CN106598059A - Multi-rotor unmanned aerial vehicle system based on FPGA - Google Patents
Multi-rotor unmanned aerial vehicle system based on FPGA Download PDFInfo
- Publication number
- CN106598059A CN106598059A CN201710060756.9A CN201710060756A CN106598059A CN 106598059 A CN106598059 A CN 106598059A CN 201710060756 A CN201710060756 A CN 201710060756A CN 106598059 A CN106598059 A CN 106598059A
- Authority
- CN
- China
- Prior art keywords
- processor
- load
- module
- attitude
- attitude detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 78
- 238000012545 processing Methods 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 238000012546 transfer Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 230000004913 activation Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 2
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 230000003245 working effect Effects 0.000 description 2
- 240000007643 Phytolacca americana Species 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
Landscapes
- 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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a multi-rotor unmanned aerial vehicle system based on FPGA. The system comprises a main processor and 4 co-processing units. A first co-processing unit comprises an attitude detection processor, an attitude detection pulse width measurement module, an attitude detection bus interface and an attitude detection data buffer module. A second co-processing unit comprises a load detection processor, a load detection pulse width measurement module, a load detection bus interface and a load detection data buffer module. A third co-processing unit comprises an attitude control processor and a PWM generator. The attitude control processor is connected to the main processor. A fourth co-processing unit comprises a load control processor. Through the independent working, parallel execution and collaborative processing of five processors comprising the main processor and 4 co-processors, the function realized by an original single processor is completed together, and thus the overall performance of the whole unmanned aerial vehicle system is effectively improved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of multi-rotor unmanned aerial vehicle system based on FPGA.
Background technology
The advantages of multi-rotor unmanned aerial vehicle possesses frame for movement simple, vertical lift, independently hovers, taking photo by plane, agricultural spray,
The aspects such as electric power line inspection, military detective are used widely.With the development of unmanned plane, the sensor that system is carried is increasingly
Many, collection contains much information, and control object is more, and at traditional processor such as AVR single chip, dsp processor and STM32
Reason device etc. is fixed and resource-constrained due to function, the system integration requirement of multisensor multitask cannot be met, while also not
Possesses the ability of high speed and parallel processing.With the intelligentize and informatization of unmanned plane, function is stronger and stronger, and system is increasingly
Complexity, single processor system cannot meet UAS demand.
The content of the invention
The technical problem to be solved is that existing unmanned plane cannot meet nothing using single processor system
A kind of problem of man-machine system demand, there is provided multi-rotor unmanned aerial vehicle system based on FPGA.
To solve the above problems, the present invention is achieved by the following technical solutions：
Based on the multi-rotor unmanned aerial vehicle system of FPGA, including 1 primary processor and 4 association's processing units.First association is processed
Unit is slow including attitude detection processor, attitude detection pulse width measure module, attitude detection EBI and attitude detection data
Storing module；The input of attitude detection pulse width measure module connects the pwm signal of receiver；The input of attitude detection EBI
The output end of end connection navigation attitude sensor；The output end of attitude detection pulse width measure module and attitude detection EBI is via appearance
State detection data cache module connects the input of attitude detection processor；Attitude detection processor is connected with primary processor.The
Two association's processing units include load measurement processor, load detection pulse width measure module, load detection EBI and load inspection
Survey data cache module；The input connection ultrasonic wave pulse width signal of load detection pulse width measure module；Load detection bus connects
The input connection payload module of mouth；Load detects that pulse width measure module and load detect the output end of EBI via load
Detection data cache module connects the input of load measurement processor, and load measurement processor is connected with primary processor.3rd
Association's processing unit includes gesture stability processor and PWM generator；Gesture stability processor is connected with primary processor；Gesture stability
The output end of processor connects the input of multiple electric mode transfer blocks via PWM generator, the output end of each electric mode transfer block with 1
Motor connection.4th association's processing unit includes load control processor；Load control processor is connected with primary processor；Load control
The output end of processor processed is connected via load drive module with loaded components.
In such scheme, attitude detection EBI includes attitude detection SPI interface, attitude detection I2C interface and/or appearance
State detects UART interface.
In such scheme, navigation attitude sensor includes that three axis accelerometer, three axle electronic compass, three axis magnetometer, air pressure are high
Degree meter and/or GPS module.
In such scheme, load detection EBI includes load detection SPI interface, load detection I2C interface and/or load
Lotus detects UART interface.
In such scheme, payload module module include figure transmission module, digital transmission module, light stream sensing module, laser module and/
Or radar module.
In such scheme, loaded components include head and/or steering wheel.
In such scheme, extended serial port, flash storage and/or SDRAM memory are further connected with primary processor.
In such scheme, primary processor and attitude detection processor, load measurement processor, gesture stability processor and load
Lotus control process device is connected by UART serial ports.
Compared with prior art, the UAS of existing single-processor is changed into the present invention unmanned plane of multiprocessor
System, i.e., UAS of the invention is made up of 1 primary processor and 4 association's processing units, each in each association's processing unit
It is provided with 1 coprocessor.1 primary processor and 4 coprocessors totally 5 processor autonomous workings, executed in parallel, at collaboration
Reason, completes the function that original single-processor is realized, so as to effectively increase the overall performance of whole UAS jointly.
Description of the drawings
Fig. 1 is a kind of theory diagram of the multi-rotor unmanned aerial vehicle system based on FPGA.
Specific embodiment
A kind of multi-rotor unmanned aerial vehicle system based on FPGA, as shown in figure 1, processing single including 1 primary processor and 4 associations
Unit.
First association's processing unit includes that attitude detection processor, attitude detection pulse width measure module, attitude detection bus connect
Mouth, attitude detection data cache module.Attitude detection processor, mainly responsible navigation attitude detection, calculates provide attitude information in real time.
Multiple attitude detection pulse width measure modules can parallel receive the multi-channel PWM signal from receiver simultaneously.Surveyed by changing pulsewidth
The clock frequency of amount module, can change the time precision of attitude detection pulse width measure module, thus the time precision and sound of system
Very big raising will be obtained between seasonable.Attitude detection EBI includes SPI/I2C interface and UART interface.Multichannel attitude is examined
Surveying EBI carries out parallel each sensor (such as three axis accelerometer, three axle electronic compass, three axis magnetometer, pressure altitude
Meter and GPS module etc.) data parse and with process.Each attitude detection data cache module, as long as there is data to update, you can
The data is activation for updating to the first coprocessor.Attitude detection pulse width measure module, attitude detection EBI with it is corresponding
The communication interface signal of attitude detection data cache module includes the gentle poke of data buffer storage application signal, cache responses signal
According to.Each attitude detection data cache module includes sending request of data with the data communication interface signal of attitude detection processor
Signal, data is activation response signal and transmission data.The unification of data/address bus bit wide uses 16bit, the inadequate 16bit of data, high-order
Use 0 polishing.The parallel processing of multiple sensing datas, reduces the task of processor, improves system response time.SPI/
I2C interface and UART interface circuit only need to be developed once, you can recycling, be selected according to the interface type of sensor.
Second association's processing unit includes load measurement processor, load detection EBI and load detection data caching mould
Block.Load measurement processor, mainly responsible load data is processed, and the data for processing are sent to primary processor.Load detects arteries and veins
Wide measurement module measures ultrasonic wave pulsewidth.Load detection EBI includes SPI/I2C interface and UART interface, the inspection of multichannel load
Survey the data of each load (such as figure biography/number biography, light flow sensor, laser radar) of EBI parallel processing.Each load
Detection data cache module, as long as there is data to update, you can the data is activation for updating to load measurement processor.Load is detected
The communication interface signal of pulse width measure module, load detection EBI and load detection data cache module includes data buffer storage
Application signal, cache responses signal and data cached.The number of each load detection data cache module and load measurement processor
Include according to communication interface signal：Send data request signal, data is activation response signal and send data.Data/address bus bit wide is united
One uses 16bit, the inadequate 16bit of data, a high position to use 0 polishing.SPI/I2C interface and UART interface circuit are according to payload module
Interface type is selected.
3rd association's processing unit includes gesture stability processor and PWM generator.Gesture stability processor and primary processor
Connection.The output end of gesture stability processor connects the input of multiple electric mode transfer blocks, each electric mode transfer block via PWM generator
Output end and 1 motor connection.Gesture stability processor is mainly responsible for gesture stability with adjustment.Gesture stability processor is received
The given attitude angle of primary processor, attitude angle the PWM value of each passage is converted into, and is realized to motor speed and the tune in direction
It is whole, and then realize the pose adjustment to unmanned plane carrier and control.PWM signal generator is embedded in FPGA platform, mutually it
Between executed in parallel, up to nanosecond, it is fast to perform speed, increases system dynamic regulation ability for time precision.
4th association's processing unit includes load control processor.Load control processor is connected with primary processor.Load control
The output end of processor processed is connected via load drive module with loaded components.Load control processor is mainly responsible for load and is moved
Make.Load processor receives the load control instruction that primary processor sends, then by load drive control load object action,
Mainly include the execution units such as head, steering wheel.
Additionally, being further connected with extended serial port, flash storage and/or SDRAM memory on primary processor.
Primary processor, attitude detection processor, load measurement processor, gesture stability processor and load control process
Device, this 5 processor autonomous workings, executed in parallel, collaboration are processed, and improve the overall performance of system.Primary processor is mainly born
Duty task scheduling, coordinated operation and algorithm process.Primary processor receives the attitude information of attitude detection processor, is believed according to attitude
Breath carries out the fused filtering of attitude data.Primary processor is that load measurement processor receives and send load data.Primary processor
Attitude angle is provided for gesture stability processor, attitude is controlled.Primary processor gives load control processor control instruction, control load
Action.Primary processor is communicated with each coprocessor by UART, is that external equipment exports attitude information by UART serial ports.By
Need to process a large amount of load datas in primary processor, while carrying out algorithm process, it is therefore desirable to based on the outside of FPGA platform
Processor configures flash storage and SDRAM memory, to provide enough running memory spaces.Additionally, on primary processor also
Extended serial port is connected to, to realize that follow-up function extends.
Claims (8)
1. the multi-rotor unmanned aerial vehicle system of FPGA is based on, it is characterised in that：Including 1 primary processor and 4 association's processing units；
First association processing unit include attitude detection processor, attitude detection pulse width measure module, attitude detection EBI and
Attitude detection data cache module；The input of attitude detection pulse width measure module connects the pwm signal of receiver；Attitude detection
The input of EBI connects the output end of navigation attitude sensor；Attitude detection pulse width measure module and attitude detection EBI
Output end via attitude detection data cache module connect attitude detection processor input；Attitude detection processor and master
Processor connects；
Second association processing unit include load measurement processor, load detection pulse width measure module, load detection EBI and
Load detection data cache module；The input connection ultrasonic wave pulse width signal of load detection pulse width measure module；Load is detected
The input connection payload module of EBI；Load detects that pulse width measure module and load detect output end Jing of EBI
The input of load measurement processor is connected by load detection data cache module, load measurement processor connects with primary processor
Connect；
3rd association's processing unit includes gesture stability processor and PWM generator；Gesture stability processor is connected with primary processor；
The output end of gesture stability processor connects the input of multiple electric mode transfer blocks via PWM generator, each electric mode transfer block it is defeated
Go out end and 1 motor connection；
4th association's processing unit includes load control processor；Load control processor is connected with primary processor；At load control
The output end of reason device is connected via load drive module with loaded components.
2. the multi-rotor unmanned aerial vehicle system of FPGA is based on according to claim 1, it is characterised in that：Attitude detection EBI
Including attitude detection SPI interface, attitude detection I2C interface and/or attitude detection UART interface.
3. the multi-rotor unmanned aerial vehicle system of FPGA is based on according to claim 1, it is characterised in that：Navigation attitude sensor includes three
Axis accelerometer, three axle electronic compass, three axis magnetometer, barometertic altimeter and/or GPS module.
4. the multi-rotor unmanned aerial vehicle system of FPGA is based on according to claim 1, it is characterised in that：Load detects EBI
Including load detection SPI interface, load detection I2C interface and/or load detection UART interface.
5. the multi-rotor unmanned aerial vehicle system of FPGA is based on according to claim 1, it is characterised in that：Payload module module includes
Figure transmission module, digital transmission module, light stream sensing module, laser module and/or radar module.
6. the multi-rotor unmanned aerial vehicle system of FPGA is based on according to claim 1, it is characterised in that：Loaded components include head
And/or steering wheel.
7. the multi-rotor unmanned aerial vehicle system of FPGA is based on according to claim 1, it is characterised in that：It is further connected with primary processor
Extended serial port, flash storage and/or SDRAM memory.
8. the multi-rotor unmanned aerial vehicle system of FPGA is based on according to claim 1, it is characterised in that：Primary processor is examined with attitude
Survey processor, load measurement processor, gesture stability processor and load control processor to connect by UART serial ports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710060756.9A CN106598059A (en) | 2017-01-25 | 2017-01-25 | Multi-rotor unmanned aerial vehicle system based on FPGA |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710060756.9A CN106598059A (en) | 2017-01-25 | 2017-01-25 | Multi-rotor unmanned aerial vehicle system based on FPGA |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106598059A true CN106598059A (en) | 2017-04-26 |
Family
ID=58585482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710060756.9A Pending CN106598059A (en) | 2017-01-25 | 2017-01-25 | Multi-rotor unmanned aerial vehicle system based on FPGA |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106598059A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107423027A (en) * | 2017-07-24 | 2017-12-01 | 杭州迪普科技股份有限公司 | A kind of information-reading method of optical module, device and system |
| CN108983811A (en) * | 2018-07-23 | 2018-12-11 | 南京森林警察学院 | A kind of dual-purpose unmanned plane device based on FPGA |
| CN109254587A (en) * | 2018-09-06 | 2019-01-22 | 浙江大学 | Can under the conditions of wireless charging steadily hovering small drone and its control method |
| CN109421041A (en) * | 2017-08-21 | 2019-03-05 | 深圳市优必选科技有限公司 | Motion planning and robot control method, robot and the device with store function |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5909565A (en) * | 1995-04-28 | 1999-06-01 | Matsushita Electric Industrial Co., Ltd. | Microprocessor system which efficiently shares register data between a main processor and a coprocessor |
| CN2681997Y (en) * | 2004-03-16 | 2005-03-02 | 清华大学 | Aircraft automatic pilot with double processors |
| CN102830708A (en) * | 2012-09-05 | 2012-12-19 | 北京理工大学 | ARM and FPGA (Field Programmable Gate Array) architecture based autopilot of fixed wing unmanned aerial vehicle |
| CN102854882A (en) * | 2012-09-21 | 2013-01-02 | 苏州工业园区职业技术学院 | Automatic control system of three-wing two-paddle recombination type unmanned aerial vehicle (UAV) |
| CN202758242U (en) * | 2012-09-05 | 2013-02-27 | 北京理工大学 | Fixed-wing unmanned aerial vehicle based on ARM and FPGA architecture |
| CN103365295A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | DSP (Digital Signal Processor)-based quad-rotor unmanned aerial vehicle autonomous hover control system and method |
| CN103777545A (en) * | 2013-12-17 | 2014-05-07 | 中国航天空气动力技术研究院 | Unmanned plane task load controller system |
| CN104061931A (en) * | 2014-05-21 | 2014-09-24 | 中国民航大学 | FPGA-based miniature portable multi-sensor attitude detection system |
| CN104718509A (en) * | 2013-10-09 | 2015-06-17 | 深圳市大疆创新科技有限公司 | Remote control methods and systems |
| CN204679855U (en) * | 2015-04-27 | 2015-09-30 | 吉林威和航空科技有限公司 | A kind of unmanned vehicle |
| CN205003549U (en) * | 2015-08-24 | 2016-01-27 | 深圳市诺亚星辰科技开发有限公司 | Single rotor unmanned aerial vehicle is flight control hardware systems independently |
| CN105589467A (en) * | 2016-02-29 | 2016-05-18 | 南京航空航天大学 | Low-cost expansion flight attitude sensor module |
| CN105721835A (en) * | 2016-03-31 | 2016-06-29 | 江苏鸿鹄无人机应用科技有限公司 | Multifunctional unmanned aerial vehicle control ground station system |
| CN105739364A (en) * | 2014-12-11 | 2016-07-06 | 中孚航空科技（天津）有限公司 | Unmanned aerial vehicle remote control distance-increasing system |
| CN205485627U (en) * | 2016-03-31 | 2016-08-17 | 陆皖麟 | Unmanned aerial vehicle's intelligence control system |
| CN205750545U (en) * | 2016-07-06 | 2016-11-30 | 河北博鹰通航科技有限公司 | A kind of plant protection UAS of autonomous flight |
| CN106325289A (en) * | 2016-09-26 | 2017-01-11 | 南京航空航天大学 | Renesas R5F100LEA master control-based four-rotor flight controller and control method thereof |
-
2017
- 2017-01-25 CN CN201710060756.9A patent/CN106598059A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5909565A (en) * | 1995-04-28 | 1999-06-01 | Matsushita Electric Industrial Co., Ltd. | Microprocessor system which efficiently shares register data between a main processor and a coprocessor |
| CN2681997Y (en) * | 2004-03-16 | 2005-03-02 | 清华大学 | Aircraft automatic pilot with double processors |
| CN102830708A (en) * | 2012-09-05 | 2012-12-19 | 北京理工大学 | ARM and FPGA (Field Programmable Gate Array) architecture based autopilot of fixed wing unmanned aerial vehicle |
| CN202758242U (en) * | 2012-09-05 | 2013-02-27 | 北京理工大学 | Fixed-wing unmanned aerial vehicle based on ARM and FPGA architecture |
| CN102854882A (en) * | 2012-09-21 | 2013-01-02 | 苏州工业园区职业技术学院 | Automatic control system of three-wing two-paddle recombination type unmanned aerial vehicle (UAV) |
| CN103365295A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | DSP (Digital Signal Processor)-based quad-rotor unmanned aerial vehicle autonomous hover control system and method |
| CN104718509A (en) * | 2013-10-09 | 2015-06-17 | 深圳市大疆创新科技有限公司 | Remote control methods and systems |
| CN103777545A (en) * | 2013-12-17 | 2014-05-07 | 中国航天空气动力技术研究院 | Unmanned plane task load controller system |
| CN104061931A (en) * | 2014-05-21 | 2014-09-24 | 中国民航大学 | FPGA-based miniature portable multi-sensor attitude detection system |
| CN105739364A (en) * | 2014-12-11 | 2016-07-06 | 中孚航空科技（天津）有限公司 | Unmanned aerial vehicle remote control distance-increasing system |
| CN204679855U (en) * | 2015-04-27 | 2015-09-30 | 吉林威和航空科技有限公司 | A kind of unmanned vehicle |
| CN205003549U (en) * | 2015-08-24 | 2016-01-27 | 深圳市诺亚星辰科技开发有限公司 | Single rotor unmanned aerial vehicle is flight control hardware systems independently |
| CN105589467A (en) * | 2016-02-29 | 2016-05-18 | 南京航空航天大学 | Low-cost expansion flight attitude sensor module |
| CN105721835A (en) * | 2016-03-31 | 2016-06-29 | 江苏鸿鹄无人机应用科技有限公司 | Multifunctional unmanned aerial vehicle control ground station system |
| CN205485627U (en) * | 2016-03-31 | 2016-08-17 | 陆皖麟 | Unmanned aerial vehicle's intelligence control system |
| CN205750545U (en) * | 2016-07-06 | 2016-11-30 | 河北博鹰通航科技有限公司 | A kind of plant protection UAS of autonomous flight |
| CN106325289A (en) * | 2016-09-26 | 2017-01-11 | 南京航空航天大学 | Renesas R5F100LEA master control-based four-rotor flight controller and control method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 郑积仕 等: "基于ARM11+CPLD的小型无人机飞行控制器设计", 《自动哈技术与应用》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107423027A (en) * | 2017-07-24 | 2017-12-01 | 杭州迪普科技股份有限公司 | A kind of information-reading method of optical module, device and system |
| CN109421041A (en) * | 2017-08-21 | 2019-03-05 | 深圳市优必选科技有限公司 | Motion planning and robot control method, robot and the device with store function |
| CN109421041B (en) * | 2017-08-21 | 2021-05-11 | 深圳市优必选科技有限公司 | Robot motion control method, robot and device with storage function |
| CN108983811A (en) * | 2018-07-23 | 2018-12-11 | 南京森林警察学院 | A kind of dual-purpose unmanned plane device based on FPGA |
| CN109254587A (en) * | 2018-09-06 | 2019-01-22 | 浙江大学 | Can under the conditions of wireless charging steadily hovering small drone and its control method |
| CN109254587B (en) * | 2018-09-06 | 2020-10-16 | 浙江大学 | Small unmanned aerial vehicle capable of stably hovering under wireless charging condition and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106598059A (en) | Multi-rotor unmanned aerial vehicle system based on FPGA | |
| US10942521B2 (en) | Method and apparatus for determining a vehicle control parameter, vehicle on-board controller and autonomous vehicle | |
| CN108594851A (en) | A kind of autonomous obstacle detection system of unmanned plane based on binocular vision, method and unmanned plane | |
| TWI558617B (en) | Unmanned flight vehicle autonomous flight computer system and control method | |
| CN102902278B (en) | Unmanned aerial vehicle flight control system based on controller area network (CAN) bus | |
| CN204631622U (en) | Based on the unmanned plane obstacle avoidance system that ultrasonic distance detects | |
| CN108924383A (en) | A kind of vehicle-mounted multisensory synchronous triggering device and its triggering method | |
| US10949274B2 (en) | Inter-core communication method, processor and multi-processor communication system | |
| CN105573334A (en) | Implementation method and control system of headless mode of unmanned aerial vehicle | |
| CN106275360B (en) | Near space dirigible condition monitoring system based on wireless sensor network | |
| CN105676755A (en) | Dual-core flight control computer | |
| CN206348668U (en) | A kind of design of UAV flight control system | |
| EP3642684B1 (en) | Data transfer logic for transferring data between sensors and planning and control of autonomous driving vehicle | |
| CN109782782A (en) | Multi-rotor unmanned aerial vehicle attitude flight control system | |
| CN206421233U (en) | Multi-rotor unmanned aerial vehicle system based on FPGA | |
| CN205644148U (en) | Double -core flies to control computer | |
| CN201600142U (en) | Strap-down attitude heading reference system | |
| CN105955286B (en) | A kind of more rotor flying controllers of double-core | |
| CN205484831U (en) | Vehicle navigation information system | |
| Wu et al. | Design and Development of Unmanned Surface Vehicle for Meteorological Monitoring. | |
| CN212515897U (en) | Active and passive three-dimensional imaging real-time processing system | |
| CN204347615U (en) | A kind of unmanned plane robot pilot based on Edison | |
| CN207799469U (en) | A kind of UAV Flight Control System based on ARM-M3 core chips | |
| CN111751858A (en) | Anti-interference high accuracy navigation module of unmanned aerial vehicle | |
| Wang et al. | Design of a cooperative vehicular platoon system based on Zynq/SoC architecture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170426 |