CN102902276A - Flying control system based on polarized light sensor - Google Patents
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Abstract
一种基于偏振光传感器的飞行控制系统，属无人机飞行控制技术领域。该系统包括传感器模块、GPS模块、飞控计算机、执行模块和数据链路模块。其特征是传感器模块中的偏振光传感器输出飞机的航向角，为导航系统提供飞机的航向信息。传感器模块中的陀螺仪、加速度计和气压传感器通过I2C总线将测得的数据发送到飞控计算机，飞控计算机通过指定算法解算出飞机的姿态和高度信息。GPS模块为飞控计算机提供飞机的位置信息。执行模块作为系统的输出，实现对飞机姿态和航向的控制。数据链路模块实现地面和飞行平台间的通信。本发明的效果和益处是采用了偏振光传感器为飞控系统提供航向角信息，具有实时性高、误差小、响应速度快、鲁棒性强等优点。
The invention discloses a flight control system based on a polarized light sensor, which belongs to the technical field of unmanned aerial vehicle flight control. The system includes sensor module, GPS module, flight control computer, execution module and data link module. It is characterized in that the polarized light sensor in the sensor module outputs the heading angle of the aircraft, and provides the heading information of the aircraft for the navigation system. The gyroscope, accelerometer and air pressure sensor in the sensor module send the measured data to the flight control computer through the I 2 C bus, and the flight control computer calculates the attitude and height information of the aircraft through a specified algorithm. The GPS module provides the position information of the aircraft for the flight control computer. The execution module is used as the output of the system to realize the control of the attitude and heading of the aircraft. The data link module realizes the communication between the ground and the flight platform. The effect and benefit of the invention is that the polarized light sensor is used to provide heading angle information for the flight control system, which has the advantages of high real-time performance, small error, fast response speed, strong robustness and the like.
Description
技术领域 technical field
本发明涉及无人机飞行控制技术领域，具体涉及的是一种将偏振光传感器和飞行控制功能高度集成的无人机导航/飞行控制系统。The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to an unmanned aerial vehicle navigation/flight control system that highly integrates a polarized light sensor and flight control functions.
背景技术 Background technique
无人机是利用无线电遥控设备或自备程序控制装置操纵的不载人飞机，随着科学技术的进步，无人机技术已经进入全面发展时期。无人机应用范围的扩大对其提出了更高的要求，作为无人机“大脑”的飞行控制系统也越来越受到重视。UAV is an unmanned aircraft controlled by radio remote control equipment or self-contained program control device. With the advancement of science and technology, UAV technology has entered a period of comprehensive development. The expansion of the application range of drones has put forward higher requirements for them, and the flight control system as the "brain" of drones has also received more and more attention.
随着微型制造技术和MEMS技术的发展，微型MEMS陀螺仪和加速度计迅速发展起来，为实现小型无人机飞行控制系统的设计和研制提供了技术支持。目前，大多数的无人机飞行控制系统基本都是通过基于三个正交安装的陀螺仪和加速度计构成的微小型测量单元（IMU）与GPS进行组合导航，采用GPS或磁罗盘提供航向角信息，实现小型无人机的姿态、位置和航向的测量，在此基础上对小型无人机进行控制，实现导航自主飞行。其核心姿态测量算法是捷联解算和组合导航的Kalman滤波。如美国的AP50XL、加拿大的MP2028，国内的YS09、iFLY40等飞行控制系统均是采用上述导航原理。航向角的测量主要采用GPS或磁罗盘。然而，GPS的更新速率有限，且航向角的测量精度较低，而磁罗盘虽然测量精度较高，但是极易受到外界环境的干扰。With the development of micro-manufacturing technology and MEMS technology, micro-MEMS gyroscopes and accelerometers have developed rapidly, providing technical support for the design and development of small UAV flight control systems. At present, most UAV flight control systems basically use GPS or a magnetic compass to provide heading angles through the integrated navigation of a micro-measurement unit (IMU) composed of three orthogonally installed gyroscopes and accelerometers and GPS. Information, to realize the measurement of the attitude, position and heading of the small UAV, and on this basis, the small UAV is controlled to realize the navigation and autonomous flight. Its core attitude measurement algorithm is strapdown solution and Kalman filter of integrated navigation. For example, AP50XL in the United States, MP2028 in Canada, and flight control systems such as YS09 and iFLY40 in China all use the above navigation principles. The measurement of heading angle mainly adopts GPS or magnetic compass. However, the update rate of GPS is limited, and the measurement accuracy of the heading angle is low, while the magnetic compass has high measurement accuracy, but it is extremely susceptible to interference from the external environment.
发明内容 Contents of the invention
本发明提供一种适合一般无人机飞行器的飞行控制系统，该系统采用偏振光传感器为飞控系统提供飞机的航向信息，该偏振光传感器具有对环境的鲁棒性高、精度高、实时性好等优点，解决了由GPS或磁罗盘提供航向角所带来的更新速率慢、容易受到干扰等问题，能够提供更加精确的航向信息，满足导航系统的严格要求。The invention provides a flight control system suitable for general unmanned aerial vehicles. The system uses a polarized light sensor to provide the flight control system with the heading information of the aircraft. The polarized light sensor has high robustness to the environment, high precision, and real-time performance. Good and other advantages, it solves the problems of slow update rate and easy interference caused by the heading angle provided by GPS or magnetic compass, and can provide more accurate heading information to meet the strict requirements of the navigation system.
本发明采用如下技术方案：The present invention adopts following technical scheme:
一种基于偏振光传感器的飞行控制系统如图2所示，包括传感器模块、GPS模块、飞控计算机、执行模块和数据链路模块。传感器模块和GPS模块实时测量无人机的姿态、航向和位置信息，飞控计算机通过对传感器模块数据的读取、处理和计算，把结果转化为相关执行参数发送给执行模块，从而实现对飞机姿态和航向的控制。数据链路模块主要用于飞行控制系统和地面站及地面操控人员进行信息交互。A flight control system based on a polarized light sensor is shown in Figure 2, including a sensor module, a GPS module, a flight control computer, an execution module and a data link module. The sensor module and GPS module measure the attitude, heading and position information of the UAV in real time. The flight control computer converts the results into relevant execution parameters and sends them to the execution module through reading, processing and calculation of the sensor module data, so as to realize the control of the aircraft. Attitude and heading control. The data link module is mainly used for information exchange between the flight control system and the ground station and ground operators.
传感器模块包括三轴陀螺仪、三轴加速度计、气压传感器和偏振光传感器。其中，陀螺仪和加速度计主要用于无人机姿态的测量，气压传感器用于测量无人机高度，偏振光传感器用于测量无人机的航向。The sensor module includes a three-axis gyroscope, a three-axis accelerometer, an air pressure sensor, and a polarized light sensor. Among them, the gyroscope and accelerometer are mainly used to measure the attitude of the UAV, the air pressure sensor is used to measure the height of the UAV, and the polarized light sensor is used to measure the heading of the UAV.
GPS模块主要用于提供无人机当前经纬度信息，为导航提供依据。The GPS module is mainly used to provide the current latitude and longitude information of the UAV and provide a basis for navigation.
飞控计算机是整个飞行控制系统的处理核心，飞控计算机通过读取传感器和GPS的数据，经过适当的处理和计算，得出飞机当前姿态和航向信息，并根据预设轨迹，解算出飞机航向和姿态的控制量，再将控制量转化成指定占空比的PWM控制信号，输出到执行模块。同时，飞控计算机能够与地面站进行实时通信，将飞机当前姿态和航向等信息发送到地面站，并接收地面站发送的指令和数据信息，更改飞行轨迹。The flight control computer is the processing core of the entire flight control system. The flight control computer obtains the current attitude and heading information of the aircraft by reading the data of the sensor and GPS, and after appropriate processing and calculation, and calculates the aircraft heading according to the preset trajectory. And the control amount of the attitude, and then convert the control amount into a PWM control signal with a specified duty cycle, and output it to the execution module. At the same time, the flight control computer can communicate with the ground station in real time, send information such as the current attitude and heading of the aircraft to the ground station, and receive instructions and data information sent by the ground station to change the flight trajectory.
执行模块主要包括电子调速器和舵机。电子调速器和舵机均采用固定周期的PWM信号进行控制，通过改变PWM信号的占空比，可以控制电机的转速和舵机臂的摆角，从而实现对飞机速度和姿态的控制。The execution module mainly includes electronic governor and steering gear. Both the electronic governor and the steering gear are controlled by a fixed-period PWM signal. By changing the duty cycle of the PWM signal, the speed of the motor and the swing angle of the steering gear arm can be controlled, thereby realizing the control of the speed and attitude of the aircraft.
数据链路模块包括遥控接收机和机载电台两个部分。其中，遥控接收机和地面操控人员所使用的遥控器配套，可以实时接收遥控器发送的控制指令，实现手动飞行和飞行模式切换的功能。机载电台与地面站的电台配套，可实现数据和指令的双向传输。The data link module includes two parts: remote control receiver and airborne radio. Among them, the remote control receiver is matched with the remote control used by the ground operator, which can receive the control commands sent by the remote control in real time, and realize the function of manual flight and flight mode switching. The airborne radio station is matched with the radio station of the ground station, which can realize the two-way transmission of data and instructions.
本发明的效果和益处是：Effect and benefit of the present invention are:
本发明为一般无人机飞行器的飞行控制系统提供一种整体有效的解决方案。采用偏振光传感器为飞行控制系统提供航向信息，相对于传统的航向传感器具有速度快、精度高、稳定性好和实时性高的特点。采用超小型、低功耗的STM32F103处理器作飞控计算机，具有丰富的外设，方便扩展。采用的陀螺仪、加速度计、气压传感器均为数字传感器，具有标准的I2C协议接口，飞控计算机通过I2C总线读取各传感器数据，节约硬件资源。本发明具有成本低、误差小、响应速度快、鲁棒性强等优点。The invention provides an overall effective solution for the flight control system of general unmanned aerial vehicles. The polarized light sensor is used to provide heading information for the flight control system. Compared with the traditional heading sensor, it has the characteristics of fast speed, high precision, good stability and high real-time performance. The ultra-small, low-power STM32F103 processor is used as the flight control computer, which has rich peripherals and is easy to expand. The gyroscope, accelerometer, and air pressure sensor used are all digital sensors with a standard I 2 C protocol interface. The flight control computer reads the data of each sensor through the I 2 C bus to save hardware resources. The invention has the advantages of low cost, small error, fast response speed, strong robustness and the like.
附图说明 Description of drawings
图1是飞行控制系统构成框图。Figure 1 is a block diagram of the flight control system.
图2是飞行控制系统结构图。Figure 2 is a structural diagram of the flight control system.
图3是I2C总线接口图。Fig. 3 is a diagram of I 2 C bus interface.
图4是偏振光传感器导航原理图。Fig. 4 is a schematic diagram of polarized light sensor navigation.
具体实施方式 Detailed ways
以下结合技术方案和附图详细叙述本发明的具体实施方式。The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.
本发明主要包括传感器模块、GPS模块、飞控计算机、执行模块和数据链路模块。传感器模块和GPS模块实时测量无人机当前姿态、高度、航向和位置信息，并发送给飞控计算机，再由飞控计算机进行数据解算，转化成控制指令发送给执行模块，数据链路模块实现飞行平台和地面站的通信。The invention mainly includes a sensor module, a GPS module, a flight control computer, an execution module and a data link module. The sensor module and GPS module measure the current attitude, altitude, heading and position information of the UAV in real time, and send them to the flight control computer, and then the flight control computer performs data calculation, converts them into control commands and sends them to the execution module, data link module Realize the communication between the flight platform and the ground station.
飞控计算机采用意法半导体公司的STM32F103型号处理器。该信号处理器集成丰富的外设资源，能减小飞控系统的体积和重量，使用高性能的ARM® Cortex™-M3 32位的RISC内核，工作频率为72MHz，内置高速存储器。运算速度快、精度高，能够提高姿态解算水平和控制输出精度。The flight control computer adopts the STM32F103 processor of STMicroelectronics. The signal processor integrates rich peripheral resources, which can reduce the size and weight of the flight control system. It uses a high-performance ARM® Cortex™-M3 32-bit RISC core with a working frequency of 72MHz and built-in high-speed memory. The calculation speed is fast and the precision is high, which can improve the attitude calculation level and control output precision.
传感器模块包括三轴陀螺仪、三轴加速度计、数字气压传感器和偏振光传感器。其中陀螺仪、加速度计和气压计均采用MEMS传感器，具有体积小、重量轻、精度高的特点。陀螺仪具有±250dps量程；加速度计量程可达±16g，最高分辨率为4mg/LSB；气压计绝对精度达到3.0hPa。陀螺仪、加速度计和气压计均为数字型传感器，具有标准的I2C协议接口。因此，采用如图3所示的I2C总线协议读取陀螺仪、加速度计和气压计数据。偏振光传感器精度可达±1.0°，采用USART读取偏振光传感器数据。The sensor module includes a three-axis gyroscope, a three-axis accelerometer, a digital air pressure sensor, and a polarized light sensor. Among them, the gyroscope, accelerometer and barometer all use MEMS sensors, which have the characteristics of small size, light weight and high precision. The gyroscope has a range of ±250dps; the range of the accelerometer can reach ±16g, and the highest resolution is 4mg/LSB; the absolute accuracy of the barometer can reach 3.0hPa. The gyroscope, accelerometer, and barometer are all digital sensors with a standard I 2 C protocol interface. Therefore, the I 2 C bus protocol shown in Figure 3 is used to read gyroscope, accelerometer and barometer data. The accuracy of the polarized light sensor can reach ±1.0°, and USART is used to read the data of the polarized light sensor.
GPS模块更新速率为4Hz，将GPS输出的数据通过USART接口送入飞控计算机进行解算，得到无人机的经纬度和速度信息。The update rate of the GPS module is 4Hz, and the data output by the GPS is sent to the flight control computer through the USART interface for calculation, and the longitude, latitude and speed information of the drone is obtained.
通过读取陀螺仪和加速度计所测量的数据，飞控计算机对传感器数据进行滤波处理，过滤有害噪声后，结合相应的算法对飞机姿态进行解算，获得飞机当前姿态角。By reading the data measured by the gyroscope and the accelerometer, the flight control computer filters the sensor data, filters harmful noise, and combines the corresponding algorithm to solve the aircraft attitude to obtain the current attitude angle of the aircraft.
飞控计算机通过USART接口读取偏振光传感器数据，获得飞机当前航向角。The flight control computer reads the polarized light sensor data through the USART interface to obtain the current heading angle of the aircraft.
执行模块包括电子调速器和舵机。飞控计算机通过PWM输出接口向电子调速器、舵机输出控制指令，保持或改变飞机当前姿态，从而保持或改变飞机的航线和高度，完成控制指令的执行。The executive module includes electronic governor and steering gear. The flight control computer outputs control commands to the electronic governor and steering gear through the PWM output interface to maintain or change the current attitude of the aircraft, thereby maintaining or changing the aircraft's route and altitude, and completing the execution of the control commands.
数据链路模块包括遥控接收机和机载电台。飞控计算机通过对遥控接收机PPM信号的解码，识别遥控器发出的动作指令，实现手动飞行和模式间切换的功能。机载电台通过USART接口与飞控计算机相连。机载电台和地面站电台对应，实现数据或指令的双向传输，地面站可随时将控制指令或数据上传到飞行平台，飞行平台可以将数据实时发送到地面站，供地面人员监控飞机状态。The data link module includes remote control receiver and airborne radio. The flight control computer recognizes the action commands sent by the remote control by decoding the PPM signal of the remote control receiver, and realizes the functions of manual flight and switching between modes. The airborne radio is connected to the flight control computer through the USART interface. The airborne radio station corresponds to the ground station radio station to realize two-way transmission of data or instructions. The ground station can upload control instructions or data to the flight platform at any time, and the flight platform can send data to the ground station in real time for ground personnel to monitor the status of the aircraft.
如图4所示，为偏振光传感器导航原理图。仿照昆虫复眼结构设计的偏振光导航传感器，对天空偏振光分布具有高敏感性，因此，可以利用天空中的偏振光进行导航。该偏振光传感器输出的是载体的方位角，搭载在无人机上的偏振光传感器可以实时、准确地输出飞机的实际航向角。根据GPS测得的飞机当前位置信息和预定轨迹的目标航点信息，可以计算出飞机的目标航向角。根据目标航向角与实际航向角，求得航向角偏差作为航向PID控制器的输入。再根据飞机姿态和飞机航向的基本关系，经过输出限制器，得到飞机的目标姿态角。As shown in Figure 4, it is a schematic diagram of the polarized light sensor navigation. The polarized light navigation sensor designed in imitation of the compound eye structure of insects has high sensitivity to the distribution of polarized light in the sky, so it can use the polarized light in the sky for navigation. The polarized light sensor outputs the azimuth angle of the carrier, and the polarized light sensor mounted on the UAV can output the actual heading angle of the aircraft in real time and accurately. According to the current position information of the aircraft measured by GPS and the target waypoint information of the predetermined trajectory, the target heading angle of the aircraft can be calculated. According to the target heading angle and the actual heading angle, the heading angle deviation is obtained as the input of the heading PID controller. Then, according to the basic relationship between the aircraft attitude and the aircraft heading, the target attitude angle of the aircraft is obtained through the output limiter.
姿态传感器包括陀螺仪和加速度传感器。通过读取陀螺仪和加速度计所测量的数据，对传感器数据进行滤波处理，过滤有害噪声后，结合相应的算法对飞机姿态进行解算，获得飞机当前姿态角。Attitude sensors include gyroscopes and acceleration sensors. By reading the data measured by the gyroscope and the accelerometer, filter the sensor data, filter the harmful noise, and combine the corresponding algorithm to solve the aircraft attitude to obtain the current attitude angle of the aircraft.
根据目标姿态角和实际姿态角，求出姿态角偏差，输入到姿态PID控制器中，经过输出限制器，最终输出控制舵机的PWM信号，保持或改变飞机的姿态，从而保持或改变飞机的航向，实现导航控制。Calculate the attitude angle deviation according to the target attitude angle and the actual attitude angle, input it into the attitude PID controller, pass through the output limiter, and finally output the PWM signal to control the steering gear, maintain or change the attitude of the aircraft, thereby maintaining or changing the aircraft's attitude Heading to achieve navigation control.
导航过程中重要的参数信息通过数据链路模块实时地传送到地面站，地面人员可以监控飞机的飞行状态。Important parameter information in the navigation process is transmitted to the ground station in real time through the data link module, and the ground personnel can monitor the flight status of the aircraft.
本发明提出一种先进的航向角测量方法，采用偏振光传感器为飞控系统提供飞机的航向信息，该偏振光传感器具有对环境的鲁棒性高、精度高、实时性好等优点，能投提供更加精确的航向信息，满足导航系统的严格要求。本发明具有成本低、误差小、响应速度快、鲁棒性强等优点。The present invention proposes an advanced heading angle measurement method, which uses a polarized light sensor to provide the flight control system with the heading information of the aircraft. The polarized light sensor has the advantages of high robustness to the environment, high precision, and good real-time performance. Provide more accurate heading information to meet the stringent requirements of navigation systems. The invention has the advantages of low cost, small error, fast response speed, strong robustness and the like.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103887183A CN102902276A (en) | 2012-10-12 | 2012-10-12 | Flying control system based on polarized light sensor |
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| CN103294064A (en) * | 2013-06-07 | 2013-09-11 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| CN103438885A (en) * | 2013-08-27 | 2013-12-11 | 西北工业大学 | Three-channel polarized navigation sensor |
| CN103822629A (en) * | 2014-03-11 | 2014-05-28 | 大连理工大学 | Positioning system and its positioning method based on multi-directional polarized light navigation sensor |
| CN104374388A (en) * | 2014-11-10 | 2015-02-25 | 大连理工大学 | Flight attitude determining method based on polarized light sensor |
| CN104536453A (en) * | 2014-11-28 | 2015-04-22 | 深圳一电科技有限公司 | Aircraft control method and device |
| CN104749600A (en) * | 2015-03-04 | 2015-07-01 | 大连理工大学 | Polarized light based judgment type integrated navigation method |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| WO2016049923A1 (en) * | 2014-09-30 | 2016-04-07 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| CN106054909A (en) * | 2016-06-28 | 2016-10-26 | 江苏中科院智能科学技术应用研究院 | Flight control device suitable for miniature unmanned plane |
| CN106254009A (en) * | 2016-07-21 | 2016-12-21 | 北京航空航天大学 | A kind of Unmanned Aerial Vehicle Data Link test electromagnetic interference signal recurrence system and reproducing method |
| CN107132851A (en) * | 2017-07-05 | 2017-09-05 | 陕西蔚蓝航天测控技术开发有限公司 | A kind of unmanned plane during flying navigation control system |
| CN107505833A (en) * | 2017-08-01 | 2017-12-22 | 南京理工大学 | A kind of flight control system and method based on embedded OS |
| CN107727101A (en) * | 2017-11-16 | 2018-02-23 | 大连理工大学 | 3 d pose information fast resolution algorithm based on double polarizing light vector |
| CN107917988A (en) * | 2017-11-23 | 2018-04-17 | 深圳市智璟科技有限公司 | A kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle |
| CN107991699A (en) * | 2016-10-27 | 2018-05-04 | 上海华测导航技术股份有限公司 | A kind of system for flight control computer based on the positioning of CORS network differentials |
| CN108528745A (en) * | 2018-04-04 | 2018-09-14 | 江南大学 | An unmanned aerial vehicle battery exchange and charging system |
| CN109471433A (en) * | 2018-11-09 | 2019-03-15 | 北京航空航天大学 | A Heading and Attitude Reference System Based on Polarization Compass |
| CN109839941A (en) * | 2019-03-04 | 2019-06-04 | 张书玮 | A kind of individual's small aircraft control system |
| CN110398978A (en) * | 2019-04-24 | 2019-11-01 | 内蒙古科技大学 | A Grazing Path Planning System Based on Grass-Animal Balance Model |
| CN111645870A (en) * | 2020-06-15 | 2020-09-11 | 四川省天域航通科技有限公司 | Large-scale freight transportation unmanned aerial vehicle airborne monitoring system |
| CN111708374A (en) * | 2020-06-22 | 2020-09-25 | 西北工业大学 | A Distributed Power UAV Control System |
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| CN103294064A (en) * | 2013-06-07 | 2013-09-11 | 天津全华时代航天科技发展有限公司 | Autopilot flight control system |
| CN103438885A (en) * | 2013-08-27 | 2013-12-11 | 西北工业大学 | Three-channel polarized navigation sensor |
| CN103438885B (en) * | 2013-08-27 | 2015-11-18 | 西北工业大学 | Triple channel polarization navigation sensor |
| CN103822629A (en) * | 2014-03-11 | 2014-05-28 | 大连理工大学 | Positioning system and its positioning method based on multi-directional polarized light navigation sensor |
| CN103822629B (en) * | 2014-03-11 | 2017-02-22 | 大连理工大学 | Positioning system and its positioning method based on multi-directional polarized light navigation sensor |
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| WO2016049923A1 (en) * | 2014-09-30 | 2016-04-07 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| CN104374388B (en) * | 2014-11-10 | 2017-04-12 | 大连理工大学 | Flight attitude determining method based on polarized light sensor |
| CN104374388A (en) * | 2014-11-10 | 2015-02-25 | 大连理工大学 | Flight attitude determining method based on polarized light sensor |
| CN104536453B (en) * | 2014-11-28 | 2017-08-04 | 深圳一电航空技术有限公司 | The control method and device of aircraft |
| CN104536453A (en) * | 2014-11-28 | 2015-04-22 | 深圳一电科技有限公司 | Aircraft control method and device |
| CN104749600A (en) * | 2015-03-04 | 2015-07-01 | 大连理工大学 | Polarized light based judgment type integrated navigation method |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| CN106054909A (en) * | 2016-06-28 | 2016-10-26 | 江苏中科院智能科学技术应用研究院 | Flight control device suitable for miniature unmanned plane |
| CN106254009A (en) * | 2016-07-21 | 2016-12-21 | 北京航空航天大学 | A kind of Unmanned Aerial Vehicle Data Link test electromagnetic interference signal recurrence system and reproducing method |
| CN106254009B (en) * | 2016-07-21 | 2018-08-03 | 北京航空航天大学 | A kind of Unmanned Aerial Vehicle Data Link test electromagnetic interference signal recurrence system and reproducing method |
| CN107991699A (en) * | 2016-10-27 | 2018-05-04 | 上海华测导航技术股份有限公司 | A kind of system for flight control computer based on the positioning of CORS network differentials |
| CN107132851B (en) * | 2017-07-05 | 2023-03-14 | 陕西蔚蓝航天测控技术开发有限公司 | Unmanned aerial vehicle flight navigation control system |
| CN107132851A (en) * | 2017-07-05 | 2017-09-05 | 陕西蔚蓝航天测控技术开发有限公司 | A kind of unmanned plane during flying navigation control system |
| CN107505833A (en) * | 2017-08-01 | 2017-12-22 | 南京理工大学 | A kind of flight control system and method based on embedded OS |
| CN107505833B (en) * | 2017-08-01 | 2021-09-03 | 南京理工大学 | Flight control system and method based on embedded operating system |
| CN107727101B (en) * | 2017-11-16 | 2020-09-11 | 大连理工大学 | Fast solution method for 3D attitude information based on double polarized light vector |
| CN107727101A (en) * | 2017-11-16 | 2018-02-23 | 大连理工大学 | 3 d pose information fast resolution algorithm based on double polarizing light vector |
| CN107917988A (en) * | 2017-11-23 | 2018-04-17 | 深圳市智璟科技有限公司 | A kind of toxic and harmful gas detecting system and method based on multi-rotor unmanned aerial vehicle |
| CN108528745A (en) * | 2018-04-04 | 2018-09-14 | 江南大学 | An unmanned aerial vehicle battery exchange and charging system |
| CN109471433A (en) * | 2018-11-09 | 2019-03-15 | 北京航空航天大学 | A Heading and Attitude Reference System Based on Polarization Compass |
| CN109839941A (en) * | 2019-03-04 | 2019-06-04 | 张书玮 | A kind of individual's small aircraft control system |
| CN110398978A (en) * | 2019-04-24 | 2019-11-01 | 内蒙古科技大学 | A Grazing Path Planning System Based on Grass-Animal Balance Model |
| CN111645870A (en) * | 2020-06-15 | 2020-09-11 | 四川省天域航通科技有限公司 | Large-scale freight transportation unmanned aerial vehicle airborne monitoring system |
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