The design and implement of micro autopilot system for low-altitude mapping of MAV

To improve the precision issues of navigation measurements, flight tracking control and aerial stable platform control for the low-altitude mapping of MAV (Micro Aerial Vehicle), a flight autopilot was designed. The embedded system based on high-speed microcontroller and DSP was utilized, to realize the complex algorithms of navigation and control. The data fusion algorithms on MIMU (Micro Inertial Measurement Unit) and dual GPS module were utilized, to achieve high precision measurement of navigation information such as attitude, heading, position. The advanced PID controllers were designed to improve the accuracy of the flight tracking control. Through the aeroboat experiment, the navigation precision for designed autopilot was compared with high-precision POS (Position and Orientation System). Through the flight experiment for MAV, high-precision tracking control was achieved, and the high-precision attitude and heading were provided for the aerial platform. The experimental results show that the autopilot can basically satisfy the requirements of low-altitude stable mapping of MAV.