CN111966123A - Navigation equipment and aircraft - Google Patents
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- CN111966123A CN111966123A CN202010888578.0A CN202010888578A CN111966123A CN 111966123 A CN111966123 A CN 111966123A CN 202010888578 A CN202010888578 A CN 202010888578A CN 111966123 A CN111966123 A CN 111966123A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The application discloses navigation equipment and aircraft. Wherein, navigation equipment includes: the device comprises a sensor, a controller, a power supply module and an ignition device, wherein the sensor is used for acquiring motion data of the aircraft; the controller is connected with the sensor and used for generating a navigation instruction according to the motion data and controlling the ignition device to correct the flight attitude of the aircraft according to the navigation instruction; the ignition device is connected with the controller and is used for correcting the flight attitude of the aircraft; and the power supply module is used for supplying power to the sensor, the controller and the ignition device. The application solves the technical problems that the prior aircraft navigates the aircraft by an inertial navigation module consisting of a gyroscope and an acceleration sensor, and the stability and the interference immunity of the prior aircraft are poor when the aircraft faces a high dynamic environment.
Description
Technical Field
The application relates to the field of navigation equipment, in particular to navigation equipment and an aircraft.
Background
The aircraft is the product of the 19 th century industrial revolution, and with the emergence of various aircraft, the use scenes of the aircraft in various civil and military applications are continuously expanded. By the 90 s of the 20 th century, aircrafts began to develop rapidly and widely operate, and various types of aircrafts came out endlessly. In recent years, the aircraft gradually develops towards miniaturization, light weight and intellectualization, higher requirements are put on navigation control of the aircraft, the aircraft needs to realize stronger autonomous navigation flight capability in a space as small as possible, and specific flight tasks can be completed in a complex and dangerous environment. In order to keep the aircraft flying stably, the traditional aircraft is provided with an inertial navigation module consisting of a gyroscope and an acceleration sensor, the inertial navigation module can detect position change, speed change and attitude change by detecting the acceleration and angular velocity of the system, the information of the aircraft is integrated and calculated, the current position and speed are continuously updated, but the aircraft is navigated by means of inertial navigation, and the stability and anti-interference performance of the aircraft face severe challenges when facing a high dynamic environment.
In order to make up for the defects, a more active guidance means needs to be adopted for the aircraft, the flight trajectory of the aircraft is actively corrected according to the deviation between the predicted trajectory and the target trajectory, the flight deviation is reduced, the aircraft approaches the target trajectory, and the purpose of guidance is achieved.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a navigation device and an aircraft, and aims to solve the technical problems that the existing aircraft is navigated by an inertial navigation module consisting of a gyroscope and an acceleration sensor, and the stability and the anti-interference performance of the existing aircraft are poor when the existing aircraft faces a high dynamic environment.
According to an aspect of an embodiment of the present application, there is provided a navigation apparatus including: the device comprises a sensor, a controller, a power supply module and an ignition device, wherein the sensor is used for acquiring motion data of the aircraft; the controller is connected with the sensor and used for generating a navigation instruction according to the motion data and controlling the ignition device to correct the flight attitude of the aircraft according to the navigation instruction; the ignition device is connected with the controller and is used for correcting the flight attitude of the aircraft; and the power supply module is used for supplying power to the sensor, the controller and the ignition device.
Optionally, the sensor comprises: the device comprises a first triaxial accelerometer, a second triaxial accelerometer, a first triaxial gyroscope, a second triaxial gyroscope, a first triaxial magnetoresistive sensor, a second triaxial magnetoresistive sensor, a temperature sensor and a signal amplification circuit, wherein the first triaxial accelerometer and the second triaxial accelerometer are used for acquiring acceleration data of the aircraft during movement; the first three-axis gyroscope and the second three-axis gyroscope are used for acquiring angular velocity data of the aircraft during movement; the first triaxial magnetic resistance sensor and the second triaxial magnetic resistance sensor are used for collecting magnetic environment data when the aircraft moves.
Optionally, the controller comprises: the system comprises an analog-to-digital conversion assembly, a first processor and a second processor, wherein the analog-to-digital conversion assembly comprises a plurality of analog-to-digital converters and is used for converting motion data acquired by a sensor from analog quantity to digital quantity and sending the digital quantity to the first processor; the first processor is used for processing the digital quantity at a high speed and sending the processing result of the digital quantity to the second processor, and the first processor is a programmable logic device; and the second processor is used for calculating the processing result of the digital quantity and generating a navigation instruction.
Optionally, the navigation device further comprises: the data recorder is connected with the controller and used for storing the data after the controller processes the motion data; the data recorder comprises: the third processor is used for writing the data after the motion data are processed into the memory chip; and the memory chip is used for storing and reading the data after the motion data is processed.
Optionally, the power module comprises: the sensor comprises a first voltage converter, a second voltage converter and a third voltage converter, wherein the first voltage converter is used for converting an original voltage provided by a battery power supply into a first voltage, and the first voltage is used for supplying power for the sensor; the second voltage converter is used for converting the original voltage provided by the battery power supply into a second voltage, and the second voltage is used for supplying power to the controller and the data recorder; and the third voltage converter is used for converting the original voltage provided by the battery power supply into a third voltage, and the third voltage is used for supplying power to the ignition device.
Optionally, the ignition device comprises a plurality of pulse motors, and the pulse motors are activated through the navigation command to generate pulse thrust, and the flight attitude of the aircraft is corrected according to the pulse thrust.
Optionally, the navigation device further comprises: the flexible printed circuit board comprises a plurality of rigid circuit boards and a plurality of flexible circuit boards, wherein the rigid circuit boards are connected through the flexible circuit boards, a first rigid circuit board in the rigid circuit boards comprises a notch, the first rigid circuit board is perpendicularly and orthogonally connected with the rigid circuit board of a small rigid circuit board through the notch, and the small rigid circuit board is smaller than the rigid circuit boards.
Optionally, the navigation device further comprises: the stud and the base are used for fixing the rigid circuit boards and the flexible circuit boards.
Optionally, the plurality of rigid circuit boards comprises 6 rigid circuit boards, and the plurality of flexible circuit boards comprises 5 flexible circuit boards, wherein the second triaxial accelerometer, the second triaxial gyroscope, and the second triaxial magnetoresistive sensor are disposed on the small rigid circuit board; the first triaxial accelerometer, the first triaxial gyroscope, the first triaxial magnetoresistive sensor, the temperature sensor and the signal amplification circuit are arranged on a first rigid circuit board in the plurality of rigid circuit boards; the analog-to-digital conversion assembly, the first processor and the second processor are arranged on a second rigid circuit board in the plurality of rigid circuit boards; the third processor and the memory chip are arranged on a third rigid circuit board in the plurality of rigid circuit boards; the first voltage converter, the second voltage converter and the third voltage converter are arranged on a fourth rigid circuit board in the plurality of rigid circuit boards; the ignition device is disposed on a fifth rigid circuit board and a sixth rigid circuit board of the plurality of rigid circuit boards.
According to another aspect of the embodiments of the present application, there is also provided an aircraft including the above navigation apparatus.
In an embodiment of the present application, there is provided a navigation apparatus including: the device comprises a sensor, a controller, a power supply module and an ignition device, wherein the sensor is used for acquiring motion data of the aircraft; the controller is connected with the sensor and used for generating a navigation instruction according to the motion data and controlling the ignition device to correct the flight attitude of the aircraft according to the navigation instruction; the ignition device is connected with the controller and is used for correcting the flight attitude of the aircraft; the power module is used for supplying power to the sensor, the controller and the ignition device, the defects that the flight attitude information of the sensor of the traditional navigation device is not completely acquired and the flight attitude prediction precision is low can be overcome, meanwhile, the defects that the guidance means of the traditional guidance device is single and the initiative is poor and the guidance effect is poor in the face of a complex environment can be effectively overcome, so that the technical effect of providing effective guidance control for the aircraft under the complex condition is realized, particularly, the technical effect that the aircraft is navigated by the inertial navigation module consisting of the gyroscope and the acceleration sensor in the high dynamic environment is solved, and the technical problems of poor stability and anti-interference performance in the face of the high dynamic environment are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a navigation device according to an embodiment of the present application;
fig. 2 is a block diagram of another navigation device according to an embodiment of the present application;
fig. 3 is a block diagram of another navigation device according to an embodiment of the present application;
fig. 4 is a block diagram of another navigation device according to an embodiment of the present application;
FIG. 5 is a schematic block diagram of an intelligent navigation and compound control device for a stern of a navigation device according to an embodiment of the present application;
fig. 6 is a schematic diagram of an intelligent navigation and compound control device for a stern of a navigation ship according to an embodiment of the application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present application, there is provided an embodiment of a navigation device, it should be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and that while a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in an order different from that here.
Fig. 1 is a block diagram of a navigation device according to an embodiment of the present application, and as shown in fig. 1, the navigation device includes:
a sensor 10, a controller 11, a power module 12, and an ignition device 13, wherein,
a sensor 10 for acquiring motion data of the aircraft;
the controller 11 is connected with the sensor 10 and used for generating a navigation instruction according to the motion data and controlling the ignition device 13 to correct the flight attitude of the aircraft according to the navigation instruction;
the ignition device 13 is connected with the controller 11 and is used for correcting the flight attitude of the aircraft;
and the power supply module 12 is used for supplying power to the sensor 10, the controller 11 and the ignition device 13.
Through above-mentioned navigation equipment, can compensate the shortcoming that traditional navigation head sensor flight attitude information acquireed incompletely, flight attitude prediction precision is low, can effectively compensate traditional guidance head guidance means singleness again simultaneously, the initiative is poor, in the face of the not good defect of complex environment guidance effect to realized can providing effectual guidance control's technological effect for the aircraft under the complex condition, especially high dynamic environment.
According to an alternative embodiment of the present application, the sensor 10 comprises: the aircraft comprises a first triaxial accelerometer 100, a second triaxial accelerometer 101, a first triaxial gyroscope 102, a second triaxial gyroscope 103, a first triaxial magnetoresistive sensor 104, a second triaxial magnetoresistive sensor 105, a temperature sensor 106 and a signal amplification circuit 107, wherein the first triaxial accelerometer 100 and the second triaxial accelerometer 101 are used for acquiring acceleration data of the aircraft during movement; the first three-axis gyroscope 102 and the second three-axis gyroscope 103 are used for acquiring angular velocity data of the aircraft during motion; the first triaxial magneto resistive sensor 104 and the second triaxial magneto resistive sensor 105 are used to acquire magnetic environment data while the aircraft is in motion.
It should be noted that the normal output data of each sensor requires the signal amplification circuit 107 to be in a normal operation state.
In an alternative embodiment of the present application, the controller 11 comprises: the sensor comprises an analog-to-digital conversion component 110, a first processor 111 and a second processor 112, wherein the analog-to-digital conversion component 110 comprises a plurality of analog-to-digital converters for converting the motion data acquired by the sensor 10 from analog quantity to digital quantity and sending the digital quantity to the first processor 111; the first processor 111 is configured to perform high-speed processing on the digital quantity and send a processing result of the digital quantity to the second processor 112, where the first processor 111 is a programmable logic device; and a second processor 112, configured to calculate a processing result of the digital quantity and generate a navigation instruction.
The controller 11 includes an analog-to-digital conversion component, an ARM microprocessor 1 (the second processor 112 described above), and an FPGA microprocessor (the first processor 111 described above). The analog-digital conversion component consists of 4 AD7699 analog-digital converters, and is responsible for converting acceleration data, angular velocity data and magnetic environment data of the aircraft motion, which are acquired by the sensor 10, into digital quantities from analog quantities and outputting the digital quantities to the FPGA microprocessor; the FPGA microprocessor adopts Microemi A3P600-2FG-144IY, is responsible for carrying out high-speed processing on the input aircraft motion data digital quantity and sends the processed data to the ARM microprocessor 1 and the data recorder through an FMC bus; the ARM microprocessor 1 adopts STM32H753IIK6 to be responsible for analyzing and calculating the motion data of the aircraft and generating a navigation instruction, and controls the ignition device 13 to correct the flight attitude so as to realize an accurate guidance target.
Fig. 2 is a block diagram of another navigation device according to an embodiment of the present application, and as shown in fig. 2, the navigation device further includes:
the data recorder 14 is connected with the controller 11 and used for storing the data after the controller 11 processes the motion data; the data recorder 14 includes: a third processor 140 and a memory chip 141, wherein the third processor 140 is configured to write data after the motion data is processed into the memory chip 141; and the memory chip 141 is used for storing and reading the data after the motion data is processed.
The data recorder 14 includes an ARM microprocessor 2 (the third processor 140 described above) and a Flash memory chip. The ARM microprocessor 2 adopts STM32H753IIK6 to process the aircraft motion data received through the FMC bus and write the aircraft motion data into a Flash memory chip. The Flash memory chip adopts a magnesium light MT29F8G08, can stably read and write data at high speed, and is matched with the kernel to complete data recording and reading.
In an alternative embodiment of the present application, the power module 12 comprises: a first voltage converter 120, a second voltage converter 121 and a third voltage converter 122, wherein the first voltage converter 120 is configured to convert an original voltage provided by a battery power source into a first voltage, and the first voltage is used to supply power to the sensor 10; a second voltage converter 121 for converting the original voltage supplied from the battery power supply into a second voltage for supplying power to the controller 11 and the data recorder 14; a third voltage converter 122 for converting the original voltage provided by the battery power supply into a third voltage for powering the ignition device 13.
The power module 12 converts the voltage supplied from the battery power source into voltages of 3.3V, 5V, and 16V through the buck-boost converter 1, the buck-boost converter 2, and the buck-boost converter 3, respectively. Wherein, the 3.3V voltage generated by the voltage buck-boost converter 1 supplies power for the sensor 10; the 5V voltage generated by the voltage buck-boost converter 2 supplies power for the controller 11 and the data recorder 14; the 16V voltage generated by the voltage buck-boost converter 3 powers the ignition device 13.
In another alternative embodiment of the present application, the ignition device 13 comprises a plurality of pulse motors, which are activated by the navigation command to generate a pulsed thrust, according to which the attitude of the aircraft is modified.
Preferably, the ignition device module 13 comprises an 8-way pulse engine, and is controlled by the controller 11, when the navigation instruction output by the controller 11 activates the corresponding-way pulse engine, the pulse engine is ignited to generate pulse thrust, the flight attitude is corrected, and the goal of accurate navigation is achieved.
Fig. 3 is a block diagram of another navigation apparatus according to an embodiment of the present application, and as shown in fig. 3, the navigation apparatus includes: the flexible printed circuit board comprises a plurality of rigid circuit boards 15 and a plurality of flexible circuit boards 16, wherein the plurality of rigid circuit boards 15 are connected through the plurality of flexible circuit boards 16, a first rigid circuit board in the plurality of rigid circuit boards 15 comprises a notch, the first rigid circuit board is perpendicularly and orthogonally connected with a rigid circuit board of a small rigid circuit board through the notch, and the small rigid circuit board is smaller than the plurality of rigid circuit boards 15.
Fig. 4 is a block diagram of another navigation apparatus according to an embodiment of the present application, and as shown in fig. 4, the navigation apparatus further includes: the studs 17 and the mounts 18, and the studs 17 and the mounts 18 are used for fixing the plurality of rigid circuit boards 15 and the plurality of flexible circuit boards 16.
According to an alternative embodiment of the present application, the plurality of rigid circuit boards comprises 6 rigid circuit boards and the plurality of flexible circuit boards comprises 5 flexible circuit boards, wherein the second triaxial accelerometer, the second triaxial gyroscope, and the second triaxial magnetoresistive sensor are disposed on the small rigid circuit board; the first triaxial accelerometer, the first triaxial gyroscope, the first triaxial magnetoresistive sensor, the temperature sensor and the signal amplification circuit are arranged on a first rigid circuit board in the plurality of rigid circuit boards; the analog-to-digital conversion assembly, the first processor and the second processor are arranged on a second rigid circuit board in the plurality of rigid circuit boards; the third processor and the memory chip are arranged on a third rigid circuit board in the plurality of rigid circuit boards; the first voltage converter, the second voltage converter and the third voltage converter are arranged on a fourth rigid circuit board in the plurality of rigid circuit boards; the ignition device is disposed on a fifth rigid circuit board and a sixth rigid circuit board of the plurality of rigid circuit boards.
The three-axis accelerometer 2, the three-axis gyroscope 2 and the three-axis magnetic resistance sensor 2 are designed on a small rigid circuit board, and the three-axis accelerometer 2, the three-axis gyroscope 2 and the three-axis magnetic resistance sensor 2 are mutually orthogonally distributed with the three-axis accelerometer 1, the three-axis gyroscope 1 and the three-axis magnetic resistance sensor 1 in space; the directions of the main shafts of the three-axis accelerometer 1, the three-axis gyroscope 1 and the three-axis magnetoresistive sensor 1 are consistent with the x axial direction of the aircraft; the directions of the main shafts of the three-axis accelerometer 2, the three-axis gyroscope 2 and the three-axis magnetic resistance sensor 2 are consistent with the y-axis direction of the aircraft.
The three-axis accelerometer 1, the three-axis gyroscope 1, the three-axis magnetoresistive sensor 1, the temperature sensor 106 and a signal amplification circuit 107 required by each sensor for normally outputting data are positioned on the rigid circuit board 1; the analog-to-digital conversion component 110, the ARM microprocessor 1 and the FPGA microprocessor are positioned on the rigid circuit board 2; the ARM microprocessor 2 and the Flash memory chip are positioned on the rigid circuit board 3; the voltage buck-boost converter 1, the voltage buck-boost converter 2 and the voltage buck-boost converter 3 are positioned on the rigid circuit board 4; the ignition device 13 is located on the rigid circuit board 5 and the rigid circuit board 6.
The control principle of the above navigation device is described below with a specific embodiment:
fig. 5 is a schematic block diagram of an intelligent navigation and compound control device for a stern of a navigation system according to an embodiment of the present application, and as shown in fig. 5, the device includes a sensor module (1-1), a control module (1-2), a data recorder (1-3), a power supply module (1-4), and an ignition device module (1-5).
The sensor module (1-1) comprises a triaxial accelerometer 1(1-6), a triaxial accelerometer 2(1-7), a triaxial gyroscope 1(1-8), a triaxial gyroscope 2(1-9), a triaxial magnetoresistive sensor 1(1-10), a triaxial magnetoresistive sensor 2(1-11), a temperature sensor (1-12) and a signal amplification circuit (1-13) required by each sensor for outputting data to the control module (1-2). The three-axis accelerometer 1(1-6), the three-axis gyroscope 1(1-8), the three-axis magnetoresistive sensor 1(1-10), the temperature sensor (1-12) and a signal amplification circuit (1-13) required by normal data output of each sensor are positioned on the rigid circuit board 1(2-1 in figure 6), the three-axis accelerometer 1(1-6) is responsible for acquiring acceleration data of the X-axis (2-15 in figure 6) motion of the aircraft, the three-axis gyroscope 1(1-8) is responsible for acquiring angular velocity data of the X-axis (2-15) motion of the aircraft, and the three-axis magnetoresistive sensor 1(1-10) is responsible for acquiring magnetic environment data of the X-axis (2-15) motion of the aircraft; the three-axis accelerometers 2(1-7), the three-axis gyroscopes 2(1-9) and the three-axis magnetic resistance sensors 2(1-11) are designed on a small rigid circuit board (2-11 in figure 6), the main axis directions of the three-axis accelerometers 2(1-7), the three-axis gyroscopes 2(1-9) and the three-axis magnetic resistance sensors 2(1-11) are consistent with the y-axis direction (2-15 in figure 6), the three-axis accelerometers 2(1-7) are responsible for collecting acceleration data of the movement of the y-axis direction (2-16 in figure 6) and the transverse direction (2-17 in figure 6), the three-axis gyroscopes 2(1-9) are responsible for collecting angular velocity data of the movement of the y-axis direction (2-16) and the transverse direction (2-17), and the three-axis magnetic resistance sensors 2(1-11) are responsible for collecting the movement of the y-axis direction (2-16) and the transverse direction (2-17) Dynamic magnetic environment data. The acquired acceleration data (1-14) of the aircraft motion, the angular velocity data (1-15) and the magnetic environment data (1-16) are analog quantities, are amplified by a signal amplification circuit (1-13), are output to an analog-to-digital conversion component (1-17) of a control module (1-2), and are converted into digital quantities.
The control module (1-2) comprises an analog-to-digital conversion component (1-17), an ARM microprocessor 1(1-18) and an FPGA microprocessor (1-19). The analog-to-digital conversion components (1-17), the ARM microprocessors 1(1-18) and the FPGA microprocessors (1-19) are located on a rigid circuit board 2(2-2 in the figure 6); the analog-to-digital conversion component (1-17) consists of 4 AD7699 analog-to-digital converters, is responsible for converting the analog quantities of acceleration data (1-14), angular velocity data (1-15) and magnetic environment data (1-16) of the aircraft motion acquired by the sensor module into digital quantities and outputting the digital quantities to the FPGA microprocessor (1-19); the FPGA microprocessor (1-19) adopts Microsmi A3P600-2FG-144IY and is responsible for high-speed processing of input aircraft motion data digital quantity, the FPGA microprocessor (1-19) is mainly responsible for logic control, the digital quantity output by the analog-to-digital conversion component (1-17) AD7699 analog-to-digital converter is subjected to high-speed, real-time and high-quality data transmission, and meanwhile, the FPGA microcontroller can also complete the functions of dimension conversion, FIR digital filtering and the like, wherein the dimension conversion means that the analog quantity output by the sensor is converted into the digital quantity after being acquired by AD, the digital quantity is corresponding to the actual physical quantity dimension, and the FPGA microprocessor (1-19) sends the digital quantity to the ARM microprocessor 1(1-18) and the data recorder (1-3) through an FMC bus (1-20); the ARM microprocessor 1(1-18) is realized by adopting STM32H753IIK6 and a 32-bit ARM microprocessor of a Cortex-M7 kernel, a 32-bit floating point calculation unit is arranged in the ARM microprocessor, the main frequency is up to 250MHz, complex sensor compensation and rotating speed filtering estimation can be realized, the ARM microprocessor 1(1-18) and the FPGA microprocessor (1-19) are connected in an FMC bus mode to complete efficient data acquisition, a control module calculates and analyzes acquired data, the flight trajectory of an aircraft is calculated and predicted, a guidance instruction is generated according to the distance deviation and direction deviation between the predicted trajectory and a target trajectory, an ignition device module (1-5) is controlled, a pulse engine is activated, and the flight trajectory of the aircraft is corrected to realize guidance.
The data recorder (1-3) comprises an ARM microprocessor 2(1-21) and a Flash memory chip (1-22). The ARM microprocessor 2(1-21) and the Flash memory chips (1-22) are positioned on the rigid circuit board 3(2-3 in FIG. 6); the ARM microprocessor 2(1-21) adopts STM32H753IIK6, and the ARM microprocessor 2(1-21) receives aircraft motion data through an FMC bus (1-20), processes the aircraft motion data and writes the aircraft motion data into a Flash memory chip (1-22). The Flash memory chips (1-22) adopt magnesium light MT29F8G08 of SLC particles, data can be read and written stably at high speed, a self-developed HdntRec kernel is used in a matching manner to complete data recording and reading, the aircraft can read data through a reserved interface after being recovered, and data are analyzed and navigation effect is evaluated.
The power module (1-4) comprises 3 TPS63070RNMR voltage buck-boost converters, and the voltage provided by the battery power supply is converted into voltages of 3.3V, 5V and 16V through the voltage buck-boost converter 1(1-23), the voltage buck-boost converter 2(1-24) and the voltage buck-boost converter 3(1-25), respectively. The voltage buck-boost converter 1(1-23), the voltage buck-boost converter 2(1-24), and the voltage buck-boost converter 3(1-25) are located on the rigid circuit board 4 (2-4); wherein the 3.3V voltage generated by the voltage buck-boost converter 1(1-23) powers the sensor module (1-1); 5V voltage generated by the voltage buck-boost converter 2(1-24) supplies power for the control module (1-2) and the data recorder (1-3); the 16V voltage generated by the voltage buck-boost converter 3(1-25) powers the ignition means module (1-5). Meanwhile, the power supply modules (1-4) can also monitor the working voltage condition of each module and carry out reasonable and effective power supply management.
The ignition device module (1-5) comprises 8 paths of pulse engines and is controlled by the control module (1-2), when the navigation instruction output by the control module (1-2) activates the corresponding path of pulse engines, the pulse engines ignite to generate pulse thrust, flight attitude is corrected, and the aim of accurate navigation is achieved.
Fig. 6 is a schematic diagram of an intelligent navigation and compound control device for a stern of a navigation device according to an embodiment of the present application, and as shown in fig. 6, the navigation device is designed by using a rigid-flex circuit board, and is formed by connecting 6 circular rigid circuit boards 1(2-1), 2(2-2), 3(2-3), 4(2-4), 5(2-5), 6(2-6) through 5 parts of flexible circuit boards (2-7, 2-8, 2-9, 2-10, 2-11); wherein the rigid circuit board 1(2-1) has a U-shaped notch, and a small rigid circuit board (2-12) is perpendicularly and orthogonally connected by welding. The integral structure of the rigid and flexible plates can be folded and fixed on the specially-made studs (2-13) and the bases (2-14), and finally a cylindrical structure with small volume is formed, so that the rigid and flexible plates can be conveniently fixed in the aircraft. It should be noted that (2-15, 2-16, 2-17) are the X-axis, Y-axis and transverse normal directions of the aircraft, respectively.
The above-mentioned navigation equipment cooperation that this application embodiment provided adopts novel high speed microprocessor, add initiative ignition, can improve traditional navigation control device's data acquisition precision, effectively overcome the error that aircraft flight in-process tradition single sensor measured the production, can compensate the single control mode of traditional aircraft navigation device, make full use of sensor data collection, carry out measurement to flight attitude fast and in time revise through the ignition module, realize aircraft intelligent navigation control, self can realize carrying out high speed processing storage to data collection simultaneously. The device has the advantages of simple structure, small volume, convenience in installation, strong stability, high processing speed and strong initiative. The intelligent navigation and control device is particularly suitable for the stern intelligent navigation and control of an aircraft.
Compared with the prior art, the invention has the beneficial effects that:
1) through the design of soft or hard combination circuit board, constitute 6 circular rigid circuit boards through the flexible circuit board connection, through unique circuit board connection structure, effectively improve the motion data acquisition precision, and have small, the strong, strong adaptability's of stability advantage.
2) The control module integrates the FPGA and the ARM microprocessor on the circuit board, and meanwhile, the disadvantages are mutually compensated by combining the data recorder, so that the high-speed processing of the collected data can be realized, the data are stored, and the data are read after being recycled for analysis and evaluation.
3) The pulse engine at the stern of the aircraft can be actively triggered in time according to the flight attitude of the aircraft, and the aircraft guidance target is realized through multiple flight attitude adjustments.
4) The rigid-flexible combined circuit board can be finally fixed on the special stud in a folding mode, and the structure is stable.
The embodiment of the application also provides an aircraft, which comprises the navigation equipment.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a read Only Memory (ROM, ReBXKd-Only Memory), a random access Memory (RBXKM, rbxkcccess Memory), a removable hard disk, a magnetic or optical disk, or other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A navigation device, comprising: a sensor, a controller, a power module, and an ignition device, wherein,
the sensor is used for collecting the motion data of the aircraft;
the controller is connected with the sensor and used for generating a navigation instruction according to the motion data and controlling the ignition device to correct the flight attitude of the aircraft according to the navigation instruction;
the ignition device is connected with the controller and is used for correcting the flight attitude of the aircraft;
the power module is used for supplying power to the sensor, the controller and the ignition device.
2. The navigation apparatus of claim 1, wherein the sensor comprises: a first triaxial accelerometer, a second triaxial accelerometer, a first triaxial gyroscope, a second triaxial gyroscope, a first triaxial magneto resistive sensor, a second triaxial magneto resistive sensor, a temperature sensor and a signal amplification circuit, wherein,
the first triaxial accelerometer and the second triaxial accelerometer are used for acquiring acceleration data of the aircraft during movement;
the first three-axis gyroscope and the second three-axis gyroscope are used for acquiring angular velocity data of the aircraft during motion;
the first triaxial magneto-resistive sensor and the second triaxial magneto-resistive sensor are used for acquiring magnetic environment data when the aircraft moves.
3. The navigation apparatus of claim 2, wherein the controller comprises: an analog-to-digital conversion component, a first processor and a second processor, wherein,
the analog-to-digital conversion component comprises a plurality of analog-to-digital converters and is used for converting the motion data acquired by the sensor from analog quantity to digital quantity and sending the digital quantity to the first processor;
the first processor is used for processing the digital quantity at a high speed and sending a processing result of the digital quantity to the second processor, and the first processor is a programmable logic device;
and the second processor is used for calculating the processing result of the digital quantity and generating the navigation instruction.
4. The navigation device of claim 3, further comprising:
the data recorder is connected with the controller and used for storing the data after the controller processes the motion data; the data recorder includes: a third processor and a memory chip, wherein,
the third processor is used for writing the data after the motion data are processed into the memory chip;
the memory chip is used for storing and reading the data after the motion data is processed.
5. The navigation device of claim 4, wherein the power module comprises: a first voltage converter, a second voltage converter, and a third voltage converter, wherein,
the first voltage converter is used for converting an original voltage provided by a battery power supply into a first voltage, and the first voltage is used for supplying power to the sensor;
the second voltage converter is used for converting an original voltage provided by a battery power supply into a second voltage, and the second voltage is used for supplying power to the controller and the data recorder;
the third voltage converter is used for converting the original voltage provided by the battery power supply into a third voltage, and the third voltage is used for supplying power to the ignition device.
6. The navigation apparatus of claim 5, wherein the ignition device includes a plurality of pulse motors that generate pulsed thrust upon activation by the navigation command, the attitude of the aircraft being modified in accordance with the pulsed thrust.
7. The navigation device of claim 6, further comprising: a plurality of rigid circuit boards and a plurality of flexible circuit boards, the plurality of rigid circuit boards being connected by the plurality of flexible circuit boards, wherein,
the first rigid circuit board of the plurality of rigid circuit boards comprises a notch, the first rigid circuit board is perpendicularly and orthogonally connected with the rigid circuit board of a small rigid circuit board through the notch, and the small rigid circuit board is smaller than the plurality of rigid circuit boards.
8. The navigation apparatus according to claim 7, further comprising: the stud and the base are used for fixing the rigid circuit boards and the flexible circuit boards.
9. The navigation device of claim 7, wherein the plurality of rigid circuit boards includes 6 rigid circuit boards and the plurality of flexible circuit boards includes 5 flexible circuit boards, wherein,
the second triaxial accelerometer, the second triaxial gyroscope and the second triaxial magneto-resistive sensor are arranged on the small rigid circuit board;
the first triaxial accelerometer, the first triaxial gyroscope, the first triaxial magnetoresistive sensor, the temperature sensor, and the signal amplification circuit are disposed on a first rigid circuit board of the plurality of rigid circuit boards;
the analog-to-digital conversion assembly, the first processor and the second processor are arranged on a second rigid circuit board in the plurality of rigid circuit boards;
the third processor and the memory chip are disposed on a third rigid circuit board of the plurality of rigid circuit boards;
the first voltage converter, the second voltage converter, and the third voltage converter are disposed on a fourth rigid circuit board of the plurality of rigid circuit boards;
the ignition device is disposed on a fifth rigid circuit board and a sixth rigid circuit board of the plurality of rigid circuit boards.
10. An aircraft, characterized in that it comprises a navigation device according to any one of claims 1 to 9.
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|---|---|---|---|
| CN202010888578.0A CN111966123A (en) | 2020-08-28 | 2020-08-28 | Navigation equipment and aircraft |
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| CN202010888578.0A CN111966123A (en) | 2020-08-28 | 2020-08-28 | Navigation equipment and aircraft |
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