中文摘要：

为实现四旋翼无人机的自主飞行控制，设计并搭建了四旋翼无人机的硬件飞行控制平台．该平台采用自行组装的四旋翼飞行器作为本体，航向姿态参考系统（AHRS）MTi—G单元作为主要机载传感器，ARM嵌入式系统芯片作为主控制器，AVR单片机作为超控单元．基于四旋翼无人机的非线性动态模型，采用内外环结构的PD控制算法，构造了无人机的位置与姿态跟踪控制器．实现了四旋翼无人机滚转角、俯仰角和水平纵向、横向位置共四个自由度的自动控制．实验结果表明，本文提出的机载控制系统设计取得了较好的飞行控制效果．

英文摘要：

Abstract： In order to achieve the autonomous flight control of the quadrotor, an autonomous flight control hardware platform is designed in which a self-assembly aircraft is used as the body frame. The main on- board sensor is an attitude heading reference system（AHRS） MTi-G unit, and the on-board controller is an ARM-based embedded system. An AVR microcontroller is used to construct the override module. Based on the nonlinear dynamic model of the quadrotor, an inner-outer-loop PD control scheme is designed for the position and attitude tracking controller. Autonomous control of the roll angle, pitch angle and the horizontal direction of latitude and longitude has been obtained. Experimental results show that the on board control system has achieved good flight performance.