摘要
为了设计一种轻量级高性价比无人飞行实验教学平台,在M100无人机平台的结构基础上,以树莓派作为机载计算机,在设备仓安装摄像头、图像传输模块、无线串口模块、GPS模块,同时使用小型移动电源供电。树莓派搭载ROS操作系统,开发和运行以消息、服务等ROS系统通信机制为基础的应用程序。结合自动飞行和图像采集、传输及存储等试验,说明该方案飞行精度较高,功能较为齐全,弥补了先前公开的同类平台的一些不足。由于搭载了ROS系统,平台具有很强的二次开发能力,可作为后续以图像处理为基础的编队飞行等复杂技术研究的基础。
For the purpose of designing a lightweight and cost⁃effective unmanned flight experimental teaching platform,based on the structure of the M100 UAV platform,Raspberry PI is used as the airborne computer to install cameras,image transmission modules,wireless serial port modules and GPS modules in the equipment warehouse,while using small mobile power supply.Raspberry PI with the ROS operating system to develop and run applications based on the communication mechanism of the ROS system such as messages and services.Combined with automatic flight and image acquisition,transmission and storage tests,it is shown that this scheme has high flight accuracy and complete functions,making up for some shortcomings of similar platforms previously disclosed.Equipped with ROS system,the platform has strong secondary development capability,which can be used as the basis for subsequent research on complex technologies such as formation flying based on image processing.
作者
张子明
王从庆
刘良勇
汪秒
ZHANG Ziming;WANG Congqing;LIU Liangyong;WANG Miao(Aviation Equipment Monitoring and Control and Reverse Engineering Laboratory,No.5720 Factory of the PLA,Wuhu 241007,China;College of Automation Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 211106,China;School of Cyber Science and Engineering,Southeast University,Nanjing 211189,China)
出处
《电子设计工程》
2022年第22期34-39,45,共7页
Electronic Design Engineering
基金
2021年安徽省重点研究与开发计划第三批立项项目(2021008)。
关键词
旋翼无人机
实验教学平台
树莓派
飞行控制
图像采集
ROS
rotor UAV
experimental teaching platform
Raspberry PI
flight control
image acquisition
ROS
