I北京理工大学珠海学院 2020 届本科生毕业设计基于 stm32 的四旋翼无人机的设计——飞行控制系统软件设计基于 stm32 的四旋翼无人机的设计——飞行控制系统软件设计摘 要四旋翼无人机是是一种稳定性强、结构简单的无人机。本次设计是以STM32F103C8T6 为核心，以 MPU6050 作为飞行姿态感应模块，采用卡拉曼算法、四元数姿态解算、PID 控制算法软硬结合的方式来研究并制作四旋翼无人机。本文在通过大量文献查阅的基础上，讲述了四旋翼无人机发展历程以及国内外的发展概况，简述了无人机的结构及基本原理、硬件部分的设计与选择。详细论述了软件部分的设计与算法的实现。经过大量调试，最终制作出可以稳定飞行的无人机实际操作表明，该设计具有性能稳定，易于操控等优点，达到了设计要求。关键词：四旋翼无人机，四元数姿态解算，PID 控制算法，卡拉曼算法II北京理工大学珠海学院 2020 届本科生毕业设计III北京理工大学珠海学院 2020 届本科生毕业设计 Design of Four-rotor UAV Based on stm32AbstractThe four-rotor UAV is a kind of UAV with strong stability and simple structure. This design takes the STM32F103C8T6 as the core, takes the MPU6050 as the flight attitude sensing module, uses the Kalman Filter Algorithm, the quaternion attitude computation, the PID control algorithm soft and hard union way to study and manufacture the four-rotor UAV. On the basis of a large number of references, this paper describes the development course of the four-rotor UAV and the development situation at home and abroad, and briefly describes the structure and basic principle of the UAV, the design and selection of the hardware part.The design of software and the realization of algorithm are discussed in detail. After a lot of debugging, the UAV can be made to fly stably. Practical operation shows that the design has stable performance and is easy to control and other advantages, to meet the design requirements.Key words ： The four-rotor UAV,quaternion attitude computation,PID co...
