CN105912008A - Electric power iron tower inspection unmanned plane flight control system and flight control method thereof - Google Patents
Electric power iron tower inspection unmanned plane flight control system and flight control method thereof Download PDFInfo
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- CN105912008A CN105912008A CN201610425253.2A CN201610425253A CN105912008A CN 105912008 A CN105912008 A CN 105912008A CN 201610425253 A CN201610425253 A CN 201610425253A CN 105912008 A CN105912008 A CN 105912008A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 15
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title abstract 10
- 238000007689 inspection Methods 0.000 title abstract 5
- 229910052742 iron Inorganic materials 0.000 title abstract 5
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 229940082150 encore Drugs 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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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
- 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, 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an electric power iron tower inspection unmanned plane flight control system and a flight control method thereof. The electric power iron tower inspection unmanned plane flight control system comprises a DSP module and an ARM module. The DSP module reads attitude calculation data of at least one IMU installed on at least one electric power iron tower inspection unmanned plane, carries out attitude calculation according to the attitude calculation data and calculates the current flight attitude of the unmanned plane; reads two paths of GPS signals from the unmanned plane, carries out difference calculation, calculates the current course of the unmanned plane and carries out navigation; and calculates the current attitude and course data according to the current flight attitude and course of the unmanned plane, and transmits the current attitude and course data to the ARM module. The ARM module analyzes the current attitude and course data, compares the data with control command data received by one RC from the ground, and transmits the deviation to a motor of the unmanned plane for attitude and course adjustment. The invention further discloses a flight control method of the electric power iron tower inspection unmanned plane flight control system.
Description
Technical field
The present invention relates to a kind of flight control system and fly prosecutor method, particularly relating to a kind of electric power tower patrol unmanned
Machine flight control system and fly prosecutor method.
Background technology
Unmanned plane is the abbreviation (Unmanned Aerial Vehicle) of UAV, is to utilize radio
Remote control equipment and the most manned aircraft of presetting apparatus provided for oneself, including depopulated helicopter, fixed-wing aircraft,
Multi-rotor aerocraft, unmanned airship, unmanned parasol.Broadly see and also include near space vehicle (20-100
Kilometer spatial domain), such as stratospheric airship, aerostat, solar energy unmanned plane etc..From the point of view of certain angle,
Unmanned plane can complete complicated airflight task and various loading commissions under conditions of unmanned, permissible
It is seen as " air-robot ".
Flying to control subsystem is that unmanned plane completes to take off, airflight, execution task and recovery of giving an encore etc. are whole flies
The core system of row process, flies to control and is equivalent to driver for there being man-machine effect for unmanned plane, and we recognize
For being one of most crucial technology of unmanned plane.Fly control and generally comprise sensor, airborne computer and servo start
Equipment three parts, it is achieved function mainly have unmanned plane attitude stabilization and control, unmanned plane task device pipe
Reason and emergency flight control three major types.The attitude of unmanned plane and the adjustment of course (i.e. navigation attitude is also named course line), be
In place of designing the key of the flight control system strong with extraneous enantiotropy.
Summary of the invention
In view of this, the invention provides the strong patrol unmanned machine of electric power tower of a kind of and extraneous enantiotropy and fly control
System and fly prosecutor method.
The solution of the present invention is: a kind of electric power tower patrol unmanned machine flight control system, a kind of electric power tower
Patrol unmanned machine flight control system, it includes DSP module, ARM module；Wherein,
At least one IMU's that the reading of described DSP module is arranged on a patrol unmanned machine of electric power tower
Attitude settlement data, carries out attitude clearing according to described attitude settlement data, clears out working as of described unmanned plane
Front flight attitude；And read the two-way gps signal from described unmanned plane, carry out Difference Calculation, resolve institute
State the current course of unmanned plane, navigate；And always according to the current flight attitude of described unmanned plane and course,
Calculate current pose and course data passes to described ARM module；
Described ARM module is by resolving the next current pose of described DSP module transmission and course data, warp
Cross the control command data from ground received with a RC to contrast, then will partially if there is deviation
Difference passes to the motor of described unmanned plane and is adjusted attitude and course.
As the further improvement of such scheme, described DSP module reads whole institute by built-in ADC
State the temperature of unmanned plane, system voltage to guarantee the normal work of described unmanned plane.
As the further improvement of such scheme, data are stored in one as log by described DSP module
In individual SD card.
Further, data are stored in one as log by SDIO interface by described ARM module
In individual SD card.
As the further improvement of such scheme, described ARM module is read by SPI and is arranged on an electricity
The attitude settlement data of at least one IMU on the patrol unmanned machine of power steel tower.
As the further improvement of such scheme, described DSP module reads two-way gps signal by serial ports.
As the further improvement of such scheme, described DSP module is calculated data and is transmitted by SPI communication
To described ARM module.
As the further improvement of such scheme, described DSP module uses TMS320F28375 chip, institute
State ARM module and use STM32f407 chip.
As the further improvement of such scheme, deviation is passed to by PPM agreement or CAN protocol
The motor of described unmanned plane is adjusted attitude and course.
What the present invention also provided for above-mentioned any electric power tower patrol unmanned machine flight control system flies prosecutor method, and it includes
Following steps:
Read the attitude settlement data of at least one IMU being arranged on a patrol unmanned machine of electric power tower,
Carry out attitude clearing according to described attitude settlement data, clear out the current flight attitude of described unmanned plane；And
Read the two-way gps signal from described unmanned plane, carry out Difference Calculation, resolve the current of described unmanned plane
Course, navigates；And always according to the current flight attitude of described unmanned plane and course, parse current appearance
State and course data；
By the current pose parsed and course data, through the control from ground received with a RC
Order data processed contrasts, and the motor that deviation then passes to described unmanned plane if there is deviation is adjusted
Whole attitude and course.
The present invention designs according to DSP+ARM double-core, owing to the DSP of TI has the most excellent for data process
Gesture is so using TMS320F28375 to process as data, and ARM is higher for extraneous reciprocal action,
So using ARM mutual as outside.
Accompanying drawing explanation
Fig. 1 is that the structure of the electric power tower patrol unmanned machine flight control system that better embodiment of the present invention provides is shown
It is intended to.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
Refer to Fig. 1, the electric power tower patrol unmanned machine flight control system of the present invention mainly include DSP module,
ARM module.
At least one IMU's that the reading of described DSP module is arranged on a patrol unmanned machine of electric power tower
Attitude settlement data, described DSP module carries out attitude clearing according to described attitude settlement data, clears out institute
State the current flight attitude of unmanned plane.Described DSP module can be read by SPI and be arranged on an electric power tower
The attitude settlement data of at least one IMU on patrol unmanned machine, Inertial measurement unit, letter
Claim IMU, be Measuring Object three-axis attitude angle (or angular speed) and the device of acceleration.Described DSP module
Can use TMS320F28375 chip, IMU can include ADIS16448 ten axle gyroscope.
Described DSP module reads the two-way gps signal from described unmanned plane, carries out Difference Calculation, solves
Calculate the current course of described unmanned plane, navigate.Described DSP module can read two-way GPS by serial ports
Signal.
Described DSP module, always according to the current flight attitude of described unmanned plane and course, calculates data transmission
To described ARM module, described ARM module can be passed to by SPI communication.Described DSP module can
The temperature of whole described unmanned plane, system voltage is read to guarantee described unmanned plane by built-in ADC
Normal work.In data are stored in a SD card as log by described ARM module, in this enforcement
In example, data are stored in a SD card by SDIO interface by described ARM module as log.
Described ARM module is by resolving the next current pose of described DSP module transmission and course data, warp
Cross the control command data from ground received with a RC to contrast, then will partially if there is deviation
The motor that difference passes to described unmanned plane by PPM agreement or CAN protocol is adjusted attitude and boat
To.Whether mainly contrast attitude and course exists deviation, is then corrected if there is deviation.
The present invention possesses following characteristics:
1. this design is according to DSP+ARM double-core；
2. there is absolute advantages for data process so using TMS320F28375 conduct due to the DSP of TI
Data process, and ARM is higher for extraneous reciprocal action, so using ARM mutual as outside, and institute
State ARM module and use STM32f407 chip；
3.DSP reads ADIS16448 ten axle gyro data by SPI, (or use I2C to read
The data of MPU9250 and pneumatics meter totally ten axle) carry out attitude clearing, the flight attitude of current aircraft at clearing,
Read two-way gps signal by serial ports, carry out Difference Calculation, resolve current course, navigate；
The most then DSP is according to current pose and course, calculates data and passes to ARM by SPI communication；
In addition DSP reads temperature by built-in ADC. and system voltages etc. guarantee that system is in normal work；
5.ARM by resolving the data that DSP transmission comes, (the remote controller or fixing through receiving with RC
Course) data contrast, if there is deviation then by deviation by PPM agreement or CAN protocol,
Pass to motor and be adjusted attitude and course, and data are deposited by SDIO interface as log
Storage computer host computer in SD card can pass through serial ports or usb protocol, planning course etc..
The electric power tower patrol unmanned machine flight control system of the present invention, the prosecutor method that flies of its correspondence mainly includes following
Step:
Read the attitude settlement data of at least one IMU being arranged on a patrol unmanned machine of electric power tower,
Carry out attitude clearing according to described attitude settlement data, clear out the current flight attitude of described unmanned plane；And
Read the two-way gps signal from described unmanned plane, carry out Difference Calculation, resolve the current of described unmanned plane
Course, navigates；And always according to the current flight attitude of described unmanned plane and course, parse current appearance
State and course data；
By the current pose parsed and course data, through the control from ground received with a RC
Order data processed contrasts, and is passed to the electricity of described unmanned plane by PPM agreement or CAN protocol
Machine is adjusted attitude and course.
In the first step, it is arranged at least on a patrol unmanned machine of electric power tower by SPI reading
The attitude settlement data of individual IMU, carries out attitude clearing according to described attitude settlement data, clears out described nothing
Man-machine current flight attitude；And read the two-way gps signal from described unmanned plane by serial ports, carry out
Difference Calculation, resolves the current course of described unmanned plane, navigates；And working as always according to described unmanned plane
Front flight attitude and course, parse current pose and course data.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Any amendment, equivalent and the improvement etc. made within bright spirit and principle, should be included in the present invention
Protection domain within.
Claims (10)
1. an electric power tower patrol unmanned machine flight control system, it is characterised in that: it include DSP module,
ARM module；Wherein,
At least one IMU's that the reading of described DSP module is arranged on a patrol unmanned machine of electric power tower
Attitude settlement data, carries out attitude clearing according to described attitude settlement data, clears out working as of described unmanned plane
Front flight attitude；And read the two-way gps signal from described unmanned plane, carry out Difference Calculation, resolve institute
State the current course of unmanned plane, navigate；And always according to the current flight attitude of described unmanned plane and course,
Calculate current pose and course data passes to described ARM module；
Described ARM module is by resolving the next current pose of described DSP module transmission and course data, warp
Cross the control command data from ground received with a RC to contrast, then will partially if there is deviation
Difference passes to the motor of described unmanned plane and is adjusted attitude and course.
2. electric power tower patrol unmanned machine flight control system as claimed in claim 1, it is characterised in that: described
It is described to guarantee that DSP module reads the temperature of whole described unmanned plane, system voltage by built-in ADC
The normal work of unmanned plane.
3. electric power tower patrol unmanned machine flight control system as claimed in claim 1, it is characterised in that: described
In data are stored in a SD card as log by DSP module.
4. electric power tower patrol unmanned machine flight control system as claimed in claim 3, it is characterised in that: described
Data are stored in a SD card by SDIO interface by ARM module as log.
5. electric power tower patrol unmanned machine flight control system as claimed in claim 1, it is characterised in that: described
At least one IMU's that ARM module is arranged on a patrol unmanned machine of electric power tower by SPI reading
Attitude settlement data.
6. electric power tower patrol unmanned machine flight control system as claimed in claim 1, it is characterised in that: described
DSP module reads two-way gps signal by serial ports.
7. electric power tower patrol unmanned machine flight control system as claimed in claim 1, it is characterised in that: described
DSP module calculates data and passes to described ARM module by SPI communication.
8. electric power tower patrol unmanned machine flight control system as claimed in claim 1, it is characterised in that: described
DSP module uses TMS320F28375 chip, and described ARM module uses STM32f407 chip.
9. electric power tower patrol unmanned machine flight control system as claimed in claim 1, it is characterised in that: deviation
The motor being passed to described unmanned plane by PPM agreement or CAN protocol is adjusted attitude and course.
10. the patrol unmanned machine of electric power tower as in one of claimed in any of claims 1 to 9 flies control system
That unites flies prosecutor method, it is characterised in that: it comprises the following steps:
Read the attitude settlement data of at least one IMU being arranged on a patrol unmanned machine of electric power tower,
Carry out attitude clearing according to described attitude settlement data, clear out the current flight attitude of described unmanned plane；And
Read the two-way gps signal from described unmanned plane, carry out Difference Calculation, resolve the current of described unmanned plane
Course, navigates；And always according to the current flight attitude of described unmanned plane and course, parse current appearance
State and course data；
By the current pose parsed and course data, through the control from ground received with a RC
Order data processed contrasts, and the motor that deviation then passes to described unmanned plane if there is deviation is adjusted
Whole attitude and course.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610425253.2A CN105912008A (en) | 2016-06-13 | 2016-06-13 | Electric power iron tower inspection unmanned plane flight control system and flight control method thereof |
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Cited By (7)
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| CN106527461A (en) * | 2016-11-29 | 2017-03-22 | 合肥赛为智能有限公司 | Flight control system based on dual-core processor |
| CN106643716A (en) * | 2016-12-02 | 2017-05-10 | 中船重工西安东仪科工集团有限公司 | MEMS inertial measuring device with redundant signal acquisition strategy |
| CN106710121A (en) * | 2017-02-28 | 2017-05-24 | 桂林电子科技大学 | Forest fire positioning device based on bionic inductor |
| CN109154832A (en) * | 2017-10-27 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Inspection planing method, controlling terminal, unmanned plane and the UAV system of unmanned plane |
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| CN112180973A (en) * | 2020-09-21 | 2021-01-05 | 重庆中电自能科技有限公司 | Inspection system of photovoltaic power station and unmanned aerial vehicle system integration method |
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