四旋翼飞行器是一个具有强耦合、不稳定、非线性等特点的复杂控制对象，对其姿态控制的方法包括力学原理、传感器通信、计算机处理以及无线通信等学科。本论文研究的工作重点在于传感器的调试、动力学模型的建立及仿真，WIFI数据通道的建立及基于PID控制算法的设计。 本文通过研究四旋翼飞行器结构特点、姿态解算方式及飞行控制技术，设计了以S3C2440的主控芯片为硬件开发平台，在Linux环境下进行软件开发。硬件平台集成了MPU-6000及KS103为惯性测量单元的飞行姿态控制系统。软件设计上以Linux系统作为运行平台，在PC机上搭建交叉编译环境并编写应用层与控制算法层程序。在数据通道方面，以RS232及IIC协议实现了传感器与主控芯片的数据解析并通过TCP下socket通信协议建立了与上位机的数据通道。通过加权法融合当前传感器中加速度和陀螺仪的测量数据，估算出当前的运动姿态。将得出的姿态角度与稳定姿态角做差值，并将该差值作为PID控制器的模糊输入量，通过PID控制算法计算，得到当前角度快速向稳态角度收敛对应的电机调节量，从而改变旋翼转速以使得飞行器向平稳姿态调整。 本文对四旋翼飞行器自主飞行控制系统进行了整体方案设计并搭建出软硬件平台，并把重点放在了传感器的调试与算法的设计。分别对俯仰角进行比例、积分和微分三种收敛算法进行说明，并设计出增量式PID软件算法。论文最后对四旋翼俯仰轴姿态进行了建模仿真，测试结果表明本课所研究的关于四旋翼姿态角控制的PID算法是可行的，保证了四旋翼在起飞阶段微小气流扰动下姿态的稳定性。

The Four-rotor UAV is a complex controlled object with a stable, non-linear, strong coupling characteristics, its flight control methods involve Mechanics principle, sensor theory of communication technology, computer technology and other disciplines. Thesis focuses on the analysis of the sensor debug, the establishment of dynamic model and simulation，the establishment of WIFI data channel and the design of the attitude of the control system based on PID algorithm. It is declared that through the study of four rotor aircraft structure characteristics, the attitude calculation method and flight control theory, then design the main control system based on S3C2440 chip as the platform of hardware, software development in Linux environment. The hardware platform integrates MPU-6000 and KS103 for the inertial measurement unit of the flight attitude control system. The design of software to Linux file system as the operation platform, then build the cross compile environment and write application layer and control layer on PC platform. In the data channel, using RS232 and IIC protocol to realize data analysis from the sensor and establish a data channel between the host computer and the target board based on the socket TCP communication protocol. Through the method of weighted fusion to deal with the measurement data from gyroscope and the current sensor , to estimate the current motion trends. Then make the attitude angle and stability of attitude Angle difference, treat the difference as a fuzzy PID controller input, through the calculation of PID control algorithm, obtain rapid convergence to the target angle corresponding to the anterior horn motor to adjust volume, so as to change the rotor speed to make aircraft to steady attitude adjustment. It is stated that this paper focus on the design of four rotor aircraft autonomous flight control system and build the software and hardware platform, then put emphasis on the debugging of the sensor and the design of the algorithm. Respectively introduced the pitching Angle proportion, integral and differential three kinds of convergence algorithm, and then design the incremental PID algorithm of software. Paper in the final build four rotor pitch axis attitude for the modeling and simulation. In the end test results show that the research about the PID algorithm in the control of four rotor attitude angle is feasible, to ensure the four rotor in the take-off state is stability under the influence of the airflow disturbances.