基于Android终端陀螺仪传感器的无人机飞行姿态控制

由于传统的无人机无线电操控方式在遥控距离、数据传输规模及操纵的灵活性等方面有较大限制，提出了基于An-droid智能终端控制飞行姿态的设计方案。在Android平台的传感器框架下对陀螺仪状态信息进行三维空间实时解析和监测，经过数据提取及变换，形成在线姿态模拟信息，编写操控界面，实现了无人机姿态控制。结果表明，基于Android智能终端在线控制具有直观、廉价、可移植性强等优越性，有助于进一步推动小型无人机操控方式的变革和发展。

UAV Attitude Control Based on Gyroscope Sensor of the Android Terminal

UAV is usually controlled with a radio based remote controller,which has many limitations such as short distance,less data and low flexibility. A design scheme based on Android intelligent terminal is proposed to control the flight attitude. With the help of the sensors framework,the three dimensional state information of gyroscope inte-grated in the Android device can be collected. Further,these data is transformed to consist the real time attitude simulation information. Finally,a software is designed to control the attitude of UAV. The Android based controller has the advantages of intuition,low price and portability,which is conducive to further reform and development of control methods to small UAV.