由于甲烷和煤尘的存在易引发煤矿爆炸事故，事故发生后灾变现在环境危险等级高，若派救援队员进入现场探索事故情况，会引发二次矿难。由于无法获取事故现场的信息，因而救援专家无法制定有效的方案开展救援工作。目前公认最安全、有效的方法是先派机器人进入事故现场，采集相关环境信息，将环境信息以数据包的形式发送到控制中心，以此作为派救援队员进入现场的判据。 根据目前国内矿山救援设备发展状况以及灾变现场的环境复杂性，本文以四旋翼飞行器为研究对象，提出了一种基于测距的四旋翼飞行器自主飞行控制系统，通过实验验证了该系统的可行性。首先设计了自主飞行实现方案，该方案分为两部分：控制信号采集量化和控制信号反灌。根据方案要求设计控制系统硬件、软件，选择ARM7作为系统硬件开发平台，ADS1.2作为软件开发工具。将GPIO连接接收机输出端，通过设置中断、定时器，采集量化控制信号。在飞行器周围安装测距传感器，用于测量空间位置信息。系统将控制信号量化值和空间位置信息组帧，通过无线的方式发送至上位机中。经过多次飞行实验得到大量的样本数据，根据控制信号反灌要求，从中总结出控制信号与飞行器飞行姿态的关系，重点分析了起飞、降落以及不同高度与控制信号之间的关系。利用C语言描述该对应关系，编译生成二进制文件烧到主控板中，GPIO输出与飞行姿态对应的控制信号，实现飞行器自主起飞、悬停、降落。另外机载主控系统具有环境信息采集功能，把采集到有害气体浓度经过AD转换成数字量，通过无线方式发送到安装有灾变环境评估系统的上位机中，该上位机对收到数据进行分析、判断等操作，为救援工作的展开提供了宝贵的依据，避免二次矿难的发生。 本文最后对系统硬件、软件进行了测试，并成功实现了四旋翼飞行器自主起飞、高度锁定、降落，结果表明预期方案可行。

After the explosion caused by coal gas and coal dust in coal mine, the environment is dangerous. Sending rescuers to the scene of the accident, it easily triggers the secondary explosion. But the disaster experts are short for the scene information to make the rescue plan. The robot undoubtedly the most effective and safe way that to detect the underground accident damage and environmental information, the feedback in the form of data sending to the control center, which has very important practical significance to coal mine safety production. Based on the above analysis, according to the current domestic mine rescue equipments development status and the scene of the disaster environment complexity, the four rotor aircraft as the research object, the paper proposes a four rotor aircraft autonomous flight control system which based on measuring distance, the results show that the system is available. At first, the paper designs the plan of autonomous flight. The plan have two parts: quantify the control signal and reverse output the control signal. According the requirements of the plan, the paper designs the system hardware and software and selects the ARM7 as the system hardware development platform, ADS1.2 as a software development tool. The system quantifies the control signal by setting the interrupt and timer, connects the GPIO to the output of the receiver. There are many air ultrasonic sensors installing around the aircraft to realize the location in the limited space. The system can collect the quantized value and location value to transmit to the upper computer. After many flight experiments, it got a lot of sample data and summarized the relationship between the control signal and the aircraft flight attitude, especially the take-off, landing and hover. Described the relation by C programming language, the GPIO outputs the same control signal to realize automatic aircraft take-off, hover and landing. In addition, the system collects the concentration of methane and carbon monoxide, converts to digital form by an AD converter, and transmits to the upper computer which installs environmental assessment system the by wireless. The environmental assessment system will analyze the data and determine it safe or not. It applies the precious basis and avoids the secondary disaster. Finally, the paper has carried on the test to the system hardware, software, and successfully realized the four rotor aircraft autonomous take-off, height locking, landing, the results show that the scheme is feasible.