CN106483968B - Ground surface recognition device for automatic landing of unmanned aerial vehicle - Google Patents
Ground surface recognition device for automatic landing of unmanned aerial vehicle Download PDFInfo
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- CN106483968B CN106483968B CN201611143200.8A CN201611143200A CN106483968B CN 106483968 B CN106483968 B CN 106483968B CN 201611143200 A CN201611143200 A CN 201611143200A CN 106483968 B CN106483968 B CN 106483968B
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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
Abstract
The invention provides a ground surface recognition device for automatic landing of an unmanned aerial vehicle, which belongs to the field of control and comprises a triaxial gyroscope sensor, a triaxial acceleration sensor, a triaxial magnetic field sensor, an ultrasonic ranging module, a Kalman filter circuit III, an IIR filter circuit, a Kalman filter circuit I, a temperature compensation circuit, a Kalman filter circuit II, a body balance analysis circuit, a ground surface analysis circuit, a body relative ground analysis circuit and an output port circuit. The three-axis gyroscope, the three-axis acceleration sensor and the three-axis magnetic field sensor measure and determine the gesture of the device body relative to the horizontal plane, and the distance measuring module measures the distance of the relatively low surface of the device body so as to determine the gesture of the device relative to the ground surface. The attitude of the ground surface relative to the horizontal plane can be determined from the attitude of the device body relative to the horizontal plane and the attitude of the device body relative to the ground surface.
Description
Technical Field
The invention relates to the field of control, in particular to a ground surface recognition device for automatic landing of an unmanned aerial vehicle.
Background
In recent years, unmanned aerial vehicles have been developed very vigorously, and the market demands are also increasing. Military, industrial, agricultural and consumer unmanned aerial vehicles are beginning to be widely used. However, most of the existing unmanned aerial vehicle landing modes are horizontal and vertical landing, the landing modes easily cause the blade to strike the ground to destroy the unmanned aerial vehicle when the unmanned aerial vehicle lands on the inclined ground, and the unmanned aerial vehicle landing mode is a non-negligible problem. Therefore, the gesture recognition of the landing ground surface relative to the horizontal plane is very important when the unmanned aerial vehicle lands.
Therefore, the unmanned aerial vehicle needs to be designed with the ground capable of being automatically identified, and the blades can be further adjusted according to the ground conditions, so that the unmanned aerial vehicle can not damage the blades in any terrain landing.
Disclosure of Invention
Aiming at the defects, the invention provides a ground surface recognition device for automatic landing of an unmanned aerial vehicle.
The invention solves the problems by the following technical proposal:
the ground surface recognition device for the automatic landing of the unmanned aerial vehicle comprises a triaxial gyroscope sensor, a triaxial acceleration sensor, a triaxial magnetic field sensor, an ultrasonic ranging module, a Kalman filter circuit III, an IIR filter circuit, a Kalman filter circuit I, a temperature compensation circuit, a Kalman filter circuit II, a body balance analysis circuit, a ground surface analysis circuit, a body relative ground analysis circuit and an output port circuit;
the output end of the triaxial gyroscope sensor is connected with a Kalman filter circuit III; the output end of the triaxial acceleration sensor is connected with an IIR filter circuit; the output end of the triaxial magnetic field sensor is connected with the Kalman filter circuit I; the output end of the ultrasonic ranging module is connected with a Kalman filter circuit II through a temperature compensation circuit; the output ends of the Kalman filter circuit III and the IIR filter circuit are connected with the engine body balance analysis circuit; the output end of the Kalman filter circuit I is respectively connected with the engine body balance analysis circuit and the engine body relative ground analysis circuit; the output end of the Kalman filter circuit II is connected with a relative ground analysis circuit of the machine body; the output ends of the body balance analysis circuit and the body relative to the ground analysis circuit are connected with the ground surface analysis circuit; the output end of the ground surface analysis circuit is connected with an output port circuit; the output port circuit is connected with a controller of the unmanned aerial vehicle.
In the above-described aspect, it is preferable that the ultrasonic ranging module includes four ultrasonic sensors and a square or rectangular circuit board, the four ultrasonic sensors being mounted on four corners of the circuit board, respectively.
In the above scheme, the output port circuit is preferably a serial port output circuit and an I2C output circuit.
In the above-described scheme, it is preferable that the IIR filter circuit uses an IIR low-pass filter.
The invention has the advantages and effects that:
the invention provides a ground surface recognition device for an unmanned aerial vehicle to automatically fall, which is characterized in that a three-axis gyroscope, a three-axis acceleration sensor and a three-axis magnetic field sensor are used for measuring and determining the gesture of a device body relative to a horizontal plane, and a distance measuring module is used for measuring the distance of the device body relative to the lower surface so as to determine the gesture of the device relative to the ground surface; the posture of the ground surface relative to the horizontal plane can be determined according to the posture of the device body relative to the horizontal plane and the posture of the device body relative to the ground surface; the device is arranged on the unmanned aerial vehicle, and the measured ground surface relative horizontal plane posture data and the measured device body relative horizontal plane posture data are transmitted to the unmanned aerial vehicle control system through the interface, so that the unmanned aerial vehicle can make a corresponding landing posture according to the ground surface posture.
Drawings
Fig. 1 is a block diagram of the structure of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
A ground surface recognition device for unmanned aerial vehicle automatic landing, as shown in figure 1, includes triaxial gyroscope sensor, triaxial acceleration sensor, triaxial magnetic field sensor, ultrasonic ranging module, kalman filter circuit III, IIR filter circuit, kalman filter circuit I, temperature compensation circuit, kalman filter circuit II, organism balance analysis circuit, ground surface analysis circuit, organism relative ground analysis circuit and output port circuit. The Kalman filter circuit III, the IIR filter circuit, the Kalman filter circuit I, the temperature compensation circuit, the Kalman filter circuit II, the engine body balance analysis circuit, the ground surface analysis circuit and the engine body relative ground analysis circuit are internal structure circuits of a processor, and the processor uses a singlechip chip or a DSP processor with the model number of STM32 series.
The output end of the three-axis gyroscope sensor is connected with the Kalman filter circuit III, and the three-axis gyroscope is used for measuring the roll, pitch and yaw angular speeds of the device. The output end of the triaxial acceleration sensor is connected with the IIR filter circuit, and the triaxial acceleration sensor is used for measuring the component of gravity in the coordinate axis of the device. The output end of the triaxial magnetic field sensor is connected with the Kalman filter circuit I, and the triaxial magnetic field sensor measures the yaw angle of the device. The output end of the ultrasonic ranging module is connected with the Kalman filter circuit II through the temperature compensation circuit, and the ultrasonic ranging module is used for measuring the distance from the device body to the ground surface.
The output ends of the Kalman filter circuit III and the IIR filter circuit are connected with the body balance analysis circuit. The output end of the Kalman filter circuit I is respectively connected with the engine body balance analysis circuit and the engine body relative ground analysis circuit. The output end of the Kalman filter circuit II is connected with a relative ground analysis circuit of the machine body. The output ends of the body balance analysis circuit and the body relative to the ground analysis circuit are connected with the ground surface analysis circuit. The output end of the ground surface analysis circuit is connected with the output port circuit. The output port circuit is connected with the controller of the unmanned aerial vehicle, and the output port circuit is a serial port output circuit and an I2C output circuit. The body balance analysis circuit is used for solving the relative horizontal plane posture of the device body; relative ground analysis circuit of organism
The processor is used for reading real-time data of the triaxial gyroscope, the triaxial acceleration sensor, the triaxial magnetic field sensor and the ranging module, and obtaining the posture of the device body relative to the horizontal plane and the posture of the device body relative to the ground surface and the posture of the ground surface relative to the horizontal plane through processing and calculating the data. The processor transmits the attitude data to the unmanned aerial vehicle through the output port circuit.
The data collected by the triaxial gyroscope sensor is filtered in a Kalman filter circuit III through a Kalman filter algorithm. The data collected by the triaxial acceleration sensor are filtered by adopting an IIR low-pass filter, and the triaxial magnetic field sensor is filtered in a Kalman filter circuit I by adopting a Kalman filter algorithm. The body balance analysis circuit uses three data of a gyroscope sensor, an acceleration sensor and a triaxial magnetic field sensor; the pitch angle and the roll angle of the gesture are solved by using data fusion after filtering of a gyroscope and an acceleration sensor, and the yaw angle of the gesture is solved by using data fusion after filtering of a gyroscope and a magnetic field sensor.
The original data measured by the ultrasonic ranging module has larger noise and error, and the data is subjected to temperature compensation and then Kalman filtering. The ultrasonic ranging module measures four distances from each ultrasonic module to the ground surface, so that the pitch angle and the roll angle of the posture of the device body relative to the ground surface can be determined, the azimuth angle can be solved by the filtered data of the triaxial magnetic field sensor, and the azimuth angle can be used as the reference heading angle of the body relative to the ground surface. The attitude of the device body relative to the horizontal plane and the attitude of the device body relative to the ground surface can be obtained, and the attitude of the ground surface relative to the horizontal plane can be obtained through the two attitudes. The distance data measured by the ultrasonic ranging module can be used as a reference basis for the unmanned aerial vehicle to fly at a fixed altitude and can also be used as a reference for the descending speed of the unmanned aerial vehicle.
The data output by the output port circuit are three types of data, namely the relative horizontal plane attitude data of the machine body, the relative horizontal plane attitude data of the ground surface and the distance data from the ultrasonic module of the machine body to the ground.
While the preferred embodiments of the present invention have been illustrated and described, the present invention is not limited to the embodiments, and various equivalent modifications and substitutions can be made by one skilled in the art without departing from the spirit of the present invention, and are intended to be included in the scope of the present invention.
Claims (1)
1. A ground surface recognition device for unmanned aerial vehicle automatic landing, its characterized in that: the device comprises a triaxial gyroscope sensor, a triaxial acceleration sensor, a triaxial magnetic field sensor, an ultrasonic ranging module, a Kalman filter circuit III, an IIR filter circuit, a Kalman filter circuit I, a temperature compensation circuit, a Kalman filter circuit II, a body balance analysis circuit, a ground surface analysis circuit, a body relative ground analysis circuit and an output port circuit;
the output end of the triaxial gyroscope sensor is connected with a Kalman filter circuit III; the output end of the triaxial acceleration sensor is connected with an IIR filter circuit; the output end of the triaxial magnetic field sensor is connected with the Kalman filter circuit I; the output end of the ultrasonic ranging module is connected with a Kalman filter circuit II through a temperature compensation circuit; the output ends of the Kalman filter circuit III and the IIR filter circuit are connected with the engine body balance analysis circuit; the output end of the Kalman filter circuit I is respectively connected with the engine body balance analysis circuit and the engine body relative ground analysis circuit; the output end of the Kalman filter circuit II is connected with a relative ground analysis circuit of the machine body; the output ends of the body balance analysis circuit and the body relative to the ground analysis circuit are connected with the ground surface analysis circuit; the output end of the ground surface analysis circuit is connected with an output port circuit; the output port circuit is connected with a controller of the unmanned aerial vehicle;
the ultrasonic ranging module comprises four ultrasonic sensors and a square or rectangular circuit board, and the four ultrasonic sensors are respectively arranged on four corners of the circuit board;
the output port circuit is a serial port output circuit and an I2C output circuit;
the IIR filter circuit uses an IIR low pass filter.
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