Journal of Jishou University(Natural Sciences Edition)

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Design of Four-Rotor Aircraft Based on Optical Flow Sensor

YAN Rui, HE Liang, DENG Xiaofei, XIANG Xiaoyan, CHEN Shanrong   

  1. (1.College of Information Science and Engineering, Jishou University, Jishou 416000, Hunan China; 2. Xiangxi Research Institute of Economics and Technology, Hunan Electric Power Co Ltd. of State Grid, Jishou 416000, Hunan China)
  • Online:2020-03-25 Published:2020-09-08


The Texas Instruments TM4C123GH6PM microcontroller is used as the core unit of the four-rotor aircraft control system and optical flow data processing. With the raw data obtained from the gyroscope, accelerometer and magnetometer of the nine-axis sensor MPU9250, the angle data obtained by the attitude calculation is  used as the flight attitude feedback of the flight control system, height data measured by ultrasonic sensors as flight height feedback, and position data output by optical flow sensor as position feedback. Based on the above conditions, a new type of quadrotor is designed. The experimental results show that the designed autonomous navigation system of four-rotor aircraft can realize self-stable, fixed-height and fixed-point indoor flight.

Key words: four-rotor aircraft, TM4C123GH6PM, autonomous navigation system, optical flow sensor

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