the design of an autopilot controller for an unmanned aerial vehicle

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1、北京化工大学硕士学位论文TheDesignofanAutopilotControllerforanUnmannedAerialVehicle姓名：AmahahJustice申请学位级别：硕士专业：计算机应用技术指导教师：何宾20090610THEDESIGNoFANAUToPILoTCoNTRoLLERFoEANUNM睑NNEDAERIALVEHCLEABSTRACTThisthesisdescribesthedesign，implementationandtestingofafullyautonomousan

2、dprogrammableautopilotsystemforsmallscaleautonomousunmannedaerialvehicle．Allaspectsoftheautopilotdesignareconsidered，frommodelingtoflighttests．Amathematicalaircraftmodel，asafunctionoftheaircraft’Sphysicalparametersaloneisalsopresented．Controllerarchitecturec

3、apableofregulatingthemotionvariablesrequiredforconventionalflightusinglowcost，off-the—shelfsensorsisdeveloped．Thecontrollerdesigncomplementstheaircraftmodeldevelopmenttechniqueused，byreducingthesensitivityofthecontrollerperformancetothemodelaccuracy．Thecontr

4、ollerisacustomPCBwithanembeddedprocessor(ATmega168)combinedwithcircuitrytoswitchcontrolbetweentheRCcontrolandtheautopilotcontr01．Itcontrolsnavigationandaltitudebycontrollingtherudderandthrottle．Itusesflightstabilizationsystem，asensorpack，GlobalpositioningSys

5、tem(GPS)andanRFtransceivertomonitorandreportcrucialparameterssuchasaltitude，speed，pitch，rollandposition．Anembeddedsoftwarealgorithmhasbeendevelopedtoenabletheaerialvehicleaccomplishtherequiredautonomyandmaintain星业!竖望型!里堕21g垒!业型旦!塾212型坚呈!坚：!：垡壁i!satisfactoryf

6、lightoperation．Thedesignofaerialvideosystemisalsooutlined，theaerialvideosystemincludesacamerawhichislinkedtoa1000mwirelesstransceiverandagroundbasedreceiver．Resultsfromseveraldaysofflighttestsdemonstratethedesignsuccess．Therapidsuccesscanlargelybeattributedt

7、oextensivesimulationsoftheentireautopilot．Thesefeaturesallowtheautopilottobeoperatedbyawidespectrumofskilledandunskilledusers．Innovativecontroltechniquesimplementedinsoftware，coupledwithlightweight，robust，andinexpensivehardwarecomponentswereusedinthedesignof

8、theautopilot．KeyWords：UAV,MUX，Autopilot，GPS，FMACo—Pilot，GCSU北京化工大学位论文原创性声明本人郑重声明：所呈交的学位论文，是本人在导师的指导下，独立进行研究工作所取得的成果。除文中已经注明引用的内容外，本论文不含任何其他个人或集体己经发表或撰写过的作品成果。对本文的研究做出重要贡献的个人和集体，均已在文中以明确方式标明。本人完全