本文選題：四旋翼無人機(jī) + 地面監(jiān)控系統(tǒng)　； 參考：《東北農(nóng)業(yè)大學(xué)》2017年碩士論文

【摘要】：近年來,四旋翼無人機(jī)因機(jī)動性強(qiáng)、靈活度高、成本低等優(yōu)點(diǎn),在軍事偵查、災(zāi)情監(jiān)測、地理測繪、航拍攝影等領(lǐng)域得到了廣泛的應(yīng)用。地面監(jiān)控系統(tǒng)作為無人機(jī)系統(tǒng)的監(jiān)控指揮中心,可以實(shí)時監(jiān)測無人機(jī)的飛行狀況,對無人機(jī)進(jìn)行飛行控制管理,研究地面監(jiān)控系統(tǒng)所涉及的關(guān)鍵技術(shù)和實(shí)現(xiàn)方法,對整個無人機(jī)系統(tǒng)的飛行安全和任務(wù)執(zhí)行質(zhì)量有著十分重要的意義。本文針對當(dāng)前四旋翼無人機(jī)所用地面監(jiān)控系統(tǒng)航跡規(guī)劃電子地圖實(shí)用性不高、系統(tǒng)軟件平臺的可重用性差的缺點(diǎn),以四旋翼無人機(jī)地面監(jiān)控系統(tǒng)做為研究對象,結(jié)合系統(tǒng)的實(shí)際功能需求,搭建了系統(tǒng)硬件平臺,使用跨平臺圖形界面框架Qt作為系統(tǒng)軟件和功能的開發(fā)平臺,結(jié)合FFmpeg編解碼庫、Open GL、Qwt圖形庫和Google地圖電子分片等技術(shù),設(shè)計(jì)了一套功能完整、界面友好、可跨平臺的四旋翼無人機(jī)地面監(jiān)控系統(tǒng)。首先,對地面監(jiān)控系統(tǒng)的總體方案進(jìn)行了設(shè)計(jì)。根據(jù)監(jiān)控系統(tǒng)的實(shí)際功能需求對系統(tǒng)所需的硬件設(shè)備、系統(tǒng)軟件的功能模塊結(jié)構(gòu)和軟件界面功能布局做了設(shè)計(jì)。然后,根據(jù)監(jiān)控系統(tǒng)軟件的功能設(shè)計(jì),詳細(xì)介紹了主要功能模塊的設(shè)計(jì)和實(shí)現(xiàn)過程。一是通信功能的設(shè)計(jì)實(shí)現(xiàn),制定了四旋翼無人機(jī)與監(jiān)控系統(tǒng)之間的通信協(xié)議,設(shè)計(jì)了串口通信數(shù)據(jù)的接收處理、航拍視頻采集以及數(shù)據(jù)存儲的實(shí)現(xiàn)過程;二是數(shù)據(jù)顯示和數(shù)據(jù)處理功能實(shí)現(xiàn),主要包括飛行虛擬儀表的繪制、飛行姿態(tài)和飛行軌跡的三維可視化顯示、飛行回放功能以及數(shù)據(jù)分析曲線繪制的實(shí)現(xiàn);三是離線地圖和航跡規(guī)劃功能的設(shè)計(jì),對航跡規(guī)劃所用離線地圖的功能顯示結(jié)構(gòu)和坐標(biāo)轉(zhuǎn)換算法做了詳細(xì)設(shè)計(jì),并對航線規(guī)劃所需的基本操作功能做了設(shè)計(jì)。最后,通過與四旋翼無人機(jī)進(jìn)行聯(lián)機(jī)測試,對監(jiān)控系統(tǒng)軟件的各個功能做了整體測試。測試結(jié)果表明:該地面監(jiān)控系統(tǒng)工作穩(wěn)定、可靠,地面監(jiān)控系統(tǒng)軟件可跨平臺進(jìn)行應(yīng)用部署,能夠準(zhǔn)確的接收和顯示四旋翼無人機(jī)的監(jiān)測數(shù)據(jù)和航拍視頻,對航拍視頻進(jìn)行壓縮編碼存儲,對飛行姿態(tài)和飛行軌跡能夠正常的實(shí)現(xiàn)三維可視化模擬顯示,進(jìn)行數(shù)據(jù)分析時能夠以曲線方式繪制顯示飛行監(jiān)測數(shù)據(jù),離線地圖能夠正確的響應(yīng)航點(diǎn)和航跡規(guī)劃等操作。
[Abstract]:In recent years, the four-rotor UAV has been widely used in the fields of military reconnaissance, disaster monitoring, geographic mapping, aerial photography and so on because of its strong mobility, high flexibility and low cost. As the command center of UAV system, ground monitoring system can monitor the flight status of UAV in real time, manage the UAV flight control, study the key technology and realization method of ground monitoring system. It is of great significance to the flight safety and mission execution quality of the whole UAV system. Aiming at the shortcomings of low practicability of track planning and poor reusability of system software platform in track planning of ground monitoring system for four-rotor UAV, this paper takes the ground monitoring system of four-rotor UAV as the research object. Combined with the actual functional requirements of the system, the hardware platform of the system is built. The cross-platform graphical interface framework QT is used as the development platform of the system software and functions, and the FFmpeg codec library, Open GLG Qwt graphics library and Google map electronic slicing technology are combined. A four-rotor UAV ground monitoring system with complete function, friendly interface and cross-platform is designed. Firstly, the overall scheme of ground monitoring system is designed. According to the actual function requirement of the monitoring system, the hardware equipment, the function module structure of the system software and the function layout of the software interface are designed. Then, according to the function design of the monitoring system software, the design and implementation process of the main function modules are introduced in detail. The first is the design and realization of the communication function, the communication protocol between the four-rotor UAV and the monitoring system, the receiving and processing of serial communication data, the realization process of aerial video capture and data storage; The second is the realization of data display and data processing, including the rendering of flight virtual instrument, the visualization of flight attitude and flight trajectory, the function of flight playback and the realization of drawing data analysis curve. Thirdly, the function of off-line map and track planning is designed. The display structure and coordinate conversion algorithm of off-line map are designed in detail, and the basic operation function of route planning is designed. Finally, through the online test with the four-rotor UAV, the functions of the monitoring system software are tested as a whole. The test results show that the ground monitoring system works stably and reliably, and the ground monitoring system software can be applied and deployed across the platform, and can accurately receive and display the monitoring data and aerial video of the four-rotor UAV. The aerial video can be compressed and stored, the flight attitude and trajectory can be visualized and displayed normally, and the flight monitoring data can be drawn and displayed by curve when analyzing the data. The off-line map is able to respond correctly to operations such as point and track planning.
【學(xué)位授予單位】：東北農(nóng)業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：V279;TP277

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