CN107728642A - A kind of UAV Flight Control System and its method - Google Patents
A kind of UAV Flight Control System and its method Download PDFInfo
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- CN107728642A CN107728642A CN201711030783.8A CN201711030783A CN107728642A CN 107728642 A CN107728642 A CN 107728642A CN 201711030783 A CN201711030783 A CN 201711030783A CN 107728642 A CN107728642 A CN 107728642A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
A kind of UAV Flight Control System, including master controller, executing agency, communication apparatus, earth station equipment, master controller includes data acquisition module, data processing module, communication module, the measurement signal of each sensor of data collecting module collected, and is uploaded to data processing module；Data processing module, various model of flight and executing agency in unmanned plane are managed and controlled；Executing agency includes motor electric-regulating device and flusher；Trajectory planning is carried out to multiple no-manned plane, is formed into columns for earth station equipment and isomery multiple no-manned plane collaborative planning, and master controller realizes that unmanned plane flies the control of control, highly reliable faults-tolerant control and automatic obstacle avoiding imitatively.
Description
Technical field
The present invention relates to unmanned plane automatic flight control system.
Background technology
China is used as large agricultural country, 1,800,000,000 mu of basic farmlands, needs substantial amounts of agricultural plant protection operation every year, and small-sized rotor
Unmanned plane have it is highly low, drift is few, can hovering, without special landing airport, downdraught caused by rotor contributes to
Increase penetrability of the spray to crop, prevention effect is high, and spraying operation personnel avoid the danger exposed to agricultural chemicals, improve spray
Many advantages, such as spilling operational security.And the function and performance of system for flight control computer play decisive work to unmanned plane work capacity
With.
Agricultural plant protection field is strong to the demand of unmanned plane and clear and definite at present, but like product generally existing can not be complete at present
The problems such as autonomous flight, height control accuracy are poor, operation allocation function imperfection,
The content of the invention
The present invention is in order to overcome the shortcomings of prior art, there is provided a kind of UAV Flight Control System and its control
Method.
To achieve these goals, the technical scheme is that：
A kind of UAV Flight Control System, including master controller, executing agency, communication apparatus, earth station equipment,
Master controller includes data acquisition module, data processing module, communication module,
The measurement signal of each sensor of data collecting module collected, and it is uploaded to data processing module；
Communication module receives the control command sent by earth station equipment up channel of communication apparatus transmission, while by nothing
Man-machine attitude data and the working status parameter of executing agency are real-time transmitted to earth station equipment by communication apparatus；
Data processing module, various model of flight and executing agency in unmanned plane are managed and controlled；
Executing agency includes motor electric-regulating device and flusher；
It is characterized in that：Trajectory planning is carried out to multiple no-manned plane, is formed into columns for earth station equipment and isomery multiple no-manned plane collaboration rule
Draw, master controller realizes that unmanned plane flies the control of control, highly reliable faults-tolerant control and automatic obstacle avoiding imitatively.
A kind of UAV Flight Control method, it is characterised in that comprise the following steps：
Step 1, operation prescription map, three-dimensional mima type microrelief are established；
Step 2, trajectory planning is carried out based on operation prescription map, three-dimensional mima type microrelief；
Step 3, multiple no-manned plane is formed into columns, earth station equipment control multiple UAVs, according to concurrent job process, in real time generation
The flight track of every frame unmanned plane, and it is uploaded to unmanned aerial vehicle operation；
Step 4, isomery multiple no-manned plane collaborative planning；
Step 5, control unmanned plane flies imitatively；
Step 6, based on self-adapted tolerance to the highly reliable faults-tolerant control of unmanned plane；
Step 7, unmanned plane avoidance is controlled.
The present invention has the beneficial effect that with prior art：
1st, the present invention is based on farmland mima type microrelief and variable farm chemical applying prescription map information fusion, carries out the boat that unit is coordinated with multimachine
Mark is planned automatically, is realized automatic planning and a station multi-machine collaborative control function for farmland operation energy loaded matching, is improved farmland
Work operations efficiency and traversal coverage rate；
2nd, the present invention, which realizes, plans optimal sprinkling reference path, and flying distance is most short, lifts operating efficiency；
3rd, the present invention is compensated using neutral net so that system reaches satisfied dynamic characteristic；
4th, for the present invention using flying automatically imitatively, operating personnel can intervene adjustment flying height, terminate unmanned plane after intervening
It can facilitate practical operation and preferably processing emergency by autonomous flight is highly continued after adjustment；
5th, the present invention can realize inline diagnosis, isolation and Real-time Reconstruction system, it is ensured that the precision of navigation system and stably
Property；
6th, the present invention is identified with evading technology and imitating the research of ground airmanship, with reference to high-precision by farmland Typical obstacles thing
TRAJECTORY CONTROL and adaptive fusion technology are spent, lifts unmanned plane during flying quality, ensures complicated landform farmland operation security
And reliability.
Brief description of the drawings
The system that Fig. 1 is the present invention forms schematic diagram；
Fig. 2 is the trajectory planning schematic diagram of the present invention；
Fig. 3 is the Mesh Communication Network for UAVS schematic diagrames of the present invention；
Fig. 4 is the imitative ground flight theory figure of the present invention；
Fig. 5 is the imitative ground flight control flow chart of the present invention；
Fig. 6 is the Neural Network Model Reference Adaptive Inversion control system schematic diagram of the present invention；
Embodiment
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings.
As shown in figures 1 to 6,
A kind of UAV Flight Control System, including master controller, executing agency, communication apparatus, earth station equipment and
Cloud net,
Master controller includes data acquisition module, data processing module, communication module, by the inside for changing master controller
Program and peripheral circuit realize the flight control and flight management functional requirement of different model unmanned plane,
The measurement signal of each sensor of data collecting module collected, measurement signal it include optical signalling, gyro signal, boat
To signal, angle of rudder reflection signal, liquid level signal and fixed high radar signal, and it is uploaded to data processing module；
Communication module receives the control command sent by earth station equipment up channel of communication apparatus transmission, while by nothing
Man-machine attitude data and the working status parameter of executing agency are real-time transmitted to earth station equipment by communication apparatus；
Data processing module, state of flight, attitude parameter and the flight parameter of unmanned plane, knot are generated according to measurement signal
Control command is closed, is computed handling, output switch amount signal, analog signal and pwm pulse signal are realized to nothing to executing agency
The control of various model of flight and management and control to executing agency in man-machine；
Executing agency includes motor electric-regulating device and flusher, flusher include shower nozzle, spray boom, water pump, flowmeter,
Medicine-chest, alignment circuit, liquid level sensor, pump speed control device, it is configured to shroud the umbrella shape sprinkling system of formula dispenser；
Communication apparatus includes receiver module, data set carries end, number passes ground surface end, satellite navigation module, number are passed in bluetooth
After box；
Earth station equipment includes remote control, PC earth stations, mobile phone earth station, and flight prison is carried out by radio data channels
Control；
It is characterized in that：Trajectory planning is carried out to multiple no-manned plane, is formed into columns for earth station equipment and isomery multiple no-manned plane collaboration rule
Draw and utilize optical signalling to generate health status figure and three-dimensional mima type microrelief combined ground Monitoring Data generation operation prescription map, it is main
Controller realize unmanned plane fly imitatively control, highly reliable faults-tolerant control, the control of automatic obstacle avoiding and controlled motor electricity adjust dress
Put to cooperate with flusher and sprinkling is controlled.
Wherein, optical signalling includes visible light signal, near infrared signal, thermal infrared signal, camera image and laser
Radar image.
A kind of UAV Flight Control method, it is characterised in that comprise the following steps：
Step 1, operation prescription map, three-dimensional mima type microrelief are established, is specially：
Step 1.1, health status figure is generated；
The sensors such as visible ray, near-infrared and the thermal infrared carried using unmanned aerial vehicle platform are carried out continuously on operation farmland
Optical monitoring obtains low latitude multi- source Remote Sensing Data data, by pattern-recognition, machine learning and spectral manipulation dynamic agriculture feelings information and disease
Herbivore stress spectrum picture, draw health status figure；
Wherein, dynamic agriculture feelings information includes the spatial distribution of Crop Planting Structure and plant height, pest and disease damage stress spectrum
The spatial distribution that image includes weed species spatial distribution and crop is infected by pest and disease damage；
Step 1.2, three-dimensional mima type microrelief is generated；
It is distant that the video camera and the landform in laser radar shooting operation farmland carried using unmanned aerial vehicle platform obtains low latitude landform
Feel data, missed by land surface point cloud compressing algorithm, the three-dimensional optimal acquisition methods of farmland mima type microrelief and earth's surface mima type microrelief
Poor elimination method, Extraction of Topographic Patterns model is established, then according to various visual angles visible ray accurately Image registration algorithm, established pair
Farmland landform carries out three-dimensionalreconstruction；
Step 1.3, operation prescription map is generated,
Based on agriculture feelings information monitoring model, farmland three-dimensional mima type microrelief combined ground Monitoring Data, sprayed according to unmanned plane
Device and different agricultural chemicals spray feature, generate the variable operation prescription based on Multi-source Information Fusion and farmland three-dimensional mima type microrelief
Figure；
Step 2, trajectory planning is carried out based on operation prescription map, three-dimensional mima type microrelief；
Specially：Earth station equipment carries out autonomous trajectory planning according to operation prescription map and three-dimensional mima type microrelief, uses
The planning unmanned plane plant protection operation of Delaunay figures method, Warshall-Floyd algorithms and hybrid particle swarm genetic algorithm on multiple populations
Optimal path；
Step 3, multiple no-manned plane is formed into columns, earth station equipment control multiple UAVs, according to concurrent job process, in real time generation
The flight track of every frame unmanned plane, and it is uploaded to unmanned aerial vehicle operation；
Specially：Three-dimensional mima type microrelief and operation prescription map of the earth station equipment according to step 1, based on sparse A-Star algorithms
And master-slave model multimachine coordinate trajectory planning, establish energy most save, distance most short goal constraint under farmland operation it is automatic
Programme and a station multi-machine collaborative control program, control multiple UAVs to be taken off by identical place while reach irregular agriculture
Field edge assembly area position, then with desired flight pattern plant protection operation.
With it, automatic planning and a station multi-machine collaborative control function for farmland operation energy loaded matching is realized,
Farmland operation operating efficiency and traversal coverage rate are improved, reaches and avoid the requirement mutually touched while realizing between each unmanned plane.
Step 4, isomery multiple no-manned plane collaborative planning；
Specially：Earth station equipment isomery multiple no-manned plane collaborative planning, it includes CDMA system, dynamic random access
With the Control on Communication of dynamic restructuring technology, earth station equipment shares a mesh communication network with unmanned aerial vehicle group, and unmanned plane can
Dynamic random, which logs in, to be added and exits the communication network, is possessed chain circuit function dynamic restructuring function, is realized the nothing of different address code
It is man-machine to interconnect；The complaint message that cooperative information transmission detects any unit between multiple no-manned plane can be transferred through mesh communications
Network delivery gives other unmanned planes and earth station equipment；
So as to substantially increase the security of whole unmanned aerial vehicle group.
Step 5, control unmanned plane flies imitatively；
Master controller determines the distance on unmanned plane and ground by surely high radar signal, and passes through the design with the line of flight
Heights of roofs, which is compared, draws elemental height, measures vertical acceleration amendment elemental height by the meter of acceleration, and use gas
Pressure measurement current altitude is as height in hand.
This programme employs multiple sensors and is fitted application, both ensure that the accuracy of nap of the earth flight, has also ensured that
Some complex situations (such as in have hollow place, deep Gansu Province etc.) get off the plane can realize it is fast rise slow drop (accelerometer amendment), may be used also
To ensure to carry out safe flight protection with barometric information when radar altitude fails.
Step 6, based on self-adapted tolerance to the highly reliable faults-tolerant control of unmanned plane；
Master controller realizes the highly reliable appearance of unmanned plane using the Model-reference adaptive inverse control algorithm based on neutral net
Mistake control, Neural Network Model Reference Adaptive Inversion system are utilized as shown in fig. 6, its controller part is made up of neutral net
Error adjusts nerve network controller parameter, while adds inversion model and realize linearisation and decoupling, and inversion model is by neutral net
Compensate so that system reaches satisfied dynamic characteristic.
The highly reliable fault-tolerant control of unmanned plane is realized by using the Model-reference adaptive inverse control algorithm based on neutral net
System, the target of model reference self-adapting control is tracking error is converged on zero, and system reality output and reference model are exported
Between deviation signal be input to adaptive mechanism, parameter in control law is adjusted with this.
Step 7, unmanned plane avoidance is controlled；
Specially：During autonomous flight, temporarily by manual flight cut-through point, while unmanned plane remembers next target point
Position, unmanned plane continues executing with sprinkling action after cut-through point；
This method can effectively avoid the barriers such as trees, the electric pole often occurred in agricultural plots, ensure that plant protection is made
Industry process safety is carried out.
In addition, the control method also achieves the accurate sprinkling control of unmanned plane, it is specially：Step (1), become based on farmland
The local drug delivery accurate control method of operation prescription map is measured, in dose requirement, flying speed, the situation of all non-constant of mima type microrelief
Under, by System Discrimination, the mathematical modeling between identification flying speed, height, angle of inclination, shower nozzle model, and establish closed loop
Control system, establish the variable-flow based on flying speed and farmland variable operation prescription map and be precisely controlled logic, in smaller area
Interior accurate control formulation rate, in the presence of having external disturbance, can be calculated, and then correct Aircraft to the influence of wind field
Mark；
Step (2) establishes the propeller based on corps canopy dispenser flow field demand-spray and uprises operation envelope curve optimization mould
Type, establishes rotating speed-efficiency curve of different size commercialization propellers, the pushing of analysis oar downstream, spin intensity, it is determined that more rotations
Flow field between interplane, rotor and body interferes border, and optimization is suitable to agricultural unmanned plane heavy duty-middle load-underloading operation course
Propeller paddle type parameter, the dispenser information of flow of interpretation different height corps canopy, select different capacity output propeller
Downward swirling flow field and the favourable blend range of medicine mist, assess between optimal propeller pulling force, power, efficiency work calibration curve and canopy
The best use of area under different output power and multiple typical inclination angles, wind speed from many types of propeller is intended in lower swirl effect, evaluation
Between；
Step (3) avoids the flight path amendment of duplication and leakage dimension in spraying, and unmanned plane is in prebriefed pattern, when by wind-force or other outer
During force-disturbance, its lower wind field generates skew, causes to respray or drain spray, by estimating disturbance quantity, extrapolates wind field in plant hat
The deviation distance of layer, is modified to flight path, so that medicine is attached to desired target area.
It is connected in addition, earth station equipment crosses internet with cloud Netcom, the data that earth station equipment provides according to cloud net are to more
Unmanned plane is controlled, and the composition of cloud net system is as follows：
Cloud net includes resource management module, operation module and order taking responsibility module, and resource management module is managed including user
Reason, aircraft management and plot management；Operation module, keeper, plant protection team and winged hand user can check work by the module
Industry is distributed and operation details, including：Check operation geographical distribution, check the job list, check operation details (fulfiled assignment/
Operation in progress), including：Operation map, the job list, Job Filter and operation details；Order taking responsibility module is used to generate
And order is managed, it includes plant protection team order and winged hand task.
Wherein,
Operation to all users is realized by user management, including：Log in, exit, change user profile, modification it is close
Code, include being divided into winged hand user, administrator and plant protection team user according to authority user, administrator can be to management
Member user and plant protection team user are operated, including：It is newly-built, check, change, enable and disable, plant protection team user can be right
Fly hand user to be operated, including：It is newly-built, check, change, enable and disable；User profile includes user name, account class
Type, name of contact person, more cell-phone number, new person.
The aircraft in team can be managed by aircraft management plant protection team user, including：Registered aircraft, aircraft list is checked,
Aircraft details are checked, edit aircraft, disable/enable aircraft, registered aircraft is to operate to complete in earth station equipment, and plant protection team uses
Family can check registered aircraft.
Often row represents an aircraft in aircraft list, and the page lists the shorthand information of aircraft, including：Title, fly control-register
Number, job state, add up working area, enable/disabled status.
Plant protection team user can edit airplane information and disable/enable aircraft, and after disabling, aircraft can not upload operation number
According to.
Operation to operating area, including plot category information and plot management, plot category information are realized by plot management
For showing the essential information in plot, including plot title, the workspace that forms of block number, address, border and barrier zone
Domain, mapping area, mapping mode ,/disabled status, successor and reference information on uplink time is enabled, wherein, mapping mode is adopted
A mapping is taken with RTK, common mapping or screen；Fly hand user and the upload and download for realizing ground block message managed by plot,
Plant protection team user checks plot list, plot distribution, plot details by plot management and plot is deleted or enabled/is prohibited
With operation.
Wherein,
Operation map, operation is illustrated in map according to geographical position, scales precision according to the map, auto-polymerization closes on
Operation, there is provided conditional filtering, quickly to search operation, can be switched between satellite mode or map mode.With map
The job information on the day of job information, whole winged hands on the day of the whole plant protection teams of form displaying, the operation on the day of current winged hand are believed
Breath, by the aircraft identification clicked in map show the operation include job title, plant protection team, formulation rate, working area,
Operation distance, the information of flight duration.
The job list, all its job information on the day of whole plant protection teams are shown in the form of map, the work on the day of winged hand
Job information on the day of industry information, current winged hand, the job information in list can export.
Job Filter, support to screen job information in two modules of operation map and the job list, different angles
The screening conditions of color (keeper/plant protection team/fly hand) are different.Screening conditions are as follows：
1) keeper can screen：Plant protection team, homework type, job state, time；
2) plant protection team can screen：Fly hand, aircraft, homework type, job state, time；
3) flying hand can screen：Homework type, job state, time.
Operation details, user can check operation essential information, operation real time data and aircraft flight path.Operation point
For：Real time job and fulfil assignment.Real time job can only check current work and flight path；Having fulfiled assignment, it is whole to check
Individual operation and flight path, support are played, suspended, stopping operation.
By real time job, user can check operation essential information, operation real time data and aircraft flight path.
User has been fulfiled assignment by playback, can check completed job information, including：Operation essential information, operation
Real time data and aircraft flight path video, support to playing, suspending, stopping operation.
Job information include job title, address, job number, aircraft title, the hand title of flying, job state (in real time or
Person has completed), affiliated task, the GPS time starteds, the GPS end times, affiliated plant protection team, the accumulative letter of log and operation
Breath,
Log include flight, offline mode (kept by posture, GNSS, position holdings, AUTONOMOUS TASK, height holding,
Hovering, which waits, to be formed), attitude information flight path (including pitching, rolling, driftage), spatial information is (including with job information coordinate
The flight path of point, flying speed, radar altitude, pressure altitude), the flight moment, sensor information (including spraying swath, water pump valve, stream
Gauge, throttle amount, cell voltage, decoction liquid level, gyroscope, remote control, accelerometer, magnetic compass, vibration, GNSS data)；
Operation cumulative information includes total formulation rate, unit formulation rate, flight duration, flying distance, operation distance, the scope of operation
Product, the flow velocity * operation times of total formulation rate=flowmeter measurement, unit formulation rate=total formulation rate/working area.
Embodiment described above only expresses one embodiment of the present invention, but therefore can not be interpreted as to this
The limitation of invention scope.It should be pointed out that for the person of ordinary skill of the art, the premise of present inventive concept is not being departed from
Under, various modifications and improvements can be made, these belong to protection scope of the present invention.
Claims (10)
1. a kind of UAV Flight Control System, including master controller, executing agency, communication apparatus, earth station equipment,
Master controller includes data acquisition module, data processing module, communication module,
The measurement signal of each sensor of data collecting module collected, and it is uploaded to data processing module；
Data processing module, various model of flight and executing agency in unmanned plane are managed and controlled；
Executing agency includes motor electric-regulating device and flusher；
It is characterized in that：Trajectory planning is carried out to multiple no-manned plane, is formed into columns for earth station equipment and isomery multiple no-manned plane collaborative planning, main
Controller realizes that unmanned plane flies the control of control, highly reliable faults-tolerant control and automatic obstacle avoiding imitatively.
2. UAV Flight Control System according to claim 1, it is characterised in that：Communication module receives communication apparatus and passed
The defeated control command sent by earth station equipment up channel, while by the work of the attitude data of unmanned plane and executing agency
State parameter is real-time transmitted to earth station equipment by communication apparatus.
3. UAV Flight Control System according to claim 1, it is characterised in that：Measurement signal it include gyro letter
Number, course signal, angle of rudder reflection signal, liquid level signal and fixed high radar signal；
Communication apparatus includes receiver module, data set carries end, number passes ground surface end, satellite navigation module, number pass bluetooth relaying box；
Earth station equipment includes remote control, PC earth stations, mobile phone earth station, and flight monitoring is carried out by radio data channels.
4. the control method of a kind of UAV Flight Control System for described in claim 1, it is characterised in that including as follows
Step：
Step 1, operation prescription map, three-dimensional mima type microrelief are established；
Step 2, trajectory planning is carried out based on operation prescription map, three-dimensional mima type microrelief；
Step 3, multiple no-manned plane is formed into columns, and earth station equipment control multiple UAVs, according to concurrent job process, generates every frame in real time
The flight track of unmanned plane, and it is uploaded to unmanned aerial vehicle operation；
Step 4, isomery multiple no-manned plane collaborative planning；
Step 5, control unmanned plane flies imitatively；
Step 6, based on self-adapted tolerance to the highly reliable faults-tolerant control of unmanned plane；
Step 7, unmanned plane avoidance is controlled.
5. control method according to claim 4, it is characterised in that step 2 is specially：
Earth station equipment carries out autonomous trajectory planning according to operation prescription map and three-dimensional mima type microrelief, using Delaunay figures method,
The planning unmanned plane plant protection operation optimal path of Warshall-Floyd algorithms and hybrid particle swarm genetic algorithm on multiple populations.
6. control method according to claim 4, it is characterised in that step 3 is specially：Earth station equipment is according to step 1
Three-dimensional mima type microrelief and operation prescription map, trajectory planning is coordinated based on the multimachine of sparse A-Star algorithms and master-slave model, established
Energy most saves, the automatic programme of farmland operation and a station multi-machine collaborative control program under the most short goal constraint of distance, control
Multiple UAVs are taken off by identical place while reach irregular farmland edge assembly area position, then with desired formation
Formation plant protection operation.
7. control method according to claim 4, it is characterised in that step 4 is specially：Earth station equipment isomery more nobody
Machine collaborative planning, it includes the Control on Communication of CDMA system, dynamic random access and dynamic restructuring technology, earth station equipment
Share a mesh communication network with unmanned aerial vehicle group, unmanned plane can dynamic random log in and add and exit the communication network, have
Standby link function dynamic restructuring function, realizes that the unmanned plane of different address code interconnects；Cooperative information is transmitted between multiple no-manned plane
The complaint message for detecting any unit can be transferred through mesh communication networks and pass to other unmanned planes and earth station equipment.
8. control method according to claim 4, it is characterised in that step 5 is specially：Master controller passes through surely high radar
Signal determines the distance on unmanned plane and ground, and by the design heights of roofs with the line of flight compared with draw elemental height,
Vertical acceleration amendment elemental height is measured by the meter of acceleration, and uses barometric surveying current altitude as standby height
Degree.
9. control method according to claim 4, it is characterised in that step 6 is specially：Master controller is used based on nerve
The Model-reference adaptive inverse control algorithm of network realizes the highly reliable faults-tolerant control of unmanned plane, neural network model controller part
It is made up of neutral net, nerve network controller parameter is adjusted using error, while is added inversion model and realize that linearisation is conciliate
Coupling, inversion model are compensated by neutral net so that system reaches satisfied dynamic characteristic.
10. control method according to claim 4, it is characterised in that step 7 is specially：Specially：During autonomous flight, face
When manually flight cut-through point, while unmanned plane remembers next aiming spot, and unmanned plane continues after cut-through point
Perform sprinkling action.
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