CN101561681B - Anti-jamming real-time data sampling system of unmanned aerial vehicle - Google Patents

Abstract

The present invention is an anti-jamming data real-time sampling system for unmanned aerial vehicles. The central processing unit is respectively connected with the inertial measurement unit, the wireless remote control unit and the wireless communication unit, and receives the flight attitude information of the unmanned aerial vehicle measured by the inertial measurement unit, and receives the wireless remote control. The PWM signal of the unit sends the attitude information and PWM signal of the drone to the wireless communication unit, and receives the control information sent by the wireless communication unit; UAV attitude information and PWM signal, and send control information to the wireless communication unit; the steering gear of the UAV is connected to the wireless remote control unit to receive the PWM signal of the wireless remote control unit, the PWM signal controls the steering gear to rotate the corresponding angle, and the steering gear transmits the angle information It is converted into a voltage value and fed back to the wireless communication unit. The present invention realizes the anti-jamming real-time data sampling of the steering gear of the UAV through the data sampling system.

Description

An anti-jamming real-time data sampling system for UAV

Technical field:

The invention belongs to the field of intelligent control, in particular to a data sampling system for unmanned aerial vehicles.

Background technique:

UAV data system is a data sampling system designed for UAVs by using embedded intelligent control technology and wireless communication technology. , and ensure the anti-interference and real-time performance of data sampling.

See Figure 3 for the traditional remote control method for micro-sized unmanned aerial vehicles, including: central processing unit, remote control receiver, drone steering gear, wireless remote control, ground control computer, which is characterized in that only one remote control receiver is used, and the central processing unit Both the unit and the steering gear of the UAV are directly connected to this remote control receiver. The central processing unit samples the PWM signal of the remote control receiver, and the steering gear of the UAV receives the PWM signal of the remote control receiver to control the UAV. flight attitude. The disadvantage of this connection is that the central processing unit and the steering gear of the drone are connected to the remote control receiver at the same time, which will cause crosstalk between the central processing unit and the steering gear, resulting in inaccurate data obtained by both.

In the prior art, there is a scheme shown in Figure 4 for the sampling method of the PWM signal of the remote control receiver, including the remote control receiver, the steering gear of the UAV, the wireless remote control, the ground control computer and the signal conversion circuit, which is characterized in that the wireless remote control The controller sends control instructions to the remote control receiver to generate a PWM signal to control the steering gear of the UAV. At the same time, the wireless remote control generates a PWM signal through the signal conversion circuit, and directly transmits the PWM signal to the ground control computer through the signal conversion circuit. The PWM signal of the man-machine servo is stored and used. The advantage of this method is that in the process of sampling the PWM signal, the use of the central processing unit and the wireless communication unit is saved, but its disadvantage is that the signal conversion circuit is added, and the PWM signal generated by the signal conversion circuit and the UAV rudder The PWM signal of the machine is not completely consistent, resulting in inaccurate sampling data.

Invention content:

In order to solve the problems of the prior art, the purpose of the present invention is to achieve the purpose of accurate data sampling of the steering gear of the UAV under various flight attitudes through the real-time control of the UAV by the ground control center. By accurately sampling the attitude information of the UAV and the PWM signal of the steering gear, the sampled data can further be used for mathematical modeling of the UAV, thereby realizing autonomous flight control. The machine provides a real-time data sampling system that can realize anti-jamming.

In order to achieve the stated purpose, the anti-jamming real-time data sampling system of the UAV of the present invention includes: a central processing unit, an inertial measurement unit, a wireless communication unit, a wireless remote control unit, a ground control computer and an UAV steering gear;

The central processing unit and the inertial measurement unit are fixed on the body of the drone;

The central processing unit is electrically connected with the inertial measurement unit, the wireless remote control unit and the wireless communication unit respectively, wherein:

The central processing unit is connected with the inertial measurement unit, and the central processing unit receives the flight attitude information of the drone measured by the inertial measurement unit;

The central processing unit is connected with the wireless remote control unit for receiving the PWM signal of the wireless remote control unit;

The connection between the central processing unit and the wireless communication unit is used to send the attitude information and PWM signal of the drone to the wireless communication unit, and receive the control information sent by the wireless communication unit;

The ground control computer is electrically connected with the wireless communication unit, and is used to receive the UAV attitude information and PWM signal returned by the wireless communication unit;

The wireless communication unit receives the control information sent by the ground control computer, and transmits the control information to the central processing unit to control the data sampling of the central processing unit;

The steering gear of the UAV is connected to the wireless remote control unit to receive the PWM signal from the wireless remote control unit. The PWM signal controls the steering gear to rotate the corresponding angle. The steering gear converts the angle information into a voltage value and feeds it back to the wireless communication unit to form a closed-loop control.

According to an embodiment of the present invention, the central processing unit adopts an embedded control unit or a digital signal processor DSP.

According to an embodiment of the present invention, the embedded control unit uses an embedded ARM9 processor for data sampling, and the ground control computer sends control information to the embedded control unit through a wireless communication unit to control the embedded control unit to start Data sampling or stop data sampling to ensure the real-time performance of the data sampling system.

According to an embodiment of the present invention, the inertial measurement unit uses an IMU integrated with an electronic compass or uses a vertical gyroscope.

According to an embodiment of the present invention, the wireless communication unit is composed of a pair of wireless communication modules, wherein:

The first wireless communication module is fixed on the body of the UAV, connected with the central processing unit, and is responsible for sending the UAV attitude information and PWM signals sampled by the central processing unit to the second wireless communication module, and at the same time receiving The control instructions of the ground control computer transmitted by the wireless communication module;

The second wireless communication module is connected with the ground control computer, responsible for receiving the UAV attitude information and PWM signal returned by the first wireless communication module, and sending the control command of the ground control computer to the first wireless communication module.

According to an embodiment of the present invention, the wireless remote control unit is composed of a wireless remote control and a remote control receiver, wherein:

The first remote control receiver is connected to the central processing unit, and the central processing unit samples the PWM signal of the first remote control receiver;

The second remote control receiver is electrically connected to the steering gear of the drone, and is connected to the wireless remote control through a wireless link. It is used to receive remote control instructions from the wireless remote control, generate the same PWM signal as the first remote control receiver, and transmit To the UAV steering gear to control the flight attitude of the UAV;

The wireless remote controller is wirelessly connected with the first remote control receiver and the second remote control receiver, and is used to send remote control instructions to the first remote control receiver and the second remote control receiver, and is used to manually control the flight and flight attitude of the drone.

According to an embodiment of the present invention, the first remote control receiver is fixed on the body of the drone, electrically connected to the ARM processor of the central processing unit, and connected to the wireless remote control through a wireless link, the first remote control receiver Receive remote control instructions from the wireless remote controller, convert the remote control instructions into PWM signals and send them to the ARM processor of the central processing unit, and the ARM controller of the central processing unit performs sampling and storage.

According to an embodiment of the present invention, the first remote control receiver and the second remote control receiver use two identical remote control receivers.

Beneficial effects and characteristics of the present invention:

The UAV data sampling system of the present invention realizes the anti-interference real-time data sampling of the PWM signal of the UAV steering gear and the attitude information of the UAV. Through the design of the internal structure of the wireless remote control unit, the use of embedded ARM processors for data sampling, and the improvement of the connection between the wireless remote control unit and the central processing unit, the anti-interference and real-time performance of the data sampling system are improved.

By improving the internal structure of the wireless remote control unit, two identical remote control receivers are used inside the wireless remote control unit, which avoids the crosstalk between the central processing unit and the UAV steering gear when only one remote control receiver is used. , improve the anti-interference of the data sampling system.

By using the connection mode of two remote control receivers, the problem of signal interference between the central processing unit and the steering gear of the drone is avoided when only one remote control receiver is used, and the anti-interference performance of the communication system is improved.

The central processing unit is fixed on the body of the drone, which is composed of a high-speed and high-performance ARM9 processor, supplemented by external interface expansion. Since ARM9 uses a 5-stage pipeline, its processing speed reaches the speed of ARM7 with a 3-stage pipeline. More than twice, the working frequency is increased, the processing speed is increased, and the real-time performance of the data acquisition system is ensured.

Description of drawings:

Fig. 1 is the structural representation of the UAV communication system of the present invention;

Fig. 2 is a schematic diagram of a structural implementation example of the unmanned aerial vehicle communication system of the present invention;

Fig. 3 is the schematic diagram of the traditional remote control mode of the prior art miniature unmanned aerial vehicle;

Fig. 4 is a schematic diagram of the sampling method of the PWM signal of the steering gear of the drone in the prior art.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that the described embodiments are only intended to facilitate the understanding of the present invention, rather than limiting it in any way.

The present invention provides a real-time data sampling system capable of realizing anti-jamming for micro-miniature unmanned aerial vehicles. Accurate data sampling of the machine, and ensure the anti-interference and real-time performance of data sampling.

In view of the mutual interference between the central processing unit and the UAV steering gear caused by some flight control systems using only one set of remote control receivers, this UAV communication system uses two identical remote control receivers, see Figure 2, the first remote control receiver is directly connected to the central processing unit, and the second remote control receiver is directly connected to the steering gear. Since the signals generated by the two remote control receivers are exactly the same, this connection avoids the central processing unit The mutual interference between the steering gear and the steering gear improves the anti-interference of the communication system.

In view of the high data accuracy and good real-time control requirements in the aircraft modeling process, the high-speed and high-performance ARM9 processor is used as the central processing unit, supplemented by a wireless communication unit connected to the ground control computer, which improves the sampling system. real-time.

The present invention is an anti-jamming real-time data sampling system for unmanned aerial vehicle, as shown in Figure 1, the system includes: unmanned aerial vehicle, central processing unit A, inertial measurement unit F, wireless communication unit B, wireless remote control unit C, ground control Computer D, steering gear E and inertial measurement unit F of the UAV.

The unmanned aerial vehicle adopted in the example of the present invention is transformed from a remote-controlled model airplane helicopter. Please refer to Figure 1 and Figure 2:

Central processing unit A: The central processing unit A is fixed on the body of the drone, using an embedded control unit or a digital signal processor DSP. When the embedded control unit is an embedded ARM9 processor, the central processing unit A is controlled by the embedded ARM9 processor and its external expansion interface are formed. In the example of the present invention, in order to improve the operating frequency, increase the processing speed, and ensure the real-time performance of the data acquisition system, the ARM9 processor model is used as the H9200F engineering evaluation system, and the Linux system is embedded inside. Because the ARM9 processor adopts a 5-stage pipeline, its processing speed has reached more than twice the speed of the ARM7 processor using a 3-stage pipeline. The embedded ARM9 processor of the central processing unit A is connected with the wireless communication unit B, the wireless remote control unit C and the inertial measurement unit F, the central processing unit A is connected with the inertial measurement unit F, and the central processing unit A receives the wireless data measured by the inertial measurement unit F. The flight attitude information of the man-machine; the connection between the central processing unit A and the wireless remote control unit C, for receiving the PWM signal of the wireless remote control unit C; the connection between the central processing unit A and the wireless communication unit B, for sending to the wireless communication unit B The attitude information and PWM signal of the UAV, and receive the control information sent by the wireless communication unit B; the function of the central processing unit A is that the embedded ARM9 processor samples the attitude information of the inertial measurement unit F through the RS232 serial port, and through the RS232 serial port Sampling the PWM signal of the first remote control receiver C1, the central processing unit A sends the collected attitude information and PWM signal to the first wireless communication module B1 of the wireless communication unit B, and the first wireless communication module B1 passes through the wireless link The road sends this data information to the second wireless communication module B2, and then the second wireless communication module B2 sends this data information to the ground control computer D. The embedded control unit used by the central processing unit A is an ARM9 processor and is also responsible for receiving the control command information sent by the ground control computer D sent by the wireless communication unit B, so as to control the ARM9 processor to start data sampling or stop data sampling , to ensure the real-time performance of the data sampling system.

Wireless communication unit B: The wireless communication unit B receives the control information sent by the ground control computer D, and transmits the control information to the central processing unit A to control the data sampling of the central processing unit A; the wireless communication unit B is connected to the The central processing unit A of the human-machine body and the ground control computer D, the wireless communication unit B are composed of the first wireless communication module B1 and the second wireless communication module B2, the model of the wireless communication module adopted in the example of the present invention is SRWF506, adopt Powered by a 5V battery, the working frequency is 430MHz, and the frequency is 0.5W. It can be directly connected to the central processing unit A and the ground control computer D through the RS232 serial port. Its function is to transmit the data information of the central processing unit A of the body to the ground control computer. D. Send the control command of the ground control computer D to the central processing unit A of the airframe, so as to control the central processing unit A to start data sampling or stop data sampling.

The first wireless communication module B1 is fixed on the body of the drone, connected to the central processing unit A, responsible for sending the drone attitude information and PWM signals sampled by the central processing unit A to the second wireless communication module B2 , while receiving the control command from the ground control computer D transmitted by the second wireless communication module B2;

The second wireless communication module B2 is connected with the ground control computer D, responsible for receiving the UAV attitude information and PWM signal returned by the first wireless communication module B1, and sending the control command of the ground control computer D to the first wireless communication module B1. Module B1.

Wireless remote control unit C: The wireless remote control unit C is composed of a remote control receiver C1 and a wireless remote control C2, wherein: the remote control receiver C1 is composed of a first remote control receiver C11 and a second remote control receiver C12. Two identical remote control receivers C1 are introduced into the wireless remote control unit C, using Futaba R136HP 6-channel receiver with a working voltage of 5V and a frequency of 72MHZ. The wireless remote control C2 uses Futaba 9C Super RC nine-channel (9-Channel) wireless remote control. First, the wireless remote controller C2 sends remote control command information to the remote control receiver C1, and the remote control receiver C1 converts the remote control command information into exactly the same PWM signal. Among them, the remote control receiver C1 is connected with the central processing unit A, and the central processing unit A samples the PWM signal of the remote control receiver C1; the remote control receiver C1 is electrically connected with the drone steering gear E, and outputs the PWM signal to the drone steering gear Machine E is used to control the flight attitude of the UAV. By using the connection method of two remote control receivers C1, the problem of signal interference between the central processing unit A and the UAV steering gear E is avoided when only one remote control receiver is used, and the anti-interference of the communication system is improved. sex.

The specific connections and functions of each part are as follows:

The first remote control receiver 11 is connected to the central processing unit A, and the central processing unit A samples the PWM signal of the first remote control receiver 11;

The first remote control receiver C11 is fixed on the body of the drone, is electrically connected with the embedded ARM9 processor of the central processing unit A, and is connected with the wireless remote control C2 through a wireless link. The remote control command of C2, and convert the remote control command into a PWM signal, and send it to the embedded ARM9 processor of the central processing unit A, and the ARM controller of the central processing unit A samples and stores the PWM signal of the first remote control receiver C11 .

The second remote control receiver C12 is electrically connected with the UAV steering gear E, and is connected with the wireless remote control C2 through a wireless link. The same PWM signal is sent to the UAV servo E to control the flight attitude of the UAV.

The wireless remote control C2 is wirelessly connected with the first remote control receiver C11 and the second remote control receiver C12, and is used to send remote control instructions to the first remote control receiver C11 and the second remote control receiver C12, and is used to manually control the drone. Flight and flight attitude. The first remote control receiver C11, the second remote control receiver C12 and the wireless remote control C2 jointly complete the manual flight of the drone.

Ground control computer D: The ground control computer is electrically connected with the wireless communication unit, and is used to receive the UAV attitude information and PWM signal returned by the wireless communication unit; the ground control computer D adopts an ordinary PC, and communicates with the wireless through the RS232 serial port The second wireless communication module B2 of unit B is electrically connected, and the airborne central processing unit A sends the attitude information of the drone and the PWM signal of the steering gear of the drone to the first wireless communication module B1, and the first wireless communication module B1 sends the data information to the second wireless communication module B2 through the wireless link, and the ground control computer D is responsible for receiving the data information returned by the second wireless communication module B2. Simultaneously, the ground control computer D sends control instruction information to the second wireless communication module B2, and the second wireless communication module B2 sends the control instruction information to the first wireless communication module B1 through a wireless link, and the first wireless communication module B1 sends the control instruction The information is sent to the central processing unit A to control the central processing unit A to start data sampling or stop data sampling.

UAV steering gear E: The steering gear of the drone is connected to the wireless remote control unit, and receives the PWM signal from the wireless remote control unit. The PWM signal controls the steering gear to rotate the corresponding angle. The communication unit forms a closed-loop control. The steering gear E of the UAV uses a Futaba steering gear, and is connected to the second remote control receiver C2 of the wireless remote control unit C. The wireless remote controller C3 sends remote control instructions, and the first remote control receiver C1 and the second remote control receiver C2 convert the remote control instructions into PWM signals. The UAV steering gear E receives the PWM signal of the second remote control receiver C2, and is used to perform various flight attitudes of the UAV.

Inertial measurement unit F: The inertial measurement unit F adopts an integrated electronic compass IMU or a vertical gyroscope, and is electrically connected to the embedded ARM9 processor of the central processing unit A through the RS232 serial port. The inertial measurement unit F measures the attitude information of the UAV, and sends the attitude information to the embedded ARM9 processor of the central processing unit A, and the embedded ARM9 processor of the central processing unit A sends it to the ground control computer through the wireless communication unit B d.

The working process of the system in the present invention is as follows: first, the model helicopter is started by the remote operator and the wireless remote control C3 is used to make the unmanned helicopter hover in the air. At this time, the central processing unit A carried by the drone has not started to sample data. When the operator of the ground control computer D is ready and intends to start sampling data from the drone at a certain moment, the operator of the ground control computer D sends a start signal to the airborne central processing unit A through the wireless communication unit B. The sampling control command, at this time the central processing unit A starts to perform data sampling. According to needs, the remote operator can switch the drone to various flight attitudes, and the central processing unit A samples the attitude information of the inertial measurement unit F and the PWM signal of the drone steering gear E. When the data sampling ends, the operator of the ground control computer D sends a command to stop the data sampling to the central processing unit A through the wireless communication unit B, and the data sampling process is terminated.

Using the system of the present invention, adopting the configuration of the implementation example, the effectiveness of the system of the present invention as an anti-jamming real-time data sampling system for unmanned aerial vehicles is verified through experiments.

The above is only a specific implementation mode in the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with the technology can understand the conceivable transformation or replacement within the technical scope disclosed in the present invention. All should be covered within the scope of the present invention, therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (4)

1. the anti-interference real-time data sampling system of a unmanned plane is characterized in that: contain: CPU (central processing unit), Inertial Measurement Unit, radio communication unit, wireless remote control unit, ground control computer and unmanned plane steering wheel;

CPU (central processing unit) and Inertial Measurement Unit are fixed on the body of unmanned plane;

CPU (central processing unit) is electrically connected with Inertial Measurement Unit, wireless remote control unit and radio communication unit respectively, wherein:

CPU (central processing unit) is connected with Inertial Measurement Unit, and CPU (central processing unit) receives the flight attitude information of the unmanned plane of Inertial Measurement Unit measurement;

CPU (central processing unit) is connected with wireless remote control unit, is used to receive the pwm signal of wireless remote control unit;

CPU (central processing unit) is connected with radio communication unit, is used for sending to radio communication unit the attitude information and the pwm signal of unmanned plane, and receives the control information that radio communication unit sends;

Ground control computer and radio communication unit are electrically connected, and are used to receive the unmanned plane attitude information and the pwm signal that are returned of radio communication unit;

Radio communication unit receives the control information that ground control computer sends, and control information is sent to the data sampling of CPU (central processing unit) in order to the control CPU (central processing unit);

The steering wheel of unmanned plane is connected with wireless remote control unit, receives the pwm signal of wireless remote control unit, and pwm signal control steering wheel rotates corresponding angle, and steering wheel converts angle information to magnitude of voltage, feeds back to radio communication unit, forms closed-loop control;

Described CPU (central processing unit) adopts embedded control unit, described embedded control unit adopts embedded-type ARM 9 processors to carry out data sampling, be to send control information to embedded control unit by radio communication unit by ground control computer, begin to carry out data sampling or stop data sampling in order to the control embedded control unit, guarantee the real-time of sampled-data system;

Described radio communication unit is made up of a pair of wireless communication module, wherein:

First wireless communication module is fixed on the body of unmanned plane, be connected with CPU (central processing unit), unmanned plane attitude information and the pwm signal being responsible for CPU (central processing unit) is sampled send to second wireless communication module, receive the steering order of the ground control computer that is sent by second wireless communication module simultaneously;

Second wireless communication module is connected with ground control computer, is responsible for receiving unmanned plane attitude information and the pwm signal that is returned by first wireless communication module, and the control command of ground control computer is sent to first wireless communication module;

Described wireless remote control unit is made up of Digiplex and remote-control receiver, wherein:

First remote-control receiver is connected with CPU (central processing unit), the sample pwm signal of first remote-control receiver of CPU (central processing unit);

Second remote-control receiver and unmanned plane steering wheel are electrically connected, and link to each other with Digiplex by Radio Link, it is used to receive the telecommand from Digiplex, produces the pwm signal identical with first remote-control receiver, be sent to the unmanned plane steering wheel, in order to the flight attitude of control unmanned plane;

The Digiplex and first remote-control receiver and the second remote-control receiver wireless connections are used for sending telecommand to first remote-control receiver and second remote-control receiver, are used for manually controlling the flight and the flight attitude of unmanned plane; First remote-control receiver, second remote-control receiver adopt two identical remote-control receivers.

2. the anti-interference real-time data sampling system of unmanned plane according to claim 1, it is characterized in that: described CPU (central processing unit) also can adopt digital signal processor DSP.

3. the anti-interference real-time data sampling system of unmanned plane according to claim 1 is characterized in that: described Inertial Measurement Unit use IMU integrated electronic compass or employing vertical gyro.

4. the anti-interference real-time data sampling system of unmanned plane according to claim 1, it is characterized in that: first remote-control receiver is fixed in the body of unmanned plane, be electrically connected with the arm processor of CPU (central processing unit), and link to each other with Digiplex by Radio Link, first remote-control receiver receives the telecommand from Digiplex, and convert telecommand to arm processor that pwm signal is sent to CPU (central processing unit), sample and store by the ARM controller of CPU (central processing unit).

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