基于物联网的微型四旋翼飞行器的设计

摘要

针对微型四旋翼飞行器在小型无人机领域中独具的优点，提出并采用多种传感器、蓝牙无线通信、嵌入式微控制器等物联网技术，设计出一款基于物联网的微型四旋翼飞行器。详细阐述了其系统架构、硬件设计以及四元数算法、PID控制算法等。实践表明，基于物联网的微型四旋翼飞行器具有易于控制、飞行姿态稳定、转向灵活等优点。%Since the micro quad⁃rotor aircraft(QRA)has the unique advantage in the field of small unmanned aerial vehi⁃cle,a micro QRA based on Internet of Things(IOT)was designed by adopting the IOT techniques(such as sensors,Bluetooth wireless communication,embedded microcontroller,etc). The system architecture,hardware design,quaternion algorithm and PID control algorithm of the micro quad⁃rotor aircraft are described in detail. The practice results show that the ORA based on IOT has the advantages of easy control,stable flight attitude and flexible steering.