基于PX4飞控的多旋翼无人机编队跟踪系统设计

为解决单架无人机续航能力不足、执行任务单薄、应用场合受限等问题，目前多无人机协同跟踪具有极其重要的研究价值。以多旋翼无人机为研究对象，设计了一种基于 PX4飞控的多旋翼无人机协同编队系统。利用飞控底层软件，将设计的制导律进行移植，通过ROS系统对无人机进行外部控制，各个僚机和长机之间能够实时获取其他无人机位置，然后通过控制器得到指令速度，从而形成预设跟踪编队。仿真实验结果表明，整个编队系统对目标的跟踪精确有效，并且所设计的制导律可以在PX4飞控架构下实现对地面目标的编队跟踪，提高了多旋翼编队跟踪系统的稳定性。

Design of Multi-Rotor UAV Formation Tracking System Based on PX4 Flight Control

At present, multi-UAV cooperative tracking has extremely important research value in solving the problems of insufficient endurance ability, weak task execution and limited application occasions of single UAV.Taking the multi-rotor UAV as the research object, this paper designs a multi-rotor UAV cooperative formation system based on PX4 flight control. Using the flight control underlying software, the designed guidance law is transplanted, and the UAV is externally controlled through the ROS. Each wingman and captain can obtain the position of other UAVs in real time, and then obtain the command speed through the controller. The simulation results show that the tracking target of the whole formation system is accurate and effective, and the designed guidance law can realize the formation tracking of ground targets under PX4 flight control architecture, and improve the stability of multi-rotor formation tracking system.