【摘要】 针对当前四旋翼飞行器对环境依赖性强以及控制平台价格昂贵等问题,在综合分析现有的实现方案后,文章提出以Cortex-m3处理器为核心的四旋翼控制平台,从硬件设计和软件设计两方面介绍该控制系统方案。文章基于精度和效率等指标选取合适的模块,重点阐述了四元数算法、滤波算法、双环串级PID、陀螺仪,加速度计等技术原理和具体实现方法,解决了四旋翼飞行器在复杂环境下完成自主检测等任务的问题,对四旋翼飞行器的发展以及推广具有一定促进作用。更多还原

【Abstract】 In view of the problems that four rotor aircrafts are strongly dependent on the environment and the control platform is expensive, we propose a four rotor control system centred the Cortex-m3 processor in this paper after synthetically analyzing various existing core processor control platforms,and we introduce the hardware design and the software design of the four rotor control system respectively.Based on the precision index and the efficiency index,we select the appropriate modules and we expound the principle and implementation methods of the quaternion algorithm,filtering algorithm, double loop PID,gyroscope and accelerometer.in this case,we solve the related problems of the four rotor’s autonomous test under complex environment,which plays a crucial role in the promoting the development and extension of the rotor.更多还原