/GEARdrones

GEARdrones is a lightweight drone control and multiagent localizaion system that combines flight controller, UWB relative localization algorithm, and software monitor.

Primary LanguageCGNU General Public License v3.0GPL-3.0

GEARdrones

GEARdrones是一个专为低成本无人机编队控制所开发的,集飞行控制器UWB相对定位算法软件上位机于一体的四旋翼无人机系统。

演示视频:自研无人机集群?理工男的大学生活也可以很精彩!

本项目主要包含以下内容:

​ 1.基于STM32F1和F4的两个版本的飞行控制器嵌入式软件工程

​ 2.基于STM32F1的遥控器嵌入式软件工程

​ 3.无人机的PCB工程(正在整理)、外壳模型

​ 4.相对定位算法的Matlab仿真文件

​ 5.基于PYQT5和MQTT开发的软件上位机

参考开发环境:

​ 嵌入式软件开发环境:Keil MDK5 5.29

​ 编译器:Arm Compiler V5.06 build750

​ MQTT服务器:mosquito/EMQX

​ MATLAB 2022B

​ Python 3.8

参考文献:

[1] Guo K, Xie L. INFRASTRUCTURE-FREE COOPERATIVE RELATIVE LOCALIZATION FOR UAVS IN GPS-DENIED ENVIRONMENTS[J]. International Journal of Robotics and Automation, 2021, 36(6).

[2] Nguyen T M, Zaini A H, Guo K, et al. An ultra-wideband-based multi-UAV localization system in GPS-denied environments[C]//2016 International Micro Air Vehicles Conference. 2016, 6: 1-15.

[3] Guo K, Qiu Z, Miao C, et al. Ultra-wideband-based localization for quadcopter navigation[J]. Unmanned Systems, 2016, 4(01): 23-34.

[4] Guo K, Li X, Xie L. Ultra-wideband and odometry-based cooperative relative localization with application to multi-UAV formation control[J]. IEEE transactions on cybernetics, 2019, 50(6): 2590-2603.

参考开源库:

SRML:华南虎嵌入式软件中间件层库