CN102902276A - Flying control system based on polarized light sensor - Google Patents
Flying control system based on polarized light sensor Download PDFInfo
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- CN102902276A CN102902276A CN2012103887183A CN201210388718A CN102902276A CN 102902276 A CN102902276 A CN 102902276A CN 2012103887183 A CN2012103887183 A CN 2012103887183A CN 201210388718 A CN201210388718 A CN 201210388718A CN 102902276 A CN102902276 A CN 102902276A
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Abstract
The invention discloses a flying control system based on a polarized light sensor, belonging to the technical field of unmanned plane flying control. The flying control system comprises a sensor module, a GPS (global position system) module, a flying control computer, an execution module and a data link module, and is characterized in that the polarized light sensor in the sensor module is used for outputting a plane course angle and providing plane course information for a navigation system; a gyroscope, an accelerator and an air pressure sensor in the sensor module are used for sending measured data to the flying control computer through an I2C (inter-integrated circuit) bus; the flying control computer is used for working out plane attitude and height information through an appointed algorithm; the GPS module is used for providing plane position information for the flying control computer; the execution module serves as a system output and is used for controlling the plane attitude and course; and the data link module is used for achieving communication between the ground and a flying platform. The flying control system has the beneficial effects as follows: the polarized light sensor is adopted for providing the course angle information for the flying control system; and the flying control system has advantages of high real-time performance, small error, high response speed, strong robustness and the like.
Description
Technical field
The present invention relates to the UAV Flight Control technical field, what be specifically related to is a kind of with polarized light sensor and the integrated Navigation of Pilotless Aircraft/flight control system of flight control function height.
Background technology
Unmanned plane is to utilize radio robot or provide the not manned aircraft that presetting apparatus is handled for oneself, and along with the progress of science and technology, the unmanned plane technology has entered all-round developing period.The expansion of unmanned plane range of application is had higher requirement to it, also more and more comes into one's own as the flight control system of unmanned plane " brain ".
Along with the development of micro-fabrication technique and MEMS technology, miniature MEMS gyroscope and accelerometer develop rapidly, for design and the development that realizes design of UAV flight control system provides technical support.At present, most UAV Flight Control System substantially all is to carry out integrated navigation by the microminiature measuring unit (IMU) that the gyroscope of installing based on three quadratures and accelerometer consist of with GPS, adopt GPS or magnetic compass that course angle information is provided, realize the measurement in attitude, position and the course of SUAV (small unmanned aerial vehicle), on this basis SUAV (small unmanned aerial vehicle) is controlled, realized the navigation autonomous flight.Its core attitude measurement algorithm is that strapdown resolves the Kalman filtering with integrated navigation.Such as the AP50XL of the U.S., Canadian MP2028, the flight control systems such as domestic YS09, iFLY40 all are to adopt above-mentioned navigation principle.GPS or magnetic compass are mainly adopted in the measurement of course angle.Yet the renewal rate of GPS is limited, and the measuring accuracy of course angle is lower, although and the magnetic compass measuring accuracy is higher, very easily be subject to the interference of external environment.
Summary of the invention
The invention provides a kind of flight control system that is fit to general unmanned plane during flying device, this system adopts polarized light sensor that the course information of aircraft is provided for flight control system, this polarized light sensor has advantages such as the robustness of environment are high, precision is high, real-time is good, the problems such as the renewal rate that provides course angle to bring by GPS or magnetic compass is interfered slowly, easily have been provided, more accurate course information can be provided, satisfy the strict demand of navigational system.
The present invention adopts following technical scheme:
A kind of flight control system based on polarized light sensor comprises sensor assembly, GPS module, flight control computer, execution module and data link module as shown in Figure 2.Sensor assembly and GPS module are measured attitude, course and the positional information of unmanned plane in real time, flight control computer is by reading, processing and calculating the sensor die blocks of data, the result is converted into relevant execution parameter sends to execution module, thereby realize the control to aspect and course.Data link module is mainly used in flight control system and land station and ground control personnel and carries out information interaction.
Sensor assembly comprises three-axis gyroscope, three axis accelerometer, baroceptor and polarized light sensor.Wherein, gyroscope and accelerometer are mainly used in the measurement of UAV Attitude, and baroceptor is used for measuring the unmanned plane height, and polarized light sensor is used for measuring the course of unmanned plane.
The GPS module is mainly used in providing unmanned plane current latitude and longitude information, for navigation provides foundation.
Flight control computer is the processing core of whole flight control system, flight control computer is by the data of read sensor and GPS, through suitable processing and calculating, draw the current attitude of aircraft and course information, and according to default track, calculate the controlled quentity controlled variable of vector and attitude, again controlled quentity controlled variable is changed into the pwm control signal of specifying dutycycle, output to execution module.Simultaneously, flight control computer can carry out real-time Communication for Power with land station, and the information such as the current attitude of aircraft and course are sent to land station, and the instruction and data information of satellite receiver transmission, the change flight path.
Execution module mainly comprises electron speed regulator and steering wheel.Electron speed regulator and steering wheel all adopt the pwm signal of fixed cycle to control, and by changing the dutycycle of pwm signal, can control the rotating speed of motor and the pivot angle of steering wheel arm, thereby realize the control to air speed and attitude.
Data link module comprises remote-control receiver and two parts of airborne station.Wherein, remote-control receiver and the employed telepilot of ground control personnel are supporting, can receive in real time the steering order that telepilot sends, and realize the function that manually flight and offline mode switch.The radio station of airborne station and land station is supporting, can realize the transmitted in both directions of data and instruction.
Effect of the present invention and benefit are:
The present invention provides a kind of integral body effective solution for the flight control system of general unmanned plane during flying device.Adopt polarized light sensor to provide course information for flight control system, with respect to traditional heading sensor have that speed is fast, precision is high, good stability and the high characteristics of real-time.Adopt the STM32F103 processor of microminiature, low-power consumption to make flight control computer, have abundant peripheral hardware, convenient expansion.The gyroscope, accelerometer, the baroceptor that adopt are digital sensor, have the I of standard
2The C protocol interface, flight control computer passes through I
2The C bus reads each sensing data, the economize on hardware resource.The present invention has the advantages such as cost is low, error is little, fast response time, strong robustness.
Description of drawings
Fig. 1 is that flight control system consists of block diagram.
Fig. 2 is the flight control system structural drawing.
Fig. 3 is I
2C bus interface figure.
Fig. 4 is polarized light sensor navigation principle figure.
Embodiment
Be described in detail the specific embodiment of the present invention below in conjunction with technical scheme and accompanying drawing.
The present invention mainly comprises sensor assembly, GPS module, flight control computer, execution module and data link module.Sensor assembly and GPS module measure in real time the current attitude of unmanned plane, highly, course and positional information, and send to flight control computer, carry out data solver by flight control computer again, change into steering order and send to execution module, data link module is realized communicating by letter of flying platform and land station.
Flight control computer adopts the STM32F103 model processor of ST Microelectronics.The integrated abundant peripheral hardware resource of this signal processor can reduce the volume and weight of flight control system, uses the RISC kernel of 32 of high performance ARM Cortex-M3, and frequency of operation is 72MHz, built-in high-speed memory.Fast operation, precision height can improve attitude algorithm level and control output accuracy.
Sensor assembly comprises three-axis gyroscope, three axis accelerometer, digital gas pressure sensor and polarized light sensor.Wherein gyroscope, accelerometer and barometer all adopt the MEMS sensor, have the advantages that volume is little, lightweight, precision is high.Gyroscope has ± the 250dps range; The accelerometer range can reach ± 16g, and highest resolution is 4mg/LSB; The barometer absolute precision reaches 3.0hPa.Gyroscope, accelerometer and barometer are the numeric type sensor, have the I of standard
2The C protocol interface.Therefore, employing I as shown in Figure 3
2The C bus protocol reads gyroscope, accelerometer and air pressure and counts.The polarized light sensor precision can reach ± and 1.0 °, adopt USART to read the polarized light sensor data.
GPS module renewal rate is 4Hz, the data communication device of GPS output is crossed the USART interface send into flight control computer and resolve, and obtains longitude and latitude and the velocity information of unmanned plane.
By reading the measured data of gyroscope and accelerometer, flight control computer carries out filtering to sensing data to be processed, and behind the filtering noxious noise, in conjunction with corresponding algorithm aspect is resolved, and obtains the current attitude angle of aircraft.
Flight control computer reads the polarized light sensor data by the USART interface, obtains the current course angle of aircraft.
Execution module comprises electron speed regulator and steering wheel.Flight control computer, keeps or the current attitude of change aircraft to electron speed regulator, steering wheel output steering order by the PWM output interface, thereby keeps or change course line and the height of aircraft, finishes the execution of steering order.
Data link module comprises remote-control receiver and airborne station.Flight control computer is by the decoding to remote-control receiver PPM signal, and the action command that the identification telepilot sends is realized the function of switching between manually flight and pattern.Airborne station links to each other with flight control computer by the USART interface.Airborne station and land station radio station are corresponding, realize the transmitted in both directions of data or instruction, and land station can arrive flying platform with steering order or data upload at any time, and flying platform can send to land station in real time with data, monitors aircraft state for the ground staff.
As shown in Figure 4, be polarized light sensor navigation principle figure.Copy the polarotactic navigation sensor of Compound Eye of Insects structural design, the sky polarized light is distributed has hypersensitivity, therefore, can utilize a day aerial polarized light to navigate.What this polarized light sensor was exported is the position angle of carrier, carries the actual heading angle that the polarized light sensor on unmanned plane can be exported aircraft in real time, exactly.The aircraft current location information that records according to GPS and the target destination information of desired trajectory can calculate the target course of aircraft.According to target course and actual heading angle, try to achieve the course angle deviation as the input of course PID controller.According to the fundamental relation of aspect and vector, through output limiter, obtain the object attitude angle of aircraft again.
Attitude sensor comprises gyroscope and acceleration transducer.By reading the measured data of gyroscope and accelerometer, sensing data is carried out filtering process, behind the filtering noxious noise, in conjunction with corresponding algorithm aspect is resolved, obtain the current attitude angle of aircraft.
According to object attitude angle and actual attitude angle, obtain the attitude angle deviation, be input in the attitude PID controller, through output limiter, the pwm signal of steering wheel is controlled in final output, keeps or change the attitude of aircraft, thereby keep or change the course of aircraft, realize Navigation Control.
Parameter information important in the navigation procedure is sent to land station in real time by data link module, and the ground staff can monitor the state of flight of aircraft.
The present invention proposes a kind of advanced person's course angle measuring method, adopt polarized light sensor that the course information of aircraft is provided for flight control system, this polarized light sensor has advantages such as the robustness of environment are high, precision is high, real-time is good, can throw provides more accurate course information, satisfies the strict demand of navigational system.The present invention has the advantages such as cost is low, error is little, fast response time, strong robustness.
Claims (5)
1. flight control system based on polarized light sensor, comprise sensor assembly, GPS module, flight control computer, execution module and data link module, it is characterized in that: described sensor assembly comprises three-axis gyroscope, three axis accelerometer, baroceptor and polarized light sensor; Wherein, described gyroscope, accelerometer and baroceptor are digital sensor, and flight control computer passes through I
2C interface read sensor related data; Described polarized light sensor is sent to flight control computer by serial ports with data; Described GPS module comprises gps antenna and GPS receiver, and gps data is sent to flight control computer by serial ports; Described flight control computer produces pwm signal to steering wheel and electron speed regulator output steering order; Data link module comprises remote-control receiver and airborne station, realizes the communication between ground and flying platform.
2. a kind of flight control system based on polarized light sensor according to claim 1 is characterized in that: adopt polarized light sensor to provide course information for flight control system, as the important parameter of system's navigation.
3. a kind of flight control system based on polarized light sensor according to claim 1, it is characterized in that: described gyroscope, accelerometer, baroceptor all adopt digital sensor, and flight control computer passes through I
2The C bus reads each sensing data.
4. a kind of flight control system based on polarized light sensor according to claim 1 is characterized in that: described flight control computer employing STM32F103 model processor.
5. a kind of flight control system based on polarized light sensor according to claim 1 is characterized in that: described remote-control receiver output PPM signal, flight control computer detects each action of telepilot by the PPM signal is decoded.
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103294064A (en) * | 2013-06-07 | 2013-09-11 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| CN103438885A (en) * | 2013-08-27 | 2013-12-11 | 西北工业大学 | Three-channel polarized navigation sensor |
| CN103822629A (en) * | 2014-03-11 | 2014-05-28 | 大连理工大学 | Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system |
| CN104374388A (en) * | 2014-11-10 | 2015-02-25 | 大连理工大学 | Flight attitude determining method based on polarized light sensor |
| CN104536453A (en) * | 2014-11-28 | 2015-04-22 | 深圳一电科技有限公司 | Aircraft control method and device |
| CN104749600A (en) * | 2015-03-04 | 2015-07-01 | 大连理工大学 | Polarized light based judgment type integrated navigation method |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| WO2016049923A1 (en) * | 2014-09-30 | 2016-04-07 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| CN106054909A (en) * | 2016-06-28 | 2016-10-26 | 江苏中科院智能科学技术应用研究院 | Flight control device suitable for miniature unmanned plane |
| CN106254009A (en) * | 2016-07-21 | 2016-12-21 | 北京航空航天大学 | A kind of Unmanned Aerial Vehicle Data Link test electromagnetic interference signal recurrence system and reproducing method |
| CN107132851A (en) * | 2017-07-05 | 2017-09-05 | 陕西蔚蓝航天测控技术开发有限公司 | A kind of unmanned plane during flying navigation control system |
| CN107505833A (en) * | 2017-08-01 | 2017-12-22 | 南京理工大学 | A kind of flight control system and method based on embedded OS |
| CN107727101A (en) * | 2017-11-16 | 2018-02-23 | 大连理工大学 | 3 d pose information fast resolution algorithm based on double polarizing light vector |
| CN107917988A (en) * | 2017-11-23 | 2018-04-17 | 深圳市智璟科技有限公司 | A kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle |
| CN107991699A (en) * | 2016-10-27 | 2018-05-04 | 上海华测导航技术股份有限公司 | A kind of system for flight control computer based on the positioning of CORS network differentials |
| CN108528745A (en) * | 2018-04-04 | 2018-09-14 | 江南大学 | A kind of unmanned machine battery changing-over charging system |
| CN109471433A (en) * | 2018-11-09 | 2019-03-15 | 北京航空航天大学 | A kind of course and attitude reference system based on polarization compass |
| CN109839941A (en) * | 2019-03-04 | 2019-06-04 | 张书玮 | A kind of individual's small aircraft control system |
| CN110398978A (en) * | 2019-04-24 | 2019-11-01 | 内蒙古科技大学 | One kind herding path planning system based on Forage-Livestock Balance model degree |
| CN111645870A (en) * | 2020-06-15 | 2020-09-11 | 四川省天域航通科技有限公司 | Large-scale freight transportation unmanned aerial vehicle airborne monitoring system |
| CN111708374A (en) * | 2020-06-22 | 2020-09-25 | 西北工业大学 | Distributed power unmanned aerial vehicle control system |
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| CN103294064A (en) * | 2013-06-07 | 2013-09-11 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| CN103438885A (en) * | 2013-08-27 | 2013-12-11 | 西北工业大学 | Three-channel polarized navigation sensor |
| CN103438885B (en) * | 2013-08-27 | 2015-11-18 | 西北工业大学 | Triple channel polarization navigation sensor |
| CN103822629A (en) * | 2014-03-11 | 2014-05-28 | 大连理工大学 | Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system |
| CN103822629B (en) * | 2014-03-11 | 2017-02-22 | 大连理工大学 | Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system |
| US10580230B2 (en) | 2014-09-30 | 2020-03-03 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| US11205311B2 (en) | 2014-09-30 | 2021-12-21 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| US9652904B2 (en) | 2014-09-30 | 2017-05-16 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| US9905060B2 (en) | 2014-09-30 | 2018-02-27 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| WO2016049923A1 (en) * | 2014-09-30 | 2016-04-07 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| CN104374388B (en) * | 2014-11-10 | 2017-04-12 | 大连理工大学 | Flight attitude determining method based on polarized light sensor |
| CN104374388A (en) * | 2014-11-10 | 2015-02-25 | 大连理工大学 | Flight attitude determining method based on polarized light sensor |
| CN104536453B (en) * | 2014-11-28 | 2017-08-04 | 深圳一电航空技术有限公司 | The control method and device of aircraft |
| CN104536453A (en) * | 2014-11-28 | 2015-04-22 | 深圳一电科技有限公司 | Aircraft control method and device |
| CN104749600A (en) * | 2015-03-04 | 2015-07-01 | 大连理工大学 | Polarized light based judgment type integrated navigation method |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| CN106054909A (en) * | 2016-06-28 | 2016-10-26 | 江苏中科院智能科学技术应用研究院 | Flight control device suitable for miniature unmanned plane |
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| CN106254009B (en) * | 2016-07-21 | 2018-08-03 | 北京航空航天大学 | A kind of Unmanned Aerial Vehicle Data Link test electromagnetic interference signal recurrence system and reproducing method |
| CN107991699A (en) * | 2016-10-27 | 2018-05-04 | 上海华测导航技术股份有限公司 | A kind of system for flight control computer based on the positioning of CORS network differentials |
| CN107132851B (en) * | 2017-07-05 | 2023-03-14 | 陕西蔚蓝航天测控技术开发有限公司 | Unmanned aerial vehicle flight navigation control system |
| CN107132851A (en) * | 2017-07-05 | 2017-09-05 | 陕西蔚蓝航天测控技术开发有限公司 | A kind of unmanned plane during flying navigation control system |
| CN107505833A (en) * | 2017-08-01 | 2017-12-22 | 南京理工大学 | A kind of flight control system and method based on embedded OS |
| CN107505833B (en) * | 2017-08-01 | 2021-09-03 | 南京理工大学 | Flight control system and method based on embedded operating system |
| CN107727101B (en) * | 2017-11-16 | 2020-09-11 | 大连理工大学 | Three-dimensional attitude information rapid resolving method based on dual-polarized light vector |
| CN107727101A (en) * | 2017-11-16 | 2018-02-23 | 大连理工大学 | 3 d pose information fast resolution algorithm based on double polarizing light vector |
| CN107917988A (en) * | 2017-11-23 | 2018-04-17 | 深圳市智璟科技有限公司 | A kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle |
| CN108528745A (en) * | 2018-04-04 | 2018-09-14 | 江南大学 | A kind of unmanned machine battery changing-over charging system |
| CN109471433A (en) * | 2018-11-09 | 2019-03-15 | 北京航空航天大学 | A kind of course and attitude reference system based on polarization compass |
| CN109839941A (en) * | 2019-03-04 | 2019-06-04 | 张书玮 | A kind of individual's small aircraft control system |
| CN110398978A (en) * | 2019-04-24 | 2019-11-01 | 内蒙古科技大学 | One kind herding path planning system based on Forage-Livestock Balance model degree |
| CN111645870A (en) * | 2020-06-15 | 2020-09-11 | 四川省天域航通科技有限公司 | Large-scale freight transportation unmanned aerial vehicle airborne monitoring system |
| CN111708374A (en) * | 2020-06-22 | 2020-09-25 | 西北工业大学 | Distributed power unmanned aerial vehicle control system |
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