基于声呐测距的无人机定高飞行控制技术研究

Title    A survey on UAV hovering control based on sonar ranging
Abstract
Quad-rotor UAV can offer great performance and have a wide application, it is worth researching both in military and civilian field. Based on a brief introduction on its application prospect and the recent research condition, the main content and result is as follows:
Firstly, according to aerodynamics, the mathematical model of quad-rotor UAV has been built.
Secondly, design the control strategy of both attitude control loop and location control loop. 源`自*六)维[论*文'网www.lwfree.cn
Then a sonar-ranging module is designed, including the connection of hardware electric circuit and the programming. A filtering algorithm to reduce noise is also designed.
Finally design the throttle control algorithm using the altitude information we get from sonar. We use Matlab to simulate and determine if the controlling strategy is efficient and finally test the hovering control system on a real quad-rotor UAV, the results are presented in the end.
Keywords  Quad-rotor UAV   hovering control   sonar-ranging   PID control

1 绪论    1
1.1 课题研究的背景    1
1.2 课题研究的意义    1
1.3 四旋翼无人机概述    2
1.4 四旋翼无人机定高控制国内外研究现状    2
1.5 本文的主要组织结构和完成的工作    3
2 四旋翼无人机的建模    5
2.1 四旋翼无人机飞行原理    5
2.2 坐标系统的建立    6
2.3 四旋翼无人机动力学模型    7
3 系统控制    11
3.1 控制策略    11
3.2 姿态控制    12
3.3 高度控制    12
4 开发平台的搭建    15
4.1 硬件结构框图    15
4.2程序编写环境    16
5 测距模块设计    18
5.1 声呐测速原理    18
5.2 硬件连接及测距算法    19
5.3 数据采集及滤波算法    20
5.3.1 限幅滤波法    20
5.3.2 低通滤波法    21
5.3.3 均值滤波法    21
5.3.4 卡尔曼滤波法    21

5.3.5 滤波后的波形比较    21
6 油门控制算法设计    25
6.1 基于飞控板油门接口的PWM信号生成    25
7 定高控制及其结果    25

1 绪论 基于声呐测距的无人机定高飞行控制技术研究:http://www.lwfree.cn/zidonghua/20190302/30666.html
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