基于多传感器的四旋翼飞行器硬件系统设计

四旋翼飞行器由于其简单的机体结构与较为复杂的姿态控制，近年来在军用和民用领域广泛应用。旨在通过四旋翼飞行器飞控平台的搭建，实现对飞行器姿态的稳定控制。首先论述了四旋翼飞行器的飞行原理与机械结构，给出了硬件系统总体结构。在对各功能模块整合的基础上，实现基于多传感器的控制系统硬件电路设计。仿真与实验证明：多传感器使用过程中，通过卡尔曼滤波进行姿态数据的融合，有效地解决了加速度计、陀螺仪易受外界干扰问题，所设计硬件系统在飞行实验中性能稳定，为四旋翼的稳定控制提供了参考。

Design of hardware system for quadrotor based on multi-sensor

In recent years,quadrotor is widely used in the field of military and civilian because of its simple mechanical structure and its relative complex attitude control. In order to realize stable control of aircraft attitude, by setting up flight control platform of quadrotor. Firstly discuss flight principle and mechanical structure of quadrotors,then overall structure of hardware system is given. On the basis of integration of each function modules, realize hardware circuit design of flight control system based on multi-sensors. Simulation and experimental results show that in using process of multi-sensors,data integration by Kalman filtering effectively solves problem that accelerometer and gyroscopes are susceptible to be interfered by outside,the designed hardware system has stable performance in flying experiment,provide reference for stable control of quadrotor.