当煤矿井下发生灾害性爆炸事故之后，很可能引发二次爆炸等事故，环境存在高危 险性。针对煤矿救援中所遇到的探测未知危险问题，本文设计并实现自主飞行四旋翼系 统，以提高煤矿救援的有效性。自主飞行四旋翼结构具有对称性，在操纵性和机械机构 方面具有很多潜在的优势。因此，设计在煤矿井下自主飞行四旋翼能方便有效地对井下 环境进行探测。 本文针对小型自主飞行四旋翼直升机，以AVR单片机为核心，设计了自主飞行四 旋翼直升机控制器的硬件和软件系统，实现了四旋翼的平稳飞行。首先，本文依据目标 对控制系统总体结构、硬件和软件进行整体设计。按功能将控制系统划分成电源模块、 主控制器模块、电调推进组模块、姿态传感器模块、状态信息传输模块和遥控模块六个 独立模块。并对各个模块进行硬件电路设计和印制PCB板，然后对四旋翼飞行器各个 模块进行软件设计。 本文设计基于四元数法的捷联惯导系统。为了克服惯性导航中陀螺仪传感器漂移现 象，本文使用三轴加速度计与陀螺仪传感器进行融合，使得四旋翼在飞行控制当中得到 更为理想的飞行状态角度值。姿态控制是飞行控制的核心问题，四旋翼无人直升机的结 构特殊性决定了其控制器设计的特殊性：自主飞行四旋翼直升机是通过四个螺旋桨实现 对六个被控制量的进行控制，可见是一个欠驱动系统。本文设计PID控制器进行姿态控 制。系统飞行实验结果表明，自主飞行四旋翼使用PID控制器可以得到良好的姿态控制 效果，验证了控制系统设计的飞行平稳性。 同时，四旋翼飞行器在飞行试验过程当中，得到飞行控制量与飞行状态数据对于飞 行器的研究分析特别重要。因此，本文还设计开发了四旋翼飞行状态采集板的软件和硬 件系统，使得四旋翼飞行器飞行状态数据能实时的获得和本地存储。并对四旋翼飞行状 态数据进行分析，为四旋翼飞行控制的研究和飞行器的二次开发打下基础。

When the disasters explosion accident happened in coal mine, explosion accidents may happen again. environment exists high risk. Exploration of the unknown dangerous problems encountered in mine rescue, the design and Realization of autonomous flight four rotor system, in order to improve the effectiveness of rescue. Autonomous Flight four rotor structure is symmetrical, has many potential advantages in handling and mechanical aspects. Therefore, the design of the four rotor flight to detect the underground environment conveniently and effectively in a coal mine. The mini autonomous flight of four rotor helicopter, use AVR microcontroller as the core, and design the autonomous flight of four rotor helicopter controller hardware and software control system, to achieve a smooth flight. Firstly, the control system structure, hardware and software of the overall are designed in according to the goal of design.According to the functions the control system is divided into six module: the power supply module, the main controller module, electrically adjustable propulsion module, sensor module, state information transmission module and remote control module. And the each modules of the hardware circuit is designed and the PCB board is printed, the each module software of four rotor aircraft is further designed in this paper. This paper design strapdown inertial navigation system based on four element method. In order to overcome the gyro sensor drift in inertial navigation, this paper presents fusion of the gyro sensor and three axis accelerometer, making angle value of four-rotor flight status be more ideal in the flight control system. Attitude control is the core problem of flight control, unmanned four rotor helicopter structure specificity determines controller’s particularity: autonomous flight controller design of four rotor helicopter is realized on six controlling variables are controlled via the four propellers, visible is an underactuated system. This paper design PID controller to control attitude. Experimental results show that the system of flight using PID controller can get good attitude control effect, verify the stable flight of control system. At the same time ,it is very important for the analysis of aircraft research to get the flight control and flight state data in flight test process.this paper has designed and developed four rotor flight state acquisition board software and hardware system, the four rotor aircraft flight state data can be real-time obtained, stored ,analysed, and lay the foundation for the two research and development of four rotor flight control of aircraft.