CN106444842A - Novel flight positioning control system for four-axis aircraft - Google Patents
Novel flight positioning control system for four-axis aircraft Download PDFInfo
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- CN106444842A CN106444842A CN201611085994.7A CN201611085994A CN106444842A CN 106444842 A CN106444842 A CN 106444842A CN 201611085994 A CN201611085994 A CN 201611085994A CN 106444842 A CN106444842 A CN 106444842A
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- flight
- positional information
- information
- module
- big dipper
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
Abstract
The invention discloses a novel flight positioning control system for a four-axis aircraft. A Beidou navigation module is additionally arranged for forming a Beidou/GPS combined navigation system together with GPS, so as to increase the positioning precision. According to the invention, the position information acquired by the Beidou navigation system is filtered in a transferring control plate, the influence brought by random error is eliminated to a certain extent, and then the data is sent to a flight control module in the four-axis aircraft through a serial port, so that the assistant positioning calibration is completed. Besides, according to the invention, one GPRS module is used for realizing the data exchange between the four-axis aircraft and the upper computer, so that the state monitoring storage and real-time control for the four-axis aircraft at the upper computer by the user can be completed.
Description
Technical field
The invention belongs to unmanned air vehicle technique field is and in particular to a kind of flight location control system of new four-axle aircraft
System.
Background technology
In recent years, continually developing and develop with four-axle aircraft, people no longer content just to utilize remote terminal
Real-time control to aircraft, the four-axle aircraft being capable of autonomous flight gradually enters into the visual field of people.Fly to realize four axles
The autonomous flight of row device, we put forward higher requirement to the precision of locating module in aircraft and related sensor.If
If the data of locating module acquisition is not accurate enough, arise that unstable, larger at random in four-axle aircraft flight course
The situation of excursions, results even in the generation of the faults such as air crash.
Further, since being the four-axle aircraft of autonomous flight, we are also very care to the real-time status of aircraft.
If cannot be communicated, periodically obtain the status information of four-axle aircraft with aircraft, we will be unable to four-axle aircraft
Flight be controlled calibrate.Once aircraft breaks down or goes off course, we also cannot pass through corresponding control in time
Order and to reset and to adjust the state of four-axle aircraft, thus leading to the adverse consequencess of four-axle aircraft crash or lost contact.
Content of the invention
In view of above-mentioned, the invention provides a kind of flight positioning control system of new four-axle aircraft, by increasing north
Bucket navigation module to improve positioning precision with the GPS composition Big Dipper/GPS integrated navigation system.
A kind of flight positioning control system of new four-axle aircraft, including for controlling four-axle aircraft state of flight
Flight control modules, include inside flight control modules for obtaining current four-axle aircraft GPS position by GPS satellite system
The GPS module of confidence breath；Described flight positioning control system also includes：
Beidou navigation module, for obtaining the Big Dipper positional information of current four-axle aircraft by Beidou satellite system；
Flight control modules, for receiving the navigation information that ground host computer sends, are provided by GPRS communication module simultaneously
State of flight information and after merging calibration the positional information that obtains be sent to host computer；
Transfer control module, for described Big Dipper positional information and navigation information are parsed and pretreatment after send
To flight control modules, it is simultaneously used for the running parameter of Beidou navigation module and GPRS communication module is set to coordinate two
The work of person；
Described flight control modules are calibrated and are tied by carrying out fusion to described GPS position information and Big Dipper positional information
Close described navigation information in order to control the state of flight of four-axle aircraft, obtain after state of flight information and fusion calibration simultaneously
To positional information GPRS communication module is transmitted to by transfer control module.
Described Beidou navigation module and GPRS communication module are connected with transfer control module by expansion interface plate.
Described flight control modules carry out to GPS position information and Big Dipper positional information merging the concrete grammar calibrated such as
Under：
First, front n group Big Dipper positional information and GPS position information are carried out merge calibration by below equation：
Wherein：WithCorrespond to i-th group of Big Dipper positional information and i-th group of GPS position information, YiCorrespond to i-th group to melt
Close the positional information after calibration, sBAnd sGCorrespond to the number of satellite of Beidou satellite system and GPS satellite system, i be natural number and
1≤i≤n, n are the group number setting；
Then, the variance according to n group Big Dipper positional information and GPS position information before below equation calculating：
Wherein：∈BAnd ∈GCorrespond to the variance of front n group Big Dipper positional information and GPS position information；
Finally, the Big Dipper positional information after n group and GPS position information are carried out merge calibration by below equation：
Wherein：WithCorrespond to jth group Big Dipper positional information and jth group GPS position information, YjCorrespond to jth group to melt
Close the positional information after calibration, j is natural number and j ＞ n.
Described transfer control module is filtered pretreatment using window function to Big Dipper positional information.
Described transfer control module will be parsed and pretreated Big Dipper positional information and navigation information by serial ports
It is sent to flight control modules.
The present invention improves positioning accurate by increasing Beidou navigation module with the GPS composition Big Dipper/GPS integrated navigation system
Degree, because the flight control modules in four-axle aircraft have typically contained a GPS module, the therefore positioning in the present invention
Module only need to comprise Beidou navigation module.And the precision of the data that Beidou navigation module itself obtains is also required to be changed
Kind, just can be employed.Based on this, the positional information that the present invention obtains to triones navigation system first enters in transfer panel
Row Filtering Processing, eliminates the impact that random error is brought to a certain extent, then by serial ports, data is sent to four axle flights
Flight control modules in device, complete auxiliary positioning calibration.
Additionally, the present invention achieves the data exchange between four-axle aircraft and host computer by a GPRS module, complete
User has been become in upper computer end, the status monitoring of four-axle aircraft to be stored and real-time control；GPRS module is first with transfer control
Making sheet obtains Flight Condition Data and parameter in flight control modules, is shipped regularly to host computer, if then host computer has phase
The control command answered is sent, then, after GPRS module receives order data, be sent to transfer panel and parsed according to agreement, complete
Cheng Houzai sends flight control modules to, thus realizing real-time control.
Brief description
Fig. 1 is the structural representation of flight positioning control system of the present invention.
Fig. 2 is the job control schematic flow sheet of flight positioning control system of the present invention.
Specific embodiment
In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and specific embodiment is to technical scheme
It is described in detail.
Flight positioning control system structure of the present invention is as shown in figure 1, overall include a Beidou navigation mould leading to core star
Block UM220-III N, GPRS communication module SIM900A, expansion board PC104 and a TI company production
Original flight control modules in MSP430F2618 panel and aircraft.
Beidou navigation module mainly obtains the positional information of current four-axle aircraft, and expanded plate is sent to MSP panel
After carry out Filtering Processing, be then forwarded to flight control modules and carry out assisted calibration.
GPRS communication module, mainly with being communicated with host computer, periodically utilizes MSP panel to obtain flight control modules
Data, is sent to host computer, and receives the control command of host computer transmission and solved according to agreement with being supplied to MSP panel
Analysis.
The multichannel data selection circuit that expansion board is limited mainly due to the serial ports quantity on MSP panel and designs, real
Show the function that serial ports is extended.Beidou navigation module and GPRS module are accessed in one end, and the other end accesses MSP panel,
Selected to accessing data path by MSP panel.In other words, as can on a serial ports with big dipper module and
GPRS module is communicated simultaneously.
MSP panel is mainly to be realized coordinating multiple module work, connects flight control modules and carries out data processing
Function.No matter being the data filtering process of Beidou navigation module, the association between the protocol analysis of GPRS module, or multiple module
Communication, data exchange is adjusted to be all to complete in MSP panel.In view of hardware cost and computation complexity, present embodiment
Middle MSP panel adopts window filtering algorithm as follows Big Dipper position data, takes meansigma methodss in certain window data
Algorithm is reducing initial data XrawRandom fluctuation.
In addition, we add when to original data processing utilizes speed vrawPosition is estimated and is checked calibration：
Wherein：The value of a ∈ [0,1] can be according to speed vrawTo be chosen, due to four-axle aircraft flight speed not
Height, therefore in speed vrawWhen less, a takes higher value to make the position data of aircraft more stable.
Simultaneously combined ground is upper by GPS position information and Big Dipper positional information are carried out with fusion calibration for flight control modules
, in order to control the state of flight of four-axle aircraft, concrete blending algorithm is as follows for the navigation information that machine provides：
Data after merging is set to Y by us, and the general type of hypothesized model is：
Y=kXB+(1-k)XG.
Wherein：XBThe data obtaining for Beidou navigation module, XGThe data obtaining for GPS module.Obtained due to slave module
Truthful data is can be divided in dataWith random error ∈ two parts, therefore we can be by XBAnd XGIt is expressed as shape
Formula：
Due to we assume that the data after merging is truthful data, then having：
Thus, we can calculate each error amount and be：
Under normal circumstances, random error ∈～N (0, σ2), we can be estimated by multigroup (such as n=20) data
Its corresponding variance yields, shown in equation below：
When n takes higher value, variance evaluation is more accurate.And variance reflects the extent of deviation of gathered data and actual value,
Therefore we should make the proportion that the less part data of variance accounts for bigger in fused data.Based on this factor, we
Set：
Additionally, the number of number of satellite equally affects the data precision of acquisition, so, we will be same for number of satellite s
Take into account to calibrate k value, when the number of satellite of the Big Dipper is more than GPS, weights are more than 1, then the data of the Big Dipper corresponds to k value more
Greatly.
Finally, we calculate the data Y value after the fusion needing to obtain using this k value.
As shown in Fig. 2 the specific works control process of present system is as follows：
MSP panel first connects the data path of Beidou navigation module.Because Beidou navigation module can be automatically by current four
The expanded plate of the information such as the position of axle aircraft, speed and direction is sent to MSP panel, and we only need to be on MSP panel
Parsed according to Big Dipper Data Transport Protocol, by parsing after data operate after filtering after, and and flight control modules in
The gps data obtaining carries out algorithm fusion, and after sending the data to flight control modules, flight control modules are according to fused data
Aircraft is carried out with flight adjustment again.The packet of the Big Dipper can be type of message according to protocol analysis, the time, latitude, longitude,
Speed, course and number of satellite etc., are separated with comma between each Frame, are therefore easy in use retain phase as needed
Close data.
Then MSP panel reads information and the phases such as position, speed and the direction of current flight device from flight control modules
Related parameter, is sent to GPRS module by expansion board, connects the data path of GPRS module, is sent to by GPRS module upper
Machine, is easy to user, in upper computer end, four-axle aircraft current state is monitored with data storage.Connect the number of GPRS module
Need utilization " AT " order to arrange the modules such as Mobile Station Class, connected mode, access point and attachment gprs service according to path to open
The agreement setting instruction such as dynamic instruction and corresponding protocol type, port setting, IP setting.
And the control command that host computer sends will be received by GPRS module in the way of interrupting, then sent by expansion board
To MSP panel, parsed according to the communication protocol with host computer agreement in panel, the order after parsing is sent to
Flight control modules, complete the functions such as path planning, parameter setting, digital independent.
Data communication between this outer mold piece all adopts asynchronous communication transmission (UART) mode, and setting serial port baud rate is
9600, clock frequency is 10MHz.Because the serial ports quantity on MSP panel is limited, therefore in expansion board, we are according to phase
The different address position answered connecting big dipper module or GPRS module, according to needing in real time to carry out module to call.MSP panel and
Then directly it is attached with serial ports between flight control modules.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and apply the present invention.
Person skilled in the art obviously easily can make various modifications to above-described embodiment, and described herein general
Principle is applied in other embodiment without through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, ability
, according to the announcement of the present invention, the improvement made for the present invention and modification all should be in protection scope of the present invention for field technique personnel
Within.
Claims (5)
1. a kind of flight positioning control system of new four-axle aircraft, including for controlling flying of four-axle aircraft state of flight
Row control module, includes inside flight control modules for obtaining current four-axle aircraft GPS location by GPS satellite system
The GPS module of information；It is characterized in that：Described flight positioning control system also includes：
Beidou navigation module, for obtaining the Big Dipper positional information of current four-axle aircraft by Beidou satellite system；
GPRS communication module, for receiving the navigation information that ground host computer sends, simultaneously by flying that flight control modules provide
The positional information obtaining after row status information and fusion calibration is sent to host computer；
Transfer control module, for described Big Dipper positional information and navigation information are parsed and pretreatment after be sent to winged
Row control module, is simultaneously used for the running parameter of Beidou navigation module and GPRS communication module is set to coordinate both
Work；
Described flight control modules are calibrated and are combined institute by carrying out fusion to described GPS position information and Big Dipper positional information
State navigation information in order to control the state of flight of four-axle aircraft, obtain after state of flight information and fusion being calibrated simultaneously
Positional information is transmitted to GPRS communication module by transfer control module.
2. flight positioning control system according to claim 1 it is characterised in that：Described Beidou navigation module and GPRS
Communication module is connected with transfer control module by expansion interface plate.
3. flight positioning control system according to claim 1 it is characterised in that：Described flight control modules are to GPS position
The concrete grammar that confidence breath and Big Dipper positional information carry out merging calibration is as follows：
First, front n group Big Dipper positional information and GPS position information are carried out merge calibration by below equation：
Wherein：WithCorrespond to i-th group of Big Dipper positional information and i-th group of GPS position information, YiCorrespond to i-th group of fusion school
Positional information after standard, sBAnd sGCorrespond to the number of satellite of Beidou satellite system and GPS satellite system, i is natural number and 1≤i
≤ n, n are the group number setting；
Then, the variance according to n group Big Dipper positional information and GPS position information before below equation calculating：
Wherein：∈BAnd ∈GCorrespond to the variance of front n group Big Dipper positional information and GPS position information；
Finally, the Big Dipper positional information after n group and GPS position information are carried out merge calibration by below equation：
Wherein：WithCorrespond to jth group Big Dipper positional information and jth group GPS position information, YjCorrespond to jth group and merge calibration
Positional information afterwards, j is natural number and j ＞ n.
4. flight positioning control system according to claim 1 it is characterised in that：Described transfer control module adopts window
Function pair Big Dipper positional information is filtered pretreatment.
5. flight positioning control system according to claim 1 it is characterised in that：Described transfer control module passes through string
Parsing and pretreated Big Dipper positional information and navigation information are sent to flight control modules by mouth.
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| CN201611085994.7A CN106444842B (en) | 2016-11-30 | 2016-11-30 | A kind of flight positioning control system of novel four-axle aircraft |
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| CN201611085994.7A CN106444842B (en) | 2016-11-30 | 2016-11-30 | A kind of flight positioning control system of novel four-axle aircraft |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113282025A (en) * | 2021-04-12 | 2021-08-20 | 国网江苏省电力有限公司兴化市供电分公司 | Unmanned carrier is patrolled and examined in security protection |
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