本文選題：四旋翼飛行器 + 移動數據收集��； 參考：《東南大學》2016年碩士論文

【摘要】：四旋翼飛行器是近年來一種新興的能夠垂直起降、穩(wěn)定低速飛行、在空中靈活運動的飛行器。移動數據收集是無線傳感器網絡領域中很有前景的數據收集方式,能夠有效地解決無線傳感器網絡傳統(tǒng)數據收集方式存在的能量瓶頸問題。本文的主要工作是研制了一套四旋翼飛行器平臺,并將其應用到無線傳感器網絡的移動數據收集實驗中。本文的主要成果如下：(1)研制了能穩(wěn)定飛行的四旋翼飛行器。搭建了四旋翼飛行器的各硬件模塊,編寫了飛行器的飛行控制程序。該控制程序建立在四旋翼飛行器的動力學模型仿真、飛行器姿態(tài)解算算法以及PID控制算法的基礎之上。本文建立了四旋翼飛行器的動力學模型。并根據互補濾波算法的基本原理與四元數姿態(tài)更新算法,設計并實現了飛行器的姿態(tài)角和高度的解算算法。在上述基礎上,設計了并實現飛行器的PID控制算法,并進行了仿真和實際飛行驗證了算法的有效性。(2)利用C#語言開發(fā)了四旋翼飛行器的地面監(jiān)控軟件,實現了機-地的串口通信、飛行數據的顯示、地圖導航、數據庫四種功能。其中,地圖導航可以用來輔助操作人員操作飛行器實現航跡的規(guī)劃、繪制和導航功能；數據庫功能用于存儲收集到的無線傳感器網絡數據。(3)基于該飛行器搭建了無線傳感器網絡移動數據收集實驗系統(tǒng)。并進行了場地飛行實驗和移動數據收集實驗,實驗證實了所設計的四旋翼飛行器平臺的有效性,也表明該飛行器有潛力作為無線傳感器網絡的移動數據收集的數據匯聚節(jié)點載體平臺。
[Abstract]:Four-rotor aircraft is a new type of aircraft which can take off and land vertically, fly steadily at low speed and move flexibly in the air in recent years. Mobile data collection is a promising data collection method in wireless sensor networks, which can effectively solve the energy bottleneck of traditional data collection methods in wireless sensor networks. The main work of this paper is to develop a four-rotor aircraft platform and apply it to the mobile data collection experiment of wireless sensor networks. The main achievements of this paper are as follows: (1) A stable four-rotor aircraft is developed. The hardware modules of the four-rotor aircraft are built and the flight control program is compiled. The control program is based on the dynamic model simulation, attitude calculation algorithm and pid control algorithm of the four-rotor aircraft. In this paper, a dynamic model of a four-rotor aircraft is established. According to the basic principle of the complementary filtering algorithm and the quaternion attitude updating algorithm, the attitude angle and altitude calculation algorithm of the aircraft is designed and implemented. On the basis of the above, the pid control algorithm of aircraft is designed and realized, and the validity of the algorithm is verified by simulation and actual flight. (2) the ground monitoring software of four-rotor aircraft is developed by using C # language. Achieve the machine-ground serial communication, flight data display, map navigation, database four functions. Among them, map navigation can be used to assist operators to operate aircraft to achieve track planning, drawing and navigation functions; The database function is used to store the collected wireless sensor network data. (3) the mobile data collection experiment system of wireless sensor network is built based on the aircraft. Field flight experiments and mobile data collection experiments have been carried out, which verify the effectiveness of the designed four-rotor aircraft platform. It also shows that the vehicle has the potential to serve as a data convergence node carrier for mobile data collection in wireless sensor networks.
【學位授予單位】：東南大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V275.1

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