CN106054909A - Flight control device suitable for miniature unmanned plane - Google Patents
Flight control device suitable for miniature unmanned plane Download PDFInfo
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- CN106054909A CN106054909A CN201610489725.0A CN201610489725A CN106054909A CN 106054909 A CN106054909 A CN 106054909A CN 201610489725 A CN201610489725 A CN 201610489725A CN 106054909 A CN106054909 A CN 106054909A
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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 40
- 238000004891 communication Methods 0.000 claims abstract description 49
- 238000012545 processing Methods 0.000 claims abstract description 23
- 239000002131 composite material Substances 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 8
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 238000005538 encapsulation Methods 0.000 claims description 5
- 238000005183 dynamical system Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 2
- 238000001914 filtration Methods 0.000 abstract description 2
- 230000005358 geomagnetic field Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
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- 241001425390 Aphis fabae Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
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- 238000000465 moulding Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000012795 verification Methods 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 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
-
- 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
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a flight control device suitable for a miniature unmanned plane. The flight control device includes a real-time processing module, a flight control module, an attitude estimation module, a composite communication interface and an electronic identity authentication module, and the modules are integrated into chips by means of SIP technology. The flight control device includes an intelligent navigation module, an execution mechanism and a power system interface, the electronic identity authentication module continuously transmits the identity information to a ground cooperative air traffic control system through a composite communication interface according to a certain cycle, the attitude estimation module measures the angular velocity, acceleration and geomagnetic field of the unmanned plane, and estimates the roll angle, pitch angle and course angle by means of a quaternion method and an extended Kalman filtering algorithm, and the attitude estimation module sends the estimated attitude angle to the flight control module, and the intelligent navigation module switches navigation modes based on the surrounding environment of the unmanned plane. The flight control device integrates the functions of autonomous navigation control, remote air traffic control communication, attitude estimation, and electronic identity authentication, and realizes the full autonomous flight and aviation control functions of the unmanned plane.
Description
Technical field
The invention belongs to the technical field of flight control of unmanned plane, the control that flies particularly relating to a kind of applicable SUAV sets
Standby.
Background technology
Although unmanned plane mechanical realization is fairly simple with flight theory, but to sensor performance and the requirement in control theory
The highest, the high speed development of MEMS sensor technology and embedded microprocessor makes the research of unmanned plane be broken through, especially
It is that many rotor wing unmanned aerial vehicles the most progressively replace helicopter type unmanned plane, and rotor wing unmanned aerial vehicle becomes the main flow of research.The most existing
Autonomous Control level is capable of autonomous or half Autonomous Control relatively determining under environment, under circumstances not known, realize quickly
Adaptive change, unmanned plane autonomous flight control truly, current technology is the most immature.
UAV Attitude measurement part mostly uses single axis gyroscope, three axis accelerometer and magnetometer etc., in market also
Have can the attitude heading reference system of direct output angle, volume is big, expensive.In addition, unmanned plane has low latitude, slow
Speed, feature that target is little, utilize unmanned plane illegally to shoot, to deliver drugs etc. of common occurrence, causes that management and control is difficult, detecting is difficult, disposes
Difficulty, there is also and declare the problems such as flight plan is not smooth, and aerial supervision is difficult, and the management and control for unmanned plane is a global problem.
Summary of the invention
For solving above-mentioned technical problem, the present invention proposes a kind of flying control equipment being suitable for SUAV.In order to disclosure
Some aspects of embodiment have a basic understanding, shown below is simple summary.This summarized section is not to comment general
State, be not key/critical component to be determined or the protection domain describing these embodiments.Its sole purpose is with simple
Form present some concepts, in this, as the preamble of following detailed description.
The present invention adopts the following technical scheme that
In some optional embodiments, it is provided that a kind of flying control equipment being suitable for SUAV, including: process data
Real-time processing module, calculate that blank pipe is worked in coordination with on module and ground for the flight control modules of unmanned plane autonomous flight control, attitude
System carries out the Composite communication interface of communication, electronic identity authentication module, intelligent navigation module, actuator and dynamical system and connects
Mouthful, by system in package mode, described real-time processing module, flight control modules, attitude are calculated that module, electronic identity are recognized
Card module is integrated in an encapsulation；Described Composite communication interface is connected with described real-time processing module, described real-time process mould
Block receives ground by described Composite communication interface and works in coordination with the instruction of air traffic control system and be sent to described flight by first interface
Control module；Described electronic identity authentication module is connected with described real-time processing module, and described electronic identity authentication module will be from
The identity information of body storage is constantly sent by certain cycle by described Composite communication interface and works in coordination with air traffic control system to ground；
Described intelligent navigation module is connected with described real-time processing module, selects navigation mode according to the external environment residing for unmanned plane；
Described attitude calculates that module is used for measuring the roll angle of unmanned plane, the angle of pitch and course angle and estimating attitude angle, including: 9 axles
Sensor, barometer, GPS interface, extended Kalman filter and output interface, described attitude calculates module and described flight control
Molding block connects, and sends the attitude angle estimated to described flight control modules, and described 9 axle sensors, barometer and GPS connect
Mouth is connected to the input of described extended Kalman filter, and described output interface is connected to described extended Kalman filter
Outfan, described attitude calculates that module is by the external GPS of described GPS interface.
In some optional embodiments, self is estimated by described extended Kalman filter by described output interface
Attitude angle send to described flight control modules, described output interface is UART serial ports or CAN interface.
In some optional embodiments, described communication interface includes: public network communication unit, Beidou satellite communication unit
And wireless LAN communication unit, described public network communication unit is worked in coordination with air traffic control system by 2.5G, 3G or 4G network and ground and is entered
Row communication, described Beidou satellite communication unit is worked in coordination with air traffic control system with ground by the way of big-dipper satellite sends message and is led to
News, described wireless LAN communication unit communicates with mobile phone.
In some optional embodiments, described first interface is UART interface, SPI interface or iic bus, described in real time
Processing module is connected by described first interface with described flight control modules.
In some optional embodiments, described identity information includes: identity code, credit standing, unmanned plane institute is in place
The longitude and latitude put and the height of unmanned plane position.
In some optional embodiments, described 9 axle sensors include: three-axis gyroscope, three axis accelerometer, three axle magnetic
Strong meter and filter circuit.
In some optional embodiments, described 9 axle sensors are BNO055 sensor.
In some optional embodiments, described a kind of flying control equipment being suitable for SUAV, also include: storage
Device, described memorizer is connected with described flight control modules, for recording state of flight and the flight failure information of unmanned plane, institute
Stating memorizer is portable hard drive, SD card, USB flash disk or cloud storage system.
The beneficial effect that the present invention is brought: integrated automatic navigation control, long-range blank pipe communication, attitude reckoning, electronics body
Part authentication function, it is achieved the full autonomous flight of unmanned plane and air traffic control function, may advantageously facilitate unmanned plane miniaturization；Comprise
Electronic identity authentication module combined ground works in coordination with blank pipe platform, can thoroughly solve unmanned plane " black fly " universal, declaring flight meter
Draw not smooth, that aerial supervision is difficult problem, facilitate management and control, promote the development that unmanned plane industry is orderly and healthy.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of flying control equipment being suitable for SUAV of the present invention.
Detailed description of the invention
The following description and drawings illustrate specific embodiments of the present invention fully, so that those skilled in the art's energy
Enough put into practice them.Other embodiments can include structure, logic, electric, process and other change.Implement
Example only represents possible change.Unless explicitly requested, otherwise individually components and functionality is optional, and the order operated can
With change.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.
As it is shown in figure 1, in some illustrative embodiments, it is provided that a kind of flying control equipment being suitable for SUAV, bag
Include: real-time processing module 1, flight control modules 2, attitude calculate that module 3, Composite communication interface 4, memorizer 5, electronic identity are recognized
Card module 6, intelligent navigation module 7, actuator 8 and dynamical system interface 9.Memorizer 5 is connected with flight control modules 2, uses
In state of flight and the flight failure information of record unmanned plane, memorizer 5 is portable hard drive, SD card, USB flash disk or cloud storage system
System.Flight control modules 2 uses self application control method, i.e. according to loading with structure from main modulation flying vehicles control parameter.
Intelligent navigation module 7 is connected with real-time processing module 1, comprises GPS navigation, vision guided navigation, laser navigation, according to nothing
Man-machine residing external environment selects navigation mode, and actuator 8 and dynamical system interface 9 are connected with flight control modules 2, right
Unmanned plane is controlled.
Real-time processing module 1 is used for processing data, built-in Cortex-A9 core processor, Cortex-A9 core processor
Support (SuSE) Linux OS and Android operation system, be provided with TF/SD card interface and numeral utilizing camera interface, support 4G,
WiFi and LAN surfs the Net.Flight control modules 2 is connected with real-time processing module 1 by first interface, and first interface is that UART connects
Mouth, SPI interface or iic bus.Flight control modules 2 comprises a Cortex-M4 processor, for unmanned plane autonomous flight control
System, the ground received is worked in coordination with air traffic control system instruction and is sent to flight control modules by first interface by real-time processing module 1
2, instruction unmanned plane does next step action.
Composite communication interface 4 carries out communication for working in coordination with air traffic control system with ground, including: public network communication unit 41, the Big Dipper
Satellite communication unit 42 and wireless LAN communication unit 43, i.e. use public network communication mode and big-dipper satellite composite communication side
The mode that formula combines carries out communication, and wireless LAN communication unit 43 can work in coordination with air traffic control system by WIFI with ground
Mobile phone communicates.Public network communication unit 41 is worked in coordination with air traffic control system by 2.5G, 3G or 4G network and ground and is carried out communication, the Big Dipper
Satellite communication unit 42 is worked in coordination with air traffic control system with ground by the way of big-dipper satellite sends message and is carried out communication.Composite communication connects
Mouth 4 is connected with real-time processing module 1, and local in public network signal difference uses big-dipper satellite message sending function, passes through both
State of flight and the identity information of unmanned plane are sent to ground and work in coordination with air traffic control system by Composite communication interface, and, process in real time
Module 1 receives ground by Composite communication interface 4 and works in coordination with the instruction of air traffic control system.
Electronic identity authentication module 6 is connected with real-time processing module 1, and the identity information that self stores is passed through composite communication
Interface 4 is constantly sent to ground by certain cycle and works in coordination with air traffic control system, and ground is worked in coordination with air traffic control system and automatically identified unmanned plane
Identity information, ground is worked in coordination with after air traffic control system receives identity information and is sent next according to the content of the preentry of goods to unmanned plane
The action command of step.Wherein, the cycle is set according to practical situation, and identity information includes: identity code, credit standing, nothing
The longitude and latitude of man-machine position and the height of unmanned plane position.Identity code is the exclusive identification code that unmanned plane is corresponding,
This identification code for as the management code name in unmanned plane managing and control system, is the unmanned plane important evidence of working in coordination with management and control, electronics body
Part authentication module 6 reading by relevant protocol realization identity information.
Attitude calculates that module 3 is connected with flight control modules 2, for measuring the roll angle of unmanned plane, the angle of pitch and course
Angle also estimates attitude angle, including: 9 axle sensors, barometer, GPS interface, extended Kalman filter, output interface and electricity
Source.9 axle sensors include: three-axis gyroscope, three axis accelerometer, three axis magnetometer and filter circuit, and barometer is used for calculating
The flying height of unmanned plane, the external GPS of GPS interface, obtained the longitude and latitude of unmanned plane by GPS, use GPS
Information carries out speed and the position control of unmanned plane.The data of 9 axle sensor collections are estimated in real time through extended Kalman filter
Calculating the attitude angle of unmanned plane, attitude angle obtains angle information and is directly available for the use of consumer level unmanned plane.Attitude calculate module 3 with
Flight control modules 2 connects, and sends the attitude angle estimated to flight control modules 2, and 9 axle sensors, barometer and GPS connect
Mouth is connected to the input of extended Kalman filter, and output interface is connected to the outfan of extended Kalman filter.Extension
The attitude angle that self is estimated by Kalman filter by output interface sends to flight control modules 2, and output interface is
UART serial ports or CAN interface.
Air traffic control system is worked in coordination with for realizing the Shen of the aerial mission of unmanned plane, spatial domain, flight time, flight locations in ground
Report, when find unmanned plane beyond flight range time, by ground work in coordination with air traffic control system send make a return voyage instruction fly to aerial unmanned plane
Row is to safety zone or makes a return voyage.Ground works in coordination with that air traffic control system realizes the authentication declared of flight, the examination & verification of flight plan is criticized
Quasi-function, is inputted flight plan by operator, mainly includes aerial mission, airspace application, flight time section, aircraft model,
Ground is worked in coordination with air traffic control system and is carried out examining and monitoring unmanned plane in real time in actual flight course.
Wherein, real-time processing module 1, flight control modules 2, attitude calculate that module 3 and electronic identity authentication module 6 are passed through
System in package (SIP, System In a Package) mode is integrated in an encapsulation, thus realizes complete unmanned plane
Flying control function, integrated 9 axle sensors of chip internal are used for attitude measurement, and attitude calculates the angle that module 3 exports according to 9 axle sensors
Speed, acceleration and Geomagnetic signal, use extended Kalman filter to calculate the attitude angle of unmanned plane.Will real-time processor,
Internal memory, memorizer, sensor have all been integrated in single encapsulation, and volume is little, system is succinct, by flight control control, navigation, electronics
Authentication is by, in SIP process integration to single encapsulation, being greatly decreased the usage amount of PCB, reduction system volume, carry
High electromagnetism anti-interference.Integrated simply, reduce unmanned plane exploitation threshold.Further, chip reserves analog digital conversion interface, facilitates user
Outside extension high-precision sensor according to actual needs.
9 axle sensors are BNO055 sensor, cheap, and are desirably integrated in chip, use spreading kalman
Filtering algorithm estimation attitude angle, its output angle information calculates for flying control.
It should also be appreciated by one skilled in the art that various illustrative box, the mould combining the embodiments herein and describing
Block, circuit and algorithm steps all can be implemented as electronic hardware, computer software or a combination thereof.In order to clearly demonstrate hardware and
Interchangeability between software, is all carried out around its function various illustrative parts, frame, module, circuit and step above
It is generally described.It is implemented as hardware as this function and is also implemented as software, depend on specifically applying and to whole
The design constraint that system is applied.Those skilled in the art can realize in the way of flexible for each application-specific
Described function, but, this realize decision-making and should not be construed as the protection domain deviating from the disclosure.
Claims (8)
1. the flying control equipment being suitable for SUAV, it is characterised in that including: process the real-time processing module of data, use
Flight control modules, attitude in unmanned plane autonomous flight control calculate that module and ground are worked in coordination with air traffic control system and carried out communication
Composite communication interface, electronic identity authentication module, intelligent navigation module, actuator and dynamical system interface, by system-level
Described real-time processing module, flight control modules, attitude are calculated that module, electronic identity authentication module are integrated in one by packaged type
In individual encapsulation；Described Composite communication interface is connected with described real-time processing module, and described real-time processing module is by described compound
Communication interface receives ground and works in coordination with the instruction of air traffic control system and be sent to described flight control modules by first interface；Described electricity
Sub-authentication module is connected with described real-time processing module, the identity information that self is stored by described electronic identity authentication module
Constantly sent by certain cycle by described Composite communication interface and work in coordination with air traffic control system to ground；Described intelligent navigation module
It is connected with described real-time processing module, selects navigation mode according to the external environment residing for unmanned plane；Described attitude calculates module
For measuring the roll angle of unmanned plane, the angle of pitch and course angle and estimating attitude angle, including: 9 axle sensors, barometer, GPS
Interface, extended Kalman filter and output interface, described attitude calculates that module is connected with described flight control modules, will estimation
The attitude angle gone out sends to described flight control modules, and described 9 axle sensors, barometer and GPS interface are connected to described extension
The input of Kalman filter, described output interface is connected to the outfan of described extended Kalman filter, described attitude
Calculate that module is by the external GPS of described GPS interface.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described extension karr
The attitude angle that self is estimated by graceful wave filter by described output interface sends to described flight control modules, and described output connects
Mouth is UART serial ports or CAN interface.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described communication interface
Including: public network communication unit, Beidou satellite communication unit and wireless LAN communication unit, described public network communication unit passes through
2.5G, 3G or 4G network and ground are worked in coordination with air traffic control system and are carried out communication, and described Beidou satellite communication unit is sent out by big-dipper satellite
Civilian mode of delivering newspaper is worked in coordination with air traffic control system with ground and is carried out communication, and described wireless LAN communication unit communicates with mobile phone.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described first interface
For UART interface, SPI interface or iic bus, described real-time processing module connects by described first with described flight control modules
Mouth connects.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described identity information
Including: identity code, credit standing, the longitude and latitude of unmanned plane position and the height of unmanned plane position.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described 9 axle sensings
Device includes: three-axis gyroscope, three axis accelerometer, three axis magnetometer and filter circuit.
A kind of flying control equipment being suitable for SUAV the most according to claim 5, it is characterised in that described 9 axle sensings
Device is BNO055 sensor.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that also include: storage
Device, described memorizer is connected with described flight control modules, for recording state of flight and the flight failure information of unmanned plane, institute
Stating memorizer is portable hard drive, SD card, USB flash disk or cloud storage system.
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| CN201610489725.0A CN106054909A (en) | 2016-06-28 | 2016-06-28 | Flight control device suitable for miniature unmanned plane |
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| CN106980805A (en) * | 2017-03-08 | 2017-07-25 | 南京嘉谷初成通信科技有限公司 | Low latitude unmanned plane identifying system and method |
| CN108573619A (en) * | 2018-04-25 | 2018-09-25 | 河南聚合科技有限公司 | A kind of unmanned plane fortune pipe cloud platform of air-ground coordination operation |
| CN109523837A (en) * | 2018-12-29 | 2019-03-26 | 湖南宇正智能科技有限公司 | A kind of low flyer security management and control system and method |
| CN109756534A (en) * | 2017-11-03 | 2019-05-14 | 智飞智能装备科技东台有限公司 | It is a kind of can be to the equipment of unmanned plane control |
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| CN106980805B (en) * | 2017-03-08 | 2024-04-30 | 南京嘉谷初成通信科技有限公司 | Using method of low-altitude unmanned aerial vehicle nameplate recognition system |
| CN109756534A (en) * | 2017-11-03 | 2019-05-14 | 智飞智能装备科技东台有限公司 | It is a kind of can be to the equipment of unmanned plane control |
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| CN108573619A (en) * | 2018-04-25 | 2018-09-25 | 河南聚合科技有限公司 | A kind of unmanned plane fortune pipe cloud platform of air-ground coordination operation |
| CN109523837A (en) * | 2018-12-29 | 2019-03-26 | 湖南宇正智能科技有限公司 | A kind of low flyer security management and control system and method |
| CN110187695A (en) * | 2019-04-19 | 2019-08-30 | 北京航空航天大学 | A kind of unmanned plane Collaborative Control verification platform |
| CN110986944A (en) * | 2019-11-05 | 2020-04-10 | 西安羚控电子科技有限公司 | Ship attitude identification method for shipborne reconnaissance and shooting unmanned aerial vehicle |
| CN110910294A (en) * | 2019-11-11 | 2020-03-24 | 广西财经学院 | Shared unmanned aerial vehicle management platform for scenic spot and service method |
| CN112783067A (en) * | 2021-01-12 | 2021-05-11 | 西安盛安睿电子技术工程有限公司 | Flight control system of miniature individual combat folding fixed-wing unmanned aerial vehicle |
| CN113377119A (en) * | 2021-04-21 | 2021-09-10 | 北京控制工程研究所 | Spacecraft task deduction method and system based on capability model |
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