【摘要】 本设计以两片Renesas公司的R5F523T5ADFM单片机作为飞行控制核心和图像处理核心,通过UART串行总线通信方式进行双机通信。系统使用MPU9250中的三轴陀螺仪和三轴加速度计反馈飞行器角速度与加速度信息,超声波传感器模块测量飞行器的飞行高度,OV7725作为感光芯片的单一摄像模块获取运动图像信息。实现了四旋翼飞行器定高飞行,定点飞行,以及捕获地面运动小车目标并跟踪飞行等功能。更多还原

【Abstract】 This design uses two pieces of Renesas R5 F523 T5 ADFM SCM(single-chip microcomputer) as the core of flight control and image processing, and uses the UART serial bus to communicate with. The feedback of the UVA angular speed and acceleration speed is achieved by using the three-axis gyroscope and triaxial accelerometer integrated in the MPU9250; the flying height of the UVA is measured by an ultrasonic sensor; the relative location is acquired by a single CMOS camera module OV7725 in a visual way. Therefore, the quadrotor realizes the functions of altitude-holding and position-holding control, as well as capturing a moving target on the ground and keeping trace of it.更多还原