【摘要】 惯性导航器件是测控技术专业的核心课程,为便于学生深入掌握各种惯性器件的使用,设计了微型四旋翼实验平台。该实验平台以Atmega328p单片机作为控制器,采用集成三轴加速度计和三轴陀螺仪的MPU-6050作为姿态传感器,使用NRF2401模块采集控制信号,运用欧拉角法计算飞行器在空中的姿态,并用PID对飞行器进行闭环控制,以达到稳定飞行的目的。实验平台预留定高、定位、图像传输、PID控制等扩展接口,便于学生进行二次开发。更多还原

【Abstract】 The inertial navigation device is the core curriculum of the measurement and control technology. In order to facilitate the students to understand the use of various inertial devices,micro quadrotor experiment platform was designed. Platform uses Atmega328 p as the MCU,MPU-6050 as the attitude sensor which integrates three-axis gyroscope and three-axis accelerometer,NRF2401 is used as controlling signal collector. In order to make quadrotor flight stably,air attitude and closed-loop control of quadrotor are obtained by Euler Angle algorithms and series PID controller. And development platform designs some extendable interfaces such as altitude,position,image transmission,PID control to make students can develop the platform secondly.更多还原