语音控制的四旋翼飞行器设计与实现

Design and Implementation of Voice Control of Four-rotor Aircraft

摘要:

基于语音识别技术,设计了一套语音远程控制四旋翼飞行器的系统。使用LD3320语音处理芯片和STM32微处理器实现语音识别功能,采用NRF24L01将识别结果传输到飞行器。选用STM32作为四旋翼飞行器的主控芯片,采用六轴运动组件MPU6050、三轴数字罗盘HMC5583L等传感器对飞行器的姿态进行实时测量,再利用数字滤波器对姿态信息进行处理,然后采用四元数进行姿态解算,最后运用双闭环PID控制算法实现姿态控制的要求。测试结果表明,通过语音可以控制四旋翼的正常飞行及姿态变化,系统稳定可靠。

Abstract:

Based on voice recognition technology, a system of voice remote control of four-rotor aircraft was designed. voice processing chip of LD3320 and microprocessor of STM32 was used to realilze voice recognition function,and NRF24L01 was used to send voice recognition results to four-rotor aircraft. Microprocessor of STM32 was selected as main controller of four-rotor aircraft, and the six axis motion component MPU6050 and three-axis digital compass HMC5583L sensors was used for real-time attitude measuring of the aircraft, Then the digital filter was used to deal with attitude information, then quaternion was selected as attitude algorithm, finally attitude control was realized by using the double closed loop PID control algorithm.Experimental results show that the voice can control four rotor aircraft normal flight and attitude change, and the system is stable and reliable.