Design of Quad-rotor Micro Air Vehicle
Lin Wang · Harbin Ligong Daxue xuebao · 2012
The size of the conventional unmanned aerial vehicle is large for flight in narrow and small indoor environment.A quad-rotor Micro Air Vehicle is designed to solve the problem.The dynamic model of the vehicle is set up.The hardware of the vehicle is described.The attitude measurement system consists of a triaxial gyroscope,a triaxial accelerometer and a triaxial magnetometer.The attitude algorithm method is described in detail.A complementary filter is used to correct the errors of gyro measurement.The method of determining the fusion coefficient of complementary filter is given.The attitude control system is a PID controller based on Euler angles feedback,without the need to create complex model of control system.The maximum size of the vehicle is 15 centimeters,and the weight of which is 22 grams.The Micro Air Vehicle can perform vertical takeoff,landing and hovering,which is suitable for reconnaissance missions in narrow spaces.