基于stm32的四旋翼无人机的设计

Design of Four-rotor UAV Based on stm32AbstractThe four-rotor UAV is a kind of UAV with strong stability and simplestructure.This design takes the STM32F103C8T6 as the core,takes theMPU6050 as the flight attitude sensing module,uses the Kalman FilterAlgorithm,the quaternion attitude computation,the PID control algorithmsoft and hard union way to study and manufacture the four-rotor UAV.Onthe basis of a large number of references,this paper describes thedevelopment course of the four-rotor UAV and the development situationat home and abroad,and briefly describes the structure and basicprinciple of the UAV,the design and selection of the hardware part.Thedesign of software and the realization of algorithm are discussed indetail.After a lot of debugging,the UAV can be made to fly stably.Practical operation shows that the design has stable performance and iseasy to control and other advantages,to meet the design requirements.Key words:The four-rotor UAV,quaternion attitude computation,PID controlalgorithm,Kalman Filter Algorithm