基于STM32的多旋翼送餐飞行器研究

针对传统餐饮业中送餐方式的单一化、机械化等问题,以STM32F427微处理器为核心,设计并实现了以多旋翼飞行器为平台的智能餐饮配送系统.为提高送餐过程的安全性与可靠性,飞行器的稳定飞行是最基本的条件与保障.采用基于MEMS传感器的航姿参考系统(AHRS)进行飞行器姿态的测量,采用四元数坐标换算,将陀螺仪、加速度计和磁罗盘三者数据进行融合,并用互补滤波算法对姿态数据进行修正.实际测试结果表明,该飞行控制系统精度较好,能够满足送餐过程中对安全性与可靠性的要求.

Research on attitude optimal estimation of quad rotor aircraft based on STM32

Aiming at the singleness and mechanization of meal delivery in traditional catering industry,this paper takes the STM32F427 microprocessor as the core,designs and implements the Intelligent service system which takes the multi-rotor aircraft as a platform.In order to improve the security and reliability of the feeding process,the stable flight of the aircraft is the most basic condition and guarantee.In this paper,AHRS based on MEMS sensor is used to measure the attitude of the aircraft.The data of the gyroscope,accelerometer and magnetic compass are merged by using the quaternion coordinate transformation,and the attitude data are corrected by the complementary filtering algorithm.The actual test results show that the flight control system has good accuracy and can meet the requirements of security and reliability during the meal delivery.