CN105468010A - Multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller - Google Patents
Multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller Download PDFInfo
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- CN105468010A CN105468010A CN201511028738.XA CN201511028738A CN105468010A CN 105468010 A CN105468010 A CN 105468010A CN 201511028738 A CN201511028738 A CN 201511028738A CN 105468010 A CN105468010 A CN 105468010A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller, which comprises a DSP arranged inside the unmanned aerial vehicle. A power supply module provides power for the DSP; the DSP is directly connected with the inertial sensor and an air pressure altitude sensor via a system bus to integrate the inertial sensor and the air pressure altitude sensor as a whole; the DSP is also connected with a wireless data transmission radio station and can communicate wirelessly with a ground station control system via the wireless data transmission radio station; the information output end of the DSP is connected with an electron speed regulator; and the electron speed regulator is connected with the motor of the unmanned aerial vehicle and can control the speed of the motor of the unmanned aerial vehicle. The multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller has the advantages that the processor is integrated with the inertial navigation sensor and an air data sensor and can perform data exchange; and due to the integrated design, the system-level serial communication is reduced, the inertial data updating rate is improved, the reliability of the system is enhanced, and the cost, the volume, the weight and the power consumption are reduced.
Description
Technical field
The present invention relates to a kind of UAV Flight Control device, specifically a kind of multiple degrees of freedom inertial sensor multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller.
Background technology
Four rotor unmanned aircrafts are a kind of six degree of freedom vertical take-off and landing unmanned aerial vehicles, the task that the fixed wing aircrafts such as hovering, low-speed operations, vertical takeoff and landing and indoor flight cannot complete can be completed, compared with traditional helicopter, there is again structure and control simple, the advantages such as manufacturing accuracy requirement is lower, good stability, more weak gyroscopic effect.In recent years, four rotor unmanned aircrafts are with the broad prospect of application of its plurality of advantages in fields such as unmanned investigation, traffic administration, forest fire protection, city patrols, become international study hotspot, and the flight controller of four rotors is the core links in quadrotor design.At present, unmanned flight's controller of major part research and development can both complete the functions such as the autonomous flight of unmanned plane and spot hover, but also has the following disadvantages:
(1) framework of current flight control system is inertial navigation system, air data system, flight-control computer adopt separately, independently design, exchange data by serial data communication between each system, cause the feature that cost is high, Heavy Weight, volume are large, integrated level is low and reliability is low.
(2) current flight controller all adopts each independently inertial sensor unit, cannot ensure the orthogonality of sensor.
Summary of the invention
It is little that the technical problem to be solved in the present invention is to provide a kind of volume, lightweight, low in energy consumption, and CPU processing speed is fast, and integrated level is high, the multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller of good stability.
In order to solve the problems of the technologies described above, multiple degrees of freedom inertial sensor multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller of the present invention, comprise the dsp processor be arranged in unmanned plane, dsp processor is powered by power module, dsp processor directly connects inertial sensor and pressure-altitude sensor respectively by system bus and inertial sensor and pressure-altitude sensor is become one, dsp processor is also connected with Wireless Data Transmission radio station and can carries out wireless telecommunications by Wireless Data Transmission radio station and ground station control system, the information output of dsp processor is connected with electron speed regulator, described electron speed regulator is connected with the motor of unmanned plane and can controls the speed of unmanned plane motor.
Described inertial sensor comprises three-axis gyroscope, three axis accelerometer, three axle magnetic compasses and GPS/ Beidou receiver.
Described inertial sensor is MEMS sensor.
The invention has the advantages that: processor is become one by plate level bus and inertial sensor, air data sensor and can carry out exchange data; Such Integration Design decreases system-level serial communication, improves inertial data renewal rate, adds the reliability of system, reduces cost, volume, weight and power consumption.
Accompanying drawing explanation
Fig. 1 is the theory diagram of multiple degrees of freedom inertial sensor multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller of the present invention is described in further detail.
As shown in the figure, multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller of the present invention, comprise the dsp processor be arranged in unmanned plane, dsp processor is powered by power module, directly can complete power demands by power module, dsp processor directly connects inertial sensor and pressure-altitude sensor respectively by system bus and inertial sensor and pressure-altitude sensor is become one, dsp processor can complete inertial navigation sensors, pressure-altitude sensor, the data acquisition and procession of GPS locating module, and calculate actual flight position by algorithm, highly, speed, attitude and angular velocity, complete the position to aircraft, highly, speed, the real-time control of attitude, dsp processor is also connected with Wireless Data Transmission radio station and can carries out wireless telecommunications by Wireless Data Transmission radio station and ground station control system, the information output of dsp processor is connected with electron speed regulator, and electron speed regulator is connected with the motor of unmanned plane and can controls the speed of unmanned plane motor, said inertial sensor comprises three-axis gyroscope, three axis accelerometer, three axle magnetic compasses and GPS/ Beidou receiver, said inertial sensor is preferably MEMS sensor, system three-dimensional information and given Track forming position-force control is obtained by GPS and barometric altimeter, calculate given attitude, go out attitude with inertial reference calculation and form attitude closed loop, the thrust of four propulsion systems is gone out through decoupling computation, regulate the thrust of propulsion system to electron speed regulator, thus control whole aircraft according to given track flight.
Certain multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller of the present invention also comprises the signal receiver for receiving the remote signal that ground sends, by structural design of the present invention, dsp processor gathers gyroscope, accelerometer, magnetic compass, the data of the sensors such as GPS calculate the real time position of aircraft, speed, attitude etc., and by the remote signal of ground transmission, convert it into given position/attitude, aircraft real time data and data-oriented carry out closed-loop control through the control law of flight-control computer, calculate output quantity to topworks, complete the real-time control to aircraft, and flying quality is passed to earth station system in real time.
Claims (3)
1. a multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller, it is characterized in that: comprise the dsp processor be arranged in unmanned plane, described dsp processor is powered by power module, described dsp processor directly connects inertial sensor and pressure-altitude sensor respectively by system bus and inertial sensor and pressure-altitude sensor is become one, described dsp processor is also connected with Wireless Data Transmission radio station and can carries out wireless telecommunications by Wireless Data Transmission radio station and ground station control system, the information output of described dsp processor is connected with electron speed regulator, described electron speed regulator is connected with the motor of unmanned plane and can controls the speed of unmanned plane motor.
2., according to multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller according to claim 1, it is characterized in that: described inertial sensor comprises three-axis gyroscope, three axis accelerometer, three axle magnetic compasses and GPS/ Beidou receiver.
3., according to multiple degrees of freedom inertial sensor four axle unmanned plane independent navigation flight controller according to claim 1, it is characterized in that: described inertial sensor is MEMS sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511028738.XA CN105468010A (en) | 2015-12-31 | 2015-12-31 | Multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller |
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| CN201511028738.XA CN105468010A (en) | 2015-12-31 | 2015-12-31 | Multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272740A (en) * | 2017-07-28 | 2017-10-20 | 北京航天光华电子技术有限公司 | A kind of new four rotor wing unmanned aerial vehicles control system |
| CN107450395A (en) * | 2017-08-15 | 2017-12-08 | 江苏穿越金点信息科技股份有限公司 | Unmanned plane Information locating acquisition control system |
| CN107783547A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and method |
| WO2018072693A1 (en) * | 2016-10-20 | 2018-04-26 | 深圳市道通智能航空技术有限公司 | Method and device for controlling aerial vehicle, and aerial vehicle |
| CN108594841A (en) * | 2017-12-30 | 2018-09-28 | 东莞北京航空航天大学研究院 | UAV Flight Control System and method |
| CN110673624A (en) * | 2019-11-11 | 2020-01-10 | 湖南斯凯航空科技股份有限公司 | Aircraft control system and control method thereof |
| CN111044220A (en) * | 2019-11-26 | 2020-04-21 | 北京卫星制造厂有限公司 | Unmanned aerial vehicle mass center inertia integrated test method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783547A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and method |
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| CN111044220B (en) * | 2019-11-26 | 2021-12-07 | 北京卫星制造厂有限公司 | Unmanned aerial vehicle mass center inertia integrated test method |
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Application publication date: 20160406 |