介绍一种基于5.8G图像传输技术，可以用于森林防火防盗巡逻、电力巡检等情况的四轴飞行器。该飞行器采 用Cortex-M4 架构的STM32 单片机作为主控芯片，以MPU6000 运动传感器、HMC5883L 磁力计来获取无人机姿态位置信 息。主控芯片将传感器所采集的值，利用惯性导航技术和数据融合技术通过四元数运算求出当前的飞机姿态，然后通过PID 算法实现稳定飞行。

This paper mainly introduces a kind of quadcopter based on 5.8G image transmission technology, which is widely used in the power patrol and daily forest patrol. This design takes Cortex-M4 architecture of STM32 microprocessor as the center core, and obtains the position and attitude of the UAV by the MPU6000 and HMC5883L. The data of the sensor is collected by the main control chip, and the current attitude of the aircraft is obtained by using the inertial navigation technology through the four element calculation. Finally, the control of flight attitude is realized by the PID algorithm.