |
| 作者姓名： | 颜瑞 何亮 邓小飞 向晓燕 陈善荣 |
| |
| 作者单位： | （1.吉首大学信息科学与工程学院，湖南 吉首 416000；2.国网湖南省电力有限公司湘西经济技术研究所，湖南 吉首 416000） |
| |
| 基金项目： | 州本级重点研发项目;创新训练项目;大学生创新项目 |
| |
| 摘 要： | 采用Texas Instruments公司的TM4C123GH6PM单片机作为四旋翼飞行控制系统和光流数据处理的核心单元，将九轴传感器MPU9250的陀螺仪、加速度计和磁力计经姿态解算后的角度数据作为飞行控制系统的飞行姿态反馈，超声波传感器所测量的高度数据作为飞行高度反馈，优象光流传感器所输出的位置数据作为位置反馈，设计了一款新型四旋翼飞行器.实验结果表明，该四旋翼飞行器自主导航系统可以实现室内自稳、定高和定点飞行功能.
|
| 关 键 词： | 四旋翼飞行器 TM4C123GH6PM 自主导航系统 光流传感器 |
Design of Four-Rotor Aircraft Based on Optical Flow Sensor |
| |
| YAN Rui,HE Liang,DENG Xiaofei,XIANG Xiaoyan,CHEN Shanrong.Design of Four-Rotor Aircraft Based on Optical Flow Sensor[J].Journal of Jishou University(Natural Science Edition),2020,41(2):36-41. |
| |
| Authors: | YAN Rui HE Liang DENG Xiaofei XIANG Xiaoyan CHEN Shanrong |
| |
| Institution: | (1.College of Information Science and Engineering, Jishou University, Jishou 416000, Hunan China; 2. Xiangxi Research Institute of Economics and Technology, Hunan Electric Power Co Ltd. of State Grid, Jishou 416000, Hunan China) |
| |
| Abstract: | The Texas Instruments TM4C123GH6PM microcontroller is used as the core unit of the four-rotor aircraft control system and optical flow data processing. With the raw data obtained from the gyroscope, accelerometer and magnetometer of the nine-axis sensor MPU9250, the angle data obtained by the attitude calculation is used as the flight attitude feedback of the flight control system, height data measured by ultrasonic sensors as flight height feedback, and position data output by optical flow sensor as position feedback. Based on the above conditions, a new type of quadrotor is designed. The experimental results show that the designed autonomous navigation system of four-rotor aircraft can realize self-stable, fixed-height and fixed-point indoor flight. |
| |
| Keywords: | four-rotor aircraft TM4C123GH6PM autonomous navigation system optical flow sensor |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《吉首大学学报(自然科学版)》浏览原始摘要信息 |
| 点击此处可从《吉首大学学报(自然科学版)》下载免费的PDF全文 |
