CN101382426A - Automatic navigation system for unmanned helicopter - Google Patents
Automatic navigation system for unmanned helicopter Download PDFInfo
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- CN101382426A CN101382426A CNA2007101213611A CN200710121361A CN101382426A CN 101382426 A CN101382426 A CN 101382426A CN A2007101213611 A CNA2007101213611 A CN A2007101213611A CN 200710121361 A CN200710121361 A CN 200710121361A CN 101382426 A CN101382426 A CN 101382426A
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Abstract
The invention provides an automatic navigation system of an unmanned helicopter, which consists of the unmanned helicopter, an automatic navigation center processing unit, a global positioning system (GPS) unit and a gyroscope inertial navigation unit. The unmanned helicopter is formed by remoulding a remote control aeromodelling helicopter and can be switched between modes of automatic drive and manual drive; the automatic navigation center processing unit consists of an embedded ARM controller and an external expansion interface; the GPS unit consists of a GPS receiver and a high precision receiving antenna; and the gyroscope inertial navigation unit consists of a gyroscope and a data acquisition circuit. The automatic navigation system realizes the automatic navigation and the autonomous flight control of the unmanned helicopter.
Description
Technical field
The present invention relates to field of navigation technology, belong to Based Intelligent Control, specifically be used for the automated navigation system of depopulated helicopter, unmanned gyroplane, purpose is to realize the unmanned and intelligent independent flight of helicopter.
Background technology
At present, the automated navigation system of depopulated helicopter is becoming the research focus in the whole world, especially weight is depopulated helicopter, the giro below 5 kilograms, all be to adopt the ground remote control drive manner, promptly, realize flight by the direction and the path of the flight of operator hand-held remote controller remotely pilotless helicopter.This ground remote control drive manner is controlled inconvenience, and the flight circuit is not accurate, and endurance distance is limited.
Summary of the invention
The objective of the invention is for depopulated helicopter provides a kind of system that realizes self-navigation, control, and support freely switching between remote driving and automatic the driving, realize the Based Intelligent Control of depopulated helicopter with the automatic driving that realizes depopulated helicopter.
For achieving the above object, technical solution of the present invention is:
A kind of automatic navigation system for unmanned helicopter, comprise model copter, ground control centre two parts, wherein, model copter is provided with embedded control unit, wireless communication apparatus and electric battery, and the ground control centre comprises computing machine, wireless communication apparatus and ground remote control device; Also be provided with navigation elements on the helicopter, comprise self-navigation center processing unit, global positioning satellite unit, gyroscope inertial navigation unit and an altitude gauge sensor, these equipment are electrically connected with embedded control unit, the data of gathering all are input in the embedded control unit, carry out data processing by control module, and realize self-navigation;
Be electrically connected routinely between each ingredient;
Various electrical equipment, electronic installation place in the shell, are installed on the device tray, and device tray is horizontally disposed with, and four jiaos are connected with the undercarriage of RC Goblin is soft with rubber strip;
Be connected for wireless telecommunications between the computing machine of navigation elements and ground control centre.
Described automated navigation system, its described embedded control unit, be to utilize embedded computer system as airborne control center, be aided with outside expanded circuit, can realize the function of Navigation Control, data acquisition, data processing and wireless telecommunications, and in original remote control circuit, having increased a multichannel switching device shifter, this switching device shifter can be realized switching between self-navigation and the manual drive by a passage of ground control computer or telepilot.
Described automated navigation system, connect for wireless telecommunications between its described above ground portion and the aerial depopulated helicopter, wireless telecommunications partly comprise the manual drive telepilot and the receiver of depopulated helicopter, and the Radio Link set up of the wireless communication module that provides of automated navigation system.
Described automated navigation system, the wireless communication module of its described ground control centre and the wireless telecommunications of manual controller are on two communication frequency bands, the 315MHZ frequency range is adopted in the ground control centre, and the 47MHZ frequency range is adopted in remote manual control, and is interference-free to guarantee the communication between the two.
Described automated navigation system, its described undercarriage, this size is greater than existing model helicopter undercarriage.
Described automated navigation system, its described embedded computer system is a central controller with ARM9.0.
Described automated navigation system, its described satnav unit comprises satnav receiver and satnav antenna, locks at the same time under the situation of 4 above satellites, upgrades locator data with the speed of 1HZ.
Described automated navigation system, its described inertial navigation unit combines three deflection rate gyroscopes, the three-dimensional accelerometer, three axis magnetometer, under the motion state of three 360 degree, it is Eulerian angle that angle is provided, the data of quaternary element and matrix format.
Described automated navigation system, its described rubber strip is connected with the undercarriage of RC Goblin is soft, is four jiaos that one section of rubber strip is fixed in device tray, and the other end links to each other with the pillar of undercarriage by the set collar on the undercarriage.
Automated navigation system of the present invention is embodiment with the model copter, is the control core with the embedded control system, has realized the self-navigation and the flight of depopulated helicopter.The practical flight experimental verification validity of the present invention, make the flight path of depopulated helicopter accurate, endurance distance increases, system of the present invention also is applicable to the depopulated helicopter self-navigation that weight and volume is bigger simultaneously.
Outstanding feature of the present invention is to utilize embedded computer system as airborne control center, carries out necessary electrical equipment and machine rebuilding on original remote control model helicopter, makes remote control model helicopter have the function of independent navigation and flight.The machine rebuilding that carries out comprises: the original undercarriage of RC Goblin is removed, be replaced by the undercarriage that is fit to install homer.Electric equipment altering comprises: increased a multichannel switching device shifter in original remote control circuit, this switching device shifter can be realized switching between self-navigation and the manual drive by a passage of ground control computer or telepilot; On RC Goblin, multiple sensors equipment has been installed, comprise PGS receiver and aerodiscone antenna, inertial navigation set, the altitude gauge sensor, the data of these sensor device collections all enter into embedded Control in the heart, carry out data processing by control center, and realize self-navigation.
Description of drawings
Fig. 1 is an automatic navigation system for unmanned helicopter synoptic diagram of the present invention; Top is helicopter and airborne equipment; The bottom is a ground control station.Among the figure:
1---depopulated helicopter
2---device housings
3---undercarriage
4---flexibly connect
5---device tray
6---altitude gauge
7---embedded controller (comprising multi-way switch)
8---wireless communication module
9---the GPS receiver
10---the inertial navigation unit
11---electric battery
12---the GPS receiving antenna
13---wireless communication module
14---ground control computer
15---terrestrial operation person
16---the helicopter telepilot
Embodiment
Automatic navigation system for unmanned helicopter of the present invention, be to utilize the embedded intelligence control technology, be the self-navigation of helicopter design and automated driving system, this system is applicable to the automatic driving control of various remote controlled model plane helicopters, depopulated helicopter, and the self-navigation of remote control rotor model aircraft control, realize the autonomous flight of depopulated helicopter, giro, in the scope that artificial may command maybe can limit, according to the given flight path of operator, finish the aerial mission of appointment or the task of cruising.
A kind of automatic navigation system for unmanned helicopter, form by depopulated helicopter, self-navigation center processing unit, Global Positioning System (GPS) (GPS) unit and gyroscope inertial navigation unit, it is characterized in that: provide a cover complete navigational system, comprise the ground control centre and control carrier two parts in the air.Wherein the ground control centre is made up of personal computer, wireless communication apparatus, is electrical connection between the two; Aerial control carrier is made up of depopulated helicopter body, embedded control unit, navigation elements, wireless communication apparatus and electric battery, is electrically connected routinely between each ingredient.
Utilize embedded computer system as airborne control center, on original remote control model helicopter, carry out necessary electrical equipment and machine rebuilding, make remote control model helicopter have the function of independent navigation and flight.The machine rebuilding that carries out comprises: the original undercarriage of RC Goblin is removed, be replaced by the undercarriage that is fit to install homer.Electric equipment altering comprises: increased a multichannel switching device shifter in original remote control circuit, this switching device shifter can be realized switching between self-navigation and the manual drive by a passage of ground control computer or telepilot; On RC Goblin, multiple sensors equipment has been installed, comprise PGS receiver and aerodiscone antenna, inertial navigation set, the altitude gauge sensor, the data of these sensor device collections all enter into embedded Control in the heart, carry out data processing by control center, and realize self-navigation.
Be between its above ground portion and the airflight carrier part that wireless telecommunications connect, wireless telecommunications partly comprise the manual drive telepilot and the receiver of model helicopter, and the Radio Link set up of the wireless communication module that provides of automated navigation system.
Its ground control centre comprises control computer, wireless communication module, manual controller, and wherein the wireless telecommunications of wireless communication module and manual controller must be arranged on the bigger frequency range of two difference, and are interference-free to guarantee the communication between the two.
The model copter of its aerial control carrier part changes original helicopter landing gear into homemade undercarriage through transforming, and has increased the height and the intensity of undercarriage, so that various electrical equipment, electronic installation are installed.
Its described embedded centralized control unit is a central controller with ARM9.0, is aided with outside expanded circuit and forms, and can realize the function of Navigation Control, data acquisition, data processing and wireless telecommunications.
Its described GPS unit is made up of gps receiver and high-precision GPS antenna, requires to lock at the same time under the situation of 4 above satellites, upgrades locator data with the speed of 1HZ.
Its inertial navigation unit combines three deflection rate gyroscopes, the three-dimensional accelerometer, and three axis magnetometer under the motion state of three 360 degree, can provide the data of angle at Eulerian angle, quaternary element and matrix format.
Its described aerial control carrier part also comprises an altitude gauge sensor, and the flying height of helicopter can be provided.
Its described embedded centralized control unit is a central controller with ARM9.0, is aided with outside expanded circuit and forms, and can realize leading the function of remote manual control/self-navigation switching, Navigation Control, data acquisition, data processing and wireless telecommunications.
See also Fig. 1.System of the present invention is made up of two parts: helicopter and airborne equipment, ground control station.In helicopter and airborne equipment, the undercarriage 3 of depopulated helicopter 1 is special device, and size is bigger than original undercarriage, so that be fit to install airborne homer.Airborne homer comprises altitude gauge 6, embedded controller (ARM) 7, wireless communication module 8, GPS receiver 9 and gps antenna 12, inertial navigation unit 10, and the electric battery 11 that electric energy is provided for these equipment.Wherein equipment 6,7,8,9,10,11 is installed concentratedly in the shell 2 of an aluminum, and shell 2 plays the effect of protection internal unit when being subjected to external impacts.Undercarriage 3 is connected with helicopter 1 by fixed screw, and the undercarriage bottom has a device tray 5, is used to support Airplane Navigation Equipment.Pallet is connected on the set collar on the undercarriage by four flexible rubber bands 4, flexibly connects 4 purpose and be the influence to homer of the high-frequency vibration that reduces in the helicopter flight process.Altitude gauge 6, wireless communication module 8, GPS receiver 9 and inertial navigation unit 10 are connected with embedded controller (ARM9) 7 by serial line interface respectively, and electric battery 11 is respectively the said equipment power supply is provided.
Ground control station mainly is made up of ground control computer 14, wireless communication module 13, model copter telepilot 16 and terrestrial operation person 15.Wherein wireless communication module 13 is connected with ground control computer 14 by serial ports, terrestrial operation person's direct control ground control computer 14 and telepilot 16, and to switch the navigation and the drive manner of helicopter: remote manual control driving or self-navigation are driven.
Principle of work of the present invention:
When using system of the present invention to carry out the helicopter self-navigation, at first, start ground control computer and airborne guider by terrestrial operation person, the communication of setting up wireless communication module connects, airborne embedded controller is gathered altitude gauge, Global Positioning System (GPS) (GPS), the data of inertial navigation set make satnav (GPS) unit lock 4 satellites at least.With the longitude and latitude of current satnav (GPS) initial value as the inertial navigation unit.Keyboard and the man-machine interface of operator by ground control computer then is set at the remote manual control drive manner with the drive manner of helicopter, and the manual drive that uses a teleswitch model copter starts the normal flight state that also enters.In the remote manual control driving procedure, airborne homer is noted the flight path and the attitude of helicopter incessantly, and by wireless communication module data is sent in the ground control computer.Next, the operator can switch to automatic navigation mode by the keyboard of ground control computer, and airborne navigator enters the self-navigation control mode.This moment, embedded controller was monitored the instruction of land station on one side, make helicopter be in floating state on one side, after receiving the given impact point of ground control station, embedded controller is a starting point with the position and the attitude of current helicopter, with the impact point that receives is terminal point, cook up the direction of motion and the speed of helicopter by calculating, and control helicopter arrival impact point.Helicopter arrives after the impact point, enters floating state, waits for the instruction of land station.
In the present embodiment, the thunder tiger 90 type fuel blend helicopters that remote control model helicopter has adopted the U.S. to produce, telepilot is 9 passages, frequency setting is 47MHZ, remote control distance is 1500 meters of radiuses, and GPS equipment is that the U.S. produces superstar receiver and aerodiscone antenna, and embedded system has been selected the AT91RM9200 of ARM9 series for use, the inertial guidance unit is the compound inertial navigation of 3DM-GX1 unit, and electric battery has been selected lithium battery for use.Ground control computer is an IBM-51R series notebook computer, and wireless communication module is that communication distance is 2000 meters a wireless data transmission module, and communication frequency is set at 315MHZ.
Use system of the present invention, adopt the configuration that realizes example, verified the validity of system of the present invention by experiment.
Claims (9)
1, a kind of automatic navigation system for unmanned helicopter, comprise depopulated helicopter, ground control centre two parts, wherein, depopulated helicopter is provided with embedded control unit, wireless communication apparatus and electric battery, and the ground control centre comprises computing machine, wireless communication apparatus and ground remote control device; It is characterized in that: also be provided with navigation elements on the depopulated helicopter, comprise self-navigation center processing unit, Global Positioning System (GPS) unit, gyroscope inertial navigation unit and an altitude gauge sensor, these equipment are electrically connected with embedded control unit, the data of gathering all are input in the embedded control unit, carry out data processing by control module, and realize self-navigation;
Be electrically connected routinely between each ingredient;
Various electrical equipment, electronic installation place in the shell, are installed on the device tray, and device tray is horizontally disposed with, and four jiaos are connected with the undercarriage of depopulated helicopter is soft with rubber strip;
Be connected for wireless telecommunications between the computing machine of navigation elements and ground control centre.
2, automated navigation system as claimed in claim 1, it is characterized in that: described embedded control unit, be to utilize embedded computer system as airborne control center, be aided with outside expanded circuit, can realize the function of Navigation Control, data acquisition, data processing and wireless telecommunications, and in original remote control circuit, increasing a multichannel switching device shifter, this switching device shifter can be realized switching between self-navigation and the manual drive by a passage of ground control computer or telepilot.
3, automated navigation system as claimed in claim 1, it is characterized in that: connect for wireless telecommunications between described above ground portion and the aerial depopulated helicopter, wireless telecommunications partly comprise the manual drive telepilot and the receiver of depopulated helicopter, and the Radio Link set up of the wireless communication module that provides of automated navigation system.
4, automated navigation system as claimed in claim 1, it is characterized in that: the wireless communication module of described ground control centre and the wireless telecommunications of manual controller are on two frequency ranges, the 300MHZ frequency range is adopted in the ground control centre, the 40MHZ frequency range is adopted in remote manual control, and is interference-free to guarantee the communication between the two.
5, automated navigation system as claimed in claim 1 is characterized in that: described undercarriage, this size is greater than existing model helicopter undercarriage.
6, automated navigation system as claimed in claim 2 is characterized in that: described embedded computer system is a central controller with ARM9.0.
7, automated navigation system as claimed in claim 1 is characterized in that: described satnav unit, comprise satnav receiver and satnav antenna, and lock at the same time under the situation of 4 above satellites, upgrade locator data with the speed of 1HZ.
8, automated navigation system as claimed in claim 1 is characterized in that: described inertial navigation unit combines three deflection rate gyroscopes, the three-dimensional accelerometer, three axis magnetometer is under the motion state of three 360 degree, it is Eulerian angle that angle is provided, the data of quaternary element and matrix format.
9, automated navigation system as claimed in claim 1, it is characterized in that: described rubber strip is connected with the undercarriage of RC Goblin is soft, be four jiaos that one section of rubber strip is fixed in device tray, the other end links to each other with the pillar of undercarriage by the set collar on the undercarriage.
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|---|---|---|---|
| CNA2007101213611A CN101382426A (en) | 2007-09-05 | 2007-09-05 | Automatic navigation system for unmanned helicopter |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2007101213611A CN101382426A (en) | 2007-09-05 | 2007-09-05 | Automatic navigation system for unmanned helicopter |
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| CN101382426A true CN101382426A (en) | 2009-03-11 |
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| CNA2007101213611A Pending CN101382426A (en) | 2007-09-05 | 2007-09-05 | Automatic navigation system for unmanned helicopter |
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| CN102289230A (en) * | 2010-06-18 | 2011-12-21 | Nes&Tec有限公司 | Flight altitude control system of pilotless aircraft |
| CN102360218A (en) * | 2011-10-14 | 2012-02-22 | 天津大学 | ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and flight control system for unmanned helicopter |
| CN102445947A (en) * | 2010-10-06 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Control system and method of unmanned aerial vehicle |
| CN101598557B (en) * | 2009-07-15 | 2012-05-23 | 北京航空航天大学 | Integrated navigation system applied to pilotless aircraft |
| CN102520727A (en) * | 2011-12-31 | 2012-06-27 | 沈阳航天新光集团有限公司 | Reconnaissance system with unmanned plane |
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- 2007-09-05 CN CNA2007101213611A patent/CN101382426A/en active Pending
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| WO2014177661A1 (en) * | 2013-04-30 | 2014-11-06 | Niederberger-Engineering Ag | Automated and versatile autonomous-climbing undercarriage with flight capability |
| US10118690B2 (en) | 2013-04-30 | 2018-11-06 | Niederberger-Engineering Ag | Automated and versatile autonomously climbing undercarriage with flight capability |
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| CN103770943A (en) * | 2014-01-23 | 2014-05-07 | 南京模拟技术研究所 | Intelligent pesticide delivery unmanned helicopter |
| CN104199455A (en) * | 2014-08-27 | 2014-12-10 | 中国科学院自动化研究所 | Multi-rotor craft based tunnel inspection system |
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| CN106571022B (en) * | 2016-10-18 | 2019-03-19 | 武汉大学 | A kind of four-axle aircraft control system and method based on μ C/OS-III |
| CN106595958A (en) * | 2016-11-30 | 2017-04-26 | 中国直升机设计研究所 | Inertial navigation system-based rotor wing dynamic balance monitoring method and system thereof |
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| WO2019000397A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and method for assembling unmanned aerial vehicle |
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