CN101561681B - Anti-jamming real-time data sampling system of unmanned aerial vehicle - Google Patents
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Abstract
The invention relates to an anti-jamming data real-time sampling system of an unmanned aerial vehicle. A central processing unit is respectively connected with an inertial measurement unit, a wirelessremote control unit and a wireless communication unit, receives the flight attitude information of the unmanned aerial vehicle, which is measured by the inertial measurement unit, and a PWM signal of the wireless remote control unit, transmits the flight attitude information and the PWM signal of the unmanned aerial vehicle to the wireless communication unit and receives control information trans mitted by the wireless communication unit; a ground control computer is electrically connected with the wireless communication unit, receives the attitude information and the PWM signal of the unmanned aerial vehicle, which are returned by the wireless communication unit, and transmits the control information to the wireless communication unit; and a steering engine and the wireless remote controlunit of the unmanned aerial vehicle are connected with and receive the PWM signal of the wireless remote control unit, the PWM signal controls the steering engine to rotate by a corresponding angle, and the steering engine converts angle information into a voltage value and feeds back the voltage value to the wireless communication unit. The invention realizes the anti-jamming real-time data sampling of the steering engine of the unmanned aerial vehicle by the data sampling system.
Description
Technical field:
The invention belongs to field of intelligent control, specifically be used for the sampled-data system of unmanned plane.
Background technology:
The unmanned plane data system, it is the sampled-data system of utilizing embedded intelligence control technology, wireless communication technique to design for unmanned plane, this system samples applicable to the precise information of various microminiature unmanned planes under various attitude state of flights, and guarantees the anti-interference and the real-time of data sampling.
Traditional remote control mode to the microminiature unmanned plane is seen Fig. 3, comprise: CPU (central processing unit), remote-control receiver, unmanned plane steering wheel, Digiplex, ground control computer, be characterized in only adopting a remote-control receiver, the steering wheel of CPU (central processing unit) and unmanned plane all directly is connected with this remote-control receiver, the pwm signal of CPU (central processing unit) sampling remote-control receiver, the steering wheel of unmanned plane receive the flight attitude of the pwm signal of remote-control receiver in order to the control unmanned plane.The shortcoming of Lian Jieing is that the steering wheel of CPU (central processing unit) and unmanned plane is connected with remote-control receiver simultaneously like this, can make the formation of CPU (central processing unit) and steering wheel crosstalk, and causes all out of true of both resulting data.
Prior art is for the sample mode of remote-control receiver pwm signal, scheme shown in Figure 4 is arranged, comprise remote-control receiver, unmanned plane steering wheel, Digiplex, ground control computer and signaling conversion circuit, be characterized in the Digiplex sending controling instruction to remote-control receiver, produce pwm signal control unmanned plane steering wheel, simultaneously, Digiplex generates pwm signal by signaling conversion circuit, and directly this pwm signal is sent to ground control computer by signaling conversion circuit, store and use as the pwm signal of unmanned plane steering wheel.The advantage of this mode is in the sampling process to pwm signal, CPU (central processing unit) and radio communication unit have been used in saving, but its shortcoming is to have increased signaling conversion circuit, simultaneously because the pwm signal of pwm signal that signaling conversion circuit produced and unmanned plane steering wheel is not quite identical, the data and the out of true that cause sampling and obtain.
Summary of the invention:
In order to solve prior art problems, the objective of the invention is by the real-time control of ground control centre, to reach under various flight attitudes, the steering wheel of unmanned plane being carried out the purpose of precise information sampling to unmanned plane.By accurate sampling to the attitude information and the steering wheel pwm signal of unmanned plane, further can be used for unmanned plane is carried out mathematical modeling in the data of being sampled, thereby the realization autonomous flight control, the present invention provides a kind of anti-interference real-time data sampling system of realizing for the microminiature unmanned plane for this reason.
In order to realize described purpose, the anti-interference real-time data sampling system of unmanned plane of the present invention contains: 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.
According to embodiments of the invention, described CPU (central processing unit) adopts embedded control unit or adopts digital signal processor DSP.
According to embodiments of the invention, 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.
According to embodiments of the invention, described Inertial Measurement Unit uses IMU integrated electronic compass or adopts vertical gyro.
According to embodiments of the invention, 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.
According to embodiments of the invention, 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.
According to embodiments of the invention, described 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).
According to embodiments of the invention, described first remote-control receiver, second remote-control receiver adopt two identical remote-control receivers.
Beneficial effect of the present invention and characteristics:
Unmanned plane sampled-data system of the present invention realizes the pwm signal of unmanned plane steering wheel and the anti-interference real time data sampling of unmanned plane attitude information.By the wireless remote control unit inner structure is designed, the employing embedded ARM processor is carried out data sampling, and the improvement of wireless remote control unit and CPU (central processing unit) connected mode, has improved the anti-interference and the real-time of sampled-data system.
Improve by inner structure wireless remote control unit, two identical remote-control receivers are used in inside at wireless remote control unit, avoided when only using a remote-control receiver, the cross-interference issue of CPU (central processing unit) and unmanned plane steering wheel has improved the anti-interference of sampled-data system.
By using the connected mode of two remote-control receivers, avoided when only adopting a remote-control receiver, can there be the problem of signal interference between CPU (central processing unit) and the unmanned plane steering wheel, improved the anti-interference of communication system.
CPU (central processing unit) is fixed on the body of unmanned plane, form by high-speed high performance ARM9 processor, being aided with the external interface expansion forms, because ARM9 adopts 5 level production lines, its processing speed has reached more than the twice of the ARM7 speed that adopts 3 level production lines, improve frequency of operation, increased processing speed, guaranteed the real-time of data acquisition system (DAS).
Description of drawings:
Fig. 1 is the structural representation of unmanned plane communication system of the present invention;
Fig. 2 is the structure embodiment synoptic diagram of unmanned plane communication system of the present invention;
Fig. 3 is traditional remote control mode synoptic diagram of prior art microminiature unmanned plane;
Fig. 4 is the synoptic diagram of prior art to unmanned plane steering wheel pwm signal sample mode.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in detail, be to be noted that described embodiment only is intended to be convenient to the understanding of the present invention, and it is not played any qualification effect.
The present invention provides a kind of anti-interference real-time data sampling system of realizing for the microminiature unmanned plane, ground control computer is by the CPU (central processing unit) transmitting control commands of radio communication unit to unmanned plane, with the realization CPU (central processing unit) precise information of the steering wheel of unmanned plane is sampled, and guarantee the anti-interference and the real-time of data sampling.
Only use mutual interference problem between one group of caused CPU (central processing unit) of remote-control receiver and the unmanned plane steering wheel at some flight control system, this unmanned plane communication system has adopted two identical remote-control receivers, see Fig. 2, first remote-control receiver directly is connected with CPU (central processing unit), second remote-control receiver directly is connected with steering wheel, because two signals that remote-control receiver produced are identical, the phase mutual interference between CPU (central processing unit) and the steering wheel has just been avoided in such connection, has improved the anti-interference of communication system.
At requiring data precision higher in the aircraft modeling process, real-time is controlled requirement preferably, adopt high-speed high performance ARM9 processor as CPU (central processing unit), be aided with radio communication unit and be connected to ground control computer, improved the real-time of sampling system.
The present invention is a kind of anti-interference real-time data sampling system of unmanned plane, and system contains as described in Figure 1: the steering wheel E of unmanned plane, CPU (central processing unit) A, Inertial Measurement Unit F, radio communication unit B, wireless remote control unit C, ground control computer D and unmanned plane, Inertial Measurement Unit F.
The unmanned plane that is adopted in the example of the present invention is that the transformation of remote controlled model plane helicopter forms.Please refer to Fig. 1 and Fig. 2:
CPU (central processing unit) A: CPU (central processing unit) A is fixed on the body of unmanned plane, adopt embedded control unit or adopt digital signal processor DSP, when selecting embedded control unit for use is embedded-type ARM 9 processors, CPU (central processing unit) A is made up of embedded-type ARM 9 processors and external expansion interface thereof, in the example of the present invention in order to improve frequency of operation, increase processing speed, guarantee the real-time of data acquisition system (DAS), adopting the ARM9 processor model is H9200F engineering evaluating system, and inside has embedded linux system.Because ARM9 processor adopting 5 level production lines, its processing speed has reached more than the twice of the ARM7 processor speed that adopts 3 level production lines.Embedded-type ARM 9 processors of CPU (central processing unit) A link to each other with Inertial Measurement Unit F with radio communication unit B, wireless remote control unit C, CPU (central processing unit) A is connected with Inertial Measurement Unit F, and CPU (central processing unit) A receives the flight attitude information of the unmanned plane of Inertial Measurement Unit F measurement; CPU (central processing unit) A is connected with wireless remote control unit C's, is used to receive the pwm signal of wireless remote control unit C; CPU (central processing unit) A is connected with radio communication unit B's, is used for sending to radio communication unit B the attitude information and the pwm signal of unmanned plane, and receives the control information that radio communication unit B sends; Its effect of CPU (central processing unit) A is that embedded-type ARM 9 processors are sampled to the attitude information of Inertial Measurement Unit F by the RS232 serial ports, by the RS232 serial ports pwm signal of the first remote-control receiver C1 is sampled, the first wireless communication module B1 that CPU (central processing unit) A sends to radio communication unit B with the attitude information that collected and pwm signal, the first wireless communication module B1 sends to this data message and the second wireless communication module B2 by Radio Link, by the second wireless communication module B2 this data message is sent to ground control computer D then.The embedded control unit that CPU (central processing unit) A adopts is that the ARM9 processor also is responsible for receiving the control command information by ground control computer D transmission that radio communication unit B is transmitted, so that begin to carry out data sampling or stop data sampling in order to control ARM9 processor, guarantee the real-time of sampled-data system.
Radio communication unit B: radio communication unit B receives the control information that ground control computer D sends, and control information is sent to the data sampling of CPU (central processing unit) A in order to control CPU (central processing unit) A; Radio communication unit B connects the CPU (central processing unit) A and the ground control computer D of unmanned plane body by Radio Link, radio communication unit B is by the first wireless communication module B1, the second wireless communication module B2 forms, the model of the wireless communication module that is adopted in the example of the present invention is SRWF506, adopt the powered battery of 5V, frequency of operation 430MHz, frequency is 0.5W, and can directly link to each other with ground control computer D by the RS232 serial ports with CPU (central processing unit) A, its effect is that data information transfer with the CPU (central processing unit) A of body is to ground control computer D, the control command of ground control computer D is sent to the CPU (central processing unit) A of body, begin to carry out data sampling or stop data sampling so that control CPU (central processing unit) A.
The described first wireless communication module B1 is fixed on the body of unmanned plane, A is connected with CPU (central processing unit), unmanned plane attitude information and the pwm signal being responsible for CPU (central processing unit) A is sampled send to the second wireless communication module B2, receive the steering order of the ground control computer D that is sent by the second wireless communication module B2 simultaneously;
The second wireless communication module B2 is connected with ground control computer D, is responsible for receiving unmanned plane attitude information and the pwm signal that is returned by the first wireless communication module B1, and the control command of ground control computer D is sent to the first wireless communication module B1.
Wireless remote control unit C: wireless remote control unit C is made up of remote-control receiver C1 and Digiplex C2, and wherein: remote-control receiver C1 is made up of the first remote-control receiver C11, the second remote-control receiver C12.Introduce two identical remote-control receiver C1 among the wireless remote control unit C, adopt Futaba R136HP 6 passage receivers, operating voltage is 5V, and frequency is 72MHZ.Digiplex C2 adopts Futaba 9C Super RC nine passages (9-Channel) Digiplex.At first send telecommand information by Digiplex C2 to remote-control receiver C1, remote-control receiver C1 becomes identical pwm signal with this telecommand information translation.Wherein remote-control receiver C1 is connected with CPU (central processing unit) A, the pwm signal of CPU (central processing unit) A sampling remote-control receiver C1; Remote-control receiver C1 and unmanned plane steering wheel E are electrically connected and connect, and pwm signal is exported to unmanned plane steering wheel E, in order to the flight attitude of control unmanned plane.By using the connected mode of two remote-control receiver C1, avoided when only adopting a remote-control receiver, can there be the problem of signal interference between CPU (central processing unit) A and the unmanned plane steering wheel E, improved the anti-interference of communication system.
The concrete connection of various piece and act on as follows:
First remote-control receiver 11 is connected with CPU (central processing unit) A, the sample pwm signal of first remote-control receiver 11 of CPU (central processing unit) A;
The first remote-control receiver C11 is fixed on the body of unmanned plane, be electrically connected with embedded-type ARM 9 processors of CPU (central processing unit) A, and link to each other with Digiplex C2 by Radio Link, its effect is the telecommand that receives from Digiplex C2, and convert telecommand to pwm signal, be sent to embedded-type ARM 9 processors of CPU (central processing unit) A, the pwm signal of the first remote-control receiver C11 is sampled and store by the ARM controller of CPU (central processing unit) A.
The second remote-control receiver C12 and unmanned plane steering wheel E are electrically connected, and link to each other with Digiplex C2 by Radio Link, its effect receives the telecommand from Digiplex C2, produce and the identical pwm signal of the first remote-control receiver C11, be sent to unmanned plane steering wheel E, in order to the flight attitude of control unmanned plane.
The Digiplex C2 and the first remote-control receiver C11 and the second remote-control receiver C12 are wireless connections, are used for sending telecommand to the first remote-control receiver C11 and the second remote-control receiver C12, are used for manually controlling the flight and the flight attitude of unmanned plane.The first remote-control receiver C11, the second remote-control receiver C12 and Digiplex C2 finish the manual flight of unmanned plane jointly.
Ground control computer D: 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; Ground control computer D adopts common PC, the second wireless communication module B2 by RS232 serial ports and radio communication unit B is electrically connected, airborne CPU (central processing unit) A sends to the first wireless communication module B1 with the attitude information of unmanned plane and the pwm signal of unmanned plane steering wheel, the first wireless communication module B1 sends to the second wireless communication module B2 by Radio Link with this data message, and ground control computer D is responsible for receiving the data message that is returned by the second wireless communication module B2.Ground control computer D is to the second wireless communication module B2 sending controling instruction information simultaneously, the second wireless communication module B2 sends to the first wireless communication module B1 by Radio Link with this steering order information, the first wireless communication module B1 sends to CPU (central processing unit) A with steering order information, and A begins to carry out data sampling or stops data sampling with the control CPU (central processing unit).
Unmanned plane steering wheel E: the steering wheel of unmanned plane is connected with wireless remote control unit, receive the pwm signal of wireless remote control unit, pwm signal control steering wheel rotates corresponding angle, and steering wheel converts angle information to magnitude of voltage, feed back to radio communication unit, form closed-loop control.The steering wheel E of unmanned plane adopts the Futaba steering wheel, connects the second remote-control receiver C2 of wireless remote control unit C.Digiplex C3 sends telecommand, and the first remote-control receiver C1 and the second remote-control receiver C2 convert telecommand to pwm signal.Unmanned plane steering wheel E receives the pwm signal of the second remote-control receiver C2, is used to carry out the various flight attitudes of unmanned plane.
Inertial Measurement Unit F: Inertial Measurement Unit F adopts integrated electronic compass IMU or adopts vertical gyro, is electrically connected by the RS232 serial ports with embedded-type ARM 9 processors of CPU (central processing unit) A.Inertial Measurement Unit F measures the attitude information of unmanned plane, and attitude information is sent to embedded-type ARM 9 processors of CPU (central processing unit) A, sends to ground control computer D by embedded-type ARM 9 processors of CPU (central processing unit) A by radio communication unit B.
The course of work of system is as follows among the present invention: at first make depopulated helicopter be in the hovering state model copter startup and use Digiplex C3 by the teleoperator.At this moment, unmanned plane takes advantage of the CPU (central processing unit) A that carries not begin to carry out data sampling.When the operating personnel of ground control computer D ready, and when planning to begin that from a certain particular moment unmanned plane carried out data sampling, the operating personnel of ground control computer D send the control command that begins to sample by radio communication unit B to airborne CPU (central processing unit) A, and this moment, CPU (central processing unit) A began to carry out data sampling.As required, the teleoperator can switch to unmanned plane various flight attitudes, and CPU (central processing unit) A carries out data sampling to the attitude information of Inertial Measurement Unit F and the pwm signal of unmanned plane steering wheel E.When data sampling finished, the operating personnel of ground control computer D sent the order that stops data sampling by radio communication unit B to CPU (central processing unit) A, and the data sampling process stops.
Use system of the present invention, adopt the configuration that realizes example, verified the validity of system of the present invention by experiment as a kind of anti-interference real-time data sampling system of unmanned plane.
The above; only be the embodiment among the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with the people of this technology in the disclosed technical scope of the present invention; can understand conversion or the replacement expected; all should be encompassed in of the present invention comprising within the scope, therefore, protection scope of the present invention should be as the criterion with the protection domain of 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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| CN103747172A (en) * | 2013-12-06 | 2014-04-23 | 天津全华时代航天科技发展有限公司 | PWM signal self-adaptive Nex-7 camera shutter release |
| CN103941738A (en) * | 2014-04-02 | 2014-07-23 | 中国船舶重工集团公司第七○二研究所 | Unrestraint model remote control and testing module and method |
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| WO2018195972A1 (en) * | 2017-04-28 | 2018-11-01 | 深圳市大疆创新科技有限公司 | Method, apparatus and system for processing data |
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