摘要随着惯性导航的发展、全球定位系统可靠性的提高、相关传感器精度与稳定 性的加强，无人机正处在极速发展的时期，四旋翼飞行器属于无人机中的一种型 别。

本文的主要研究方向为四旋翼飞行器的定点投送，在这之前要完成飞行器的 稳定飞行与初步的室外定位。本文对四旋翼飞行器的机械结构、硬件电路、软件 编程进行详细讲述。

本文将四旋翼飞行器简化为二阶系统，运用捷联惯性导航，欧拉角与方向余 弦的转换，低通滤波，互补滤波，串级 PID 控制等知识，对四旋翼飞行器的姿态 进行解算并控制直流无刷电机的转速。从而使四旋翼飞行器得以稳定飞行。为实 现飞行器的室外物体定点投送，让飞行器搭载 GPS 模块、电子罗盘、超声波模块、 机械手，实现其物体定点投送的功能。72256

为了调试方便，本文采用匿名飞行器的地面站，该地面站可实现飞行器姿态 的实时显示，对飞行器的各种参数实时测量，可在线控制飞行器的飞行姿态与位 置，并能及时地整定 PID 控制器等的各种参数。

通过以上方法，最终可实现四旋翼飞行器的室外的物体定点投送。但由于民 用 GPS 的精度问题，定点的精度不是很高，但十米之内的物体投送还是可以做到 的。

毕业论文关键词：四旋翼飞行器 姿态结算 稳定飞行 定点投送

The Deliver of Fixed Point System of the Quadcopter

Abstract With the development of inertial navigation, the improvement of the reliability of Global Position System, the Strengthen of precision and stabilization of the related sensor, unmanned aerial vehicle(UAV) is developing speedly,include the quadcopter。 The research direction of the article is the deliver of fixed point of the quadcopter, before,the task is steady flight and outdoor position。The article detailedly introduces mechanical structure, hardware circuit, software Programming of the quadcopter。

The article transform the quadcopter to second order system,uses Strapdown Inertial Navigation,Euler angles, direction cosine, Lowpass filtering, complementary filter, the cascade PID controller,attitude algorithm to let quadcopter flys stabilizedly。

To realize the task of the deliver of outdoor fixed point,the quadcopter carrys GPS module, electronic compass, Ultrasonic distance measuring module, manipulator。 To make debugging more convenient,the article use “earth station”that “anonymity” made。It can realize some functions,such as, the real-time display of the quadcopter attitude,the real-time measurement of the quadcopter parameters,the real-time control of the quadcopter attitude and position,what’ more, real-time set the quadcopter parameters。

Through the above methods,it can realize the deliver of fixed point of the quadcopter finally。But because of the precision of civil GPS,the precision of fixed point of the quadcopter is not okay。But among 10m,the function can finish。

Key Words: the quadcopter attitude algorithm steady flight fixed point

目 录

摘要 I

Abstract II

目录 III

1 绪论 1

1。1 研究的背景与意义 1

1。2 国内外的四旋翼飞行器的发展现状