CN106125755A - The atmospheric boundary layer environment Autonomous Exploration of a kind of unmanned plane and control method thereof - Google Patents
The atmospheric boundary layer environment Autonomous Exploration of a kind of unmanned plane and control method thereof Download PDFInfo
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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 claims abstract description 73
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Abstract
The invention discloses atmospheric boundary layer environment Autonomous Exploration and the control method thereof of a kind of unmanned plane, including: master controller, attitude transducer, wireless communication module, system for flight control computer, LCD display, temperature, humidity and baroceptor, carbon dioxide sensor, SD card.Master controller controls M100 aircraft according to speed set in advance, angle execution flare maneuver by calling a series of SDK function, during aircraft is climbed, controller gathers data according to timing or fixed height simultaneously, until complete one group of 0 complete 500m profile survey, aircraft makes a return voyage landing.The present invention have observation low cost, can flexible expansion sensor type, simple to operation etc., data precision and feature with a high credibility, above two observation method can be replaced in 0 500 meters of boundary region BOTTOM LAYER ENVIRONMENT detection application.
Description
Technical field
The invention belongs to Detection Techniques field, boundary region, the atmospheric boundary layer environment particularly relating to a kind of unmanned plane is independently visited
Examining system and control method thereof.
Background technology
At present, modern boundary region detection means has Doppler radar, laser radar and acoustic radar, satellite sounding etc.,
Obtaining intensive basic meteorological data is the premise to boundary region research, sounding balloon, mooring motorboat etc. carry sonde pair
It is the important means of Atmospheric Survey that meteorological element is directly measured.But, the existence recovery difficulty such as sounding balloon, mooring motorboat,
High in cost of production feature, adds the complicated air-flow in low latitude, terrain environment etc. and makes conventional sounding balloon and captive balloon etc. right
Boundary region detection also exists certain limitation.Therefore, the limit that seek the high and low cost of reliability and stability, can use continuously
Interlayer detection instrument has great importance.And the observation method of radar and remote sensing is by the observation of indirect variable and then anti-
Drill and obtain meteorologic parameter information, for actual physical measurement, data precision that this observation procedure obtains and credible
Spend relatively low.Since entering 21 century, along with quickly sending out of the science and technology such as computer, microelectronics, communication, information, material
Exhibition, small-sized many rotor wing unmanned aerial vehicles of DC driven quickly grow, and not only landing is convenient, also have autonomous cruise, fixed point suspension etc.
Function so that by UAV flight's sonde, directly measuring of SEQUENCING VERTICAL meteorological element profile is possibly realized.
In sum, the detection of current atmospheric boundary layer mainly has the direct physical measurement side such as sounding balloon, mooring motorboat
Method and laser radar, ultrasonic radar, satellite remote sensing isoinversion measuring method.The first observation method, presence sensor is single solid
Problem fixed, that observation cost is high, recovery is difficult, there is the problem that data observation accuracy and confidence is low in the second observation method.
Summary of the invention
It is an object of the invention to provide atmospheric boundary layer environment Autonomous Exploration and the controlling party thereof of a kind of unmanned plane
Method, it is intended to solving detection presence sensor single fixing, observation cost height, the recovery difficulty of current atmospheric boundary layer, data are seen
Survey the problem that accuracy and confidence is low.
The present invention is achieved in that a kind of atmospheric boundary layer environment autonomous exploration method of unmanned plane, and master controller leads to
Cross and call a series of SDK function and control M100 aircraft and perform flare maneuver according to speed set in advance, angle, exist simultaneously
During aircraft is climbed, controller (arrives according to timing (sensing data as the most each in 1s acquisition order) or fixed height
The most each sensing data of interval height acquisition order specified, such as 5m, 10m, 15m ... 490m, 495m, 500m) gather data,
Until completing one group of complete 0-500m profile survey, then aircraft makes a return voyage landing, the atmospheric boundary layer ring of described unmanned plane
Border autonomous exploration control method, specifically includes following steps:
Master controller initializes UART2 interface, intervalometer TIM2, analog-digital converter ADC, the ticking device of system successively after powering on
Systick, real-time clock RTC, attitude transducer, wireless communication module, SD card, LCD display, temperature sensor, humidity pass
Sensor, baroceptor, carbon dioxide sensor, and to temperature sensor, humidity sensor, baroceptor, carbon dioxide
Sensor carries out reading data test, it is judged that sensor is the most working properly；
Master controller, by UART2 interface and vehicle flight control system communication, calls SDK function coreApi-successively
> getDroneVersion (), the execution of function is to send internal association by the UART2 mouth of controller to flight control system UART mouth
View order；By flight control system UART mouth to the firmware version serial number of controller return rows device body；Controller calls SDK letter
Number coreApi-> getSDKVersion (), the execution of this function is to flight control system UART mouth by the UART2 mouth of controller
Send internal agreement order, return acquisition SDK version sequence number by flight control system UART mouth to controller；
Master controller calls function coreApi-> setControl (1) and obtains controller to aircraft body from remote controller
Flight control, the execution of this function be by the UART2 mouth of controller to flight control system UART mouth send internal agreement order
Order, wherein parameter is that 1 expression obtains control, obtains control command functions and runs succeeded, then flight control system passes through UART mouth
Running succeeded status information to controller return command, otherwise return command performs status of fail information；
Master controller calls SDK function flight.task makes aircraft body complete takeoff maneuver, and the execution of this function is
Internal agreement order is sent to flight control system UART mouth by the UART2 mouth of controller, after flight control system receives this protocol command,
Perform takeoff maneuver, and hover over the height away from 1.5 meters of ground；Takeoff order function runs succeeded, then flight control system is passed through
UART mouth runs succeeded status information to controller return command, and otherwise return command performs status of fail information；
It is to provide in SDK library that master controller calls SDK function flight.setFlight and TIM_Cmd, flightData
An air data architectures body, user presets flightData.x, flightData.y, flightData.y respectively,
FlightData.Yaw, flightData.Pitch, flightData.Roll are the value specified, and call above-mentioned correspondence course controller
Sending internal agreement order by UART2 mouth to flight control system UART mouth, flight control system receives after this protocol command according to appointment
X-axis, Y-axis, Z axis velocity component and specify attitude angle Yaw, Pitch, Roll fly, then by the interrupt function of TIM2
Flight.setFlight and TIM_Cmd persistently sends, and controller is to be set to by the interruption frequency of TIM2 initializing
50Hz；
In aircraft body flight course, master controller persistently calls SDK function with the 1 second cycle specified
Broadcastdata=coreApi-> getBroadcastData () obtains the flight information of aircraft body,
Broadcastdata is the flight information structure provided in SDK library, including aircraft X, Y, Z-direction velocity information, GPS position
Confidence breath, battery level information, aircraft altitude information, aircraft altitude elevation information, magnetic declination information etc.；This function
Execution be by the UART2 mouth of controller to flight control system UART mouth send internal agreement order, flight control system receive this association
After view order, return broadcastdata structured data by UART mouth to controller；
Master controller judges flying height and two parameters of electricity, if altitude value exceedes threshold value 500 meters or electricity
Value is less than threshold value 30%, then master controller calls SDK function flight.task and makes aircraft body perform to decline and automatically land
Action, the execution of this function is to send internal agreement order by the UART2 mouth of controller to flight control system UART mouth, flies control system
After system receives this protocol command, performing to decline and landing flight action, this protocol command form aircraft manufacturer is the openest, carries
For encapsulation function for user；
Master controller calls SDK function coreApi-> setControl (0) makes master controller discharge aircraft body
Flight control, makes remote controller obtain the flight control of aircraft；The execution of this function be by the UART2 mouth of controller to
Flight control system UART mouth sends internal agreement order, and wherein parameter is that 0 expression discharges current control, flies after receiving this order
Ore-controlling Role is abandoned and controller communication, and communication channel is connected with remote controller foundation, makes remote controller obtain the control to aircraft
Power, protocol command form aircraft manufacturer is the openest, it is provided that encapsulation function is for user；
If not less than threshold value, then master controller is successively read the flight information of aircraft body；And then master controller calls
FATFS file system operation function, calls f_open instruction and creates establishment data.txt file under SD card root, call f_
Lseek function, by last at file of file read-write needle locating, calls f_write () function " hour min sec height
Temperature humidity air pressure Co2Vx Vy Vz battery<CR><LF>" specified format storage SD
Card, according to " $ data, hour, min, sec, height, temperature, humidity, airpressure, Co2, Vx, Vy,
Vz, battery<CR><LF>" data form be sent to grounded receiving station by wireless communication module and print aircraft body
Flight information in LCD display.
Further, also needing before described master controller powers on to carry out first manual unlocking aircraft battery switch is M100 aircraft
Body is powered, flight control system carry out the self-inspection that aircraft body takes off first 3 seconds-5 seconds.
Further, the information of the atmospheric boundary layer environment autonomous exploration method collection of described unmanned plane includes: RTC time,
Altitude value, temperature value, humidity value, atmospheric pressure value, carbon dioxide concentration value, X-axis speed, Y-axis speed, Z axis speed, X-axis add
Speed, Y-axis acceleration, Z axis acceleration, Pitch, Roll, Yaw, height above sea level, the information of charge value.
Another object of the present invention is to provide a kind of atmospheric boundary layer environment autonomous exploration method of described unmanned plane
The atmospheric boundary layer environment Autonomous Exploration of unmanned plane, the atmospheric boundary layer environment Autonomous Exploration bag of described unmanned plane
Include:
Master controller, connects wireless communication module by SPI universal serial bus, passes through I2C bus connects attitude transducer, logical
Cross simulation I2C bus connects temperature, humidity and baroceptor, connects carbon dioxide sensor by pin, passes through GPIOD
I/O mouth connects LCD display, connects SD card by SDIO special purpose interface, for being controlled the state of flight of unmanned plane；
Attitude transducer, for obtaining the X in flight course, Y, Z axis acceleration and Yaw, Pitch, Roll tri-direction of principal axis
Angle；
Wireless communication module, for being sent to ground receiver host computer by the data of flight course middle controller collection；
System for flight control computer, by serial ports and master controller communication, for controlling the state of flight of unmanned plane；
LCD display, is used for showing current each ambient parameter value and flight attitude information；
Temperature, humidity and baroceptor, for obtaining the temperature value in flight course, obtain in flight course is relative
Humidity value, obtains the atmospheric value in flight course；
Carbon dioxide sensor, for obtaining the carbon dioxide concentration value in flight course.
SD card, each ambient parameter value collected for storage.
Further, described master controller, attitude transducer, wireless communication module, system for flight control computer, LCD display,
Temperature, humidity and baroceptor, carbon dioxide sensor, SD card are integrated on a panel.
Further, the non-Ore-controlling Role of described unmanned plane includes: the non-Ore-controlling Role of unmanned plane is connected with master controller by serial ports, lithium
Battery, brushless electric machine, radio communication unit, control system URAT2, compass and GPS are with the non-Ore-controlling Role of unmanned plane wirelessly or non-wirelessly
Communication.
Another object of the present invention is to provide a kind of atmospheric boundary layer environment autonomous exploration method of described unmanned plane
Sounding balloon control method.
Another object of the present invention is to provide a kind of atmospheric boundary layer environment autonomous exploration method of described unmanned plane
Kite balloon airship control method.
Another object of the present invention is to provide a kind of atmospheric boundary layer environment autonomous exploration method of described unmanned plane
Sounding radar control method.
The atmospheric boundary layer environment Autonomous Exploration of the unmanned plane that the present invention provides and control method thereof, be directed to above
Two kinds of observation method problems faced, propose design and the reality of a kind of atmospheric boundary layer detection system based on SUAV
Existing, have observation low cost, can flexible expansion sensor type, simple to operation etc., data precision and spy with a high credibility
Point, can replace above two observation method in the BOTTOM LAYER ENVIRONMENT detection application of 0-500 rice boundary region.Observe into present aspect contrast,
The cost of one myriametre sounding balloon is 2000 yuan, the most recyclable after release, and the observation cost of the most every hundred meters is 20 yuan.This
Bright unmanned plane detection system the most fully charged battery electric quantity 128 watt-hour, can perform the profiling observation task of twice 0-500 rice,
The price of electricity is 0.6 yuan/kilowatt hour, and the observation cost calculating every hundred meters is 0.008 yuan, and observation cost is about the former 1/
2500；Sensor extension aspect, the sensor of sounding balloon and kite balloon airship is that producer is fixing to be carried, and can not extend voluntarily, this
Invention can extend other 6 analog quantitys, 2 I2C digital sensorses and 3 serial digital quantity sensors according to observation requirements；
Operating process face, the needs that lay of sounding balloon configure at least 3 people, and 1 people is responsible for balloon inflation, and 1 people is responsible for the parameter before release
Arranging, 1 people is responsible for release, and mooring motorboat then number is more, completely by controller Autonomous Control whole process after present invention start, only
Need 1 people can complete to measure operation；Data precision and credibility aspect be relative to use remote sensing survey method radar and
Satellite contrasts, and the present invention is to use the direct measurement of physical sensors, its data precision and credibility to the detection of atmospheric environment
More accurate than what the remote sensing technique using mediated physical measurement inverting environmental information came.The present invention is simple to operate, cost
Cheap, easy to carry, sounding balloon, kite balloon airship, sounding radar etc. can be replaced in the application scenario of 0-500 rice profile observation and see
Measurement equipment, reduces observation cost.
Accompanying drawing explanation
Fig. 1 is the atmospheric boundary layer environment Autonomous Exploration structural representation of the unmanned plane that the embodiment of the present invention provides；
In figure: 1, master controller；2, attitude transducer；3, wireless communication module；4, system for flight control computer；5, LCD shows
Show device；6, temperature, humidity and baroceptor；7, carbon dioxide sensor；8, SD card.
Fig. 2 is the atmospheric boundary layer environment autonomous exploration method flow diagram of the unmanned plane that the embodiment of the present invention provides.
Fig. 3 is the unmanned plane non-Ore-controlling Role structural representation that the embodiment of the present invention provides；
In figure: 4-1, lithium battery；4-2, brushless electric machine；4-3, radio communication unit；4-4, control system URAT2；4-5、
Compass；4-6、GPS.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, to the present invention
It is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to
Limit the present invention.
Below in conjunction with the accompanying drawings the structure of the present invention is explained in detail.
As it is shown in figure 1, the atmospheric boundary layer environment Autonomous Exploration of the unmanned plane of the embodiment of the present invention includes: main control
Device 1, attitude transducer 2, wireless communication module 3, system for flight control computer 4, LCD display 5, temperature, humidity and air pressure sensing
Device 6, carbon dioxide sensor 7, SD card 8.
Master controller 1, attitude transducer 2, wireless communication module 3, system for flight control computer 4, LCD display 5, temperature,
Humidity and baroceptor 6, carbon dioxide sensor 7, SD card 8 are integrated on a panel.
Master controller 1, connects wireless communication module 3 by SPI universal serial bus；Pass through I2C bus connects attitude transducer
2；By simulation I2C bus connects temperature, humidity and baroceptor 6；Carbon dioxide sensor 7 is connected by pin；Pass through
GPIOD I/O mouth connects LCD display 5；SD card 8 is connected by SDIO special purpose interface；
Attitude transducer 2, for obtaining the X in flight course, Y, Z axis acceleration and Yaw, Pitch, Roll tri-direction of principal axis
Angle.
Wireless communication module 3, for being sent to ground receiver host computer by the data of flight course middle controller collection.
System for flight control computer 4, by serial ports and master controller 1 communication, for controlling the state of flight of unmanned plane.
LCD display 5, is used for showing current each ambient parameter value and flight attitude information.
Temperature, humidity and baroceptor 6, for obtaining the temperature value in flight course, obtain the phase in flight course
To humidity value, obtain the atmospheric value in flight course.
Carbon dioxide sensor 7, for obtaining the carbon dioxide concentration value in flight course.
SD card 8, each ambient parameter value collected for storage.
As in figure 2 it is shown, the atmospheric boundary layer environment autonomous exploration method of the unmanned plane of the embodiment of the present invention includes following step
Rapid:
Master controller initializes UART2 interface, intervalometer TIM2, analog-digital converter ADC, the ticking device of system successively after powering on
Systick, real-time clock RTC, attitude transducer, wireless communication module, SD card, LCD display, temperature sensor, humidity pass
Sensor, baroceptor, carbon dioxide sensor, and to temperature sensor, humidity sensor, baroceptor, carbon dioxide
Sensor carries out reading data test, it is judged that sensor is the most working properly；
Master controller is by UART2 interface and vehicle flight control system communication, and calling aircraft manufacturer successively provides
SDK function coreApi-> getDroneVersion (), the execution of this function be by the UART2 mouth of controller give fly control system
System UART mouth sends internal agreement order, and this protocol command form aircraft manufacturer is the openest, it is provided that encapsulation function is for user
Use.By flight control system UART mouth to the firmware version serial number of controller return rows device body；Controller calls SDK function
CoreApi-> getSDKVersion (), the execution of this function is that the UART2 mouth by controller is sent out to flight control system UART mouth
Send internal agreement order, return acquisition SDK version sequence number by flight control system UART mouth to controller；
Master controller calls function coreApi-> setControl (1) and obtains controller to aircraft body from remote controller
Flight control, the execution of this function be by the UART2 mouth of controller to flight control system UART mouth send internal agreement order
Order, wherein parameter is that 1 expression obtains control, obtains control command functions and runs succeeded, then flight control system passes through UART mouth
Running succeeded status information to controller return command, otherwise return command performs status of fail information；
Master controller calls SDK function flight.task (flight.TASK_TAKEOFF) makes aircraft body complete
Fly work, and the execution of this function is to send internal agreement order by the UART2 mouth of controller to flight control system UART mouth, flies control
After system receives this protocol command, perform takeoff maneuver, and hover over the height away from 1.5 meters of ground.Takeoff order function performs
Success, then flight control system is run succeeded status information to controller return command by UART mouth, and otherwise return command performs mistake
Lose status information；
Master controller calls SDK function flight.setFlight (&flightData) and TIM_Cmd (TIM2,
ENABLE), flightData is the air data architectures body provided in SDK library, and user presets flightData.x respectively,
FlightData.y, flightData.y, flightData.Yaw, flightData.Pitch, flightData.Roll are for referring to
Fixed value, calls above-mentioned correspondence course controller by UART2 mouth to flying to control the transmission internal agreement order of happiness UART mouth, flight control system
According to the X-axis specified, Y-axis, Z axis velocity component and appointment attitude angle Yaw after receiving this protocol command, Pitch, Roll fly,
The operation instruction provided according to M100 aircraft manufacturer, this flight control instruction needs to continuously transmit to M100 with the frequency of 50Hz
Flight control system, can ensure that aircraft is according to specifying the non-stop flight of default ginseng.Then by the interrupt function of TIM2
Flight.setFlight (&flightData) and TIM_Cmd (TIM2, ENABLE) persistently send, controller is initially
Change is that the interruption frequency of TIM2 is set to 50Hz, so that aircraft can continue to fly according to setup parameter；
In aircraft body flight course, master controller persistently calls SDK function with the 1 second cycle specified
Broadcastdata=coreApi-> getBroadcastData () obtains the flight information of aircraft body,
Broadcastdata is the flight information structure provided in SDK library, including aircraft X, Y, Z-direction velocity information, GPS position
Confidence breath, battery level information, aircraft altitude information, aircraft altitude elevation information, magnetic declination information etc.；This function
Execution be by the UART2 mouth of controller to flight control system UART mouth send internal agreement order, flight control system receive this association
After view order, return broadcastdata structured data by UART mouth to controller, this protocol command form aircraft factory
Business is the openest, it is provided that encapsulation function is for user.Use aircraft X, Y, Z-direction velocity information, flight in the present invention
Device actual height information and battery level information.
Master controller judges flying height and two parameters of electricity, if altitude value exceedes threshold value 500 meters or electricity
Value is less than threshold value 30%, then master controller calls SDK function flight.task (flight.TASK_LANDING) and makes aircraft
Body performs to decline and automatic dropping action, and the execution of this function is to flight control system UART mouth by the UART2 mouth of controller
Send internal agreement order, after flight control system receives this protocol command, perform to decline and landing flight action, these protocol command lattice
Formula aircraft manufacturer is the openest, it is provided that encapsulation function is for user.；
Master controller calls SDK function coreApi-> setControl (0) makes master controller discharge aircraft body
Flight control, and then make remote controller obtain the flight control of aircraft；The execution of this function is the UART2 by controller
Mouth sends internal agreement order to flight control system UART mouth, and wherein parameter is that 0 expression discharges current control, receives this order
Rear flight control system is abandoned and controller communication, and communication channel is connected with remote controller foundation, makes remote controller obtain aircraft
Control, this protocol command form aircraft manufacturer is the openest, it is provided that encapsulation function is for user.
If not less than threshold value, then master controller is successively read the flight information of aircraft body；And then master controller calls
FATFS file system operation function, calls f_open (&fil, " 0:/data.txt ", FA_CREATE_ALWAYS | FA_
WRITE) instruction creates and creates data.txt file under SD card root, calls f_lseek (&fil, f_size (&fil)) letter
Number, by last at file of file read-write needle locating, calls f_write () function " hour min sec height
Temperature humidity air pressure Co2Vx Vy Vz battery<CR><LF>" specified format storage SD
Card, according to " $ data, hour, min, sec, height, temperature, humidity, airpressure, Co2, Vx, Vy,
Vz, battery<CR><LF>" data form be sent to grounded receiving station by wireless communication module and print aircraft body
Flight information in LCD display.
As it is shown on figure 3, system for flight control computer 4 includes: lithium battery 4-1, brushless electric machine 4-2, radio communication unit 4-3,
Control system URAT2 4-4, compass 4-5, GPS4-6.
System for flight control computer 4 is connected with master controller 1 by serial ports, lithium battery 4-1, brushless electric machine 4-2, wireless telecommunications
Unit 4-3, control system URAT2 4-4, compass 4-5 and GPS 4-6 and system for flight control computer 4 wirelessly or non-wirelessly communication.
The operation principle of the present invention:
When needs take off execution measuring task, first manual unlocking aircraft battery switch supplies for M100 aircraft body
Electricity, completing this process that works of the self-inspection before aircraft takeoff needs 3-5 time second, and the flight control system by M100 aircraft self is complete
Become.And then power on to controller, controller initializes master controller On-Chip peripheral UART2, intervalometer TIM2, analog digital conversion successively
Device ADC, system ticking device Systick, real-time clock RTC, attitude transducer, wireless communication module, SD card, LCD display, respectively
Environmental parameter sensor initializes and readwrite tests.And then controller is by UART2 and aircraft communication, calls SDK letter successively
Number coreApi-> getDroneVersion () obtains the firmware version number of aircraft, and controller calls SDK function coreApi->
GetSDKVersion () obtains SDK version number, and controller calls function coreApi-> setControl (1) and obtains from remote controller
The controller flight control to aircraft, controller calls SDK function flight.task (flight.TASK_TAKEOFF)
Making aircraft complete takeoff maneuver, controller calls SDK function flight.setFlight (&flightData) and TIM_Cmd
(TIM2, ENABLE), arranges aircraft and flies according to the X-axis specified, Y-axis, Z axis velocity component and assigned direction angle Yaw, and this flies
The transmission frequency of row control command is 50Hz, is completed by TIM2 interrupt function, so that aircraft can continue according to setting
Parameter is flown.During aircraft flight, controller persistently calls SDK function broadcastdata=with the 1 second cycle specified
CoreApi-> getBroadcastData () obtain aircraft flight information, including flying height, X-axis speed, Y-axis speed,
Z axis speed, X-axis acceleration, Y-axis acceleration, Z axis acceleration, Pitch, Roll, Yaw, longitude and latitude, height above sea level, battery electric quantity etc.,
Controller judges flying height and two key parameters of electricity, if it exceeds the threshold, then controller calls SDK function
Flight.task (flight.TASK_LANDING) makes aircraft perform to decline and automatic dropping action, and controller calls SDK
Function coreApi-> setControl (0) makes the controller release flight control to aircraft, and then makes remote controller acquisition fly
The flight control of row device.If not less than threshold value, then controller is successively read RTC time information, altitude value, temperature
Value, humidity value, atmospheric pressure value, carbon dioxide concentration value, X-axis speed, Y-axis speed, Z axis speed, X-axis acceleration, Y-axis acceleration, Z
Axle acceleration, Pitch, Roll, Yaw, height above sea level, charge value.And then controller call FATFS file system operation function by
According to the specified format above-mentioned information of storage to SD card, it is sent to ground receiver according to rendezvous protocol form by wireless communication module
Stand, print above-mentioned information at liquid crystal display screen.System mainly can be adopted with Ding Gao and timing two ways by the software design patterns of controller
Collection 0-500 rice atmospheric boundary layer section ambient parameter information.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (9)
1. the atmospheric boundary layer environment autonomous exploration method of a unmanned plane, it is characterised in that the atmospheric boundary of described unmanned plane
Layer environment autonomous exploration control method include: master controller by call a series of SDK function control M100 aircraft according to
Speed set in advance, angle perform flare maneuver, and during aircraft is climbed, controller according to timing or is determined simultaneously
Highly gathering data, until complete one group of complete 0-500m profile survey, aircraft makes a return voyage landing；
The atmospheric boundary layer environment autonomous exploration control method of described unmanned plane, specifically includes following steps:
Master controller initializes UART2 interface, intervalometer TIM2, analog-digital converter ADC, the ticking device of system successively after powering on
Systick, real-time clock RTC, attitude transducer, wireless communication module, SD card, LCD display, temperature sensor, humidity pass
Sensor, baroceptor, carbon dioxide sensor, and to temperature sensor, humidity sensor, baroceptor, carbon dioxide
Sensor carries out reading data test, it is judged that sensor is the most working properly；
Master controller, by UART2 interface and vehicle flight control system communication, calls SDK function coreApi-successively >
GetDroneVersion (), the execution of function is to send internal agreement by the UART2 mouth of controller to flight control system UART mouth
Order；By flight control system UART mouth to the firmware version serial number of controller return rows device body；Controller calls SDK function
CoreApi-> getSDKVersion (), the execution of this function is that the UART2 mouth by controller is sent out to flight control system UART mouth
Send internal agreement order, return acquisition SDK version sequence number by flight control system UART mouth to controller；
Master controller calls function coreApi-> setControl (1) and flies aircraft body from remote controller acquisition controller
Row control, the execution of this function is to send internal agreement order by the UART2 mouth of controller to flight control system UART mouth, its
Middle parameter is that 1 expression obtains control, obtains control command functions and runs succeeded, then flight control system is given by UART mouth and controlled
Device return command runs succeeded status information, and otherwise return command performs status of fail information；
Master controller calls SDK function flight.task makes aircraft body complete takeoff maneuver, and the execution of this function is to pass through
The UART2 mouth of controller sends internal agreement order to flight control system UART mouth, after flight control system receives this protocol command, performs
Takeoff maneuver, and hover over the height away from 1.5 meters of ground；Takeoff order function runs succeeded, then flight control system passes through UART mouth
Running succeeded status information to controller return command, otherwise return command performs status of fail information；
It is provided in SDK library that master controller calls SDK function flight.setFlight and TIM_Cmd, flightData
Individual air data architectures body, user presets flightData.x, flightData.y, flightData.y respectively,
FlightData.Yaw, flightData.Pitch, flightData.Roll are the value specified, and call above-mentioned correspondence course controller
Being given by UART2 mouth and fly to control the transmission internal agreement order of happiness UART mouth, flight control system receives after this protocol command according to appointment
X-axis, Y-axis, Z axis velocity component and specify attitude angle Yaw, Pitch, Roll fly, then by the interrupt function of TIM2
Flight.setFlight and TIM_Cmd persistently sends, and controller is to be set to by the interruption frequency of TIM2 initializing
50Hz；
In aircraft body flight course, master controller persistently calls SDK function broadcastdata with the 1 second cycle specified
=coreApi-> getBroadcastData () obtains the flight information of aircraft body, and broadcastdata is in SDK library
The flight information structure provided, including aircraft X, Y, Z-direction velocity information, GPS position information, battery level information, fly
Row device flying height information, aircraft altitude elevation information, magnetic declination information；The execution of this function is by controller
UART2 mouth sends internal agreement order to flight control system UART mouth, after flight control system receives this protocol command, is given by UART mouth
Controller returns broadcastdata structured data；
Master controller judges flying height and two parameters of electricity, if altitude value exceedes threshold value 500 meters or charge value is low
In threshold value 30%, then master controller call SDK function flight.task make aircraft body perform decline and automatically landing move
Making, the execution of this function is to send internal agreement order, flight control system by the UART2 mouth of controller to flight control system UART mouth
After receiving this protocol command, performing to decline and landing flight action, this protocol command form aircraft manufacturer is the openest, it is provided that
Encapsulation function is for user；
Master controller calls SDK function coreApi-> setControl (0) and makes the master controller release flight to aircraft body
Control, makes remote controller obtain the flight control of aircraft；The execution of this function is to flying control by the UART2 mouth of controller
System UART mouth sends internal agreement order, and wherein parameter is that 0 expression discharges current control, flies control system after receiving this order
System is abandoned and controller communication, and communication channel is connected with remote controller foundation, makes remote controller obtain the control to aircraft, association
View command format aircraft manufacturer is the openest, it is provided that encapsulation function is for user；
If not less than threshold value, then master controller is successively read the flight information of aircraft body；And then master controller calls FATFS
File system operation function, calls f_open instruction and creates establishment data.txt file under SD card root, call f_lseek
Function, by last at file of file read-write needle locating, calls f_write () function " hour min sec height
Temperature humidity air pressure Co2 Vx Vy Vz battery<CR><LF>" specified format storage SD
Card, according to " $ data, hour, min, sec, height, temperature, humidity, airpressure, Co2, Vx, Vy,
Vz, battery<CR><LF>" data form be sent to grounded receiving station by wireless communication module and print aircraft body
Flight information in LCD display.
2. the atmospheric boundary layer environment autonomous exploration method of unmanned plane as claimed in claim 1, it is characterised in that described master control
Device processed also needs to carry out first manual unlocking aircraft battery switch and powers for M100 aircraft body before powering on, flight control system carry out
The self-inspection that aircraft body takes off first 3 seconds-5 seconds.
3. the atmospheric boundary layer environment autonomous exploration method of unmanned plane as claimed in claim 1, it is characterised in that described unmanned
The information of the atmospheric boundary layer environment autonomous exploration method collection of machine includes: RTC time, altitude value, temperature value, humidity
Value, atmospheric pressure value, carbon dioxide concentration value, X-axis speed, Y-axis speed, Z axis speed, X-axis acceleration, Y-axis acceleration, Z axis accelerate
Degree, Pitch, Roll, Yaw, height above sea level, the information of charge value.
4. the atmospheric boundary of the unmanned plane of the atmospheric boundary layer environment autonomous exploration method of a unmanned plane as claimed in claim 1
Layer environment Autonomous Exploration, it is characterised in that the atmospheric boundary layer environment Autonomous Exploration of described unmanned plane includes:
Master controller, connects wireless communication module by SPI universal serial bus, passes through I2C bus connects attitude transducer, passes through mould
Intend I2C bus connects temperature, humidity and baroceptor, connects carbon dioxide sensor by pin, by GPIOD I/O mouth
Connect LCD display, connect SD card by SDIO special purpose interface, for the state of flight of unmanned plane is controlled；
Attitude transducer, for obtaining the X in flight course, Y, Z axis acceleration and Yaw, Pitch, Roll tri-direction of principal axis angle；
Wireless communication module, for being sent to ground receiver host computer by the data of flight course middle controller collection；
System for flight control computer, by serial ports and master controller communication, for controlling the state of flight of unmanned plane；
LCD display, is used for showing current each ambient parameter value and flight attitude information；
Temperature, humidity and baroceptor, for obtaining the temperature value in flight course, obtain the relative humidity in flight course
Value, obtains the atmospheric value in flight course；
Carbon dioxide sensor, for obtaining the carbon dioxide concentration value in flight course；
SD card, each ambient parameter value collected for storage.
5. the atmospheric boundary layer environment Autonomous Exploration of unmanned plane as claimed in claim 4, it is characterised in that described master control
Device processed, attitude transducer, wireless communication module, system for flight control computer, LCD display, temperature, humidity and baroceptor,
Carbon dioxide sensor, SD card are integrated on a panel.
6. the atmospheric boundary layer environment Autonomous Exploration of unmanned plane as claimed in claim 4, it is characterised in that described unmanned
The non-Ore-controlling Role of machine includes: the non-Ore-controlling Role of unmanned plane is connected with master controller by serial ports, lithium battery, brushless electric machine, wireless telecommunications
Unit, control system URAT2, compass and GPS and unmanned plane non-Ore-controlling Role wirelessly or non-wirelessly communication.
7. the sounding gas of the atmospheric boundary layer environment autonomous exploration method of a unmanned plane as described in claim 1-3 any one
Ball control method.
8. the mooring of the atmospheric boundary layer environment autonomous exploration method of a unmanned plane as described in claim 1-3 any one flies
Ship control method.
9. the sounding thunder of the atmospheric boundary layer environment autonomous exploration method of a unmanned plane as described in claim 1-3 any one
Reach control method.
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