CN102707725A - Fixed-wing automatic navigation flight control system and using method thereof - Google Patents
Fixed-wing automatic navigation flight control system and using method thereof Download PDFInfo
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Abstract
The invention discloses a fixed-wing automatic navigation flight control system and a using method thereof. The fixed-wing automatic navigation flight control system comprises an automatic navigation flight controller and ground station telemetry data monitoring software which are arranged on an aerocraft, wherein the automatic navigation flight controller comprises a central processing unit, a triaxial gyroscope, a triaxial acceleration sensor, a triaxial magnetic field sensor, a GPS (Global Positioning System) module, an air pressure sensor and a communication interface, the triaxial gyroscope, the triaxial acceleration sensor, the triaxial magnetic field sensor, the GPS (Global Positioning System) module, the air pressure sensor and the communication interface are respectively connected with the central processing unit, and a wireless receiving-transmitting device is mutually communicated with the central processing unit through the communicated interface; the ground station telemetry data monitoring software comprises a signal transfer plate, a data wireless transmission receiving-transmitting device, a remote controller receiver device and a USB transfer serial-port communication device, the data wireless transmission receiving-transmitting device, the remote controller receiver device and the USB transfer serial-port communication device are respectively connected with the signal transfer plate; the ground station telemetry data monitoring software is connected with the signal transfer plate through the USB transfer serial-port communication device; and the automatic navigation flight controller is communicated with the ground station telemetry data monitoring software through a wireless data transmission broadcasting station. The fixed-wing automatic navigation flight control system can accurately complete the preset flight mission and lengthen the control distance and range of a plane through a remote-control transfer control device, thereby ensuring high reliability and high stability of flight.
Description
Technical field
The present invention relates to flight control system, specifically is a kind of fixed-wing self-navigation flight control system and method for application thereof.
Background technology
Fixed-wing self-navigation flight control system is being played the part of important role in Armada International field in recent years.This system works is stable, and the cost cost is low relatively, and very easy realization is taken off and landed; And in the process of executing the task, it is big to collect terrestrial information, can realize telecommunication; Also can carry more investigation equipment, hostile environment is investigated advantages such as detailed; And along with the unmanned plane range of application more and more widely; The task that it is accomplished also becomes increasingly complex; Maneuverability requirement to this system is also increasingly high, and this control core that just requires fixed-wing self-navigation flight control system is to high integration and miniaturization development.Therefore fixed-wing self-navigation flight control system has very large application market.
In the world, be fully recognized that with the western countries headed by the U.S. this self-navigation flight control system brought into play huge effect in war, competitively the high-tech technical application in the development of self-navigation flight control system and development.Though equipped the unmanned plane of automatic flight controller is not the overhead main force that carries out air tasking in battlefield, becomes indispensable important component part yet.Equipped the fixed wing aircraft of self-navigation flight control system; Through good navigation way of PC control software set and flight parameter; Realize unmanned beam riding, can carry out the investigation tasks of high-risk, so receive the favor of various countries aspect military applications deeply.Aspect civilian, the fixed wing aircraft that is equipped with the self-navigation flight controller can be realized the geographical mapping measurement, takes photo by plane, and natural disaster surveillance etc. are many-sided to be used, and can practice thrift manpower and cost, therefore also has application market widely.
Fixed-wing self-navigation flight controller presents flourish trend at home and abroad; China is no exception; Automatically the research of flight controller mainly contains three types: one, adopt industrial computer as its processing core, the weak point of existence has: whole module volume is big, the structure between the multilayer module is compact inadequately; Two, be the design scheme of core with single-chip microcomputer and DSP, shortcoming is: design technology is complicated, and the construction cycle is long, and workload is big, is not easy to realize the system integration; Three, adopt the ARM technical application in automatic flight controller; Embedded Operating System in the ARM chip; On the platform of operating system, realize the collaborative work of multitask, realize that really high integration, high-speed data are handled and the task of the automatic flight controller of computing.Can be divided into data processing and device control phase separation structure, make and simplify more on the algorithm, more accurate on airline operation automatically simultaneously.
Summary of the invention
The purpose of this invention is to provide a kind of fixed-wing self-navigation flight control system and method for application thereof; This system can be under complicated environmental condition; Can accomplish predefined aerial mission accurately; Can also be through remote control switching control device, the command range and the scope that prolong aircraft have guaranteed the high reliability and the high stability of flying.
The technical scheme that realizes the object of the invention is:
A kind of fixed-wing self-navigation flight control system; Mainly be made up of the telemetry monitoring software of carry-on self-navigation flight control appearance and land station, self-navigation flight control appearance is made up of with the three-axis gyroscope that is connected with central processing unit respectively, 3-axis acceleration sensor, three-axle magnetic field sensor, GPS module, baroceptor, communication interface central processing unit; Wireless transmitter and central processing unit are through the communication interface mutual communication; Land station's telemetry monitoring software is made up of with the data wireless transmitting transceiver device that is connected with Signals Transfer Board respectively, telepilot receiver apparatus, USB switching serial communication device Signals Transfer Board; Land station's telemetry monitoring software is connected with Signals Transfer Board through USB switching serial communication device; Self-navigation flight control appearance is communicated with through the wireless data transmission radio station with land station telemetry monitoring software.
Said central processing unit has the communication protocol of oneself, and the wireless transmission protocol of customization is voluntarily intercomed with land station telemetry monitoring software through wireless transmitter mutually, has guaranteed signal safety of transmission and integrality in the communication process.
Described Signals Transfer Board is connected to form by remote control switching transceiver module and data wireless transmit port, ground-based computer communication interface, telepilot receiver signal port, and Signals Transfer Board has two kinds of functions: a kind of is the host-host protocol that the telepilot receiver signal is converted to customization; Another kind is that the self-navigation information that signal transducer sets up user in land station's telemetry monitoring software on their own is sent to self-navigation flight control appearance; Signals Transfer Board sends the positional information and the attitude information of returning with self-navigation flight control appearance and sends ground-based computer back to, and shows on computers.
The described wireless transmission protocol of customization voluntarily includes: attitude measurement data, flight control parameter, GPS position data, three-axle magnetic field data and magnetic heading angle.
The control signal of this self-navigation flight control system; Not only can directly control through telepilot; Can also convert remote signal to special host-host protocol through the remote control switching device; Utilize wireless data transceiving radio station and navigation and flight control to communicate, prolonged transmission range, guaranteed the reliability of signal transmitting and receiving.
The course of work of fixed-wing self-navigation flight control system of the present invention is:
1, on the ground:
(1) opens computer, operation land station software;
(2) connect the card extender power supply, the card extender pilot lamp is flicker at a slow speed normally, at GCS software, selects correct PORT COM to connect baud rate 19200;
(3) drive the RC telepilot;
(4) connection flies to control power supply;
(5) normal like all, should see at land station's software receiving telemetry, barometer altitude is (initial automatically start highly is 0 meter) about 0 meter, the remote controllers rudder face should be able to be seen the output of rudder face in the rudder face indicator gauge.Explain that land station has been communicated with robot pilot;
2, on the aircraft:
(1) robot pilot is installed in parallel on the fixed wing aircraft, keeps a surface level basically with aircraft, and do corresponding glissando to robot pilot;
(2) energized switches to balanced mode to telepilot;
(3) debugging aircraft, about, up and down, the aircraft that rolls, observe the corresponding steering wheel of aircraft and whether provide the control corresponding effect;
(4) start the function of taking off automatically, aircraft then can fly according to predefined course line, after finishing the work, can land automatically according to predefined route.
Good effect of the present invention is:
1, the present invention has adopted the arm processor technology to realize data acquisition and real-time intelligent expert PID control phase separation structure, realizes the collaborative work of multitask, has guaranteed data acquisition, data fusion accuracy and has controlled accuracy in real time;
2, fixed-wing flight control system integrated tri-axial micromechanical gyro, three axis accelerometer, magnetic sensor, high precision barometer; In this system, use inertia strapdown attitude algorithm,, high-precision attitude is provided in conjunction with Kalman's numeral filtering and data anastomosing algorithm;
3, the integrated high-performance GPS receiver of fixed-wing flight control system, 10Hz Refresh Data speed, 35 seconds quick positioning times, 2.5 meters CEP precision, the GPS charged pool can be remembered positional parameter, and the second positioning time significantly improves;
4, the control that divides different rates is carried out ring attitude control in the 100Hz to the flight attitude of adjusting aircraft, and the steering wheel of aircraft is implemented 10Hz outer shroud Navigation Control;
5, this control system can realize multiple passage mixing control output, very convenient adjustment mixing.Practical various dissimilar fixed wing aircrafts;
6, control and remote manual control are merged automatically, higher reliability and practicality, and compatible all RC remote control equipments, and steering wheel outgoing inspection function is provided;
7, system can realize the state that makes a return voyage automatically under the situation of communication disruption;
8, the present invention supports the spacing auto photographing and the auto photographing of fixing time, cooperate POS information logging modle can write down a longitude and latitude of taking pictures, highly, speed, information such as flight attitude when taking pictures, be convenient to the later image data processing;
9, land station of the present invention software comprises the electronic chart function, can online revision course line and issue flight orders, can carry out half autonomous type remote control in real time, and the real time record flying quality with support offline playback; The telepilot receiver apparatus can be realized data-switching through the remote control interconnecting module, with wireless transport module remote signal is changed into the radio station control signal of special format, extends transmission distance; And can online adjustment and preserve all flight control parameters, collateral use makes things convenient for independent parameter adjustment software.
Description of drawings
Fig. 1 is a self-navigation flight control system theory diagram of the present invention;
Fig. 2 is that the data acquisition of control system of the present invention is connected block diagram with emerging system;
Fig. 3 is the master control system block diagram of control system of the present invention;
Fig. 4 is that the land station of control system of the present invention connects block diagram;
Fig. 5 is the schematic flow sheet of control system of the present invention;
Fig. 6 is a self-navigation flight control system hardware block diagram of the present invention.
Embodiment
To combine accompanying drawing and embodiment that the present invention is explained further details below.
Shown in accompanying drawing 1, this flight control assemblies is divided into and is attitude data measurement and Navigation Control signal operating part and remote signal conversion and telesignalisation monitoring part.Three-axis attitude survey sensor device comprises: three micro-mechanical gyroscopes, 3-axis acceleration sensor, three-axle magnetic field sensor are connected to the calibration of carrying out data acquisition and each axial data in the attitude orientation frame of reference; Measured positional information of coming out of GPS positional information deriving means and high-precision sensor device information and attitude data carry out Kalman filtering algorithm, get that it is of living in, keep away its shortage.Position after the connection of intelligent expert PID control device is merged and attitude data, steering engine control device; According to the received navigation information in wireless data transmission radio station; Fixed wing aircraft is carried out flight control, and with positional information, the information of taking pictures writes down and preserves.The monitoring of current electrokinetic cell voltage and current is provided simultaneously, also navigational state information is returned to land station together simultaneously; Remote signal conversion and telesignalisation monitoring part comprise: wireless data transmission radio station R-T unit, remote control adapting system device, remote-control receiver device, USB change the serial communication device and land station monitors the computer system that is provided with telemetry.Land station's monitoring can be by user's automatic setting line of flight with the computer system that telemetry is provided with; Contents such as the flight parameter of practical flight; And change serial port device through USB data are sent in the remote control adapting system device; The remote control adapting system becomes the good protocol format of customization with these information translation, sends through the wireless data transmission radio station.The steering wheel control signal that the telepilot receiver apparatus is sent out behind the remote control adapting system, converts special radio station control signal to and transmits through the wireless data transmission radio station, and fixed wing aircraft is controlled in real time.
With reference to Fig. 2, flight control system data acquisition and emerging system are connected with 3-axis acceleration sensor, three-axis gyroscope, three-axle magnetic field sensor, three-axle magnetic field sensor, GPS positional information deriving means, and the principle of work of each device is:
1, inertia strapdown Attitude Calculation processor carries out data acquisition and filtering algorithm to three-axis acceleration sensor device, calculates three axial linear acceleration data;
2, inertia strapdown Attitude Calculation processor carries out data acquisition and filtering algorithm to three-axis gyroscope; And analyze and handle according to the data of 3-axis acceleration data and magnetic field sensor device; And carry out the plain attitude algorithm of quaternary; Calculate stable attitude data, and various sensors are carried out the calibration and the compensation of reference value through the actual alignment value.
3, inertia strapdown Attitude Calculation processor carries out integration to linear acceleration, and the velocity information that from GPS positional information deriving means, measures, and the velocity amplitude that obtains the velocity amplitude that obtains behind the acceleration transducer integration and GPS carries out Kalman filtering filtering.Revise and proofread and correct the flying quality and the measuring accuracy of fixed wing aircraft;
4, inertia strapdown Attitude Calculation processor sends flying quality and attitude data to self-navigation flight control system master control system through attitude and position data dispensing device.
With reference to Fig. 3, this system moves according to predefined route through the navigation data control fixed wing aircraft that obtains attitude data in data acquisition and the emerging system, flying quality, ground control system.Its principle of work is: the target destination planning information by GPS positional information and user's defined is compared; Needing to obtain the bogey heading data of control; Again according to the residing course heading of current aircraft; Finally obtain the course heading that the control of needs is rotated, the course heading that the master control system computing machine will control rotation converts the steering wheel controlled quentity controlled variable of reality to, and the steering wheel of respective direction is carried out real-time PID expert Intelligence Control; Locking to aircraft altitude is also consistent with the course control mode.
With reference to Fig. 4, its principle of work is: the telepilot receiver apparatus is transferred to operator's control signal in the remote control adapting system receiving trap, behind adapting system, converts remote controller signal to the radio station control signal, the flight attitude of control aircraft; StoreFront station supervisory computer system, the user can be sent in the adapting system through USB commentaries on classics serial port device from edlin destination information and flight parameter, and adapting system sends to data in the control system of aircraft through the radio station again.Land station's supervisory computer system can realize the transmission of data on the one hand, can receive various flying qualities and the monitoring information that passes under the flight control system on the one hand in addition.
With reference to Fig. 5, the process flow diagram of this control system comprises the steps:
S501: beginning, central processing unit powers on and starts working, and starts the watchdog reset system;
S502: system prepares the inner parameter calibration parameter and reads;
S503: read the initialization of host computer gyro, magnetic field calibration command, so that micro mechanical sensor is calibrated;
S504: read inner FLASH calibration parameter; Default parameter value was carried out Attitude Calculation when employing was dispatched from the factory;
S505: open the processor timer and interrupt, start the inner system break of arm processor, carry out internal data and merge work such as Attitude Calculation;
S506: signals collecting and filtering algorithm, according to the output characteristics of micro mechanical sensor data, adopt Kalman Filter Technology to carry out filtering; And be entrained with high frequency noise in the output data to the high precision baroceptor, adopt differential mode that baroceptor is carried out Filtering Processing;
S507: data fusion and attitude algorithm, to three micro-mechanical gyroscopes, triaxial accelerometer sensor, three-axle magnetic field sensor adopt the plain method of quaternary to find the solution the attitude orientation angle;
S508: the telemetry encoding and decoding, attitude data and position data that CPU gathers are encoded, and the data that land station's data are beamed back are decoded and carried out corresponding instruction;
S509: flight control instruction is obtained, if success is obtained in the flight control instruction, then continue 10 attitudes, highly, the position Navigation Control, continue to obtain the data that land station's data are beamed back otherwise just get back to 8 telemetry encoding and decoding;
S510: attitude, highly, the position Navigation Control, obtain data successes, according to height and the navigation data that the user sets up on their own, the flight attitude of adjustment flight in real time reaches the control effect of setting;
S511: attitude, highly, the position Intelligent PID Control resolves, and current attitude data, position data and targeted attitude data, position data are carried out expert intelligence PID control;
S512: steering wheel controlled quentity controlled variable output, with the PID controlled quentity controlled variable that draws in 11, actual converted becomes the steering wheel controlled quentity controlled variable of each rudder face of control aircraft, gets back to 7 data fusion and attitude algorithm after the execution.
With reference to Fig. 6; The present invention includes central microprocessor 8; Attitude sensor comprises three-axis gyroscope 1,3-axis acceleration sensor 2 and three-axle magnetic field sensor 3, and GPS module, baroceptor, communication interface 4 are connected with wireless transmitter 5, and is responsible for and central microprocessor 8 carries out data interaction.
Research experiment result of the present invention shows: simultaneously under the identical simulation step length condition, it is high to use the calculation accuracy of above method under high dynamic angular movement environment, and the angle of pitch algorithm drift error that is caused by conical motion has also obtained effective inhibition.Data processing method and the Kalman filter theoretical with optimal estimation merge velocity information, have guaranteed the accuracy and the real-time of measuring accuracy.And adopt linear kalman filter minimum variance estimate to be provided, utilize the estimated value of these errors to go to revise attitude control system then for the inertial navigation system error.Use the remote control adapting system not only to improve the distance of signal transmission, also improved the reliability of signal in transmission course greatly, also guarantee the real-time of signal transmission.
Claims (4)
1. fixed-wing self-navigation flight control system; It is characterized in that: this system mainly is made up of the telemetry monitoring software of carry-on self-navigation flight control appearance and land station, and self-navigation flight control appearance is made up of with the three-axis gyroscope that is connected with central processing unit respectively, 3-axis acceleration sensor, three-axle magnetic field sensor, GPS module, baroceptor, communication interface central processing unit; Wireless transmitter and central processing unit are through the communication interface mutual communication; Land station's telemetry monitoring software is made up of with the data wireless transmitting transceiver device that is connected with Signals Transfer Board respectively, telepilot receiver apparatus, USB switching serial communication device Signals Transfer Board; Land station's telemetry monitoring software is connected with Signals Transfer Board through USB switching serial communication device; Self-navigation flight control appearance is communicated with through the wireless data transmission radio station with land station telemetry monitoring software.
2. fixed-wing self-navigation flight control system according to claim 1; It is characterized in that: described Signals Transfer Board is connected to form by remote control switching transceiver module and data wireless transmit port, ground-based computer communication interface, telepilot receiver signal port, and Signals Transfer Board has two kinds of functions: a kind of is the host-host protocol that the telepilot receiver signal is converted to customization; Another kind is that the self-navigation information that signal transducer sets up user in land station's telemetry monitoring software on their own is sent to self-navigation flight control appearance; Signals Transfer Board sends the positional information and the attitude information of returning with self-navigation flight control appearance and sends ground-based computer back to, and shows on computers.
3. according to the said fixed-wing self-navigation of claim 2 flight control system, it is characterized in that: the described wireless transmission protocol of customization voluntarily includes: attitude measurement data, flight control parameter, GPS position data, three-axle magnetic field data and magnetic heading angle.
4. fixed-wing self-navigation flight control system according to claim 1; It is characterized in that: the control signal of this self-navigation flight control system; Not only can directly control through telepilot; Can also convert remote signal to special host-host protocol through the remote control switching device, utilize wireless data transceiving radio station and navigation and flight control to communicate.
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| CN103383260A (en) * | 2013-07-12 | 2013-11-06 | 美新半导体（无锡）有限公司 | Unmanned aerial vehicle navigation system and cooperative navigation system thereof |
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