CN102737416A - Data recorder of unmanned aircraft - Google Patents
Data recorder of unmanned aircraft Download PDFInfo
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- CN102737416A CN102737416A CN2012101878565A CN201210187856A CN102737416A CN 102737416 A CN102737416 A CN 102737416A CN 2012101878565 A CN2012101878565 A CN 2012101878565A CN 201210187856 A CN201210187856 A CN 201210187856A CN 102737416 A CN102737416 A CN 102737416A
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Abstract
The present invention relates to a data recorder of an unmanned aircraft. The data recorder comprises: an analog signal interface for receiving analog signals output by the unmanned aircraft; a digital signal interface for receiving digital signals output by the unmanned aircraft; an embedded processor connected with the analog signal interface and the digital signal interface, and for receiving and processing the analog signals and digital signals; at least one memory card for storing signals processed by the embedded processor; and a power management circuit for providing working voltage required by the data recorder.
Description
Technical field
The present invention relates to a kind of datalogger, relate in particular to a kind of datalogger that is applied to unmanned vehicle.
Background technology
The datalogger that is applied to unmanned vehicle is a kind of device that writes down the various data of unmanned vehicle.Thereby the unmanned vehicle datalogger is connected the acquisition measurement data through data bus, analog line with the various measurement mechanisms of aircraft usually.The aircraft data registering instrument also can be used as the data recording equipment of unmanned vehicle experiment in flight test as record unmanned vehicle day-to-day operation status data device such as known " black box ".
Unmanned vehicle is being brought into play more and more important effect day by day in fields such as national defence, civil administrations at present.Before unmanned vehicle formally comes into operation, must carry out necessary flight test, and then analyze the flight property performance, control effect etc. of unmanned vehicle.In the flight test process, each flight must the record great deal of experiment data, and experiment needs the flight experiment of continuous several times, datalogger that so just need a kind of jumbo unmanned vehicle.
The application number of on March 15th, 2004 application is in the one Chinese patent application of 200410003449.X a kind of datalogger that is applied to unmanned vehicle to be provided; This datalogger adopts the FLASH storer to store data; This kind memory span is less; And, upgrade with upgrading relatively more difficult owing to directly be welded on the circuit board; This data memory format is a scale-of-two simultaneously, and the user can not directly read, the form that must can directly read for the user through corresponding program translation data form, and use is comparatively complicated.
Summary of the invention
In view of this, necessaryly provide a kind of data storage capacity unmanned vehicle datalogger unrestricted and easy to use.
A kind of datalogger of unmanned vehicle comprises analog signal interface, is used to receive the simulating signal of unmanned vehicle output; Digital signal interface is used to receive the digital signal that unmanned vehicle is exported; Flush bonding processor is connected with digital signal interface with said analog signal interface, is used for receiving and handling said simulating signal and digital signal; Storage card is used to store the signal after said flush bonding processor is handled; And electric power management circuit, be used to the WV that provides this datalogger required.
Compared to prior art, the embodiment of the invention adopts the media of storage card as data storage, thereby the capacity of data storage can be changed as required at any time.In addition, storage card has favorable compatibility, is convenient to the exchanges data between this datalogger and external unit such as the computing machine and directly reads, and need not extra data converter, and use is simple.
Description of drawings
The structure composition frame chart of the datalogger of the unmanned vehicle that Fig. 1 provides for the embodiment of the invention.
The data storage FB(flow block) of the datalogger of the unmanned vehicle that Fig. 2 provides for the embodiment of the invention.
The main element symbol description
| Datalogger | 10 |
| |
12 |
| |
13 |
| |
14 |
| |
15 |
| Electric power management circuit | 16 |
| A/ |
17 |
| USB interface | 18 |
| I 2C interface | 19 |
| The SPI |
132 |
| Multi-channel |
134 |
| The UART |
136 |
| |
20 |
| The air |
21 |
| |
22 |
| The |
23 |
| The |
24 |
| The data |
25 |
Following embodiment will combine above-mentioned accompanying drawing to further specify the present invention.
Embodiment
Below will be described with reference to the accompanying drawings the datalogger of the unmanned vehicle that the embodiment of the invention provides.
See also Fig. 1, the embodiment of the invention provides a kind of datalogger 10 of unmanned vehicle, comprises at least:
At least one storage card 15 is used to store the data that said flush bonding processor 14 is exported; And
Electric power management circuit 16 is used to the WV that provides this datalogger required.
Said datalogger 10 further comprises an A/D converter 17, is used for the simulating signal that said analog signal interface 12 receives is converted into digital data transmission to said flush bonding processor 14.This A/D converter 17 can be integrated on the said flush bonding processor 14.
Said datalogger 10 can further comprise a plurality of data measurement module 20, connects with corresponding interface respectively, and through said interface the data transmission that measures is handled in said flush bonding processor.
Said measurement module 20 can comprise air pressure pitot meter 21, barometric altimeter 22, Inertial Measurement Unit (Inertial measurement unit, IMU) module 23, GPS module 24 and data radio station module 25.
Said air pressure pitot meter 21 is connected with said flush bonding processor 14 through said analog signal interface 12, the air speed when being used to measure said unmanned vehicle and flying.Barometer altitude when said barometric altimeter 22 can be used for measuring said unmanned vehicle flight.Three angular velocity in roll, 3-axis acceleration and three-axle magnetic fields during flight that said IMU module 23 can be used for measuring unmanned vehicle.Said GPS module 24 can be used for measuring the position and the velocity information of said unmanned vehicle.Said data radio station module 25 is used to receive several transmission control system instructions of unmanned vehicle.
In addition, said data measurement module 20 can comprise that also other modules are to realize the different function requirements of unmanned vehicle.As can comprise multiple sensors and remote control module, said sensor comprises current sensor or accelerometer.
Said analog signal interface 12 can be a multi-channel analog interface, and this multi-channel analog interface can receive a plurality of simulating signals of said unmanned vehicle output simultaneously, and is transferred to said flush bonding processor and carries out data processing.Particularly, this multi-channel analog interface can be connected with the power-supply unit of said unmanned vehicle and the said sensor in the said data measurement module 20 etc.Analog signal interface described in the embodiment of the invention 12 is connected with the power-supply unit and the air pressure pitot meter 21 of said unmanned vehicle, is used for that the magnitude of voltage of the said power-supply device that measures and the output voltage of air pressure pitot meter 21 (being used to measure the air speed of said unmanned vehicle) are transferred to institute's A/D converter 17 and carries out data processing.Each road interface of said multi-channel analog interface can further comprise a capacitance-resistance denoising filtering circuit, is used for the data that receive are carried out denoising to obtain simulating signal more accurately.
Said digital signal interface 13 can comprise a SPI (Serial Peripheral Interface) number bus interface 132, multi-channel PWM (Pulse Width Modulation) ripple interface 134 and UART (Universal Asynchronous Receiver/Transmitter) interface 136.Said digital signal interface 13 can be integrated on the said flush bonding processor 14.
Said SPI number bus interface 132 can be connected with barometric altimeter 22 and the IMU module 23 in the said data measurement module 20, is used for the barometer altitude of unmanned vehicle when high-altitude flight and the attitude of unmanned vehicle that transmission measurement arrives.Three information such as angular velocity in roll, 3-axis acceleration and three-axle magnetic field when said attitude is the flight of foregoing unmanned vehicle.
Said multi-channel PWM ripple interface 134 is connected with the remote control module of said data measurement module 20, is used to transmit the steering wheel control signal of the said unmanned vehicle that receives.
Said UART interface 136 is used for the data communication between said unmanned vehicle and the said datalogger.This UART interface 136 can comprise a plurality of to realize different data communication.The interface of UART described in the embodiment of the invention 136 comprises two interfaces, i.e. UART1 interface and UART2 interface.Said UART1 interface is connected with said GPS module 24, is used to transmit the position (three-dimensional coordinate information) and the speed of the unmanned vehicle that receives.Said UART2 interface is connected with data radio station module 25.This UART2 interface can be realized following function through said data radio station module 25: 1, several transmission control systems instructions of the unmanned vehicle that receives of wireless transmission; 2, can be with the ground receiving station that passes back to of the data in real time that measures; 3, can read and download through the data in 25 pairs of said storage cards 15 of data radio station module.
Said datalogger 10 can further comprise a usb 18, is connected with said flush bonding processor 14.This usb 18 can be handled the data transmission in the said unmanned vehicle to said flush bonding processor 14, and can the data transmission of storage in the said storage card 15 be arrived external unit.
In addition, said datalogger 10 also can further comprise an I
2C interface 19 is used to realize expanded function, connects other I on the said unmanned vehicle
2C interface equipment.
Can be integrated with embedded real-time operating system in the said flush bonding processor 14, be used to handle the data that receive.This embedded real-time operating system can be μ C/OS II, eCos or RL-RTX etc.This embedded real-time operating system can provide multiple process communication method, thereby can realize the real-time multi-task processing.Said process communication method comprises semaphore, mutex amount, mailbox or event flag etc.This embedded real-time operating system can guarantee collection and the preservation that data can be quick and real-time.
Can further be integrated with embedded file system in this flush bonding processor 14 to data storage; Be used to carry out operation to said storage card 15, like the load store card, unload storage card, set up file, reading and writing of files, close file and deleted file etc.Said embedded file system can comprise FATFS or FAT.This embedded file system can make file on the said storage card 15 with multiple format, like binary file that adopts binary language or the text that adopts natural language.Adopt text to carry out data storage in the embodiment of the invention, be easy to directly read and use.
Said at least one storage card 15 is connected with said flush bonding processor 14, is used to store the data that said unmanned vehicle collects.Particularly, said storage card 15 can be arranged in the card connector, and (Secure Digital Input and Output, SDIO) bus is connected with said flush bonding processor 14 said card connector through the secure digital input and output.Utilize this SDIO bus can guarantee to have the higher data reading speed between this storage card 15 and the said flush bonding processor 14.Said card connector can be can plug-in card deck.This storage card 15 can be changed arbitrarily, and capacity need not restriction, thereby can improve the data storage capacity of said datalogger 10 greatly.In addition, said storage card 15 has favorable compatibility, is convenient to the exchanges data between this datalogger 10 and the said external unit.
In addition, said storage card 15 also can be used for realizing respectively different functions for a plurality of.As comprising two storage cards 15 among a certain embodiment of the present invention; One storage card 15 is used to store the data such as order parameter that said unmanned vehicle is provided with in advance; Another storage card 15 is used to store said data measurement module 20 detected data, to improve the data reading speed of said storage card 15.In addition, also can be specific measurement module and set special data storage card 15.Because said IMU module 23 is used to measure the attitude of unmanned vehicle, therefore have lot of data and need store and read, therefore, in another embodiment of the present invention, a storage card 15 is set is responsible for the data that storage IMU module 23 measures specially.Said storage card 15 can be SD card, miniSD card, microSD card or mmc card.
Said electric power management circuit 16 can be said flush bonding processor 14 and storage card 15 provides required WV.In addition, this electric power management circuit 16 also can be said A/D converter 17 reference power supply voltage is provided.
Said analog signal interface 12, digital signal interface 13, flush bonding processor 14, storage card 15, electric power management circuit 16; A/D converter 17 and usb 18 can integratedly be arranged on the circuit board, thereby can reduce the volume and weight of whole datalogger effectively.
See also Fig. 2; The course of work of the datalogger 10 of this unmanned vehicle is following: after these datalogger 10 energisings; Said flush bonding processor 14 carries out initialization operation; Dispose each peripheral functionality of said flush bonding processor 14, and wait for several transmission control system instructions that said UART2 interface is received from said data radio station module 25 transmission.When said flush bonding processor 14 receives said several transmission control system instruction; And need carry out data recording the time; Said flush bonding processor 14 is carried out the operation that loads said storage card 15, and is the data foundation text separately of different write frequencies in said storage card 15.In addition; Receive the signal of a certain said signaling interface (analog signal interface 12 or digital signal interface 13) when this flush bonding processor 14 after; Said flush bonding processor 14 judges whether said storage card 15 is idle condition; If said 15 free time of storage card, then the signal after signal that receives or further the processing is write in the said storage card 15 interior corresponding text files as data.These data that write said storage card 15 comprise: the attitude data of the unmanned vehicle that receives from SPI number bus interface 132; The multichannel steering wheel data that receive from said multi-channel PWM ripple interface 134; The gps data that receives from the UART1 interface; The number that receives from the UART2 interface passes deal with data, receives from required I from I2C interface 19
2The data that the C interface Equipment Inspection is arrived, and the digital signal data after said A/D converter 17 analog to digital conversion etc.When said flush bonding processor receive stop recording instruction after, said flush bonding processor 14 sends instruction, closes the said text that is used for data storage, and the operation of carrying out the said storage card 15 of unloading.
After the datalogger 10 of this unmanned vehicle stops to read and write data, can said storage card 15 be unloaded from card connector, the card reader through computing machine reads the data file in the said storage card 15.In addition; Interrupt stand-by period of causing for the flight experiment that reduces to cause because of the experimental datas that read in the said storage card 15 is compelled; Can the storage card 15 of a no datat be inserted on the said card connector, thereby realize changing fast, shorten the stand-by period of said unmanned vehicle.In addition, usb data connecting line also capable of using is connected said USB interface of computer with the usb 18 of said datalogger 10, directly reads the data in the said storage card 15.
The embodiment of the invention adopts the media of storage card as data storage, thereby the capacity of data storage can be changed as required at any time.In addition, storage card has favorable compatibility, is convenient to the exchanges data between this datalogger and external unit such as the computing machine and directly reads, and need not extra data converter, and use is simple.And owing to be equipped with said storage card, thereby can improve storage of data ground and reading speed greatly for the specific measurement module of said datalogger.
In addition, those skilled in the art also can do other variation in spirit of the present invention, and certainly, these all should be included within the present invention's scope required for protection according to the variation that the present invention's spirit is done.
Claims (10)
1. the datalogger of a unmanned vehicle comprises:
Analog signal interface is used to receive the simulating signal that unmanned vehicle is exported;
Digital signal interface is used to receive the digital signal that unmanned vehicle is exported;
Flush bonding processor is connected with digital signal interface with said analog signal interface, is used for receiving and handling said simulating signal and digital signal and output data;
At least one storage card is used to store the data that said flush bonding processor is exported; And
Electric power management circuit is used to provide the required WV of datalogger of this unmanned vehicle.
2. the datalogger of unmanned vehicle as claimed in claim 1 is characterized in that, said storage card comprises the SD card, miniSD card, microSD card or mmc card.
3. the datalogger of unmanned vehicle as claimed in claim 1 is characterized in that, said storage card is a plurality of so that the order parameter data that are provided with in advance in said unmanned vehicle with through the detected data separate storage of datalogger.
4. the datalogger of unmanned vehicle as claimed in claim 1 is characterized in that, further comprises data measurement module, and said data measurement module comprises:
The air pressure pitot meter is connected with said analog signal interface, the air speed when being used to measure said unmanned vehicle flight;
Barometric altimeter, the barometer altitude when being used to measure said unmanned vehicle flight;
The inertia measurement module, the attitude when being used to measure said unmanned vehicle flight;
The GPS module is used to measure the position and the speed of said unmanned vehicle; And
The data radio station module is used to receive several transmission control system instructions of said unmanned vehicle; Said barometric altimeter, inertia measurement module, GPS module and data radio station module all are connected with said digital signal interface.
5. the datalogger of unmanned vehicle as claimed in claim 4 is characterized in that, the detected data of said inertia measurement module are stored through a specific said storage card.
6. the datalogger of unmanned vehicle as claimed in claim 4; It is characterized in that; Said UART interface comprises UART1 interface and UART2 interface; Said UART1 interface is used to transmit the position and the speed of the said unmanned vehicle of reception, and said UART2 interface is used for receiving several transmission control systems instructions of said unmanned vehicle, data that passback in real time measures and the data of said storage card are read.
7. the datalogger of unmanned vehicle as claimed in claim 1 is characterized in that, said digital signal interface comprises with lower interface:
The SPI data bus interface is used to receive the attitude of the said unmanned vehicle that measures;
Multi-channel PWM ripple interface is used to receive the steering wheel control signal of the said unmanned vehicle that measures; And
The UART interface is used to realize the data communication between the datalogger of said unmanned vehicle and said unmanned vehicle.
8. the datalogger of unmanned vehicle as claimed in claim 1 is characterized in that, the datalogger of said unmanned vehicle further comprises a USB interface, is used for the data transmission on the said storage card to external unit.
9. the datalogger of unmanned vehicle as claimed in claim 1 is characterized in that, said flush bonding processor is integrated with embedded real-time operating system, is used to realize the real-time multi-task processing.
10. the datalogger of unmanned vehicle as claimed in claim 1 is characterized in that, said flush bonding processor is integrated with the embedded file system that is used for data storage, and this embedded file system is FATFS or FAT.
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| CN2012101878565A CN102737416A (en) | 2012-06-08 | 2012-06-08 | Data recorder of unmanned aircraft |
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| CN2012101878565A CN102737416A (en) | 2012-06-08 | 2012-06-08 | Data recorder of unmanned aircraft |
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| CN104732611A (en) * | 2015-01-23 | 2015-06-24 | 广州快飞计算机科技有限公司 | Log recording and reading method and device based on flight controller |
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| CN106458324A (en) * | 2015-04-18 | 2017-02-22 | Adtex公司 | Unmanned Flying Body And Control Apparatus Therefor |
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| CN108473197A (en) * | 2015-12-31 | 2018-08-31 | 日本电产株式会社 | More gyroplanes |
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Application publication date: 20121017 |