Design and Implementation of Stability Augmenting System of Agricultural Topographic Surveying Drone

Acquisition of accurate agricultural topographic surveying data is prerequisite for precision land leveling．Unmanned drone has characteristics of high automation and simple operation, which is widely used in operations of aerial photographing and remote sensing．However, tilt angle of drone’s body changes dynamically under action of mechanical vibration, cross wind and other factors, which results in deterioration of performances of onboard device．Therefore, a stability augmenting system based on STM32 single chip microcomputer was designed for land topographic surveying drone．This stability augmenting system collected drone’s tilt angle data by using a MPU6050 acceleration sensor in real time．It also used stepping motors to drive crank rod mechanism to compensate tilt angle, so that laser range finder could always maintain a vertical state and therefore accuracy of topographic surveying data could be improved．Experiment data indicated that tilt angles of leveling plate after compensation were less than 3 degrees under condition that topographic surveying drone dynamically changed tilt angle beyond extension of 15 degrees, which showed significant stabilizing performance of stability augmenting system．