Design and Implementation of Multi-rotors Aircraft Fault Diagnosis System Based on Pixhawk

多旋翼飞行器工作环境在高空，一旦某个模块发生故障，往往会导致整个系统的状态出现紊乱，有必要引入监测机制区分系统是正常运行还是发生故障。本文基于Pixhawk设计了多旋翼飞行器的故障诊断，主要做了以下工作： 首先，设计了多旋翼故障诊断系统的硬件平台。选择3DRobotics旗下的开源飞控Pixhawk作为本研究的多旋翼飞控实践平台，配备合适的GPS、电机、电调等配件，搭建了一个具备稳定悬停和自主飞行功能的四旋翼飞行器硬件平台并分析各模块可能发生的故障，同时使用QGC地面监控站和TeraTerm串口调试环境协助进行故障诊断。 其后，设计了多旋翼故障诊断系统的软件平台。在Pixhawk工程软件架...Multi rotor aircraft work environment at high altitude, once a module failure, often lead to disturbance of the whole system, it is necessary to introduce monitoring mechanisms to discriminate between system is in normal operation or failure. Based on the Pixhawk design of the fault diagnosis of multi rotor aircraft, mainly to do the following work: First of all, the design of the multi rotor fau...学位：工程硕士院系专业：航空航天学院_工程硕士(控制工程)学号：2322013115335