Abstract: This paper expounds the design of a quadcopter and proposes an overall solution that applies ultrasonic ranging technology to realize the automatic obstacle avoidance function of UAV. Firstly, algorithms such as Euler angle and extended Kalman filtering are applied to process the information collected by the MPU9250 sensor, calculate the position and attitude information, and adjust the PID parameters to realize the steady-state flight control of the quadrotor UAV. Secondly, the information collected by the SUI04 ultrasonic obstacle avoidance sensor is transmitted to the STM32H743 controller, and the corresponding instructions are output through algorithm processing to realize the obstacle avoidance function. Finally, after testing, in the outdoor low-speed flight state, the quadcopter UAV basically realizes the functions of fixed height flight and automatic obstacle avoidance. Therefore, it can be concluded that the automatic obstacle avoidance function of quadrotor UAV can be realized by ultrasonic ranging technology, and the obstacle avoidance effect is relatively stable and has certain practicality.

Key words: quadrotor UAV, flight control, attitude solution, SUI04

摘要： 阐述了一种四旋翼飞行器的设计,提出了一种应用超声波测距技术实现无人机自动避障功能的整体解决方案。首先,应用欧拉角和拓展卡尔曼滤波等算法对MPU9250传感器采集的信息进行处理,计算位置和姿态信息,调整PID参数实现四旋翼无人机的稳态飞行控制。其次,将SUI04超声波避障传感器采集的信息传输至STM32H743控制器,经过算法处理输出相应指令实现避障功能。最后,经过测试,在室外低速飞行状态下,四旋翼无人机基本实现了定高飞行和自动避障功能。因此,可以得出结论:四旋翼无人机自动避障功能可以应用超声波测距技术实现,并且避障效果较稳定,具有一定实用性。

关键词: 四旋翼无人机, 飞行控制, 姿态解算, SUI04