摘要
Abstract
This paper focuses on the study of hardware components, structure and software algorithms of Four-rotor aircraft control system:the paper describes the structure and principles of flight four-rotor aircraft, in-cluding four-rotor aircraft advantages and features as well as future application fields;discusses the hardware com-ponents and characteristics of the control system, such as the choice of the host controller MCU chip, sensor types to determine the required analysis of the data transmission module design and hardware communication protocols;studies the attitude solution methods, including SINS, the attitude quaternion method solver, inertial navigation e-quations;and studies the control methods of four-rotor aircraft, with a classic PID control method designed yaw, pitch, roll of three parallel PID controller.关键词
四旋翼/飞控/捷联惯导/四元数Key words
Four Rotors/Aircraft Control Systems/SINS/Quaternion分类
信息技术与安全科学
