CN115202271A - Embedded flight controller of micro unmanned aerial vehicle - Google Patents

Embedded flight controller of micro unmanned aerial vehicle Download PDF

Info

Publication number
CN115202271A
CN115202271A CN202211017745.XA CN202211017745A CN115202271A CN 115202271 A CN115202271 A CN 115202271A CN 202211017745 A CN202211017745 A CN 202211017745A CN 115202271 A CN115202271 A CN 115202271A
Authority
CN
China
Prior art keywords
unmanned aerial
aerial vehicle
flight
chip
interface socket
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211017745.XA
Other languages
Chinese (zh)
Inventor
马国梁
付泓钦
李胜
余劲天
钱晨
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Science and Technology
Original Assignee
Nanjing University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Science and Technology filed Critical Nanjing University of Science and Technology
Priority to CN202211017745.XA priority Critical patent/CN115202271A/en
Publication of CN115202271A publication Critical patent/CN115202271A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

The invention discloses an embedded flight controller of a micro unmanned aerial vehicle, which is suitable for electric fixed-wing and multi-rotor unmanned aerial vehicles. The controller has compact size and reasonable layout, and is suitable for being installed on a micro unmanned aerial vehicle. The invention meets the flight control requirement of the micro unmanned aerial vehicle, the onboard motion sensor can measure the flight state of the micro unmanned aerial vehicle in real time, the FRAM storage chip can store control parameters, and the embedded flight control software in the ARM chip has the functions of flight task management, control mode switching, flight attitude adjustment, flight position control and the like. In conclusion, the embedded flight controller of the micro unmanned aerial vehicle has the characteristics of small size, light weight, convenience in installation, high information processing speed, easiness in expansion and the like, and can completely meet the control requirements of the micro unmanned aerial vehicle in different working scenes.

Description

Embedded flight controller of micro unmanned aerial vehicle
Technical Field
The invention belongs to the field of flight control, and particularly relates to an embedded flight controller of an electric fixed-wing and multi-rotor micro unmanned aerial vehicle.
Background
The pilotless aircraft is called an unmanned aerial vehicle for short, and is called a UAV (unmanned aerial vehicle) in English for short, and can be controlled by a radio remote control device and a self-contained program control device or completely autonomously controlled by an onboard computer. Compared with a man-carrying machine, the device has the advantages of small volume, low cost, convenient use, rapid response, low requirement on task environment and the like. In view of its unique advantages, drones have been highly colorful in a number of areas. In the military field, the system can be used for reconnaissance, monitoring, communication relay and the like; in the scientific research field, the method can be used for atmospheric research, target drone test and the like; in the civil field, the method can be used for aerial photography, agriculture, plant protection and the like. Unmanned aerial vehicle's structure is various, and the task of execution is also different, but its the root of accomplishing the flight is flight controller, and it has guaranteed that unmanned aerial vehicle can make different flight gesture and fly steadily along planning the flight path. With the demand of applications and the development of hardware devices, the research on flight controllers worldwide has been deepened in recent years.
The flight controller is the core of the micro unmanned aerial vehicle for realizing flight and is used for realizing the flight control of the micro unmanned aerial vehicle in the whole flight process. In the face of complex flight conditions, the flight controller must be able to quickly and accurately acquire the ambient environment information and flight state information, and run the control algorithm to output a control signal to the execution mechanism to complete the flight control command, which is a great test for the flight controller.
Aiming at the characteristics of large volume, low operation speed and difficult function expansion of the existing flight controller, the flight controller is required to adopt a light weight, easy expansion and embedded design as far as possible. Because the environment information and the flight state information need to be acquired and processed quickly, how to design the micro unmanned aerial vehicle embedded flight controller which meets the flight control performance requirement, has small volume and is easy to expand becomes a problem to be solved urgently.
Disclosure of Invention
The invention aims to provide an embedded flight controller of a microminiature unmanned aerial vehicle, aiming at the characteristics of large volume, low running speed, difficult function expansion and the like of the existing flight controller. The controller integrates software and hardware of the nine-axis motion sensor, the air pressure sensor and the ARM chip, realizes the measurement of three-axis angular velocity and three-axis acceleration by the nine-axis motion sensor, and transmits the acceleration by the air pressureThe sensor realizes air pressure measurement and obtains height information through calculation, and meanwhile, an ARM chip is used for operating a control algorithm and a navigation algorithm to realize measurement information processing and feed the measurement information back to the output end to control the executing mechanism, so that the flight control of the micro unmanned aerial vehicle is completed. The controller provides various interfaces including SPI interface, UART serial port and I 2 C interface etc. can satisfy unmanned aerial vehicle's expansion demand. The embedded micro unmanned aerial vehicle flight controller can be used for small-sized fixed wing unmanned aerial vehicles and small-sized multi-rotor unmanned aerial vehicles, and has good adaptability.
The technical solution for realizing the purpose of the invention is as follows: an embedded flight controller of a microminiature unmanned aerial vehicle comprises an ARM chip, a nine-axis motion sensor, an air pressure sensor, an A/D conversion chip, an FRAM storage chip, a voltage stabilizing chip, an external expansion module and a multifunctional comprehensive module;
the ARM chip is a core device of the flight controller and is used for achieving flight task management, flight control and navigation calculation and feeding back the flight task management, the flight control and the navigation calculation to the output end control execution mechanism;
the nine-axis motion sensor is used for measuring the three-axis acceleration, the three-axis angular velocity and the three-axis magnetic field intensity of the micro unmanned aerial vehicle and outputting attitude angle data to be transmitted to the ARM chip;
the air pressure sensor is used for realizing high-resolution air pressure measurement, the measured air pressure is used for calculating the height of the micro unmanned aerial vehicle, and data are transmitted to the ARM chip;
the A/D conversion chip is used for converting analog signals measured by the nine-axis motion sensor and the air pressure sensor into digital signals and transmitting the digital signals to the ARM chip;
the FRAM storage chip is used for storing calibration parameters of the nine-axis motion sensor and the air pressure sensor, and preset flight control instructions, navigation instructions and planning track information, and interacts with the ARM chip;
the voltage stabilizing chip is used for supplying power to the ARM chip, the nine-axis motion sensor, the air pressure sensor and the FRAM storage chip;
the external expansion module is used for realizing external function expansion of the flight controller;
the multifunctional comprehensive module is used for realizing remote control and updating of the micro unmanned aerial vehicle.
Furthermore, the external expansion module comprises an SPI interface socket connected with an external IMU sensor, a UART interface socket connected with a GPS module, a UART interface socket connected with a data transmission radio station, 2 UART interface sockets for function expansion, and an I connected with an external magnetic compass 2 The device comprises a C interface socket, an airspeed meter interface socket and an SPI interface socket for function expansion; the SPI interface socket connected with the external IMU sensor is externally connected with the IMU sensor and used for providing three-axis angular velocity and three-axis acceleration measurement information; the UART interface socket connected with the GPS module is externally connected with the GPS module and used for providing longitude and latitude and height information; the UART interface socket connected with the data transmission radio station is externally connected with the data transmission radio station and connected with a ground control terminal and the micro unmanned aerial vehicle, and the ground control terminal is used for acquiring flight state information of the micro unmanned aerial vehicle and performing flight task allocation and flight path planning on the micro unmanned aerial vehicle; the UART interface socket for function expansion provides an additional UART interface; said I connected to an external magnetic compass 2 The C interface socket is externally connected with a magnetic compass for providing magnetic field information; the airspeed meter interface socket is externally connected with an analog airspeed meter to provide airspeed information; the SPI interface socket for function expansion provides an additional SPI interface.
Furthermore, the multifunctional comprehensive module comprises a remote controller PPM signal connection pin, a power supply connection socket and a Micro USB interface;
the PPM signal connection pin of the remote controller is connected with a remote control signal receiver, and the remote control signal receiver converts the received remote control signal into a PPM signal and inputs the PPM signal to the ARM chip;
the power supply connecting socket is connected with an external power supply, supplies power to the whole flight controller, and is connected with a special power supply detection module to realize a current and voltage detection function;
the Micro USB interface is used for providing an interface for maintaining and debugging equipment and is also used for updating the system firmware of the flight controller.
Furthermore, the multifunctional comprehensive module further comprises a steering engine PWM signal connection pin header used for transmitting the PWM signal output to the steering engine by the ARM chip and driving the steering engine to deflect.
Further, many function synthesis module still includes that outside LED connects row's needle, the LED display module of three kinds of colours of external blue, red, green for miniature unmanned aerial vehicle flies at night and demonstrates light.
Compared with the prior art, the invention has the following remarkable advantages:
(1) The invention integrates the sensor, the processor and the interface into a whole, adopts a miniaturized design, has the advantages of small volume, light weight, easy expansion and the like, and is very suitable for a micro unmanned aerial vehicle with weak load capacity and small volume.
(2) To the unmanned aerial vehicle that needs the function to extend, provide extra interface, connect extra equipment when satisfying the unmanned aerial vehicle load requirement and include: the IMU, the GPS module, the data transmission radio station, the airspeed meter and the magnetic compass are expanded to obtain three-axis acceleration, three-axis angular velocity, airspeed information, position information and magnetic field information, and data communication and the like are achieved.
(3) The invention adopts 9-axis motion sensors, air pressure sensors, and other onboard sensors to measure information such as angular velocity, acceleration, magnetic field intensity, air pressure, and the like, and can additionally measure information such as angular velocity, acceleration, position, airspeed, magnetic field intensity, and the like by externally expanding equipment such as an IMU, a GPS module, an airspeed meter, a magnetic compass, and the like, and accurate control of the micro unmanned aerial vehicle is further realized by ensuring the accuracy of information acquisition through fusion of various information.
(4) The UART interface socket connected with the data transmission radio station can be externally connected with the data transmission radio station, so that information interaction between the unmanned aerial vehicle and a ground control terminal is realized, an operator can acquire the current flight state information of the unmanned aerial vehicle in real time and remotely control the micro unmanned aerial vehicle to complete a specified flight instruction according to task requirements.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a front three-dimensional structure diagram of an embedded flight control panel of a micro unmanned aerial vehicle.
Fig. 2 is a three-dimensional structure diagram of an embedded flight controller of a micro unmanned aerial vehicle.
Fig. 3 is a block diagram of the embedded flight controller of the micro unmanned aerial vehicle.
Wherein, the names corresponding to the reference symbols:
1-ARM chip, 2-nine-axis motion sensor, 3-air pressure sensor, 4-A/D conversion chip, 5-FRAM storage chip, 6-voltage stabilization chip, 7-SPI interface socket connected with external IMU sensor, 8-UART interface socket connected with GPS module, 9-UART interface socket connected with data transmission station, 10-UART interface socket used for function expansion, and 11-I connected with external magnetic compass 2 The device comprises a C interface socket, a 12-airspeed meter interface socket, a 13-remote controller PPM signal connection pin, a 14-steering engine PWM signal connection pin, a 15-external LED connection pin, a 16-power supply connection socket, a 17-Micro USB interface and a 18-SPI interface socket for function expansion.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, if directional indications (such as up, down, left, right, front, back, 8230; etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indications are correspondingly changed.
In one embodiment, in combination with fig. 1 to 3, there is provided a micro unmanned aerial vehicle embedded flight controller, which includes an ARM chip 1, a nine-axis motion sensor 2, an air pressure sensor 3, an a/D conversion chip 4, an FRAM memory chip 5, a voltage stabilization chip 6, an external expansion module, and a multifunctional synthesis module;
the ARM chip 1 is a core device of the flight controller and is used for achieving flight task management, flight control and navigation calculation and feeding back the flight task management, the flight control and the navigation calculation to the output end control execution mechanism;
the nine-axis motion sensor 2 is used for measuring the three-axis acceleration, the three-axis angular velocity and the three-axis magnetic field intensity of the micro unmanned aerial vehicle, outputting attitude angle data and transmitting the attitude angle data to the ARM chip 1;
the air pressure sensor 3 is used for realizing high-resolution air pressure measurement, and the measured air pressure is used for calculating the height of the microminiature unmanned aerial vehicle and transmitting data to the ARM chip 1;
the A/D conversion chip 4 is used for converting analog signals measured by the nine-axis motion sensor 2 and the air pressure sensor 3 into digital signals and transmitting the digital signals to the ARM chip 1;
the FRAM storage chip 5 is used for storing calibration parameters of the nine-axis motion sensor 2 and the air pressure sensor 3, and preset flight control instructions, navigation instructions and planning track information, and interacts with the ARM chip 1;
the voltage stabilizing chip 6 is used for supplying power to the ARM chip 1, the nine-axis motion sensor 2, the air pressure sensor 3 and the FRAM storage chip 5;
the external expansion module is used for realizing external function expansion of the flight controller;
the multifunctional comprehensive module is used for realizing remote control and updating of the micro unmanned aerial vehicle.
Preferably, the ARM chip 1 is an STM32F4X9 and has a Cortex-M4 core, and can read data of each sensor through an asynchronous serial communication interface UART and a synchronous serial interface SPI, and is connected to external devices through a socket to exchange information.
Here, preferably, the nine-axis motion sensor 2 is BNO055, and includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, and is capable of measuring three-axis acceleration, three-axis angular velocity, and three-axis magnetic field strength, and resolving an attitude angle by an internal Kalman filter algorithm.
The air pressure sensor 3 is preferably MS5611, which can realize high-resolution air pressure measurement, and the resolution can reach 10cm. The height information is obtained by calculating the measured data, and the GPS module can be matched to obtain more accurate height information.
Preferably, the FRAM memory chip 5 is selected to be FM25V10, and is connected to the ARM chip 1 by using a parallel data interface SPI, and has a maximum memory capacity of 1M bits, and is used for storing calibration parameters of the nine-axis motion sensor 2 and the air pressure sensor 3, and preset information such as flight control commands, navigation commands, and planned flight paths.
Here, it is preferable that the dc voltage input range of the regulator chip 6 is 4.5V to 16V, the output voltage is fixed to 3.3V, and the output accuracy is 1%. The voltage stabilizing chip 6 is a TPS7A4533, converts an input voltage of +5V into an output voltage of +3.3V, and supplies power to the ARM chip 1, the nine-axis motion sensor 2, the air pressure sensor 3, the A/D conversion chip 4 and the FRAM storage chip 5.
Further, in one embodiment, the ARM chip 1 is connected with the nine-axis motion sensor 2 through an asynchronous communication serial port UART, connected with the air pressure sensor 3 through a synchronous serial interface SPI, and connected with the FRAM memory chip 5 through another synchronous serial interface SPI; the ARM chip 1 sends a configuration command through the UART serial port to determine the working mode of the nine-axis motion sensor 2, and the nine-axis motion sensor 2 transmits measurement data to the ARM chip 1 through the UART serial port according to the received command.
Further, in one embodiment, the external extension module includes an SPI interface socket 7 connected to an external IMU sensor, a UART interface socket 8 connected to a GPS module, a UART interface socket 9 connected to a data transfer station, 2 UART interface sockets 10 for function extension, and an I connected to an external magnetic compass 2 The device comprises a C interface socket 11, an airspeed meter interface socket 12 and an SPI interface socket 18 for function expansion; the SPI interface socket 7 connected with the external IMU sensor is externally connected with the IMU sensor and used for providing three-axis angular velocity and three-axis acceleration measurement information; the UART interface socket 8 connected with the GPS module is externally connected with the GPS module and used for providing longitude and latitude and height information; the UART interface socket 9 connected with the data transmission radio station is externally connected with the data transmission radio station and connected with a ground control terminal and the micro unmanned aerial vehicle, and the ground control terminal is used for acquiring flight state information of the micro unmanned aerial vehicle and performing flight task allocation and flight path planning on the micro unmanned aerial vehicle; the UART interface socket 10 for function expansion provides an additional UART interface; said I connected to an external magnetic compass 2 The C interface socket 11 is externally connected with a magnetic compass for providing magnetic field information; the airspeed meter interface socket 12 is externally connected with an analog airspeed meter to provide airspeed information; said is used forThe extended functionality SPI interface socket 18 provides an additional SPI interface.
Preferably, the SPI interface socket 7 connected with the external IMU sensor and the SPI interface socket 18 used for function expansion both adopt patch sockets with DF13-8P-1.25DSA specifications; the power supply connecting socket 7 adopts a patch socket with DF13-6P-1.25DSA specification; the UART interface socket 8 connected with the GPS module, the UART interface socket 9 connected with the data transmission station and the UART interface socket 10 used for function expansion adopt patch sockets with DF13-5P-1.25DSA specifications; i for connecting external magnetic compasses 2 The C interface socket 11 adopts a patch socket with DF13-4P-1.25DSA specification; the airspeed meter interface socket 12 adopts a patch socket with DF13-3P-1.25DSA specification.
Further, in one embodiment, the multifunctional integrated module comprises a remote controller PPM signal connection pin 13, a power connection socket 16 and a Micro USB interface 17;
the PPM signal connection pin 13 of the remote controller is connected with a remote control signal receiver, and the remote control signal receiver converts the received remote control signal into a PPM signal and inputs the PPM signal to the ARM chip 1;
the power supply connecting socket 16 is connected with an external power supply, supplies power to the whole flight controller, and is connected with a special power supply detection module to realize a current and voltage detection function;
the Micro USB interface 17 is configured to provide an interface for performing equipment maintenance and debugging, and is further configured to update the system firmware of the flight controller.
Further, in one embodiment, the multifunctional integrated module further comprises a steering engine PWM signal connection pin 14, which is used for transmitting a PWM signal output from the ARM chip 1 to the steering engine to drive the steering engine to deflect.
Further, in one of them embodiment, the multi-functional module of synthesizing still includes that outside LED connects pin header 15, the LED display module of external blue, red, three kinds of green colours for unmanned aerial vehicle flies at night and demonstrates light.
Preferably, in combination with fig. 2, the ARM chip 1, the nine-axis motion sensor 2, the air pressure sensor 3, the a/D conversion chip 4, the FRAM memory chip 5, the voltage stabilization chip 6, and the connection external IMSPI interface socket 7 of U sensor, UART interface socket 8 of connecting GPS module, UART interface socket 9 of connecting data transfer radio station, 2 UART interface sockets 10 for function expansion, I of connecting external magnetic compass 2 C interface socket 11, airspeed meter interface socket 12, remote controller PPM signal connection pin header 13, steering wheel PWM signal connection pin header 14, outside LED connect pin header 15, power connection socket 16, micro USB interface 17, the SPI interface socket 18 that is used for the function to expand all paste and weld in the front of flight control board, USB interface 17 sets up the side at the flight control board.
Four angles of control panel are equipped with four circular ports, through the fix with screw in the shell, four screw hole sites are reserved in the shell four corners and are used for installing flight control ware on unmanned aerial vehicle.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, which are within the spirit of the present invention, are included in the scope of the present invention.

Claims (10)

1. An embedded flight controller of a micro unmanned aerial vehicle is characterized by comprising an ARM chip (1), a nine-axis motion sensor (2), an air pressure sensor (3), an A/D conversion chip (4), an FRAM storage chip (5), a voltage stabilizing chip (6), an external expansion module and a multifunctional comprehensive module;
the ARM chip (1) is a core device of the flight controller and is used for achieving flight task management, flight control and navigation calculation and feeding back the flight task management, the flight control and the navigation calculation to the output end control execution mechanism;
the nine-axis motion sensor (2) is used for measuring the three-axis acceleration, the three-axis angular velocity and the three-axis magnetic field intensity of the micro unmanned aerial vehicle, outputting attitude angle data and transmitting the attitude angle data to the ARM chip (1);
the air pressure sensor (3) is used for realizing high-resolution air pressure measurement, the measured air pressure is used for calculating the height of the micro unmanned aerial vehicle, and data are transmitted to the ARM chip (1);
the A/D conversion chip (4) is used for converting analog signals measured by the nine-axis motion sensor (2) and the air pressure sensor (3) into digital signals and transmitting the digital signals to the ARM chip (1);
the FRAM storage chip (5) is used for storing calibration parameters of the nine-axis motion sensor (2) and the air pressure sensor (3), and preset flight control instructions, navigation instructions and planning track information, and interacts with the ARM chip (1);
the voltage stabilizing chip (6) is used for supplying power to the ARM chip (1), the nine-axis motion sensor (2), the air pressure sensor (3) and the FRAM storage chip (5);
the external expansion module is used for realizing external function expansion of the flight controller;
the multifunctional comprehensive module is used for realizing remote control and updating of the micro unmanned aerial vehicle.
2. The embedded flight controller of micro unmanned aerial vehicle as claimed in claim 1, wherein the ARM chip (1) is connected to the nine-axis motion sensor (2) through an asynchronous communication serial port UART, to the air pressure sensor (3) through a synchronous serial interface SPI, and to the FRAM memory chip (5) through another synchronous serial interface SPI; the ARM chip (1) sends a configuration command through the UART serial port to determine the working mode of the nine-axis motion sensor (2), and the nine-axis motion sensor (2) transmits measurement data to the ARM chip (1) through the UART serial port according to the received command.
3. The embedded flight controller of micro unmanned aerial vehicle as claimed in claim 1, wherein the nine-axis motion sensor (2) comprises a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer for measuring three-axis acceleration, three-axis angular velocity, and three-axis magnetic field strength of the micro unmanned aerial vehicle, respectively.
4. The embedded flight controller of micro unmanned aerial vehicle as claimed in claim 1, wherein the dc voltage input range of the voltage stabilization chip (6) is 4.5V-16V, the output voltage is fixed at 3.3V, and the output precision is 1%.
5. The embedded flight controller of micro unmanned aerial vehicle as claimed in claim 1, wherein the external extension module comprises SPI interface socket (7) for connecting external IMU sensor, UART interface socket (8) for connecting GPS module, UART interface socket (9) for connecting data transfer station, 2 UART interface sockets (10) for function extension, I for connecting external magnetic compass 2 The device comprises a C interface socket (11), an airspeed meter interface socket (12) and an SPI interface socket (18) for function expansion; the SPI interface socket (7) connected with the external IMU sensor is externally connected with the IMU sensor and used for providing three-axis angular velocity and three-axis acceleration measurement information; the UART interface socket (8) connected with the GPS module is externally connected with the GPS module and used for providing longitude and latitude and height information; the UART interface socket (9) connected with the data transmission radio station is externally connected with the data transmission radio station and connected with the ground control terminal and the micro unmanned aerial vehicle, and the ground control terminal is used for acquiring the flight state information of the micro unmanned aerial vehicle and performing flight task allocation and flight path planning on the micro unmanned aerial vehicle; the UART interface socket (10) for function expansion provides an additional UART interface; said I connected to an external magnetic compass 2 The C interface socket (11) is externally connected with a magnetic compass and used for providing magnetic field information; the airspeed meter interface socket (12) is externally connected with an analog airspeed meter to provide airspeed information; the SPI interface socket (18) for expanding functions provides an additional SPI interface.
6. The embedded flight controller of Micro unmanned aerial vehicle as claimed in claim 1, wherein the multifunctional integrated module comprises a remote controller PPM signal connection pin header (13), a power connection socket (16) and a Micro USB interface (17);
the PPM signal connection pin (13) of the remote controller is connected with a remote control signal receiver, and the remote control signal receiver converts the received remote control signal into a PPM signal and inputs the PPM signal into the ARM chip (1);
the power supply connecting socket (16) is connected with an external power supply, supplies power to the whole flight controller, and is connected with a special power supply detection module to realize a current and voltage detection function;
the Micro USB interface (17) is used for providing an interface for maintaining and debugging equipment and is also used for updating the system firmware of the flight controller.
7. The embedded flight controller of miniature unmanned aerial vehicle as claimed in claim 6, wherein the multifunctional integrated module further comprises a steering engine PWM signal connection pin header (14) for transmitting the PWM signal output from the ARM chip (1) to the steering engine to drive the steering engine to deflect.
8. The embedded flight controller of miniature unmanned aerial vehicle as claimed in claim 7, wherein the multifunctional integrated module further comprises an external LED connection pin header (15) externally connected with LED display modules of blue, red and green colors for showing light of miniature unmanned aerial vehicle flying at night.
9. The embedded flight controller of miniature unmanned aerial vehicle as claimed in claim 8, wherein the ARM chip (1), nine-axis motion sensor (2), barometric sensor (3), A/D conversion chip (4), FRAM memory chip (5), voltage stabilization chip (6), SPI interface socket (7) for connecting external IMU sensor, UART interface socket (8) for connecting GPS module, UART interface socket (9) for connecting data transmission station, 2 UART interface sockets (10) for function expansion, I for connecting external magnetic compass 2 C interface socket (11), airspeed meter interface socket (12), remote controller PPM signal connection pin header (13), steering wheel PWM signal connection pin header (14), outside LED connect pin header (15), power connection socket (16), micro USB interface (17), be used for SPI interface socket (18) of function expansion all paste and weld in the front of flight control panel, USB interface (17) set up the side at the flight control panel.
10. A micro unmanned aerial vehicle embedded flight controller as claimed in claim 1, wherein four corners of the control panel are provided with four circular holes, the four circular holes are fixed in the housing by screws, and four screw holes are reserved at the four corners of the housing for mounting the flight controller on the unmanned aerial vehicle.
CN202211017745.XA 2022-08-23 2022-08-23 Embedded flight controller of micro unmanned aerial vehicle Pending CN115202271A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211017745.XA CN115202271A (en) 2022-08-23 2022-08-23 Embedded flight controller of micro unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211017745.XA CN115202271A (en) 2022-08-23 2022-08-23 Embedded flight controller of micro unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
CN115202271A true CN115202271A (en) 2022-10-18

Family

ID=83571792

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211017745.XA Pending CN115202271A (en) 2022-08-23 2022-08-23 Embedded flight controller of micro unmanned aerial vehicle

Country Status (1)

Country Link
CN (1) CN115202271A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115599027A (en) * 2022-12-16 2023-01-13 西北工业大学（Cn） Low-dimensional aircraft chip micro-system, preparation and control method
CN116449858A (en) * 2023-04-17 2023-07-18 北京科技大学 UWB flight control board of bionic butterfly ornithopter

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115599027A (en) * 2022-12-16 2023-01-13 西北工业大学（Cn） Low-dimensional aircraft chip micro-system, preparation and control method
CN116449858A (en) * 2023-04-17 2023-07-18 北京科技大学 UWB flight control board of bionic butterfly ornithopter
CN116449858B (en) * 2023-04-17 2024-04-12 北京科技大学 UWB flight control board of bionic butterfly ornithopter

Similar Documents

Publication Publication Date Title
US20220390945A1 (en) Modular Flight Management System Incorporating An Autopilot
CN115202271A (en) Embedded flight controller of micro unmanned aerial vehicle
CN205281183U (en) Low latitude environmental monitoring unmanned aerial vehicle system
CN107505833B (en) Flight control system and method based on embedded operating system
CN101515178B (en) Master-slave burden type redundancy automatic unmanned aircraft pilot based on CAN bus
US10281930B2 (en) Gimbaled universal drone controller
CN204613745U (en) A kind of multifunctional small-size quadrotor
CN103034229A (en) Integrated type testing device for flying control
CN102424112A (en) Three-layer airborne flight control device for micro four-rotor aerial vehicle
EP3754302A1 (en) Flight control and navigation integrated machine
CN202771262U (en) Fixed-wing automatic navigation flight control system
CN1669874A (en) Automatic pilot for aircraft
Bingler et al. Dual radio autopilot system for lightweight, swarming micro/miniature aerial vehicles
CN2681997Y (en) Aircraft automatic pilot with double processors
CN110989647B (en) Multi-sensor fusion flight controller based on SoC
CN106292713A (en) A kind of multi-rotor aerocraft control system
US9776730B1 (en) Independently operable flight data capture and transmission device
Garberoglio et al. Choriboard III: a small and powerful flight controller for autonomous vehicles
CN204808047U (en) Digit accurate controlling means of gesture that takes photo by plane
US20200249019A1 (en) Attachable-detachable unit and sensor calibrating method using the same
CN212797347U (en) Directional navigation device of unmanned aerial vehicle
CN211979513U (en) Unmanned aerial vehicle of built-in airborne computer flies accuse module
RU73475U1 (en) SMALL INERTIAL MOVEMENT MANAGEMENT SYSTEM
CN112506098A (en) LTCC-based monolithic unmanned aerial vehicle integrated navigation flight control micro system
Ax et al. Architecture of an autonomous mini unmanned aerial vehicle based on a commercial platform

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination