CN106200675A - Based on DSP module SUAV autopilot - Google Patents
Based on DSP module SUAV autopilot Download PDFInfo
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- CN106200675A CN106200675A CN201610682909.9A CN201610682909A CN106200675A CN 106200675 A CN106200675 A CN 106200675A CN 201610682909 A CN201610682909 A CN 201610682909A CN 106200675 A CN106200675 A CN 106200675A
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- Prior art keywords
- autopilot
- suav
- combination
- dsp module
- converter
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention provides a kind of based on DSP module SUAV autopilot, including processor (1), GPS(2), a/d converter (3), SRAM(4), EEPROM(5), simulator (6), power amplification circuit (7), receiver (8), JTAG(9), remote station (10), gyroscope combination (11), accelerometer combination (12) and sensor combinations (13), wherein processor (1) respectively with GPS(2), a/d converter (3), SRAM(4), EEPROM(5), simulator (6), power amplification circuit (7), receiver (8), and remote station (10) is connected JTAG(9).Present invention achieves the accurate Based Intelligent Control to unmanned plane.
Description
Technical field
The present invention relates to a kind of based on DSP module SUAV autopilot, belong to unmanned aerial vehicle (UAV) control field.
Background technology
Unmanned plane (Unmaned Aerial Vehicle, UAV) be driving unpiloted on a kind of machine, dynamic,
Reusable aircraft is called for short.Compared with manned aircraft, it has the advantages such as volume is little, cost is low, easy to use, standby
Favored by countries in the world, have civilian and military purposes widely.Unmanned plane autopilot is the core of unmanned plane, carries
Data acquisition, communication, the multitasks such as controlled quentity controlled variable calculates, controlled quentity controlled variable output.The advanced degree upper body to a great extent of unmanned plane
Now in its autopilot.From the point of view of general status, China's unmanned plane quickly grows in military field, and the most a lot of technology have been walked
In the prostatitis in the world, but at civilian aspect, starting ratio is later, and application also ratio is relatively limited.But recent years, civilian is small-sized
The research of unmanned plane automatic pilot increased, particularly new high-tech enterprise, starts to develop oneself unmanned plane automatic Pilot
Instrument product.But due to the restriction of Key technology for UAVs, precision, performance gap compared with external same period product also compares
Greatly, product quantity and the function of unmanned plane automatic pilot are the most limited, and the product having independent intellectual property right is less.Want from
Fundamentally improve the unmanned plane automatic pilot product of oneself, be necessary for away the road of independent research.
Summary of the invention
In place of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide one and can beneficially shift gears control
Based on DSP module SUAV autopilot.
In order to achieve the above object, this invention takes techniques below scheme:
A kind of based on DSP module SUAV autopilot, including processor, GPS, a/d converter, SRAM, EEPROM, mould
Intend device, power amplification circuit, receiver, JTAG, remote station, gyroscope combination, accelerometer combination and sensor combinations,
Wherein processor respectively with GPS, a/d converter, SRAM, EEPROM, simulator, power amplification circuit, receiver, JTAG and
Remote station is connected, and a/d converter is connected with gyroscope combination, accelerometer combination and sensor combinations respectively, and power is put
Big circuit connects a signal controller, and processor includes dsp chip, has been internally integrated SCI(asynchronous serial communication interface) and SPI
(synchronous serial communication interface).
Preferably, the combination of above-mentioned gyroscope includes that the gyroscope in three directions, accelerometer combination include three directions
Accelerometer, sensor combinations includes two baroceptors.
Preferably, above-mentioned a/d converter includes high-precision AD conversion chip.
Preferably, above-mentioned simulator output analogue signal.
Preferably, autopilot also includes a power supply, and including voltage conversion chip, fixing output design can export+3.3V,
+ 5V and+12V, adjustable voltage output area is at+1.2V to+37V, and it can export the driving electric current of 3A, is internally integrated frequency and mends
Repaying and fixed frequency generator, switching frequency is 150KHz.
Preferably, above-mentioned processor has the high speed processing ability of 150MHz, has 32 floating point processing units, 6 DMA
Passage supports ADC, McBSP and EMTF, has the PWM on up to 18 tunnels to export, and wherein 6 tunnels are that the PWM of the distinctive higher precision of TI is defeated
Go out (HRPWM), 12 16 passage ADC analog-to-digital conversion modules.
Compared to prior art, the present invention provide based on DSP module SUAV autopilot, use single high-performance
Processor dsp chip complete the improvement of autopilot design, there is independent intellectual property right, advanced in performance, it is achieved that to unmanned
The accurate Based Intelligent Control of machine.
Accompanying drawing explanation
Fig. 1 is that the present invention is based on DSP module SUAV autopilot structural representation.
Reference: 1-processor；2-GPS；3-AD transducer；4-SRAM；5-EEPROM；6-simulator；7-power is put
Big circuit；8-receiver；9-JTAG；10-remote station；11-gyroscope combines；12-accelerometer combines；13-sensor group
Close；14-power supply；15-signal controller.
Detailed description of the invention
The present invention provides a kind of based on DSP module SUAV autopilot, for making the purpose of the present invention, technical scheme
And effect is clearer, clear and definite, the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.Should be appreciated that this
Specific embodiment described by place only in order to explain the present invention, is not intended to limit the present invention.
The present invention provide based on DSP module SUAV autopilot, including processor 1, GPS2, a/d converter 3,
SRAM4, EEPROM5, simulator 6, power amplification circuit 7, receiver 8, JTAG9, remote station 10, gyroscope combine 11, add
Velometer combination 12 and sensor combinations 13, wherein processor 1 respectively with GPS2, a/d converter 3, SRAM4, EEPROM5, mould
Intend device 6, power amplification circuit 7, receiver 8, JTAG9 and remote station 10 are connected, described a/d converter 3 respectively with gyro
Instrument combination 11, accelerometer combination 12 and sensor combinations 13 connect, and described power amplification circuit 7 connects a signal controller
15, described processor 1 includes dsp chip, has been internally integrated SCI(asynchronous serial communication interface) and SPI(synchronous serial communication connect
Mouthful).
Wherein, gyroscope combination 11 includes that the gyroscope in three directions, described accelerometer combination 12 include three directions
Accelerometer, described sensor combinations 13 includes two baroceptors.A/d converter 3 includes high-precision AD conversion core
Sheet.Simulator 6 exports analogue signal.Autopilot also includes a power supply 14, and including voltage conversion chip, fixing output design is permissible
Output+3.3V ,+5V and+12V, adjustable voltage output area is at+1.2V to+37V, and it can export the driving electric current of 3A, internal
Integrated frequency compensation and fixed frequency generator, switching frequency is 150KHz.Processor 1 has the high speed processing energy of 150MHz
Power, has 32 floating point processing units, and 6 DMA channel are supported ADC, McBSP and EMTF, had the PWM on up to 18 tunnels to export, its
In 6 tunnels be the distinctive higher precision of TI PWM export HRPWM, 12 16 passage ADC analog-to-digital conversion modules.
The processor of the present invention is the high performance chips DSP with floating-point operation towards Industry Control, will utilize this DSP
The SCI(asynchronous serial communication interface of chip) with SPI(synchronous serial communication interface) module completes to communicate with earth station, receive
The signal of GPS2 and the information of collection high-precision AD converter 3；The a/d conversion device collection utilizing DSP is the highest to required precision
Analog quantity；The eCAP device utilizing DSP gathers the signal of remote control receiver；The ePWM device output PWM utilizing DSP controls letter
Number, and after drive amplification chip amplifies, control steering wheel rotation.The sensing of combined navigation device uses based on the micro electronmechanical skill of MEMS(
Art) technology gyroscope combination tri-directions of 11(gyro), accelerometer combination tri-directions of 12(accelerometer) and pass
Sensor combination two baroceptors of 13() measure the information such as the angular velocity of unmanned plane, acceleration, air pressure；Use GPS
Receive satellite navigation information.Power supply 14 utilizes power conversion chip to obtain the various magnitudes of voltage needed for autopilot.
Wherein, automatic pilot uses battery to power when flight, in order to increase its working time, uses three pieces of Large Copacity
Lithium battery series connection power for it, the voltage after series connection is+12V.The stability of power supply influences whether to process to a certain extent
The operation of device, the precision of sensor, the precision of A/D conversion, the aspect such as stability of output signal.This money automatic pilot needs
The many grades of power supplys such as+5V ,+3.3V ,+1.8V.In order to obtain stable supply voltage, reduce the digital signal string to analogue signal
Disturbing, the analog quantity part such as gyroscope, accelerometer is wanted and digital quantity part separately to be powered.
In Power Management Design, first having to total supply voltage of+12V is converted into+5V, the present invention uses LM2596s-5.0
Voltage conversion chip.The fixing output design of this chip can export+3.3V ,+5V and+12V, adjustable voltage output area+
1.2V to+37V, it can export the driving electric current of 3A, have the strongest driving force.The integrated frequency compensation of this device inside and
Fixed frequency generator, switching frequency is 150KHz, compared with low frequency switch actuator, it is possible to use the filter of more small dimension
Ripple element.This device only needs 4 outward elements, it is possible to use the inductance of the universal standard, this greatly simplifies circuit design.
Processor 1 is the core of automatic pilot, and main being responsible for gathers various signals and carry out data process, then place
Reason result output, to reach to control the purpose of unmanned plane.Selected processor 1 interface to enrich to meet signals collecting and control
The requirement of system output, to have enough data-handling capacities, to ensure the realization of control algolithm and to ensure certain control simultaneously
Precision.The design of processor 1 mainly includes that power pack designs, and clock designs, and guides loading to select Model Design and JTAG to connect
Mouth design.
The present invention uses three identical angular rate gyroscopes, and installation site is mutually perpendicular to orthogonal, the most permissible
Measure the angle rate of three axles of unmanned plane.Accelerometer uses single-axis accelerometer, and this sensor uses 8 foot DIP plastic packagings, measures
Scope is-1.7～1.7g, and sensitivity is 1.2V/g, maximum zero point error 125mg, clicks+5V and powers, and bidirectional acceleration is measured.
This chip has good stability, reliable precision, and has preferably load and impact resistance, can meet autopilot
Needs.The same with gyroscope, it is also desirable to three identical accelerometers being mutually perpendicular to install are to measure three axles of unmanned plane
To acceleration.Baroceptor is to utilize atmospheric pressure change to change into the sensor that voltage measures.Automatic pilot
On mainly have two baroceptors, a static pressure for survey aircraft, be produced by the change of unmanned plane during flying height big
The change of atmospheric pressure, unrelated with airplane motion speed, this force value is mainly used to calculate the height of unmanned plane；Another is used for surveying
The dynamic pressure of amount aircraft, mainly measures atmospheric pressure size in the unmanned plane direction of motion, permissible with static pressure by this force value
Calculate the unmanned plane speed relative to air.
The present invention provide based on DSP module SUAV autopilot, with single high performance processor dsp chip
Complete the improvement of autopilot design, there is independent intellectual property right, advanced in performance, it is achieved that the accurately intelligence control to unmanned plane
System.
It is understood that for those of ordinary skills, can be according to technical scheme and invention structure thereof
Think in addition equivalent or change, and all these change or replace the protection model that all should belong to appended claims of the invention
Enclose.
Claims (6)
1. one kind based on DSP module SUAV autopilot, it is characterised in that: described autopilot include processor (1),
GPS(2), a/d converter (3), SRAM(4), EEPROM(5), simulator (6), power amplification circuit (7), receiver (8), JTAG
(9), remote station (10), gyroscope combination (11), accelerometer combination (12) and sensor combinations (13), wherein processor
(1) respectively with GPS(2), a/d converter (3), SRAM(4), EEPROM(5), simulator (6), power amplification circuit (7), receive
Machine (8), JTAG(9) and remote station (10) be connected, described a/d converter (3) respectively with gyroscope combination (11), accelerate
Degree meter combination (12) and sensor combinations (13) connect, and described power amplification circuit (7) connects a signal controller (15), institute
State processor (1) and include dsp chip, be internally integrated SCI and SPI.
2. as claimed in claim 1 based on DSP module SUAV autopilot, it is characterised in that: described gyroscope group
Close (11) and include that the gyroscope in three directions, described accelerometer combination (12) include the accelerometer in three directions, described biography
Sensor combination (13) includes two baroceptors.
3. as claimed in claim 1 based on DSP module SUAV autopilot, it is characterised in that: described a/d converter
(3) high-precision AD conversion chip is included.
4. as claimed in claim 1 based on DSP module SUAV autopilot, it is characterised in that: described simulator (6)
Output analogue signal.
5. as claimed in claim 1 based on DSP module SUAV autopilot, it is characterised in that: described autopilot is also
Including a power supply (14), including voltage conversion chip, fixing output design can export+3.3V ,+5V and+12V, adjustable voltage
Output area is at+1.2V to+37V, and it can export the driving electric current of 3A, is internally integrated frequency compensation and fixed frequency occurs
Device, switching frequency is 150KHz.
6. as claimed in claim 1 based on DSP module SUAV autopilot, it is characterised in that: described processor (1)
Having the high speed processing ability of 150MHz, have 32 floating point processing units, 6 DMA channel support ADC, McBSP and EMTF,
The PWM having up to 18 tunnels exports, and wherein 6 tunnels are PWM output (HRPWM) of the distinctive higher precision of TI, 12 16 passage ADC moulds
Number conversion module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610682909.9A CN106200675A (en) | 2016-08-17 | 2016-08-17 | Based on DSP module SUAV autopilot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610682909.9A CN106200675A (en) | 2016-08-17 | 2016-08-17 | Based on DSP module SUAV autopilot |
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| Publication Number | Publication Date |
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| CN106200675A true CN106200675A (en) | 2016-12-07 |
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ID=57522762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610682909.9A Pending CN106200675A (en) | 2016-08-17 | 2016-08-17 | Based on DSP module SUAV autopilot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018032433A1 (en) * | 2016-08-17 | 2018-02-22 | 邹霞 | Dsp module-based autopilot for miniature unmanned aerial vehicle |
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| US20070069083A1 (en) * | 2005-06-20 | 2007-03-29 | United States Of America As Represented By The Administrator Of The National Aeronautics And Spac | Self-Contained Avionics Sensing And Flight Control System For Small Unmanned Aerial Vehicle |
| CN104898699A (en) * | 2015-05-28 | 2015-09-09 | 小米科技有限责任公司 | Flight control method, device, electronic device |
| CN105278544A (en) * | 2015-10-30 | 2016-01-27 | 小米科技有限责任公司 | Control method and device of unmanned aerial vehicle |
| CN105446356A (en) * | 2015-12-17 | 2016-03-30 | 小米科技有限责任公司 | Unmanned plane control method and unmanned plane control device |
| CN105652883A (en) * | 2016-01-15 | 2016-06-08 | 中国人民解放军国防科学技术大学 | Unmanned plane self-driving instrument realizing single board modularization and high reliability |
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- 2016-08-17 CN CN201610682909.9A patent/CN106200675A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070069083A1 (en) * | 2005-06-20 | 2007-03-29 | United States Of America As Represented By The Administrator Of The National Aeronautics And Spac | Self-Contained Avionics Sensing And Flight Control System For Small Unmanned Aerial Vehicle |
| CN104898699A (en) * | 2015-05-28 | 2015-09-09 | 小米科技有限责任公司 | Flight control method, device, electronic device |
| CN105278544A (en) * | 2015-10-30 | 2016-01-27 | 小米科技有限责任公司 | Control method and device of unmanned aerial vehicle |
| CN105446356A (en) * | 2015-12-17 | 2016-03-30 | 小米科技有限责任公司 | Unmanned plane control method and unmanned plane control device |
| CN105652883A (en) * | 2016-01-15 | 2016-06-08 | 中国人民解放军国防科学技术大学 | Unmanned plane self-driving instrument realizing single board modularization and high reliability |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018032433A1 (en) * | 2016-08-17 | 2018-02-22 | 邹霞 | Dsp module-based autopilot for miniature unmanned aerial vehicle |
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Application publication date: 20161207 |