CN105929839A - Unmanned aerial vehicle flight control method and control system - Google Patents
Unmanned aerial vehicle flight control method and control system Download PDFInfo
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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 an unmanned aerial vehicle flight control method and an unmanned aerial vehicle control system. The method includes the following steps that: a control command is received, and the location information and flight attitude parameter of an unmanned aerial vehicle are acquired, and flight attitude information can be obtained according to the location information and the flight attitude parameter; aerial photography data are acquired, and the flight attitude information and the aerial photography data of the unmanned aerial vehicle are outputted according to the control command; a remote sensing command is sent out according to the flight attitude information and the aerial photography data of the unmanned aerial vehicle; the remote sensing command is received and analyzed; and a flight control command used for controlling the operation of the drivers of the unmanned aerial vehicle is formed according to the analyzed remote sensing command, and the flight attitude information of the unmanned aerial vehicle, so that the flight direction and flight speed of the unmanned aerial vehicle can be controlled. With the above technical schemes of the invention adopted, simplicity, security and real-time performance of data exchange can be improved.
Description
Technical field
The present invention relates to unmanned air vehicle technique, especially a kind of UAV Flight Control method and control system.
Background technology
Along with unmanned plane manufacturer gets more and more, between each producer, Cost Competition has put on schedule, uses
New technique improves unmanned plane overall performance and is just particularly important.Owing to system for flight control computer needs with embedding
The real-time software and the hardware that enter formula are main, and limited system resources system, it is impossible to expand more function, if adopting
With the CPU that resource is abundant, then must be equipped with the application of the time-sharing system ability all multiple resource of reasonable management, but
It is, it is impossible to the real-time of element needed for guarantee flight control system, the performance of flight control system is greatly affected.
At present, the scheme of unmanned plane is many completes respective function with multiple processors, control processor like flying,
Camera processor, The Cloud Terrace processor, it is equipped with the communication interface of standard between each processor, so they it
Although can carry out data exchange between, however, it is desirable to substantial amounts of communication protocol, a large amount of software programmings work,
It is easily subject to external interference simultaneously during data communication, and data is ageing also restrained.
Summary of the invention
The main object of the present invention is to provide a kind of UAV Flight Control method and control system, it is intended to carry
Simplification, safety and the real-time of high data exchange.
For achieving the above object, the UAV Flight Control method that the present invention proposes, comprise the following steps:
Step 1, receives control command, gathers the positional information of unmanned plane, flight attitude parameter, by described
Positional information and flight attitude gain of parameter flight attitude information；Collection is taken photo by plane data processing, and according to
Described control command is by the flight attitude information of unmanned plane and the data output of taking photo by plane after processing；
Step 2, flight attitude information and data of taking photo by plane according to unmanned plane send remote sensing order；
Step 3, receives and parses through this remote sensing order；According to the remote sensing order after resolving, described unmanned plane
Flight attitude information forms the control that flies run for controlling each driver of unmanned plane and instructs, to control unmanned plane
Heading and flight speed.
Preferably, described step 1 specifically includes:
Step 11, receives control command, the most defeated together with control command after gathering the positional information of unmanned plane
Go out；
Step 12, gathers the flight attitude parameter of unmanned plane, by described positional information and flight attitude parameter
Obtain flight attitude information, according to described control command, above-mentioned flight attitude information is exported；
Step 13, gathers the data processing of taking photo by plane, and according to described control command by the flight appearance of unmanned plane
Data output of taking photo by plane after state information and process.
Preferably, flight attitude information and the data of taking photo by plane of output are transmitted by cordless communication network.
Preferably, data of taking photo by plane described in include view data and video data.
Preferably, described unmanned plane during flying attitude information includes unmanned plane current flight direction, speed, position
Put coordinate；
By the real-time longitude of unmanned plane, real-time latitude, motion track, acceleration, earth magnetism magnetic field intensity,
Direction, the air absolute pressure of position height obtain described unmanned plane current flight direction, flight speed
Degree, position coordinates.
The present invention also provides for a kind of UAV Flight Control System, including:
GPS module, gathers the positional information of unmanned plane；
Flight attitude module, obtains the flight parameter of unmanned plane；
Take photo by plane module, obtain data of taking photo by plane；
Remote control module, receives and parses through remote sensing order；
Power module, for powering to processor；
Described processor, is obtained flight attitude by control command, the positional information of unmanned plane, flight parameter
Information；According to control command by flight attitude information and collection the data output of taking photo by plane processed；By resolving
Rear remote sensing order and flight attitude information form the control that flies run for controlling each driver of unmanned plane and instruct；
Drive module, fly control instruction according to described, control heading and the flight speed of unmanned plane.
Preferably, described processor, there is application processing unit and fly to control processing unit；Wherein:
Described application processing unit receives control command, receives and process data of taking photo by plane, and according to described control
The positional information of unmanned plane is sent to fly to control processing unit by system order, then after processing take photo by plane data and
Fly to control the flight attitude information output of processing unit output；And the remote sensing order after output parsing；
The described control processing unit that flies receives described flight parameter according to described control command, in conjunction with unmanned plane
Positional information obtains the flight attitude information of unmanned plane and exports；And according to resolve after remote sensing order,
Described flight attitude information forms the control that flies run for controlling each driver of unmanned plane and instructs.
Preferably, this system also includes:
Memory module, takes photo by plane data, flight attitude information for storage；
Described application processing unit receives storage order, by described take photo by plane data and the storage of flight attitude information
To described memory module, and send prompting message when described memory space inadequate.
Preferably, this system also includes:
Wireless network transmission module, for according to described control command transmission flight attitude information and number of taking photo by plane
According to, according to storage order transmission prompting message.
Preferably, module of taking photo by plane described in includes:
Imageing sensor, is used for gathering image information；
Photographic head, is used for gathering video information.
Preferably, described GPS module gathers the real-time longitude of unmanned plane and real-time latitude；Described flight appearance
Morphotype block includes:
Gyroscope, gathers unmanned plane motion track and acceleration；
Magnetometer, gathers unmanned plane magnetic field intensity and direction；
Barometer, gathers the air absolute pressure of unmanned plane position height.
Technical scheme, uses individual core to receive and process data acquisition by processor and flies control and refer to
Order is given and is driven module, it is ensured that the real-time of each element of flight control system；Multinuclear is used to be aided with time-sharing operation system
The sophisticated functions such as system, such as Android system, completes data network transmission, screen of taking photo by plane process, data interaction
With internal communication pipe form or carried out by internal bridged mode, internal data express passway transmission data
There is efficiency advantage high, fireballing, it is ensured that simplification, safety and the real-time of data exchange,
To sum up, it is achieved that simple, quickly, safety complete communication；Hinge structure, use one integrated
The processor changing design instead of the work of multiple processor, it is not necessary to carries out substantial amounts of software programming work,
Reduce the cost designing high-end unmanned plane；In addition flying control and process function, screen processes function, at The Cloud Terrace
Reason function, the most expansible 3G telecommunications functions is integrated in one.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,
Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other according to the structure shown in these accompanying drawings
Accompanying drawing.
The flow chart of the UAV Flight Control method that Fig. 1 provides for one embodiment of the invention；
The flow chart of the UAV Flight Control method that Fig. 2 provides for another embodiment of the present invention；
The frame diagram of the UAV Flight Control System that Fig. 3 provides for one embodiment of the invention；
Fig. 4 is the signal flow graph in Fig. 3.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, do referring to the drawings further
Explanation.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention,
Rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
Make the every other embodiment obtained under creative work premise, broadly fall into the scope of protection of the invention.
It is to be appreciated that directional instruction in the embodiment of the present invention (such as upper and lower, left and right, front,
After ...) it is only used for explanation phase para-position under a certain particular pose (as shown in drawings) between each parts
Putting relation, motion conditions etc., if this particular pose changes, then directionality instruction is the most corresponding
Ground changes therewith.
It addition, in the present invention such as relating to the description of " first ", " second " etc. is only used for describing purpose,
And it is not intended that indicate or imply its relative importance or the implicit number indicating indicated technical characteristic
Amount.Thus, define " first ", the feature of " second " can be expressed or implicitly include at least
One this feature.In describing the invention, " multiple " are meant that at least two, such as two,
Three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " connect ", " fixing " etc.
Should be interpreted broadly, such as, " fixing " can be fixing connection, it is also possible to is to removably connect, or
Integral；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to pass through
Intermediary is indirectly connected to, and can be connection or the interaction relationship of two elements of two element internals,
Unless otherwise clear and definite restriction.For the ordinary skill in the art, can be as the case may be
Understand above-mentioned term concrete meaning in the present invention.
It addition, the technical scheme between each embodiment of the present invention can be combined with each other, but must be with
Based on those of ordinary skill in the art are capable of, when conflicting or nothing occurs in the combination of technical scheme
Will be understood that when method realizes that the combination of this technical scheme does not exists, the most not at the protection model of application claims
Within enclosing.
The present invention proposes a kind of UAV Flight Control method, sees Fig. 1, Fig. 3, and the method includes following
Step:
Step 1, receives control command, gathers the positional information of unmanned plane, flight attitude parameter, by described
Positional information and flight attitude gain of parameter flight attitude information；Collection is taken photo by plane data processing, and according to
Described control command is by the flight attitude information of unmanned plane and the data output of taking photo by plane after processing；
Step 2, flight attitude information and data of taking photo by plane according to unmanned plane send remote sensing order；
Step 3, receives and parses through this remote sensing order；According to the remote sensing order after resolving, described unmanned plane
Flight attitude information forms the control that flies run for controlling each driver of unmanned plane and instructs, to control unmanned plane
Heading and flight speed.
Here control command can be sent by the artificial display terminal 110 that triggers, it is possible to by server root
Automatically sending according to the rule arranged in advance, display terminal 110 can be mobile phone, panel computer etc.；
Before controlling unmanned plane during flying, need to be shown the flight attitude of unmanned plane by display terminal 110
Information and unmanned plane ambient state, send guidance command accordingly by remote controller 150 and control flying of unmanned plane
OK, send a request by display terminal 110, and generate a control command, example according to this request
As asked to obtain flight attitude information and the control command of unmanned plane ambient state of unmanned plane, this controls
Order can be transferred to processor 60 by wireless network transmission module 90, and processor 60 receives this control life
After order, gathered the positional information of unmanned plane by GPS module 10, gathered by flight attitude module 20
Flight attitude parameter, by described positional information and flight attitude gain of parameter flight attitude information；Again by navigating
Clapping module 30 to gather and take photo by plane data, processor 60 enters according to described control command data of taking photo by plane collection
Row processes, and according to described control command by the number of taking photo by plane after the flight attitude information of unmanned plane and process
According to output.
Manipulator's (can also be server) is according to the flight attitude information of the unmanned plane of display terminal 110
And data of taking photo by plane, send guidance command by remote controller 150；
Remote control module 40 receives guidance command, and is sent to processor 60 after resolving this remote sensing order and passes through
Remote sensing order data after resolving and flight attitude information data are carried out data fusion calculating, and passes through
Control algolithm, ultimately produce the control each driver of unmanned plane (such as motor) rotating speed flies control instruction, leads to
Crossing the cooperation between the rotating speed of each motor finally makes the heading to unmanned plane and flight speed reach mesh
Scale value.
Technical scheme, uses individual core to receive and process data acquisition by processor and flies control and refer to
Order is given and is driven module, it is ensured that the real-time of each element of flight control system；Multinuclear is used to be aided with time-sharing operation system
The sophisticated functions such as system, such as Android system, completes data network transmission, screen of taking photo by plane process, data interaction
With internal communication pipe form or by internal bridged mode, to sum up, it is achieved that simple, quickly, safety
Complete communication；Hinge structure, a processor instead of the work of multiple processor, and need not
Carry out substantial amounts of software programming work；In addition flying control and process function, screen processes function, and The Cloud Terrace processes merit
Can, the most expansible 3G telecommunications functions is integrated in one
Further, step 1 specifically includes:
Step S11, receives control command, the most defeated together with control command after gathering the positional information of unmanned plane
Go out；
Control command can be transferred to the application processing unit of processor 60 by wireless network transmission module 90
61, after application processing unit 61 receives this control command, gathered the position of unmanned plane by GPS module 10
Confidence cease, and control command and positional information are exported in the lump to processor 60 fly control processing unit 62；
Step S12, gathers the flight attitude parameter of unmanned plane, by described positional information and flight attitude parameter
Obtain flight attitude information, according to described control command, above-mentioned flight attitude information is exported；
Fly to control the flight attitude parameter gathering unmanned plane after processing unit 62 receives control command, and combination connects
The data such as the positional information of the unmanned plane received calculate unmanned plane during flying attitude information and (include current flight side
To, translational speed, position coordinates), it is achieved fixed point, fixed high function；And by unmanned plane during flying attitude
Information transmission is to application processing unit 61；
Step S13, gathers and processes data of taking photo by plane, and according to described control command by the flight appearance of unmanned plane
Data output of taking photo by plane after state information and process；
Application processing unit 61 receives unmanned plane during flying attitude information, is gathered by module 30 of taking photo by plane simultaneously
Take photo by plane data (be used for showing unmanned plane peripheral situation, such as, land, take off, around have what barrier etc.,
To understand flight environment of vehicle), and according to control command, flight attitude information and data of taking photo by plane are sent out,
Such as it is sent to display terminal 110；
Preferably, also include between described step 3 and step 4:
Step S3S, take photo by plane described in storage data and flight attitude information, and when memory space inadequate, send out
Send prompting message.The information such as data and the time of flight attitude information, size of taking photo by plane can also be stored.
Described display terminal or server are received and sent messages by cordless communication network.Described packet of taking photo by plane
Include view data and video data.
Utilize the photographic head of configuration, video camera, camera to complete the shooting of video, photo, pass through simultaneously
Wifi module is real-time transmitted to mobile phone, completes real-time pictures and checks, it is simple to control unmanned plane heading and
Angle, while real-time Transmission, also can be stored in the video of shooting and photo in SD card, if SD
Card memory space inadequate, can send SD card memory space inadequate prompting message to mobile phone, inform user.With
Family can choose whether to need real-time Transmission, preservation；Meanwhile, Real-time Collection battery current state information,
Concurrently send battery status information to mobile phone APP software.
Described unmanned plane during flying attitude information includes unmanned plane current flight direction, speed, position coordinates；
By the real-time longitude of unmanned plane, real-time latitude, motion track, acceleration, earth magnetism magnetic field intensity, direction,
The air absolute pressure of unmanned plane place height obtain described unmanned plane current flight direction (include rising,
Decline, all directions of horizontal plane), flight speed, position coordinates.The real-time longitude of unmanned plane, reality
Shi Weidu, motion track, acceleration, earth magnetism magnetic field intensity, direction, these parameters of air absolute pressure
Can be transferred through different modules to be acquired, and be transferred to processor 60, above-mentioned parameter is entered by processor 60
Row processes and calculates, and can obtain unmanned plane current flight direction, flight speed, position coordinates；Above-mentioned
Parameter has real-time, carries out between the various processors being easily subject to extraneous doing during data communication simultaneously
Disturb, and data is ageing also restrained, and in the present embodiment, be only limited in same processor
Portion data transmission, there are not the problems referred to above, it is achieved that simply, quickly, safety complete data
Communication.
One embodiment of the invention provides a kind of UAV Flight Control System, sees Fig. 2, and this system includes
GPS module 10, flight attitude module 20, module of taking photo by plane 30, remote control module 40, power module 50,
Processor 60, driving module 70；Wherein GPS module 10 is for gathering the positional information of unmanned plane；Fly
Row gesture module 20 is for obtaining the flight parameter of unmanned plane；Module of taking photo by plane 30 is for obtaining data of taking photo by plane；
Remote control module 40 is used for receiving and parsing through remote sensing order；Power module 50 is for powering to processor；Institute
State processor 60 and obtained flight attitude information by control command, the positional information of unmanned plane, flight parameter；
According to control command by flight attitude information and collection the data output of taking photo by plane processed；By remote sensing after resolving
Order and flight attitude information forms the control that flies run for controlling each driver of unmanned plane and instructs.
Concrete, described processor 60 has application processing unit 61 and flies to control processing unit 62；Wherein:
Described application processing unit 61 receives control command, data of taking photo by plane collection process, and according to institute
State control command and the positional information of unmanned plane is sent to fly control processing unit, then the number of taking photo by plane after processing
According to and fly control processing unit 62 output flight attitude information output；And the remote sensing order after output parsing；
The described control processing unit 62 that flies receives described flight parameter according to described control command, in conjunction with the position of unmanned plane
Put the flight attitude information of information acquisition unmanned plane and export；And according to the remote sensing order after resolving, institute
State the formation of flight attitude information to instruct for the control that flies controlling the operation of unmanned plane each driver；Drive module 70
Fly control instruction according to described, control the heading of unmanned plane and flight speed, and fly to control processing unit 62
Between carried out data transmission by UART protocol.To fly to control instruction and be transferred to multiaxis driver 120, logical
Cross the rotating speed controlling multiaxis driver 120 to reach to control heading and the mesh of flight speed of unmanned plane
's.
For realizing more function, this system also includes that memory module 80, memory module 80 can be SD
Card；Memory module 80 is taken photo by plane between data, flight attitude information, and application processing unit 61 for storage
Carried out data transmission by SDIO agreement；After display terminal 110 sends storage order, described application processes
Unit 62 receives storage order, takes photo by plane data and flight attitude information stores to described memory module by described
80, and send prompting message when described memory space inadequate to display terminal 110.
Power module 50 includes battery 51 and power management module 52, and power management module 52 gathers current electricity
Amount information, and it is sent to display terminal 110 by application processing unit 61.Operator can pass through display terminal
Battery 51 is changed in the prompting of 110, to ensure the normal flight of unmanned plane.
This system also includes wireless network transmission module 90, and wireless network transmission module 90 is for according to described
Assisted by SDIO between control command transmission flight attitude information and data of taking photo by plane, and application processing unit 61
View carries out data transmission, according to storage order transmission prompting message.Complete display terminal 110 and answer use
Data transmission between reason unit 61.
Described module 30 of taking photo by plane includes imageing sensor 31 and photographic head 32, and imageing sensor 31 is used for adopting
Carried out data transmission by MIPI agreement between collection image information, and application processing unit 61；Photographic head
32 are used for gathering video information, and are carried out data transmission by usb protocol between application processing unit 61.
Described GPS module 10 gathers the real-time longitude of unmanned plane and real-time latitude；Described flight attitude module
20 include gyroscope 21, magnetometer 22, barometer 23；Gyroscope 21 gather unmanned plane motion track and
Acceleration, and fly to be carried out data transmission by SPI protocol between control processing unit 62；Magnetometer 22 is adopted
Collection earth magnetism magnetic field intensity and direction, and fly to be carried out data transmission by IIC agreement between control processing unit 62；
Barometer 23 gathers the air absolute pressure of unmanned plane position height, by carrying out for absolute pressure
Calculate, it is possible to obtain the flying height of unmanned plane；Barometer 23 and fly to control between processing unit 62 and pass through
IIC agreement carries out data transmission.
Processor 60 can use chip for cell phone LC1813, LC1813 to be a heterogeneous processors, its AP
(Application Processor application processor) side is 4 ARM A7 kernels, can run Android system
System, it is achieved the sophisticated functions such as wireless image transmission.Its CP (asking inventor to supplement English full name) side is single
ARM926 core, can run embedded real time operating system, such as threadx.Internal bridged side is passed through in intercommunication
Formula, simply, quickly, safe completes communication.
After above-mentioned processor 60 uses the chip for cell phone of above-mentioned heterogeneous processor, multinuclear multisystem technology,
Flight control system is individual core and is aided with real time operating system, it is ensured that each element of flight control system is (as gyroscope is adopted
Collection, algorithm, motor control etc.) real-time, application system is multinuclear and is aided with time-sharing system, such as peace
Tall and erect system, completes other sophisticated functions, such as network, screen process etc..Meanwhile, between each operating system
Data interaction with internal communication pipe form, so, communication is simple, safety, in real time.So, fly
Control processes function, and screen processes function, and The Cloud Terrace processes function, and the most expansible 3G telecommunications functions is integrated
In one.
LED light 130 and Debugging message mouth 140 can be set additionally, open, carrying out information data
During debugging, LED light 130 and Debugging message mouth 140 all process single by GPIO agreement with flying control
Carrying out data transmission between unit 62, commissioning device is connected on Debugging message mouth 140, and tune-up data is normal
Whether can be shown by LED light 130, such as, show green light, for normally, show red light,
For exception.Native system, while ensureing flight control system data interaction, the most easily extends more, more complicated
Function, such as can pass through expanding internal processing unit, by original data-interface connect the most multiple
Miscellaneous senior sampler, thus complete more complicated function, such as by connecting binocular camera collection
View data, is processed view data according to the algorithm set by the interior processing unit of extension,
With the higher image of synchronicity；Different data-interfaces can also be extended, to connect the sampler of extension,
Thus extend increasingly complex function.
The foregoing is only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention,
Every under the inventive concept of the present invention, utilize the equivalent structure that description of the invention and accompanying drawing content are made
Conversion, or directly/be indirectly used in other relevant technical fields and be included in the patent protection model of the present invention
In enclosing.
Claims (10)
1. a UAV Flight Control method, it is characterised in that comprise the following steps:
Step 1, receives control command, gathers the positional information of unmanned plane, flight attitude parameter, by institute
State positional information and flight attitude gain of parameter flight attitude information；Collection is taken photo by plane data processing, and root
According to described control command by the data output of taking photo by plane after the flight attitude information of unmanned plane and process；
Step 2, flight attitude information and data of taking photo by plane according to unmanned plane send remote sensing order；
Step 3, receives and parses through this remote sensing order；According to the remote sensing order after resolving, described unmanned plane
Flight attitude information formed and fly control instruction for control that each driver of unmanned plane runs, unmanned to control
The heading of machine and flight speed.
UAV Flight Control method the most according to claim 1, it is characterised in that described step
1 specifically includes:
Step 11, receives control command, the most defeated together with control command after gathering the positional information of unmanned plane
Go out；
Step 12, gathers the flight attitude parameter of unmanned plane, by described positional information and flight attitude parameter
Obtain flight attitude information, according to described control command, above-mentioned flight attitude information is exported；
Step 13, gathers the data processing of taking photo by plane, and according to described control command by the flight appearance of unmanned plane
Data output of taking photo by plane after state information and process.
UAV Flight Control method the most according to claim 2, it is characterised in that flying of output
Row attitude information and data of taking photo by plane are transmitted by cordless communication network.
UAV Flight Control method the most according to claim 1, it is characterised in that described in take photo by plane
Data include view data and video data.
UAV Flight Control method the most according to claim 4, it is characterised in that described nothing
Man-machine flight attitude information includes unmanned plane current flight direction, speed, position coordinates；
By the real-time longitude of unmanned plane, real-time latitude, motion track, acceleration, earth magnetism magnetic field intensity,
Direction, unmanned plane position height air absolute pressure obtain described unmanned plane current flight direction,
Flight speed, position coordinates.
6. a UAV Flight Control System, it is characterised in that including:
GPS module, gathers the positional information of unmanned plane；
Flight attitude module, obtains the flight parameter of unmanned plane；
Take photo by plane module, obtain data of taking photo by plane；
Remote control module, receives and parses through remote sensing order；
Power module, for powering to processor；
Described processor, is obtained flight attitude by control command, the positional information of unmanned plane, flight parameter
Information；According to control command by flight attitude information and collection the data output of taking photo by plane processed；By resolving
Rear remote sensing order and flight attitude information form the control that flies run for controlling each driver of unmanned plane and instruct；
Drive module, fly control instruction according to described, control heading and the flight speed of unmanned plane.
UAV Flight Control System the most according to claim 6, it is characterised in that:
Described processor, has application processing unit and flies to control processing unit；Wherein:
Described application processing unit receives control command, receives and process data of taking photo by plane, and according to described control
The positional information of unmanned plane is sent to fly to control processing unit by system order, then after processing take photo by plane data and
Fly to control the flight attitude information output of processing unit output；And the remote sensing order after output parsing；
The described control processing unit that flies receives described flight parameter according to described control command, in conjunction with unmanned plane
Positional information obtains the flight attitude information of unmanned plane and exports；And according to resolve after remote sensing order,
Described flight attitude information forms the control that flies run for controlling each driver of unmanned plane and instructs.
UAV Flight Control System the most according to claim 7, it is characterised in that this system is also
Including:
Wireless network transmission module, for according to described control command transmission flight attitude information and number of taking photo by plane
According to.
UAV Flight Control System the most according to claim 6, it is characterised in that described in take photo by plane
Module includes:
Imageing sensor, is used for gathering image information；
Photographic head, is used for gathering video information.
UAV Flight Control System the most according to claim 6, it is characterised in that described GPS
Module gathers the real-time longitude of unmanned plane and real-time latitude；Described flight attitude module includes:
Gyroscope, gathers unmanned plane motion track and acceleration；
Magnetometer, gathers unmanned plane magnetic field intensity and direction；
Barometer, gathers the air absolute pressure of unmanned plane position height.
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