RU105032U1 - DISTRIBUTED INERTIAL SYSTEM - Google Patents

Abstract

 A distributed inertial system of a complex of n = 3 unmanned aerial vehicles, each of which contains an individual inertial system, which includes: a microcontroller, two three-stage gyroscopes, first-third operational amplifiers, an accelerometer, a modem with a transceiver antenna, a ground control and communication station with a third radio channel, characterized in that the first and second radio channels for receiving navigation signals of the GPS and / or GLONASS satellites, respectively, and the fourth radio channel of the two-way are introduced into it her connection with each of the "n" unmanned aerial vehicles; the system has the following connections: the outputs of the information signals of the first and second gyroscopes at the angles of pitch, pitch and course through the first, second and third operational amplifiers are respectively connected to the first or third inputs of the microcontroller, the output of the accelerometer is connected by the first communication bus to the fourth input of the microcontroller, the transceiver antenna the modem and the second communication bus are connected to the input / output of the microcontroller, the first radio channel the antenna is connected to the satellite of the GPS navigation system, the second radio channel to the GLONASS navigation system utilities, the third radio channel — with a ground control station and the fourth radio channel — with individual stations of each of the “n” UAVs; the microcontroller in its composition contains an ADC for converting analog signals of the first and second gyroscopes into digital form, a Kalman filter for a qualitative assessment of UAV motion, a differential calculator for determining UAV coordinates from GPS and GLONASS, and a rms coordinate calculator

Description

The utility model relates to automatic control systems for aircraft, for example, unmanned aerial vehicles (UAVs) and can be used to navigate and control UAVs that test trunk oil and gas pipelines (hereinafter pipelines).

A known drawback of existing systems with a single UAV is the fact that when you lose contact with the UAV, or the UAV itself, there are three problems:

- the task remains unfulfilled.

- the reason for what happened is incomprehensible.

- the UAV itself is lost.

Problems 2 and 3 have no serious consequences - these are just technical problems. Problem 1 is significant because it is a problem for the customer.

In cases where the UAV task fulfillment has priority over costs, it is advisable to create a “cloud” - that is, a complex of several UAVs connected by a specific support and operation algorithm. Previously, when UAVs were expensive, the concept of a “cloud” was difficult to implement. Now the cost of an individual UAV has a steady tendency to decrease, therefore, the use of the “cloud” is beneficial - firstly, because the probability of completing a task increases, and secondly, because an increase in this probability does not lead to a significant increase in the cost of the solution.

The control system of an unmanned aerial vehicle (SU UAV) is intended for the control and management of UAVs, as well as the solution of other tasks associated with the implementation of UAV operator tasks.

Another problem of monitoring pipelines in automatic mode without the participation of the operator of the ground control and guidance station is the most accurate following of the pipeline thread. The deviation error from the thread should be minimal and not exceed ± (3.0-6.0) meters from the axis of the pipeline. Another problem is the minimum overall mass characteristics (GMC) of the inertial system, because the weight of the UAV itself can lie in the range of tens or even units of kg.

The inertial UAV system of the TRANSAS company is known, see www.transas.ru, which includes a magnetic heading sensor, an inertial satellite navigation system BISNS-11.

Disadvantage: with acceptable GMCs, insufficient accuracy of determination: course ≈5 °, coordinates ± 20 meters, accumulation of error in determining coordinates equal to 12 m per hour of flight, determination of coordinates ≈20 m. Next, high weight up to 4.5 kg.

Also known is the onboard UAV complex of navigation and control, see www.teknol.ru, which includes: ANN / SNA integrated system and fully automatic flight along a given route; stabilization of UAV orientation angles in flight; operational change of the route in flight (in the presence of a radio channel).

The complex contains: inertial navigation system; GPS or GLONASS satellite navigation receiver; autopilot; flight data storage (option); airspeed sensor (optional).

Disadvantages: using only either GPS or GLONASS (simultaneous use is not provided), there is no own inertial system, which leads to significant errors in determining coordinates, and as a result to an error following along the pipeline axis, i.e. to poor-quality control of his condition.

The well-known complex "FILIN-1" is designed to perform tasks on operational-tactical reconnaissance by technical means, has great autonomy and mobility. The presence of six UAVs in the complex allows constant reconnaissance or target designation in the area of the object under observation. Complex "FILIN-1" solves a number of combat tasks: patrolling the area at any time; detection and identification of objects; transmitting information about threatening facilities; suppression of air defense systems.

Monitoring of the air and ground conditions of UAVs involves viewing a certain area of the terrain and obtaining information using photo, television and video systems and storing it on the on-board storage device. During a flight in a given area, a UAV can transmit intelligence information to a module of a communication, control, and information processing system via a real-time radio channel.

The UAV operator evaluates the incoming information and controls the UAV itself and its target load, for example, a television camera, using the command radio channel in order to best observe stationary or moving objects and determine their type and coordinates - PROTOTYPE, see g. AviaSoyuz, Moscow, No. 6, 2007, p. 50, www. aviationunion.ru.

Disadvantages: large errors in maintaining the coordinates of the flight due to the lack of reception of GPS and / or GLONASS navigation signals, flight correction from the operator of the ground control and guidance station. The lack of communication over the radio channels between the UAVs in the complex, this makes it difficult to accurately determine the coordinates of the complex as a whole. All this is due to the military orientation of the complex.

The technical task is to increase the accuracy characteristics for the unconditional fulfillment of the UAV flight mission, i.e. following along the axis of the main pipeline, of course, with the minimum permissible error.

To solve this problem, a distributed inertial system of a complex of n = 3 UAVs, each of which contains an individual inertial system, which includes: a microcontroller, two three-stage gyroscopes, the first and third operational amplifiers, an accelerometer, a modem with a transceiver antenna, a ground control station, and connection with the third radio channel, characterized in that the first and second radio channels for receiving navigation signals of the GPS and / or GLONASS satellites, respectively, and the fourth radio channel of two hundred -directional communication with each of the "n" UAV; the system has the following connections: the outputs of the information signals of the first and second gyroscopes at the angles of pitch, pitch and course through the first, second and third operational amplifiers are respectively connected to the first and third inputs of the microcontroller, the output of the accelerometer is connected by the first communication bus to the fourth input of the microcontroller, transceiver the antenna through the modem and the second communication bus is connected to the input / output of the microcontroller, the first radio channel the antenna is connected to the satellite of the GPS navigation system, the second radio channel with the remote control GLONASS navigation system users, the third radio channel - with a ground control station and the fourth radio channel - with individual stations of each of the "n" UAVs; the microcontroller in its composition contains an ADC for converting analog signals of the first and second gyroscopes to digital form, a Kalman filter for a qualitative assessment of UAV motion, a differential calculator for determining UAV coordinates from GPS and GLONASS, and a root-mean-square calculator for the coordinates of the complex from "n" UAVs, also contains a microcontroller digital-to-analog converters for controlling aileron drives, elevators and rudders, and the number of UAVs in a complex of n = 3, depending on the specific flight conditions nogo assignments.

The drawing shows the structural electrical system of the navigation system of one UAV, which shows: 1 - the first gyroscope that gives the roll (γ) and pitch (υ) signals, 2 - the second gyroscope that gives the heading signal (Ψ), 3 - the first, second and the third operational amplifiers (op amps) according to the signals γ, υ and Ψ, respectively, 4 - a microcontroller (MS), 5 - an accelerometer, 6 - a modem, 7 and 8 - satellite systems GPS and GLONASS, respectively, 9 - a ground-based UAV control and guidance station, 10 - "n" of other UAVs forming a group ("cloud"), 11 - power supply, the first - fourth iokanaly, A - UAV antenna, the first bus connection with MC4 accelerometer, the second bidirectional bus connection with MC4 modem. The MC4 incorporates an ADC4-1 and DAC4-5 Kalman 4-2 filter, a differential coordinate calculator based on GPS and GLONASS 4-3 signals, an average position calculator for the UAV 4-4 complex-complex, and a 4-6 multiplexer.

The scheme of each inertial system has the following connections.

A distributed inertial system included in the complex of "n" UAVs 10, each of which contains an individual inertial system containing two three-stage gyroscopes 1 and 2, an accelerometer 5 and a microcontroller 4, characterized in that the first and third operational amplifiers 3 are introduced into it, ADC4-1, modem 6 with a receiving antenna with the following connections: outputs of the first and second gyroscopes through the roll channels -γ- and pitch -υ- and course -Ψ-, respectively, through the first - third operational amplifiers 3 are connected through inputs 4-6 to the inputs ADC4-1 m the microcontroller 4, with the fourth information input of which the accelerometer output 5 is connected to the first communication bus, the antenna A output via the modem 6 of the second communication bus is connected to the GLONASS + GPS satellite navigation signal processing differential unit 4-3, the DAC outputs of the microcontroller 4 are connected to the drives of the control surfaces: ailerons, rudders, elevators, etc .; information signals of GLONASS 8 + GPS 7 satellites by the first and second radio channels are connected to antennas A of each inertial system, respectively, the output of the ground control and guidance station 9 is also connected by the third radio channel to the antenna A of the inertial system; microcontroller 4 in its composition contains: multiplexer 4-6, ADC4-1 for converting analog signals of the first and second gyroscopes to digital form, DAC 4-5 for controlling drives, Kalman filter 4-2 for a qualitative assessment of the movement of the UAV 10, Kalman filter 4 -2 implemented by software when processing navigation signals GLONASS 8 + GPS 7; differential calculator 4-3 determining the coordinates of the UAV 10 from GPS 7 and GLONASS 8 and the calculator of the mean square value 4-4 coordinates of the UAV group 10, if any; the number of UAVs 10 in the complex n> 3, depending on the specific flight conditions.

Distributed inertial system works as follows. The work of an individual inertial system. The analog signals from the outputs of the gyroscopes 1 and 2 are amplified by low-noise precision operational amplifiers 3 to a value distinguishable by the ADC4-1. By regularly interrogating the ADC4-1, the MC4 receives data on the spatial position of the UAV object (gyroscopes) in digital form. Digital accelerometer 5, also at the request of MC4, transmits to it information about the value of acceleration in three coordinates. Processing data obtained from gyroscopes 1 and 2 and accelerometer 5 according to a specific algorithm, MC4 generates control signals for the control surfaces of the UAV and engines. Two power sources are necessary due to the different supply voltage of the components used: +3.3 V and 5 V.

Through the transmit-receive antenna A, the individual system provides the solution to the following tasks:

- reception and processing of SNS GLONASS + GPS signals using open civil codes ST and C / A in the L1 range;

- automatic continuous generation of three coordinates (latitude, longitude, altitude), time, course and speed;

- issuance of current coordinates to external devices in the coordinate system WGS-84, PZ-90, PZ-90.02, SK-42, SK-95;

- updating of coordinates with a frequency of 1, 2, 5 Hz;

- assessment of the accuracy of determining the coordinates of the consumer’s place;

- reception, storage and updating of the GLONASS + GPS SNS almanacs and ephemeris (almanacs, ephemeris and the last observed coordinates are stored in volatile memory when the power to the receiver is turned off);

- automatic selection of the constellation from the visible NSA SNS GLONASS + GPS, taking into account their technical condition;

- exchange of information with external systems using the NMEA-0183 protocol (IEC 1162) or the BINR protocol;

- reception and recording of corrective information in accordance with the recommendations of RTCM SC-104 V2.2;

- issuing time stamps to consumers;

- the standard error of determining the current values of the navigation parameters when the GPS GLONASS + GPS are fully deployed.

Work as part of a complex (“clouds”). In this mode, each individual system exchanges current coordinate information with the ground control and guidance station 9 and with each of the "n" UAVs. According to the current information received from other “n” UAVs, each individual inertial system calculates the average value of the coordinates of the complex (“clouds”), which is true (of course, taking into account the error). The differential GLONASS + GPS signal processing mode, together with the Kalman filter, significantly increases the accuracy of determining the coordinates of the complex, therefore, the accuracy of following the pipeline route is increased, which means that the probability of unconditional fulfillment of the flight mission and its condition (pipeline rupture, leakage, etc.) are increased. )

Claims (1)

A distributed inertial system of a complex of n = 3 unmanned aerial vehicles, each of which contains an individual inertial system, which includes: a microcontroller, two three-stage gyroscopes, first-third operational amplifiers, an accelerometer, a modem with a transceiver antenna, a ground control and communication station with a third radio channel, characterized in that the first and second radio channels for receiving navigation signals of the GPS and / or GLONASS satellites, respectively, and the fourth radio channel of the two-way are introduced into it her connection with each of the "n" unmanned aerial vehicles; the system has the following connections: the outputs of the information signals of the first and second gyroscopes at the angles of pitch, pitch and course through the first, second and third operational amplifiers are respectively connected to the first or third inputs of the microcontroller, the output of the accelerometer is connected by the first communication bus to the fourth input of the microcontroller, the transceiver antenna the modem and the second communication bus are connected to the input / output of the microcontroller, the first radio channel the antenna is connected to the satellite of the GPS navigation system, the second radio channel to the GLONASS navigation system utilities, the third radio channel — with a ground control station and the fourth radio channel — with individual stations of each of the “n” UAVs; the microcontroller in its composition contains an ADC for converting analog signals of the first and second gyroscopes to digital form, a Kalman filter for a qualitative assessment of UAV motion, a differential calculator for determining UAV coordinates from GPS and GLONASS, and a root-mean-square calculator for the coordinates of the complex from "n" UAVs, also contains a microcontroller digital-to-analog converters for controlling aileron drives, elevators and rudders, and the number of UAVs in the complex of n = 3, depending on the specific flight conditions th job.