Design of autonomous flight control system for small-scale UAV

机译：小型无人机自主飞行控制系统设计

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The aim of this paper is to develop a design of autonomous flight control system for a small-scale unmanned aerial vehicle (UAV). The hardware of autopilot is based on ATmega 2560, which is one of the best low-power MCU. High accuracy sensors including MPU6000, HMC58831, MS5611 are integrated into the autonomous flight control system. Laser distance sensor is used in measuring the altitude in auto landing, because of the zero drift of barometer. Flight control laws of lateral and longitudinal loops are designed. Finally, flight tests are carried out to verify the designed autonomous flight control system, the results of which indicate that the aircraft can fly stable with acceptable precision.

机译：本文的目的是开发一种用于小型无人机的自动飞行控制系统的设计。自动驾驶仪的硬件基于ATmega 2560，它是最好的低功耗MCU之一。包括MPU6000，HMC58831，MS5611在内的高精度传感器已集成到自动飞行控制系统中。由于气压计的零漂移，激光距离传感器用于测量自动降落的高度。设计了横向和纵向环路的飞行控制定律。最后，进行飞行测试以验证设计的自主飞行控制系统，其结果表明飞机可以以可接受的精度稳定飞行。

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《IEEE Chinese Guidance, Navigation and Control Conference》|2014年|1885-1888|共4页
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Shuo Wang; Ziyang Zhen; Fengying Zheng; Xinhua Wang;
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aircraft control; attitude control; autonomous aerial vehicles; cascade control; control system synthesis; height measurement; laser ranging; mobile robots; stability; trajectory control; ATmega 2560; HMC58831; MPU6000; MS5611; aircraft; altitude measure; attitude control; autolanding; autonomous flight control system design; autopilot hardware; barometer zero drift; cascade control; flight control law design; flight stability; high accuracy sensors; laser distance sensor; lateral loops; longitudinal loops; low-power MCU; small-scale UAV; small-scale unmanned aerial vehicle; trajectory control; Accuracy; Aerospace control; Aircraft; Educational institutions; Sensor systems; Trajectory;

机译：飞机控制;高度控制;自动飞行器;级联控制;控制系统综合;高度测量;激光测距;移动机器人;稳定性;轨迹控制; ATmega 2560; HMC58831; MPU6000; MS5611;飞机;高度测量;高度控制;自动着陆;自主飞行控制系统设计;自动驾驶仪硬件;晴雨表零漂移;级联控制;飞行控制律设计;飞行稳定性;高精度传感器;激光距离传感器;侧向环路;纵向环路;低功耗MCU;小型无人机;小型大规模无人飞行器;轨迹控制;精度;航空航天控制;飞机;教育机构;传感器系统;轨迹;

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专利

1. A Robust Flight Control System Design for a Small-Scale UAV Helicopter [J] . Peng Liu, Zhijun MENG, Zhe Wu Transactions of the Japan society for aeronautical and space sciences . 2013,第2期

机译：小型无人机直升机的鲁棒飞行控制系统设计
2. Design and implementation of an autonomous flight control law for a UAV helicopter [J] . Kemao Peng, Guowei Cai, Ben M. Chen, Automatica . 2009,第10期

机译：无人机直升机自主飞行控制法的设计与实现
3. Generalized Nonlinear Optimal Predictive Control using Iterative State-space Trajectories: Applications to Autonomous Flight of UAVs [J] . Murillo Marina H., Limache Alejandro C., Rojas Fredini Pablo S., International Journal of Control, Automation, and Systems . 2015,第2期

机译：基于迭代状态空间轨迹的广义非线性最优预测控制：在无人机自主飞行中的应用
4. Design of autonomous flight control system for small-scale UAV [C] . Shuo Wang, Ziyang Zhen, Fengying Zheng, IEEE Chinese Guidance, Navigation and Control Conference . 2014

机译：小型无人机自主飞行控制系统的设计
5. Real-time non-linear flight control of a fixed-wing UAV =REAL-TIME NON-LINEAR FLIGHT CONTROL OF A FIXED-WING UAV [D] . Landry, Mario. 2012

机译：固定翼UAV的实时非线性飞行控制=固定翼UAV的实时非线性飞行控制
6. Modeling and Flight Experiments for Swarms of High Dynamic UAVs: A Stochastic Configuration Control System with Multiplicative Noises [O] . Hongbo Zhao, Sentang Wu, Yongming Wen, 2019

机译：高动态无人机群的建模和飞行实验：带乘性噪声的随机配置控制系统
7. A Robust Flight Control System Design for a Small-Scale UAV Helicopter [O] . Peng LIU, Zhijun MENG, Zhe WU 2013

机译：用于小型UAV直升机的强大飞行控制系统设计
8. Autonomous Autopilot Control System Design for Small-Scale UAVs. [R] . Ippolito, C., Pai, G. J., Denney, E. W. 2012

机译：小型无人机自主自动驾驶仪控制系统设计。

Design of autonomous flight control system for small-scale UAV

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