CN104699082A - Unmanned aerial vehicle whole inertial navigation test bench - Google Patents
Unmanned aerial vehicle whole inertial navigation test bench Download PDFInfo
- Publication number
- CN104699082A CN104699082A CN201510150394.3A CN201510150394A CN104699082A CN 104699082 A CN104699082 A CN 104699082A CN 201510150394 A CN201510150394 A CN 201510150394A CN 104699082 A CN104699082 A CN 104699082A
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- China
- Prior art keywords
- servo
- controller
- platform
- servo steering
- same direction
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
Abstract
The invention provides an unmanned aerial vehicle whole inertial navigation test bench. The unmanned aerial vehicle whole inertial navigation test bench comprises a base; a servo steering engine controller, a display screen and a button are integrated inside the base; four servo steering engines are mounted at the four corners of the base; the rocking arm of each servo steering engine is connected with a spring, and the top ends of all the springs are connected to the four corners of an unmanned aerial vehicle platform. The initial instrument state is that the rocking arms of the four servo steering engines are vertically upward. When the rocking arms of the four servo steering engines rotate in the same direction, the heading of the platform changes; when the rocking arms of the front two servo steering engines rotate in the same direction and the back two servo steering engines are kept in the initial state, the head of the platform drops; when the rocking arms of the back two servo steering engines rotate in the same direction and the front two servo steering engines are kept in the initial state, the head of the platform drops; when the rocking arms of the left two servo steering engines rotate in the same direction and the right two servo steering engines are kept in the initial state, the platform is tilted leftwards; when the rocking arms of the right two servo steering engines rotate in the same direction and the left two servo steering engines are kept in the initial state, the platform is tilted rightwards.
Description
Technical field
The present invention relates to a kind of instrument for testing the control correctness of unmanned plane complete machine.
Background technology
Flying to control is the control core of unmanned plane, often arranges because have changed and causes the feedback direction flying to control to be made a mistake in process taken a flight test by aircraft, so often need the steering logic correctness of carrying out complete machine to detect, prevent to pass through lead direction mistake is set.Existing detection method starts to pass through guiding systems and topworks, and manually lift unmanned plane, carry out the rotation of all directions, whether the correction direction of operating observing rudder face or motor is correct.But this method is only applicable to miniature and part SUAV (small unmanned aerial vehicle), implements very difficult for medium-sized and large-scale unmanned plane, and extremely dangerous.Especially for many rotor wing unmanned aerial vehicles, be very easy in motor high speed operation damage the personnel lifting unmanned plane.
Summary of the invention
The object of the invention is to be before the flight in order to solve unmanned plane, pass through a kind of instrument and equipment of leading correctness detection and design.Can full-automatic or semi-automatic complete flight before complete machine pass through and lead test job.
This instrument has the platform that can change attitude and course, for fixing unmanned plane complete machine.Inner integrated Servo-controller controller, the rocking arm that can control four Servo-controllers carries out in the same way or counter motion, uses spring to connect between rocking arm and platform, thus the motion of parametric controller, the pitching of implementation platform, horizontal survey and course motion.Aircraft is passed through leads control and can make corresponding pose adjustment, makes many rotor wing unmanned aerial vehicles can see that passing through guiding systems reacts the control of aspect by unmanned aerial vehicle station, thus judges correctness and the centering capacity in its correction direction.Fixed-wing unmanned plane then directly can observe control surface deflection direction to judge its correctness, and the vergence direction that helicopter then can observe pitch judges to pass through the correctness led.
Technical scheme of the present invention is: the inner integrated Servo-controller controller 3 of base 1, display screen 2 and button 4, and there are installation four Servo-controllers 6 at base 1 four angles, rocking arm 7 linking springs 8 of Servo-controller 6, and spring 8 top connects four angles of unmanned aerial vehicle platform 5.The original state of instrument be the rocking arm 7 of four Servo-controllers 6 vertically upward.When rocking arm 7 rotating in same direction of four Servo-controllers 6, platform course changes; When rocking arm 7 rotating in same direction of the first two Servo-controller 6, when latter two Servo-controller 6 keeps original state, platform is bowed; When rocking arm 7 rotating in same direction of latter two Servo-controller 6, when the first two Servo-controller 6 keeps original state, platform is bowed; When rocking arm 7 rotating in same direction of two Servo-controllers 6 in the left side, when two, right side Servo-controller 6 keeps original state, platform is left-leaning; When rocking arm 7 rotating in same direction of two Servo-controllers 6 in the right side, when two, left side Servo-controller 6 keeps original state, platform Right deviation.
The invention has the advantages that:
(1) can the full-automatic or semi-automatic motion completed needed for test;
(2) all directions and attitudes vibration size is controlled;
(3) overall volume is less, is applicable to working environment and uses.
Accompanying drawing explanation
Fig. 1 is original state outward appearance of the present invention
Fig. 2 is the outward appearance that course of the present invention rotates
Fig. 3 is the outward appearance that pitch orientation of the present invention rotates
Fig. 4 is that horizontal side of the present invention is to the outward appearance rotated
Wherein: 1 base 2 display screen 3 Servo-controller controller 4 button 5 platform 6 Servo-controller 7 rocking arm 8 spring
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail:
As shown in Figure 1, the present invention is that passing through of a kind of employing three framework The Cloud Terraces design lead calibration instrument.The inner integrated Servo-controller controller 3 of base 1, display screen 2 and button 4, there are installation four Servo-controllers 6 at base 1 four angles, rocking arm 7 linking springs 8 of Servo-controller 6, and spring 8 top connects four angles of unmanned aerial vehicle platform 5.The original state of instrument be the rocking arm 7 of four Servo-controllers 6 vertically upward.When rocking arm 7 rotating in same direction of four Servo-controllers 6, platform course changes; When rocking arm 7 rotating in same direction of the first two Servo-controller 6, when latter two Servo-controller 6 keeps original state, platform is bowed; When rocking arm 7 rotating in same direction of latter two Servo-controller 6, when the first two Servo-controller 6 keeps original state, platform is bowed; When rocking arm 7 rotating in same direction of two Servo-controllers 6 in the left side, when servo two steering wheels 6 in the right side keep original state, platform is left-leaning; When rocking arm 7 rotating in same direction of right side servo two steering wheels 6, when two, left side Servo-controller 6 keeps original state, platform Right deviation; The rocking arm 7 that Servo-controller 6 is installed is connected with the unmanned aerial vehicle platform at top by spring 8, after fixing unmanned plane, can use the motion that button 4 starts for various attitude automatically, also manual control can change some attitudes and test for individual event.
Claims (3)
1. a unmanned plane complete machine passes through and leads test board, comprise base (1), it is characterized in that: described base (1) inside is integrated with Servo-controller controller (3), display screen (2) and button (4), described base (1) four angle is also provided with four Servo-controllers (6), rocking arm (7) linking springs (8) of described Servo-controller (6), described spring (8) top connects four angles of unmanned aerial vehicle platform (5).
2. unmanned plane complete machine as claimed in claim 1 passes through and leads a test board, it is characterized in that: described Servo-controller can independence or aggregate motion.
3. a unmanned plane complete machine as claimed in claim 1 or 2 passes through and leads test board, it is characterized in that: described Servo-controller (6) has following mode of motion, when rocking arm (7) rotating in same direction of four Servo-controllers (6), platform course changes; When rocking arm (7) rotating in same direction of the first two Servo-controller (6), during latter two Servo-controller (6) maintenance original state, platform is bowed; When rocking arm (7) rotating in same direction of latter two Servo-controller (6), during the first two Servo-controller (6) maintenance original state, platform is bowed; When rocking arm (7) rotating in same direction of left side servo two steering wheels (6), during two Servo-controller (6) the maintenance original states in the right side, platform is left-leaning; When rocking arm (7) rotating in same direction of two Servo-controllers (6) in the right side, during two Servo-controller (6) the maintenance original states in the left side, platform Right deviation.。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510150394.3A CN104699082A (en) | 2015-04-01 | 2015-04-01 | Unmanned aerial vehicle whole inertial navigation test bench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510150394.3A CN104699082A (en) | 2015-04-01 | 2015-04-01 | Unmanned aerial vehicle whole inertial navigation test bench |
Publications (1)
| Publication Number | Publication Date |
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| CN104699082A true CN104699082A (en) | 2015-06-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510150394.3A Pending CN104699082A (en) | 2015-04-01 | 2015-04-01 | Unmanned aerial vehicle whole inertial navigation test bench |
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| Country | Link |
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| CN (1) | CN104699082A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182875A (en) * | 2015-09-11 | 2015-12-23 | 卢致辉 | UAV fall monitoring device and method based on ARM and MEMS |
| CN110887504A (en) * | 2018-09-10 | 2020-03-17 | 深圳市贝贝特科技实业有限公司 | Aircraft calibration equipment |
| CN112987768A (en) * | 2021-02-08 | 2021-06-18 | 华软科技股份有限公司 | Unmanned aerial vehicle righting device and orientation righting method |
Citations (4)
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| CN101950157A (en) * | 2010-07-30 | 2011-01-19 | 北京航空航天大学 | Flight simulation system with high instantaneity |
| GB2477407A (en) * | 2010-01-28 | 2011-08-03 | Sirf Technology Holdings Inc | GNSS performance enhancement using accelerometer only data |
| CN203186583U (en) * | 2013-03-01 | 2013-09-11 | 佛山市安尔康姆航拍科技有限公司 | Overall unit aging testing device for quad-rotor unmanned aerial vehicle |
| CN103885450A (en) * | 2014-03-03 | 2014-06-25 | 天津大学 | Method for nonlinear control over unmanned helicopter posture and verification platform |
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2015
- 2015-04-01 CN CN201510150394.3A patent/CN104699082A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2477407A (en) * | 2010-01-28 | 2011-08-03 | Sirf Technology Holdings Inc | GNSS performance enhancement using accelerometer only data |
| CN101950157A (en) * | 2010-07-30 | 2011-01-19 | 北京航空航天大学 | Flight simulation system with high instantaneity |
| CN203186583U (en) * | 2013-03-01 | 2013-09-11 | 佛山市安尔康姆航拍科技有限公司 | Overall unit aging testing device for quad-rotor unmanned aerial vehicle |
| CN103885450A (en) * | 2014-03-03 | 2014-06-25 | 天津大学 | Method for nonlinear control over unmanned helicopter posture and verification platform |
Non-Patent Citations (1)
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| 张振: "小型无人机三轴飞行仿真转台设计", 《兵工自动化》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105182875A (en) * | 2015-09-11 | 2015-12-23 | 卢致辉 | UAV fall monitoring device and method based on ARM and MEMS |
| CN110887504A (en) * | 2018-09-10 | 2020-03-17 | 深圳市贝贝特科技实业有限公司 | Aircraft calibration equipment |
| CN110887504B (en) * | 2018-09-10 | 2021-08-17 | 深圳市贝贝特科技实业有限公司 | Aircraft calibration equipment |
| CN112987768A (en) * | 2021-02-08 | 2021-06-18 | 华软科技股份有限公司 | Unmanned aerial vehicle righting device and orientation righting method |
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| C06 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Dongmei Inventor before: Yang Jiong |
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| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20151104 Address after: 100085 Beijing city Haidian District Shuangqing Road No. 3 room 31029 Applicant after: BEIJING XIANGXIAN SPATIAL TECHNOLOGY CO., LTD. Address before: 100191, Haidian District, Zhichun Road Beijing No. 22 tower, 207 Applicant before: Beijing quadrant Science and Technology Ltd. Applicant before: Yang Jiong |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150610 |
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| WD01 | Invention patent application deemed withdrawn after publication |