CN105241453A - Unmanned aerial vehicle navigation system and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle navigation system and unmanned aerial vehicle Download PDFInfo
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- CN105241453A CN105241453A CN201510676868.8A CN201510676868A CN105241453A CN 105241453 A CN105241453 A CN 105241453A CN 201510676868 A CN201510676868 A CN 201510676868A CN 105241453 A CN105241453 A CN 105241453A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Navigation (AREA)
Abstract
The invention discloses an unmanned aerial vehicle navigation system and an unmanned aerial vehicle. The unmanned aerial vehicle navigation system comprises a CPU, a GNSS, an inertial navigation sensor and a DSP. The GNSS is connected with the CPU. The DSP is connected with the inertial navigation sensor and connected with the CPU. As the unmanned aerial vehicle navigation system comprises the DSP and the CPU, the DSP can carry out filter processing and inertia information resolving on data collected by the inertial navigation sensor so as to obtain inertia navigation information, then the inertial navigation information is sent to the CPU, the navigation data processing efficiency is improved, high-quality signal output and the high data updating rate are ensured, and therefore the requirement that the unmanned aerial vehicle outputs high-dynamic and high-quality navigation signals in the high-interference environment is met.
Description
Technical field
The present invention relates to unmanned plane field, be related specifically to a kind of UAV Navigation System and unmanned plane.
Background technology
Because unmanned plane has the advantages such as small, cost is low, and along with the fast development of flight control technique, the communication technology and electronic technology, the performance of unmanned plane constantly strengthens, type is on the increase, and its application demand in military domain and civil area is constantly increased.
Navigational system is most important for unmanned plane, but because the navigational system being applied to SUAV (small unmanned aerial vehicle) is subject to the restriction of volume, weight and cost, the performance of sensor is all very limited, therefore inertial navigation and GNSS (GlobalNavigationSatelliteSystem, the GLONASS (Global Navigation Satellite System)) mode combined of navigating generally need be adopted to navigate.
The inertial navigation of tradition UAV Navigation System adopts sensor to carry out the data acquisition of state of flight, and the AD converter then using serial line interface to control is changed the data that sensor collects.Then, the data that the data after AD converter conversion and GNSS gather are carried out data fusion and resolve by the CPU (central processing unit) of navigational system, finally obtain navigation information accurately.
Needing under the high dynamic environment maintaining high data updating rate, needing to consume a large amount of CPU time and data are resolved.On the other hand, if under unmanned plane is operated in strong interference environment, in order to obtain high-quality navigation signal, CPU needs to carry out the process such as filtering to data, also needs to consume a large amount of CPU time.Therefore, if under unmanned plane is operated in strong interference environment, navigational system of the prior art is difficult to meet the demand that high-quality navigation signal exports and high-speed data upgrades simultaneously.
Summary of the invention
The problem that the present invention solves is if under unmanned plane is operated in strong interference environment, and navigational system of the prior art is difficult to meet high-quality navigation signal simultaneously and exports and the demand of high-speed data renewal.
For solving the problem, the invention provides a kind of UAV Navigation System, comprising:
CPU；
GNSS, described GNSS and CPU connects;
Inertial navigation sensors;
DSP, described DSP is connected with inertial navigation sensors, and is connected with CPU.
Further, described inertial navigation sensors comprises:
Gyroscope;
Accelerometer;
Magnetometer;
Barometric altimeter.
Further, described gyroscope is three-axis gyroscope;
Described accelerometer is three axis accelerometer;
Three-axle magnetic field meter is counted in described magnetic field.
Further, also comprise:
AD converter, described DSP is connected with described inertial navigation sensors by described AD converter.
Further, also comprise:
Storer, described DSP is connected with CPU by described storer.
Further, described DSP is connected by parallel bus with described AD converter.
Further, described DSP is connected by parallel bus with described storer.
Further, described storer is connected by parallel bus with described CPU.
Further, described storer is the RAM of both-end read-write interface.
Compared with prior art, technical scheme of the present invention has the following advantages:
UAV Navigation System of the present invention comprises DSP (digitalsignalprocessor, digital signal processing) and CPU, the data that described DSP can gather inertial navigation sensors carry out filtering process and Inertia information resolves to obtain inertial navigation information, then inertial navigation information is sent to CPU, CPU is without the need to carrying out complicated pre-service to the data that inertial navigation sensors gathers again, CPU only need resolve GNSS navigation information, and the information that the information after then being resolved by GNSS and DSP send carries out information fusion to obtain accurate navigation information.Because CPU is without the need to carrying out pre-service to the data that inertial navigation sensors gathers again, improve the treatment effeciency of navigation data, ensure that high-quality signal exports and high data update rate, to meet unmanned plane under high-interference environment to height dynamically and the demand of high-quality navigation signal output simultaneously.
The present invention also provides a kind of unmanned plane, and described unmanned plane comprises fuselage, wing, motor and screw propeller, also comprises:
Above-mentioned UAV Navigation System.
Compared with prior art, technical scheme of the present invention has the following advantages:
UAV Navigation System in unmanned plane of the present invention comprises DSP and CPU, the data that described DSP can gather inertial navigation sensors carry out filtering process and Inertia information resolves to obtain inertial navigation information, then inertial navigation information is sent to CPU, CPU is without the need to carrying out complicated pre-service to the data that inertial navigation sensors gathers again, CPU only need resolve GNSS navigation information, and the information that the information after then being resolved by GNSS and DSP send carries out information fusion to obtain accurate navigation information.Because CPU is without the need to carrying out pre-service to the data that inertial navigation sensors gathers again, improve the treatment effeciency of navigation data, ensure that high-quality signal exports and high data update rate, to meet unmanned plane under high-interference environment to height dynamically and the demand of high-quality navigation signal output simultaneously.
Accompanying drawing explanation
Fig. 1 is the schematic layout pattern of UAV Navigation System in first embodiment of the invention;
Fig. 2 is the fundamental diagram of UAV Navigation System in first embodiment of the invention;
Fig. 3 is the process flow diagram of the DSP process data of UAV Navigation System in first embodiment of the invention;
Fig. 4 is the process flow diagram of the ARM process data of UAV Navigation System in first embodiment of the invention.
Embodiment
If under unmanned plane is operated in strong interference environment, navigational system of the prior art is difficult to meet the demand that high-quality navigation signal exports and high-speed data upgrades simultaneously.
For enabling above-mentioned purpose of the present invention, feature and advantage more become apparent, and are described in detail specific embodiments of the invention below in conjunction with accompanying drawing.
First embodiment
With reference to figure 1, the present embodiment provides a kind of UAV Navigation System, comprising:
CPU, GNSS, inertial navigation sensors and DSP.
In the present embodiment, described CPU is ARM, and in other embodiments, described CPU also can be the CPU of other types.
Described GNSS and CPU connects.
Described DSP is connected with inertial navigation sensors, and is connected with CPU.
In the present embodiment, described inertial navigation sensors comprises: gyroscope, accelerometer, magnetometer and barometric altimeter.
In other embodiments, described inertial navigation sensors can also comprise the sensor of other types.
In the present embodiment, described gyroscope is three-axis gyroscope, and described accelerometer is three axis accelerometer, and three-axle magnetic field meter is counted in described magnetic field.
In the present embodiment, described UAV Navigation System also comprises AD converter, and described DSP is connected with described inertial navigation sensors by described AD converter.
In the present embodiment, AD converter is parallel high-speed high-precision AD converter.
In the present embodiment, described DSP is connected by parallel bus with described AD converter.
In the present embodiment, described UAV Navigation System also comprises storer, and described DSP is connected with CPU by described storer.
In the present embodiment, described storer is the RAM of both-end read-write interface.
In the present embodiment, described DSP is connected by parallel bus with described storer.
In the present embodiment, described storer is connected by parallel bus with described CPU.
With reference to figure 2, the UAV Navigation System working method of the present embodiment comprises:
Three-axis gyroscope gathers the angle rate signal of unmanned plane, and three axis accelerometer gathers the acceleration signal of unmanned plane, and three-axle magnetic field meter gathers the magnetic field intensity signal of unmanned plane, and barometric altimeter gathers the absolute pressure signal of unmanned plane.
The signal input AD converter that above-mentioned inertial navigation sensors will collect, raw sensor signal is converted to digital signal by AD converter.
DSP reads the data after AD converter conversion by parallel bus timing, and digital signal filter process is carried out to data, then the method for EKF is adopted to obtain boat appearance and inertial navigation information, and by 3 shaft angle speed datas, 3 axle overload data, barometer altitude data, boat appearance data and inertial navigation data write RAM.
Arm processor timing reads data from RAM, and receives and process the navigation data from GNSS, then carries out data fusion by from the navigation data in RAM and the navigation data from GNSS, obtains and merge navigation information.And, revise according to GNSS navigation data and the boat appearance information of inertial navigation data to unmanned plane, export 3 shaft angle speed datas, 3 axle overload data, barometer altitude data, inertial navigation data, boat appearance data, GNSS navigation data eventually through parallel bus interface, merge navigation data and GNSS correction boat appearance.
The UAV Navigation System of the present embodiment is owing to comprising DSP and CPU, the data that described DSP can gather inertial navigation sensors carry out filtering process and Inertia information resolves to obtain inertial navigation information, then inertial navigation information is sent to CPU, CPU is without the need to carrying out complicated pre-service to the data that inertial navigation sensors gathers again, CPU only need resolve GNSS navigation information, and the information that the information after then being resolved by GNSS and DSP send carries out information fusion to obtain accurate navigation information.Because CPU is without the need to carrying out pre-service to the data that inertial navigation sensors gathers again, improve the treatment effeciency of navigation data, ensure that high-quality signal exports and high data update rate, to meet unmanned plane under high-interference environment to height dynamically and the demand of high-quality navigation signal output simultaneously.
Flow process with reference to figure 3, DSP process data comprises:
Start AD converter;
Read AD converter data;
Digital signal filter process;
Attitude algorithm;
Inertial navigation resolves;
Data export RAM to.
Then return, and again start AD converter, repeat above-mentioned steps to constantly update unmanned plane during flying attitude and inertial navigation data always.
Flow process with reference to figure 4, ARM process data comprises:
Data are read from RAM;
Resolve GNSS navigation data;
Merge navigation data;
Revise attitude;
Final data exports.
Then return, and again read data from RAM, repeat above-mentioned steps constantly to revise attitude information always, and data are exported.
In the present embodiment, the flow process of described DSP process data and the flow process of ARM process data can executed in parallel.
The UAV Navigation System beneficial effect of the present embodiment mainly comprises:
Adopt parallel high-speed AD conversion, significantly improve the sampling rate of inertial navigation sensors output signal;
UAV Navigation System is owing to comprising DSP and CPU, the data that described DSP can gather inertial navigation sensors carry out filtering process and Inertia information resolves to obtain inertial navigation information, then inertial navigation information is sent to CPU, CPU is without the need to carrying out complicated pre-service to the data that inertial navigation sensors gathers again, CPU only need resolve GNSS navigation information, and the information that the information after then being resolved by GNSS and DSP send carries out information fusion to obtain accurate navigation information.Because CPU is without the need to carrying out pre-service to the data that inertial navigation sensors gathers again, improve the treatment effeciency of navigation data, ensure that high-quality signal exports and high data update rate, to meet unmanned plane under high-interference environment to height dynamically and the demand of high-quality navigation signal output simultaneously;
Not only export independently inertial navigation information, boat appearance information and GNSS navigation information, and export obtained by data anastomosing algorithm fusion integrated navigation information, can obtain through algorithm revised boat appearance information.
Second embodiment
The present embodiment provides a kind of unmanned plane, and described unmanned plane comprises fuselage, wing, motor and screw propeller, also comprises the UAV Navigation System described in the first embodiment.
UAV Navigation System in the present embodiment in unmanned plane comprises DSP and CPU, the data that described DSP can gather inertial navigation sensors carry out filtering process and Inertia information resolves to obtain inertial navigation information, then inertial navigation information is sent to CPU, CPU is without the need to carrying out complicated pre-service to the data that inertial navigation sensors gathers again, CPU only need resolve GNSS navigation information, and the information that the information after then being resolved by GNSS and DSP send carries out information fusion to obtain accurate navigation information.Because CPU is without the need to carrying out pre-service to the data that inertial navigation sensors gathers again, improve the treatment effeciency of navigation data, ensure that high-quality signal exports and high data update rate, to meet unmanned plane under high-interference environment to height dynamically and the demand of high-quality navigation signal output simultaneously.
Although the present invention discloses as above, the present invention is not defined in this.Any those skilled in the art, without departing from the spirit and scope of the present invention, all can make various changes or modifications, and therefore protection scope of the present invention should be as the criterion with claim limited range.
Claims (10)
1. a UAV Navigation System, is characterized in that, comprising:
CPU；
GNSS, described GNSS and CPU connects;
Inertial navigation sensors;
DSP, described DSP is connected with inertial navigation sensors, and is connected with CPU.
2. UAV Navigation System as claimed in claim 1, is characterized in that, described inertial navigation sensors
Comprise:
Gyroscope;
Accelerometer;
Magnetometer;
Barometric altimeter.
3. UAV Navigation System as claimed in claim 2, it is characterized in that, described gyroscope is three-axis gyroscope;
Described accelerometer is three axis accelerometer;
Three-axle magnetic field meter is counted in described magnetic field.
4. UAV Navigation System as claimed in claim 1, is characterized in that, also comprise:
AD converter, described DSP is connected with described inertial navigation sensors by described AD converter.
5. UAV Navigation System as claimed in claim 1, is characterized in that, also comprise:
Storer, described DSP is connected with CPU by described storer.
6. UAV Navigation System as claimed in claim 4, it is characterized in that, described DSP is connected by parallel bus with described AD converter.
7. UAV Navigation System as claimed in claim 5, it is characterized in that, described DSP is connected by parallel bus with described storer.
8. UAV Navigation System as claimed in claim 5, it is characterized in that, described storer is connected by parallel bus with described CPU.
9. UAV Navigation System as claimed in claim 5, it is characterized in that, described storer is the RAM of both-end read-write interface.
10. a unmanned plane, described unmanned plane comprises fuselage, wing, motor and screw propeller, it is characterized in that, also comprises:
The arbitrary described UAV Navigation System of claim 1-9.
Priority Applications (1)
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| CN201510676868.8A CN105241453A (en) | 2015-10-18 | 2015-10-18 | Unmanned aerial vehicle navigation system and unmanned aerial vehicle |
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| CN201510676868.8A CN105241453A (en) | 2015-10-18 | 2015-10-18 | Unmanned aerial vehicle navigation system and unmanned aerial vehicle |
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| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double-antenna anti-interference navigation device and unmanned aerial vehicle |
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| C06 | Publication | ||
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| CB03 | Change of inventor or designer information |
Inventor after: Zhang Jie Inventor before: Zhang Jie Inventor before: Zhang Wang Inventor before: Liu Zhuobin Inventor before: Zhou Yi Inventor before: Yu Chunguang |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160113 |