主管：中华人民共和国应急管理部
主办：应急管理部天津消防研究所
ISSN 1009-0029  CN 12-1311/TU
消防科学与技术

消防科学与技术 ›› 2020, Vol. 39 ›› Issue (5): 666-670.

• • 上一篇    下一篇

智能火灾侦查监测四旋翼飞行器的设计研究

刘永涛1,2，蒋迪1，刘佳1，黎冠1   

  1. 1.华北科技学院，河北 廊坊 065201； 2.中国农业大学 信息与电气工程学院，北京100083
  • 出版日期:2020-05-15 发布日期:2020-05-15
  • 通讯作者: 刘 佳（1982-），女，华北科技学院讲师。
  • 作者简介:刘永涛（1981-），男，河北定州人，华北科技学院副教授，硕士，主要从事物联网技术、自主移动机器人技术研究，河北省廊坊市燕郊华北科技学院，065201。
  • 基金资助:
    中央高校基本科研业务费项目（3142018047）；河北省重点研发计划自筹项目（17273908）

Design and research on intelligent fire detection and monitoring four rotor aircraft

LIU Yong-tao1,2, JIANG Di1, LIU Jia1, LI Guan1   

  1. 1. North China Institute of Science and Technology, Hebei Sanhe 065201, China; 2. School of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China
  • Online:2020-05-15 Published:2020-05-15

摘要： 研究四轴飞行器的飞控原理，建立了四元数运动学微分方程，通过一阶龙格库塔法对其进行了求解，利用实时四元数反转欧拉角代表飞行姿态信息，方便姿态过程控制；通过惯性传感器MPU9250采集实时姿态数据，采用Mahony互补滤波算法融合得到实际飞行姿态；通过串级PID控制算法，实现了对微型四轴飞行器的飞行控制。利用Matlab软件对串级PID进行了仿真调参，并在STM32F411为主控的飞行器上对角速度内环和欧拉角外环进行了实际调试。飞行器配备智能火焰识别摄像头，可以在区域搜索和监测时自动锁定火灾重点区域，提高侦查效率。

关键词: 火灾, 侦查监测, 飞行器, 四元数法, Mahony互补滤波, 龙格库塔法

Abstract: The flight control principle of four-axis vehicle was studied and the quaternion kinematics differential equation was established. Through the first-order RungeKutta method, the equation was solved. The real-time quaternion reversal Euler angle was used to represent the flight attitude information, so the attitude process could be controlled easily.The real-time attitude data was collected by the inertial sensor MPU9250, and the actual flight attitude was obtained by Mahony complementary filtering algorithm fusion.The flight control of micro four-axis vehicle was realized by cascade PID control algorithm. Finally, the simulation parameters of the cascade PID were adjusted by MATLAB software, and the actual debugging on the inner diagonal velocity loop and outer Euler angle loop of the main control aircraft was carried out on STM32F411. By equipped with intelligent flame recognition camera, the aircraft can automatically lock the key fire areas during area search and monitoring, and improve the detection efficiency.

Key words: fire, detection and monitoring, aircraft, quaternion method, Mahony complementary filtering, Rungekutta method