Large Drone Robot Based On Visual Aid - R&D Representative
- Drone Motion Control
- Gimbal control
- According to the gimbal model, design the feed-forward-serial controller to realize the gimbal motion and muzzle launch.
- Use CAN, UART and other communication protocols to realize the bottom control.
- Airframe control
- Combine the UAV model and simulation test to design the controller.
- Application development of DJI A3 Onboard SDK on STM32 chip and deployment of the above controller.
- Fuse sensor data such as optical flow and TOF to achieve centimeter-level fixed-point hovering.
- Gimbal control
- Joint commissioning: * Transmit height, speed and other data to NUC through serial protocol, and receive gimbal target angle. * Adopt Kalman filter to make the gimbal can follow the target angle smoothly.
- Innovation:
- Design a new type of gimbal self-stabilization model, which can avoid the effect of launch vibration on self-stabilization effect and reduce the cost significantly.
- Creatively designed a self-stabilization algorithm for the launch state vehicle based on a simplified model, so that the UAV can maintain centimeter-level precision hovering in the muzzle high-frequency launch state.
