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摘要本设计根据给定的资料，在指导老师指导下，为了突破传统四旋翼用遥控器控制带来的距离限制和执行的任务种类限制，创新性的提出实现基于GSM的四旋翼无人机飞行控制的新思路。通过发送短信建立连接，进行实验测试，验证SIM900a的短信方式远程通讯性能。编写代码实现通过GPRS连接建立通道，实现无人机端实时发送的位置、姿态等信息通过C51单片机传回到地面站PC机端，从而实现PC机远距离监视无人机的飞行状态，同时地面站可以用C51通过GPRS的通道远距离实时发送起降、转向的指令给无人机，实现PC机远距离控制无人机飞行。并且进行实物测试实验，以检测无人飞行器的飞行稳定性，验证GPRS通信方式的实际性能。本设计对实现无人机全球化控制具有重要的参考意义。68924
毕业论文关键词： 四旋翼无人机 GSM C51单片机 SIM900a芯片 收发短信 GPRS即时通讯
毕业设计说明书外文摘要
Title Design of the control methods of four rotor aircraft based on GSM in long distance
Abstract:
According to the given resources, we innovatively put forward a new idea of achieving Flight Control of GSM-based four-rotor UAV under the guidance of the teacher, in order to break through the distance limitations and varieties of the tasks on raditional four-rotor with the remote control. We can establish connection by sending an SMS and conduct laboratory tests to verify the performance of SMS remote communications of SIM900a.Writing code realize the establishment of connection via GPRS channel and the termination of UAV sends instantly the position and attitude information to the PC-side through C51 microcontroller in order to achieve that PC-side monitors the flight condition of UAVs in the long distance. At the same time, ground station can transmit real-time remote landing, steering instructions to the UAV through GPRS channel with the use of C51,which is decoded by UAV and is transmitted to their main chip STM32. Then the instruction is executed in order to realize PC remotely flight control of the UAV. And we conduct physical test to detect the stability unmanned aircraft flight, and verify the actual performance of GPRS communication. This design has an important reference for the global UAV control.
Keywords Quad-rotor UAV GSM C51 microcontroller SIM900a chip send and receive message GPRS instant communication
目 录
1 引言1
1.1无人飞行器发展的意义 1
1.3 无人飞行器发展史的经验与启发5
2四旋翼飞行和控制基本原理6
2.1无人机硬件设计6
2.2控制算法介绍7
3.1 SIM900A的使用方法简介 9
3.2 编写C语言程序进行短信和GPRS连接通讯的方法介绍 10
4 远程监控的设计方案 15
4.1 GSM模式与GPRS模式的方案对比 16
4.2 编写电脑端软件实现对无人机的状态监测以及指令下达 17
5实验内容18
5.1 GSM短信模式验证实验 18
5.2 GPRS通道远程监控实验 18
结论 24
致谢 25
参考文献26
附录A 进行短信通信的程序范例28
附录B 进行GPRS连接通讯程序范例30
1 引言
无人机是由机载计算机或遥控技术所控制的无人飞行器，它可以克服自身的重力，承受一定的载荷。，其具有欠驱动、多变量、强耦合、非线性等复杂特性，而且一般可以多次回收使用。