CN105807779A - Flight control system and method for unmanned aerial vehicle - Google Patents
Flight control system and method for unmanned aerial vehicle Download PDFInfo
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- CN105807779A CN105807779A CN201610312262.0A CN201610312262A CN105807779A CN 105807779 A CN105807779 A CN 105807779A CN 201610312262 A CN201610312262 A CN 201610312262A CN 105807779 A CN105807779 A CN 105807779A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a flight control system and method for an unmanned aerial vehicle.The system comprises an MCU center control module, an airborne sensor module, a data record, export and storage module and a flight state indication module.The control method comprises the following steps that 1, the airborne sensor module is used for collecting data and transmitting the data to an MCU center control system through a CAN bus; 2, the MCU center control system fuses the data of sensors to generate a control signal and a flight control command for the unmanned aerial vehicle; 3, the MCU center control system transmits the flight control command to a steering engine set of the unmanned aerial vehicle, and the steering engine set of the unmanned aerial vehicle flies according to the flight control command of the flight control system.The system is simple in structure, small in size, low in weight and diversified in function, and can be used instantly in a plug-in mode; stability and robustness of the flight control system for the unmanned aerial vehicle are guaranteed; stable control over flight of the unmanned aerial vehicle is realized; the flight control method for the unmanned aerial vehicle is easy and clear to operate.
Description
Technical field
The present invention relates to UAV Flight Control field, particularly relate to a kind of UAV Flight Control System and method.
Background technology
Unmanned plane and unmanned vehicle, unmanned plane adopts satellite fix, remote sensing, geographical space, Aero-Space, automatically controls, the new and high technology such as computer-assisted analysis, can serve multiple fields such as territory, mapping, forestry, traffic, water conservancy and military affairs.
The flight control assemblies of unmanned plane mainly performs the flight attitude calculating of unmanned plane, the line of flight controls, flying quality feedback, and in flight course, perform the aerial mission being correlated with, from structure division of labor angle, flight control system is exactly the action maincenter of unmanned plane, and its stability decides the safety of the whole flight course of unmanned plane.
It is all that single automatic Pilot controls system currently without man-machine applied control system, it is based on electronic devices and components exploitation and composition, and electronic devices and components there will be some problems (such as temperature, air pressure, humidity, dust, electromagnetic environment, vibration, voltage, electric current, SPS signal change, program computation mistake etc.) in some environments, and namely slight problem likely brings the damage of unmanned plane unrepairable, it could even be possible to things damages to external world.
For this, we devise a kind of UAV Flight Control System and method, by detecting three-axis attitude angle (or angular speed) and acceleration, three axle orientation, position, electric current, voltage, and by status information, monitor the state of flight of unmanned plane in real time, such that it is able to react in time with order accurately, reduce unmanned plane and the probability of flight mistake occurs, it is achieved the stability contorting of unmanned plane.
Summary of the invention
The present invention provides a kind of UAV Flight Control System, including MCU Central Control Module, airborne sensor module, data record and derivation memory module, state of flight indicating module；
Described MCU Central Control Module, including flight controller, flight controller receives the data coming from airborne sensor module, by sensor information data fusion, generates control signal, produces the control command of unmanned plane during flying；
Described airborne sensor module includes IMU, three axle magnetic compasses, GPS, barometer, voltage detection unit, current detecting unit and PWM input detection unit；Airborne sensor module obtains the state of flight information of unmanned plane for Real-time Collection, the data that can collect have three-axis attitude angle or angular speed, and acceleration, three axle orientation, position, electric current, voltage, and status information is sent to MCU Central Control Module by local bus；
Described data record and derivation memory module include usb data lead-out unit, SD card apparatus, GPRS data cloud transmission unit；Being stored in airborne end this locality for the sensing data that flight is relevant and control data, state of flight quality information can be analyzed by client according to these data；
Described state of flight indicating module is boat lamp, for indicating the state of flight of unmanned plane, to realize display and the early warning of state of flight；
The steering wheel group of described unmanned plane is flown according to the flight control instruction of MCU Central Control Module；
Described IMU is Measuring Object three-axis attitude angle or angular speed, and the device of acceleration, thus obtains inertial guidance data；
Described three axle magnetic compasses are in order to indicate three axle orientation；
Described GPS is used for positioning；
Described voltage detection unit, is used for detecting voltage；
Described current detecting unit, is used for detecting electric current；
Described PWM input detection unit is used for monitoring currently without man-machine kinestate, and by driver elements such as the steering wheels of PWM output control unmanned flight, it is achieved the flight of unmanned plane controls.
Further, between described MCU Central Control Module, described airborne sensor module, data record and derivation memory module and state of flight indicating module, the mode of CAN is adopted to communicate.
Further, described system also includes remote controller and earth station, adopts the mode of wireless link to communicate between described remote controller, earth station and flight controller and unmanned plane.
Further, described earth station, for obtaining ground surface end personnel and the control command of computer generation, will order the flight controller being sent to unmanned plane MCU Central Control Module by wireless link simultaneously, to realize flying based on the control of ground surface end data.
The control method of a kind of UAV Flight Control System, comprises the steps:
The first step, airborne sensor module is in order to gather three-axis attitude angle or angular speed, and acceleration, three axle orientation, position, electric current, voltage, and the data of the output voltage of power supply, and is transferred to MCU Central Control Module by CAN；
Second step, MCU Central Control Module, by the data fusion of sensor, generates control signal, produces the control command of unmanned plane during flying；
3rd step, the control command of flight is sent to the steering wheel group of unmanned plane by MCU Central Control Module, and the steering wheel group of described unmanned plane is flown according to the flight control instruction of flight control system；
4th step, airborne sensor module is transferred to state of flight indicating module by CAN, indicates the status signal of above-described flight with boat lamp；
5th step, airborne sensor module is transferred to data record by CAN and derives memory module, the status information of above-described flight is derived by USB and transmits or be directly stored in SD card apparatus, is preserved by the transmission of GPRS data cloud；
6th step, MCU Central Control Module can pass through wireless link and control the steering wheel group of unmanned plane through remote controller；
7th step, is obtained ground surface end personnel and the control command of computer generation, by wireless link, order is sent to unmanned plane simultaneously by earth station, to realize flying based on the control of ground surface end data.
The invention has the beneficial effects as follows: a kind of UAV Flight Control System of the present invention and method, have the advantage that
1) UAV Flight Control System simple in construction, volume is little, light weight, simultaneously diverse in function；
2) adopting CAN structural design, each functional subsystem adopts modular design method, plug and play；
3) real time operating system framework is adopted, it is ensured that UAV Flight Control System stability and robustness；
4) MCU Central Control Module sends instruction by after the data fusion of sensor, it is achieved that the stability contorting of unmanned plane during flying；
5) described UAV Flight Control method, step operation is short and sweet, easily operates.
Accompanying drawing explanation
Fig. 1 is the system block diagram of a kind of UAV Flight Control System of the present invention.
Detailed description of the invention
Detailed narration is will make reference to below with reference to embodiments of the invention.
A kind of UAV Flight Control System, including MCU Central Control Module, airborne sensor module, data record and derivation memory module, state of flight indicating module；
Described MCU Central Control Module, including flight controller, flight controller receives the data coming from airborne sensor module, by sensor information data fusion, generates control signal, produces the control command of unmanned plane during flying；
Described airborne sensor module includes IMU, three axle magnetic compasses, GPS, barometer, voltage detection unit, current detecting unit and PWM input detection unit；Airborne sensor module obtains the state of flight information of unmanned plane for Real-time Collection, the data that can collect have three-axis attitude angle or angular speed, and acceleration, three axle orientation, position, electric current, voltage, and status information is sent to MCU Central Control Module by local bus；
Described MCU Central Control Module and micro-control unit (MicrocontrollerUnit；MCU), also known as one chip microcomputer (SingleChipMicrocomputer) or single-chip microcomputer, it is central processing unit (CentralProcessUnit；CPU) frequency and specification do suitable reduction, and by the perimeter interface such as internal memory (memory), enumerator (Timer), USB, A/D conversion, UART, PLC, DMA, even LCD drive circuit is all incorporated on one chip, form the computer of chip-scale, it is adaptable to the application controls of different occasions.
Described data record and derivation memory module include usb data lead-out unit, SD card apparatus, GPRS data cloud transmission unit；Being stored in airborne end this locality for the sensing data that flight is relevant and control data, state of flight quality information can be analyzed by client according to these data；
Described state of flight indicating module is boat lamp, for indicating the state of flight of unmanned plane, to realize display and the early warning of state of flight；
The steering wheel group of described unmanned plane is flown according to the flight control instruction of MCU Central Control Module；
Described IMU (InertialMeasurementUnit, Inertial Measurement Unit) is Measuring Object three-axis attitude angle or angular speed, and the device of acceleration, thus obtains inertial guidance data；
Described three axle magnetic compasses are in order to indicate three axle orientation；
Described GPS (GlobalPositioningSystem, global positioning system), is used for positioning；
Described voltage detection unit, is used for detecting voltage；
Described current detecting unit, is used for detecting electric current；
Described PWM input detection unit is used for monitoring currently without man-machine kinestate, and by driver elements such as the steering wheels of PWM output control unmanned flight, it is achieved the flight of unmanned plane controls；
Further, between described MCU Central Control Module, described airborne sensor module, data record and derivation memory module and state of flight indicating module, the mode of CAN is adopted to communicate.
Further, described system also includes remote controller and earth station, adopts the mode of wireless link to communicate between described remote controller, earth station and flight controller and unmanned plane.
Further, described earth station, for obtaining ground surface end personnel and the control command of computer generation, will order the flight controller being sent to unmanned plane MCU Central Control Module by wireless link simultaneously, to realize flying based on the control of ground surface end data.
The control method of a kind of UAV Flight Control System, comprises the steps:
The first step, airborne sensor module is in order to gather three-axis attitude angle or angular speed, and acceleration, three axle orientation, position, electric current, voltage, and the data of the output voltage of power supply, and is transferred to MCU Central Control Module by CAN；
Second step, MCU Central Control Module, by the data fusion of sensor, generates control signal, produces the control command of unmanned plane during flying；
3rd step, the control command of flight is sent to the steering wheel group of unmanned plane by MCU Central Control Module, and the steering wheel group of described unmanned plane is flown according to the flight control instruction of flight control system；
4th step, airborne sensor module is transferred to state of flight indicating module by CAN, indicates the status signal of above-described flight with boat lamp；
5th step, airborne sensor module is transferred to data record by CAN and derives memory module, the status information of above-described flight is derived by USB and transmits or be directly stored in SD card apparatus, is preserved by the transmission of GPRS data cloud；
6th step, MCU Central Control Module can pass through wireless link and control the steering wheel group of unmanned plane through remote controller；
7th step, is obtained ground surface end personnel and the control command of computer generation, by wireless link, order is sent to unmanned plane simultaneously by earth station, to realize flying based on the control of ground surface end data.
Described unmanned aerial vehicle control system is based on based on the μ C/OS-II system call provided, according to unmanned plane helicopter flight control operation principle, by the sensor information gathered, storage correlation behavior sum according to this and the instruction of the up remote control that sends of radio measurement and control terminal or earth station's planning and data, after judgement, computing and process, output order is to servo actuator and steering gear system, control to handle the throttle of the rudder face of unmanned plane, electromotor, to control the flight of unmanned plane.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (5)
1. a UAV Flight Control System, it is characterised in that include MCU Central Control Module, airborne sensor module, data record and derive memory module, state of flight indicating module；
Described MCU Central Control Module, including flight controller, flight controller receives the data coming from airborne sensor module, by sensor information data fusion, generates control signal, produces the control command of unmanned plane during flying；
Described airborne sensor module includes IMU, three axle magnetic compasses, GPS, barometer, voltage detection unit, current detecting unit and PWM input detection unit；Airborne sensor module obtains the state of flight information of unmanned plane for Real-time Collection, the data that can collect have three-axis attitude angle or angular speed, and acceleration, three axle orientation, position, electric current, voltage, and status information is sent to MCU Central Control Module by local bus；
Described data record and derivation memory module include usb data lead-out unit, SD card apparatus, GPRS data cloud transmission unit；Being stored in airborne end this locality for the sensing data that flight is relevant and control data, state of flight quality information can be analyzed by client according to these data；
Described state of flight indicating module is boat lamp, for indicating the state of flight of unmanned plane, to realize display and the early warning of state of flight；
The steering wheel group of described unmanned plane is flown according to the flight control instruction of MCU Central Control Module；
Described IMU is Measuring Object three-axis attitude angle or angular speed, and the device of acceleration, thus obtains inertial guidance data；
Described three axle magnetic compasses are in order to indicate three axle orientation；
Described GPS is used for positioning；
Described voltage detection unit, is used for detecting voltage；
Described current detecting unit, is used for detecting electric current；
Described PWM input detection unit is used for monitoring currently without man-machine kinestate, and by driver elements such as the steering wheels of PWM output control unmanned flight, it is achieved the flight of unmanned plane controls.
2. a kind of UAV Flight Control System according to claim 1, it is characterized in that, between described MCU Central Control Module, described airborne sensor module, data record and derivation memory module and state of flight indicating module, the mode of CAN is adopted to communicate.
3. a kind of UAV Flight Control System according to claim 1 and 2, it is characterised in that described system also includes remote controller and earth station, adopts the mode of wireless link to communicate between described remote controller, earth station and flight controller and unmanned plane.
4. a kind of UAV Flight Control System according to claim 3, it is characterized in that, described earth station is for obtaining ground surface end personnel and the control command of computer generation, order is sent to the flight controller of unmanned plane MCU Central Control Module simultaneously, to realize flying based on the control of ground surface end data by wireless link.
5. the control method of a kind of UAV Flight Control System according to any one of claim 1,2 or 4, it is characterised in that comprise the steps:
The first step, airborne sensor module is in order to gather three-axis attitude angle or angular speed, and acceleration, three axle orientation, position, electric current, voltage, and the data of the output voltage of power supply, and is transferred to MCU Central Control Module by CAN；
Second step, MCU Central Control Module, by the data fusion of sensor, generates control signal, produces the control command of unmanned plane during flying；
3rd step, the control command of flight is sent to the steering wheel group of unmanned plane by MCU Central Control Module, and the steering wheel group of described unmanned plane is flown according to the flight control instruction of flight controller；
4th step, airborne sensor module is transferred to state of flight indicating module by CAN, indicates the status signal of above-described flight with boat lamp；
5th step, airborne sensor module is transferred to data record by CAN and derives memory module, the status information of above-described flight is derived by USB and transmits or be directly stored in SD card apparatus, is preserved by the transmission of GPRS data cloud；
6th step, MCU Central Control Module can pass through wireless link and control the steering wheel group of unmanned plane through remote controller；
7th step, is obtained ground surface end personnel and the control command of computer generation, by wireless link, order is sent to unmanned plane simultaneously by earth station, to realize flying based on the control of ground surface end data.
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| CN106094668A (en) * | 2016-08-26 | 2016-11-09 | 广东中科瑞泰智能科技有限公司 | A kind of unmanned aerial vehicle onboard equipment management system |
| CN106227226A (en) * | 2016-08-30 | 2016-12-14 | 西安瑞日电子发展有限公司 | A kind of control apparatus and method of integration unmanned plane during flying |
| CN106406335A (en) * | 2016-12-13 | 2017-02-15 | 天津传承科技有限公司 | Azimuth adjustment system used for mechatronics unmanned aerial vehicle positioning and adjustment method |
| CN106600749A (en) * | 2016-11-10 | 2017-04-26 | 览意科技（上海）有限公司 | Data recording method and unmanned aerial vehicle |
| 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 |
| CN107301240A (en) * | 2017-06-30 | 2017-10-27 | 飞智控（天津）科技有限公司 | By the geographical big data information processing method of the unmanned plane of cloud platform |
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| CN107764338A (en) * | 2017-11-30 | 2018-03-06 | 中国科学院工程热物理研究所 | Unmanned plane sensor parameters acquisition system |
| CN108195374A (en) * | 2017-12-25 | 2018-06-22 | 中铁第四勘察设计院集团有限公司 | For the integrated navigation system of track automatic measurement vehicle and integrated navigation calculation method |
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| 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 |
| CN109597422A (en) * | 2018-12-19 | 2019-04-09 | 中国农业大学 | Unmanned tandem helicopter attitude control system and method |
| CN109720571A (en) * | 2017-10-31 | 2019-05-07 | 一飞智控(天津)科技有限公司 | The unmanned device of manned helicopter |
| CN109720566A (en) * | 2017-10-31 | 2019-05-07 | 一飞智控(天津)科技有限公司 | The main rotor control system of the unmanned device of manned helicopter |
| CN109861741A (en) * | 2019-01-29 | 2019-06-07 | 深圳市赛为智能股份有限公司 | It is tethered at Unmanned Aerial Vehicle Data distribution method, device, computer equipment and storage medium |
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| CN106406335A (en) * | 2016-12-13 | 2017-02-15 | 天津传承科技有限公司 | Azimuth adjustment system used for mechatronics unmanned aerial vehicle positioning and adjustment method |
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| CN109720571A (en) * | 2017-10-31 | 2019-05-07 | 一飞智控(天津)科技有限公司 | The unmanned device of manned helicopter |
| CN109720566A (en) * | 2017-10-31 | 2019-05-07 | 一飞智控(天津)科技有限公司 | The main rotor control system of the unmanned device of manned helicopter |
| CN109720571B (en) * | 2017-10-31 | 2024-04-26 | 一飞智控(天津)科技有限公司 | Unmanned device of manned helicopter |
| CN109720566B (en) * | 2017-10-31 | 2024-03-01 | 一飞智控(天津)科技有限公司 | Main rotor control system of unmanned device of manned helicopter |
| CN107764338A (en) * | 2017-11-30 | 2018-03-06 | 中国科学院工程热物理研究所 | Unmanned plane sensor parameters acquisition system |
| CN108195374A (en) * | 2017-12-25 | 2018-06-22 | 中铁第四勘察设计院集团有限公司 | For the integrated navigation system of track automatic measurement vehicle and integrated navigation calculation method |
| 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 |
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| CN108572656A (en) * | 2018-06-08 | 2018-09-25 | 赫星科技有限公司 | Unmanned machine positioning device and unmanned plane |
| CN109597422A (en) * | 2018-12-19 | 2019-04-09 | 中国农业大学 | Unmanned tandem helicopter attitude control system and method |
| CN109861741B (en) * | 2019-01-29 | 2021-09-24 | 深圳市赛为智能股份有限公司 | Data distribution method and device for tethered unmanned aerial vehicle, computer equipment and storage medium |
| CN109861741A (en) * | 2019-01-29 | 2019-06-07 | 深圳市赛为智能股份有限公司 | It is tethered at Unmanned Aerial Vehicle Data distribution method, device, computer equipment and storage medium |
| CN110470337A (en) * | 2019-07-11 | 2019-11-19 | 重庆泰升生态农业发展有限公司 | A kind of monitoring system for pig house |
| CN110544328A (en) * | 2019-09-02 | 2019-12-06 | 哈尔滨工业大学 | embedded high-energy-efficiency computing platform and method for airborne fault prediction and health management |
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Application publication date: 20160727 |