《大疆TT教育无人机从入门到精通》以大疆TT教育无人机为载体，采用Mind+图形化编程软件为无人机设计飞行程序。《大疆TT教育无人机从入门到精通》

详细讲述无人机的飞行原理、飞行安全、遥控飞行、编程飞行、编队飞行和场景应用等知识，并将

这些知识融入近100个项目式的探究活动，可使读者通过实验探究和无人机编程活动体验飞行的乐

趣。《大疆TT教育无人机从入门到精通》最后讲述无人机竞赛方面的内容，包含无人机竞赛的策略以及竞赛程序设计的方法。

《大疆TT教育无人机从入门到精通》可作为小学生和中学生学习无人机的教材或参考书，也可作为无人机竞赛的指导用书，还

适合科技爱好者在自学时选用。

折一架纸飞机，轻哈一口气，掷向天空，这可能是生活中最容易

实现的飞行。想象一下，若是这架纸飞机变得智能，有了自己的动力，

可以规划飞行航线，可以自主避开障碍，甚至自动返航降落……这样

的飞行可以实现吗？

当飞行遇上了智能，如同机器人获得了飞行的能力，从而诞生了

无人机，因此无人机也可以理解为会飞行的机器人。

历经几十年的时间，日新月异的科技与创新使无人机得到了迅猛

发展，并将无人机的视角从地面带到了天空，赋予了无人机更强大的

应用能力，以至于在各个行业都能够看到它的身影，例如无人机在有

大气层的外星球上飞行探索，军事上使用无人机进行侦察，植保无人

机飞行在田地的上方播撒种子，可拍照的无人机进入了千家万户，可

编程的教育无人机也飞入了学生们的课堂。

青少年无人机教育是科技创新教育的重要组成部分，在青少年的

学习兴趣、思维、沟通、协作、创新以及核心素养等方面的培养扮演

着至关重要的角色。本书汇集了作者近10年的航模、机器人和无人机

的教学经验，以大疆TT教育无人机为载体，结合Mind+图形化编程，

将无人机的飞行原理、编程、编队、传感等知识以及广泛的应用场景融

入项目式探究活动，让读者通过实验探究和无人机编程探索飞行的乐趣。

书中无人机的课程案例来源于教学和竞赛实践，还有很多的内容

来源于课堂上学生赠予的灵感。书中无人机的飞行程序大多是由学生

进行测试，参与的学生有张睿涵、郑跃之、张昊冉、张志鸿、薛皓轩、

梁一鸣、郑玥瑶、罗璟荣、储梓绪、汪伟铭、李子木。兴趣驱动着孩

子们自愿利用数十个节假日的时间来学习无人机，痴迷的学习态度让

他们忘乎所以，他们通过多次反复测试，确保每个程序都能够让无人

机成功完成任务。因为本书的读者对象为中小学生，故本书中的计量

单位采用中文符号。



第1章

无人机飞行

1.1 认识无人机 ············································································2

1.1.1 飞行器的历史 ·················································2

1.1.2 无人机的概念 ·················································3

1.1.3 无人机的应用 ·················································5

1.2 TT无人机 ············································································11

1.2.1 旋翼无人机 ··················································11

1.2.2 TT无人机的组成 ···········································12

1.3 无人机的飞行原理 ································································17

1.3.1 飞行器的翼 ··················································17

1.3.2 空气的黏性 ··················································18

1.3.3 看不见的大气压 ·············································20

1.3.4 附壁效应 ·····················································21

1.3.5 伯努利原理 ··················································23

1.3.6 翼的升力 ·····················································24

1.3.7 无人机的运动原理 ··········································25

1.4 安全飞行 ··············································································27

1.4.1 无人机的飞行环境 ··········································27

1.4.2 无人机的飞行区域 ··········································29

1.4.3 无人机的飞行法规与条例 ··································31

1.5 无人机遥控飞行 ····································································33



大疆TT教育无人机

从入门到精通

VI

1.5.1 连接TT无人机 ································································33

1.5.2 遥控起飞无人机 ································································34

1.5.3 无人机遥控飞行练习 ··························································42

1.5.4 无人机航拍 ·····································································44

第2章

无人机编程

2.1 无人机编程基础 ···························································································48

2.1.1 拓展模块 ········································································48

2.1.2 无人机与Mind+编程 ·························································49

2.1.3 拓展模块编程 ··································································51

2.1.4 走进编程世界：Hello World ·················································53

2.1.5 程序按顺序运行 ································································54

2.1.6 程序的往复循环 ································································55

2.1.7 程序的条件选择 ································································56

2.1.8 计算“2+3=？” ······························································57

2.1.9 倒计时 ···········································································58

2.1.10 计数器 ·········································································59

2.1.11 TOF测距传感器测量长度 ···················································60

2.2 无人机运动编程 ···························································································62

2.2.1 电脑连接无人机 ································································63

2.2.2 无人机的运动模块 ·····························································66

2.2.3 第一个无人机飞行程序 ·······················································68

2.2.4 矩形航线飞行 ··································································70

2.2.5 键盘遥控飞行 ··································································72

2.3 无人机遥控杆量编程 ····················································································73

2.3.1 遥控杆量模块 ··································································73

2.3.2 Tello摄像头模块 ······························································74

2.3.3 编程探究遥控杆量模块 ·······················································74



大疆TT教育无人机

从入门到精通

2.8 无人机飞行特技与交互 ··············································································122

2.8.1 特技飞行 ······································································122

2.8.2 TT无人机的特技飞行 ·······················································124

2.8.3 无人机姿态检测 ······························································124

2.8.4 计时抛飞 ······································································125

2.8.5 跟无人机打招呼 ······························································126

2.8.6 左右躲闪的无人机 ···························································127

2.8.7 掌上降落 ······································································128

2.8.8 寻找主人 ······································································130

2.8.9 听从挑战卡的指挥 ···························································131

2.9 保护无人机 ·······························································································132

2.9.1 保护飞行的无人机 ···························································132

2.9.2 紧急悬停与降落 ······························································133

2.9.3 无人机接触式避障 ···························································133

2.9.4 万一故障发生时—冗余系统 ·············································136

2.10 无人机测绘编程 ·······················································································138

2.10.1 测绘 ··········································································138

2.10.2 气压高度传感器 ····························································139

2.10.3 测量天花板的高度 ·························································140

2.10.4 地形高度测绘 ·······························································142

2.10.5 无人机仿地飞行 ····························································143

2.10.6 无人机测绘 ··································································145

2.10.7 古建筑测绘 ··································································146

2.11 无人机自主返航 ·······················································································148

2.11.1 超视距飞行与自动返航 ····················································148

2.11.2 原航线返航 ··································································148

2.11.3 坐标返航 ····································································150

2.11.4 无人机起降平台 ····························································151

2.12 无人机的飞行数据 ···················································································155

2.12.1 飞行数据模块 ·······························································155

2.12.2 探究无人机俯仰姿态角 ····················································157

2.12.3 探究无人机低速撞击数据 ·················································159



大疆TT教育无人机

从入门到精通

X

4.2.4 探索迷宫 ······································································196

4.3 无人机迷宫竞赛 ·························································································198

4.3.1 无人机迷宫竞赛概况 ························································198

4.3.2 无人机的探索和穿越 ························································199

4.3.3 迷宫坐标与探索飞行 ························································199

4.3.4 迷宫探索与穿越 ······························································201

4.3.5 旋翼赛迷宫挑战赛竞赛规则（XMT） ····································203



从零开始，循序渐进：本书详细介绍计算机组装与维护的基础知识和操作技巧，内容由浅入深，循序渐进，适合零基础读者学习使用。