CN107132851B - Unmanned aerial vehicle flight navigation control system - Google Patents
Unmanned aerial vehicle flight navigation control system Download PDFInfo
- Publication number
- CN107132851B CN107132851B CN201710544147.0A CN201710544147A CN107132851B CN 107132851 B CN107132851 B CN 107132851B CN 201710544147 A CN201710544147 A CN 201710544147A CN 107132851 B CN107132851 B CN 107132851B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- module
- information
- main control
- 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.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Abstract
The invention relates to a flight navigation control system of an unmanned aerial vehicle, which comprises: the attitude and heading sensing module is used for acquiring flight information of the unmanned aerial vehicle; the main control module and the storage module are used for storing and processing the acquired information and sending instructions, and the atmospheric data sensing module is used for monitoring atmospheric environment information of the unmanned aerial vehicle in the flight process in real time and transmitting the information to the main control module; and the power module is used for supplying power to the system, and the PWM conditioning module is used for realizing the normal flight of the unmanned aerial vehicle according to the information of the aircraft machine detected by the attitude and heading sensing module. The system has the characteristics of low power consumption, high integration level and the like, and can realize the self and the flight information of the unmanned aerial vehicle in the flight process, so that the cruising ability is relatively improved, and the data precision is greatly improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle flight control, and particularly relates to an unmanned aerial vehicle flight navigation control system.
Background
With the development of information and communication technology, unmanned aerial vehicles are widely applied to the fields of national defense, agriculture, aerial photography, logistics and the like, a control and navigation system is used as an internal core part of the unmanned aerial vehicle flying, data initialization and data binding are completed on target point position information and route information bound by a ground station system, and the unmanned aerial vehicle has the functions of power-on self-check, target position and route binding, height setting, speed setting, climbing setting, data storage, fault diagnosis and the like and simultaneously has environmental test requirements of temperature impact, damp and hot, mould, salt fog, vibration and the like. Therefore, the requirement on controlling a navigation system is high, and the system is relatively dispersed in modularization and low in integration level when the unmanned aerial vehicle is used, so that the unmanned aerial vehicle is relatively heavy in weight and large in battery consumption, and the cruising ability of the unmanned aerial vehicle is weakened; and meanwhile, detailed information of the unmanned aerial vehicle in the flight process can not be mastered in time, and the precision processing of the data by the common unmanned aerial vehicle in the market is not particularly high.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides the unmanned aerial vehicle flight navigation control system, which has the characteristics of high integration degree and low power consumption, and can realize the self and flight information of the unmanned aerial vehicle in the flight process by combining a multi-sensing information processing technology, so that the cruising ability is relatively improved, and the data precision is greatly improved.
An unmanned aerial vehicle flight navigation control system, comprising:
the attitude and heading sensing module is used for acquiring the information of the unmanned aerial vehicle in the flying process;
the main control module is used for acquiring the information of the unmanned aerial vehicle in the flying process, acquired by the attitude and heading sensing module, and sending a control instruction after judging the information;
the air data sensing module is used for monitoring the air environment information of the unmanned aerial vehicle in the flying process in real time and transmitting the information to the main control module;
the storage module is used for storing the machine information and atmospheric environment information of the unmanned aerial vehicle in the flight process;
the power supply module is connected with the main control module and provides electric energy for the unmanned aerial vehicle flight navigation control system;
a PWM conditioning module; and the main control module is connected with the main control module, and receives a control instruction sent by the main control module according to the information of the aircraft machine detected by the attitude and heading sensing module and the atmospheric environment information in the flight process of the unmanned aerial vehicle detected by the atmospheric data sensing module, and adjusts the actions of a power motor, a rudder, a lifting wheel and an aileron of the unmanned aerial vehicle in flight in real time so as to realize the normal flight of the unmanned aerial vehicle.
In a further aspect, the attitude and heading sensing module comprises:
the three-axis accelerometer is used for detecting a three-dimensional acceleration speed running signal of the unmanned aerial vehicle;
the three-axis gyroscope is used for detecting the operation direction of the unmanned aerial vehicle in real time;
and the three-axis magnetic resistance sensor is used for sensing the change of the airframe angle caused by magnetic interference signals in the flying process of the unmanned aerial vehicle.
Further scheme, atmospheric data sensing module is including being used for detecting the atmospheric pressure sensor of unmanned aerial vehicle aircraft place altitude to detect the atmospheric pressure information of unmanned aerial vehicle aircraft flight position, and then realize unmanned aerial vehicle aircraft altitude's judgement.
According to a further scheme, the system further comprises a GPS module used for acquiring the position information of the unmanned aerial vehicle, the GPS module is used for detecting the yaw angle and pitch angle information of the unmanned aerial vehicle in the flight process and transmitting a main control module, and the main control module sends a control command to adjust the flight parameters of the unmanned aerial vehicle in real time according to the detected information so that the flight parameters are close to the preset air route.
According to a further scheme, the system further comprises a serial port conversion module connected with the main control module, and the main control module and the serial port conversion module perform data interactive transmission with the holder.
According to a further scheme, the system further comprises an I/O conditioning module connected with the main control module, and when the unmanned aerial vehicle breaks down, the I/O conditioning module controls the unmanned aerial vehicle to start the emergency processing device.
In a further scheme, the power module of the system comprises a DC-DC power chip for converting a DC battery power supply and a filter circuit, wherein the DC-DC power chip converts the DC power supply voltage into a 5V DC power supply and a 3.3V DC power supply, and the DC-DC power chip is respectively connected with the main control module and the PWM conditioning module for power supply after passing through the filter circuit.
In a further scheme, the main control module comprises a main control chip, and the model of the main control chip is an ST32F407 chip.
In a further scheme, the attitude and heading sensing module, the storage module, the atmospheric data sensing module, the power supply module and the PWM conditioning module are respectively and electrically connected with the main control module and are arranged on the same circuit board.
In a further scheme, the power module is connected with an external power supply, and the external power supply is a dry battery.
The scheme of the invention has the beneficial effects that:
1. an unmanned aerial vehicle flight navigation control system, comprising:
the device comprises an attitude and course sensing module, a main control module, a storage module, an atmospheric data sensing module, a power supply module and a PWM (pulse-width modulation) conditioning module; each module is coordinated mutually and has not only realized the real-time measurement feedback to aircraft information itself, adopts multisensor to fuse the technique, can also realize unmanned aerial vehicle aircraft flight information and environmental information's measurement for aircraft flight information is more accurate, makes duration improve relatively, has improved the data accuracy greatly.
2. Compared with the prior art, each module is arranged on the same circuit board. The control and navigation system has high integration level, integrates all the sensors on a small module, greatly reduces the volume, integrates the performance of all the sensors, improves the precision of the system, reduces the power consumption, has light weight and improves the cruising ability.
3. The method comprises the steps that a three-axis accelerometer is adopted for real-time measurement of information of the unmanned aerial vehicle, and is used for detecting three-dimensional acceleration speed running signals of the unmanned aerial vehicle; the three-axis gyroscope is used for detecting the operation direction of the unmanned aerial vehicle in real time; and the triaxial magnetoresistive sensor is used for sensing the change of the airframe angle caused by magnetic interference signals in the flight process of the unmanned aerial vehicle. These sensors all have the precision height, small characteristics, and then have realized control system or have control system's control panel miniaturization, improve the integrated level to reduce weight, reduce the consumption of battery and strengthened unmanned aerial vehicle duration.
4. Meanwhile, the scheme is provided with a GPS positioning and fault emergency processing module to realize the position positioning and fault processing of unmanned aerial vehicle flight, and the defense capability is enhanced.
Drawings
FIG. 1 is a block diagram of the system components of the present invention;
FIG. 2 is a diagram of the dimensions of a control panel of the system of the present invention;
FIG. 3 is a block diagram of a system control according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1-3, an unmanned aerial vehicle flight navigation control system includes: the attitude and heading sensing module 20 is used for acquiring the information of the unmanned aerial vehicle during the flight process; the attitude and heading sensing module 20 includes: a triaxial accelerometer 201 for detecting a three-dimensional acceleration speed operation signal of the unmanned aerial vehicle; the three-axis gyroscope 202 is used for detecting the operation direction of the unmanned aerial vehicle in real time; the triaxial magneto-resistive sensor 203 is used for sensing the change of the airframe angle caused by magnetic interference signals in the flight process of the unmanned aerial vehicle; and a barometer 204. The attitude and heading sensing module 20 is used to obtain information of yaw angle, roll angle, and pitch angle, and in order to overcome the influence of temperature drift and other factors during the measurement process, when the attitude information measured by each sensor is not accurate, the triaxial accelerometer 201, the triaxial gyroscope 202, the triaxial magnetoresistive sensor 203, and the GPS module 90 described below are combined to obtain relevant data.
The main control module 10 is used for acquiring the information of the unmanned aerial vehicle in the flying process, acquired by the attitude and heading sensing module 20, and judging the information; the main control module 10 includes a main control chip, and the model of the main control chip is ST32F407 chip.
The storage module 30 is used for storing the machine information of the flight process of the unmanned aerial vehicle; the main control module 10 and the storage module 30 are composed of a main control chip ST company chip and a storage chip, the main control chip processes and controls the unmanned aerial vehicle data obtained by the attitude and heading sensing module 20, and the storage chip can download the stored information through a reserved test interface, so that the requirements of overload and vibration environments are met.
The atmospheric data sensing module 40 is used for monitoring atmospheric environment information of the unmanned aerial vehicle in the flying process in real time and transmitting the information to the main control module 10; and the atmospheric data sensing module 40 converts the air pressure into height and airspeed to complete the relevant information acquisition of the unmanned aerial vehicle. The power supply module 50 is connected with the main control module 10 and provides electric energy for the unmanned aerial vehicle flight navigation control system; the power module of the system comprises a DC-DC power chip for converting a DC battery power supply and a filter circuit, wherein the DC-DC power chip converts the voltage of the DC power supply into a 5V DC power supply and a 3.3V DC power supply, and the DC-DC power supply is respectively connected with the main control module and the PWM conditioning module for power supply after passing through the filter circuit. The power module 50 is connected with an external power supply 501, and the external power supply 501 is a dry battery. The power module 50 comprises a TI company DC-DC power chip, and outputs of the TI company DC-DC power chip are subjected to secondary filtering through a secondary power conversion technology and then are provided for various power demand components, so that the requirements of main power supply of 5v and 3.3v are met, and meanwhile, the power module is high in efficiency and small in size.
The PWM conditioning module 60 is connected with the main control module 10, and receives a control instruction sent by the main control module 10 according to the information of the aircraft machine detected by the attitude and heading sensing module 20 and the atmospheric environment information in the flight process of the unmanned aerial vehicle detected by the atmospheric data sensing module 40, and adjusts the actions of the power motor 604, the rudder 603, the lifting wheel 602 and the aileron 601 of the unmanned aerial vehicle in real time so as to realize the normal flight of the unmanned aerial vehicle. The atmospheric data sensing module 40 realizes atmospheric pressure environmental information of the air route where the unmanned aerial vehicle is located including the atmospheric pressure sensor 401 for detecting the flying height where the unmanned aerial vehicle is located, and further realizes judgment of the flying height of the unmanned aerial vehicle through the conversion relation between the air pressure and the height.
As shown in fig. 3, the system further includes a GPS module 90 for acquiring the position information of the unmanned aerial vehicle, the GPS module 90 is used for detecting the yaw angle and pitch angle information of the unmanned aerial vehicle during the flight process, and transmitting the main control module 10, and the main control module 10 sends a control instruction according to the detected information to adjust the flight parameters of the unmanned aerial vehicle in real time, so that the flight parameters are close to the preset air route. The system further comprises a serial port conversion module 70 connected with the main control module 10, and the main control module 10 and the serial port conversion module 70 perform data interactive transmission with the holder 701. This system still includes the IO modulate module 80 of being connected with host system 10, when unmanned aerial vehicle broke down, control unmanned aerial vehicle through IO modulate module 80 and start emergency treatment device. The attitude and heading sensing module 20, the storage module 30, the atmospheric data sensing module 40, the power supply module 50 and the PWM conditioning module 60 are respectively electrically connected with the main control module 10 and are arranged on the same circuit board 100.
Specifically, as shown in fig. 2, the circuit board 100 is in a shape similar to a trapezoid, a long side dimension a of the trapezoid of the circuit board 100 is 100-110mm, specifically 102mm is selected in this embodiment, a short side dimension c of the trapezoid is 65-70mm, a straight side broken length of the side is d, wherein the dimension of d is 25-35mm, preferably about 30mm, and a total height b of the side is 100-110 mm. The modules are integrated on a circuit board, the size of the circuit board is greatly reduced due to the size design, and the performance of each sensor is integrated, so that the precision of the system is improved, the power consumption is reduced, the weight is light, and the cruising ability is improved.
When the unmanned aerial vehicle aircraft flies to work, the system mainly completes the following work: detecting various state quantities such as the position, the altitude, the airspeed, the angular rate, the acceleration and the like of the unmanned aerial vehicle; collecting signals and processing information; the steering engine and the rotating speed are accurately controlled by outputting a control signal; establishing wireless communication with a ground control center, transmitting data parameters and receiving control instructions; data storage, and the like.
The unmanned aerial vehicle flight navigation control system mainly solves the problem of flight path planning, various sensors in the attitude heading sensing module 20 are used for acquiring fuselage information in time, and parameters such as a pitch angle, a motor rotating speed, a roll angle and the like required by attitude control are obtained by an optimization algorithm after the flight speed and the altitude flight path information of the unmanned aerial vehicle are set according to the judgment of flight environment information, delivered to an attitude control layer for further processing, and converted into specific attitude control. When the attitude control layer obtains real-time data information, reasonable steering engine control quantity is obtained by combining the current attitude data, and attitude adjustment required by flight path planning is completed. Attitude control itself is also a negative feedback process. When the airplane deviates from the normal state, a corresponding negative feedback signal is output according to specific deviation information fed back by the sensor, and attitude adjustment is controlled through proper gain processing. If necessary, contact can be established with the ground control station via a data link.
It should be understood that although the specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it will be understood by those skilled in the art that the specification as a whole and the embodiments may be suitably combined to form other embodiments as will be apparent to those skilled in the art.
Claims (10)
1. The utility model provides an unmanned aerial vehicle flight navigation control system which characterized in that: the method comprises the following steps:
the attitude and heading sensing module is used for acquiring the information of the unmanned aerial vehicle in the flying process;
the main control module is used for acquiring the information of the unmanned aerial vehicle in the flying process, acquired by the attitude and heading sensing module, judging the information and then sending a control instruction;
the air data sensing module is used for monitoring the air environment information of the unmanned aerial vehicle in the flying process in real time and transmitting the information to the main control module;
the storage module is connected with the main control module and used for storing the machine information and the atmospheric environment information of the unmanned aerial vehicle in the flying process;
the power supply module is connected with the main control module and provides electric energy for the unmanned aerial vehicle flight navigation control system;
a PWM conditioning module; and the main control module is connected with the main control module, receives a control instruction sent by the main control module according to the information of the aircraft machine detected by the attitude and heading sensing module and the atmospheric environment information in the flight process of the unmanned aerial vehicle detected by the atmospheric data sensing module, and adjusts the actions of a power motor, a rudder, a lifting wheel and an aileron of the unmanned aerial vehicle in flight in real time so as to realize the normal flight of the unmanned aerial vehicle.
2. The unmanned aerial vehicle flight navigation control system of claim 1, wherein: the attitude and heading sensing module comprises:
the three-axis accelerometer is used for detecting a three-dimensional acceleration speed running signal of the unmanned aerial vehicle;
the three-axis gyroscope is used for detecting the operation direction of the unmanned aerial vehicle in real time;
and the three-axis magnetic resistance sensor is used for sensing the change of the deflection angle of the fuselage caused by magnetic interference signals in the flying process of the unmanned aerial vehicle.
3. The unmanned aerial vehicle flight navigation control system of claim 1, wherein: atmospheric data sensing module is including being used for detecting the atmospheric pressure sensor of unmanned aerial vehicle aircraft place altitude to detect the atmospheric pressure information of unmanned aerial vehicle aircraft flight position, and then realize unmanned aerial vehicle aircraft altitude's judgement.
4. The unmanned aerial vehicle flight navigation control system of claim 1, wherein: still including the GPS module that is used for acquireing the positional information of unmanned aerial vehicle aircraft, the GPS module is used for detecting the yaw angle and the every single move angle information of unmanned aerial vehicle aircraft flight process to transmission host system, host system sends control command real-time adjustment unmanned aerial vehicle aircraft flight parameter according to the information that detects, makes it be close to predetermine the airline.
5. The unmanned aerial vehicle flight navigation control system of claim 1, wherein: the device also comprises a serial port conversion module connected with the main control module, and the main control module and the serial port conversion module perform data interactive transmission with the holder.
6. The unmanned aerial vehicle flight navigation control system of claim 1, wherein: the unmanned aerial vehicle emergency treatment system is characterized by further comprising an I/O conditioning module connected with the main control module, and when the unmanned aerial vehicle breaks down, the I/O conditioning module controls the unmanned aerial vehicle to start the emergency treatment device.
7. The unmanned aerial vehicle flight navigation control system of claim 1, wherein: the power module comprises a DC-DC power chip for converting a DC battery power supply and a filter circuit, wherein the DC-DC power chip converts the DC power supply voltage into a 5V DC power supply and a 3.3V DC power supply, and the DC-DC power supply chip is respectively connected with the main control module and the PWM conditioning module to supply power after passing through the filter circuit.
8. The unmanned aerial vehicle flight navigation control system of claim 1, wherein: the main control module comprises a main control chip, and the model of the main control chip is ST32F 407.
9. The unmanned aerial vehicle flight navigation control system of claim 2, wherein: the attitude and heading sensing module, the storage module, the atmospheric data sensing module, the power supply module and the PWM conditioning module are respectively and electrically connected with the main control module and are arranged on the same circuit board.
10. An unmanned aerial vehicle flight navigation control system as claimed in any one of claims 1 to 9, wherein: the power module is connected with an external power supply, and the external power supply is a dry battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544147.0A CN107132851B (en) | 2017-07-05 | 2017-07-05 | Unmanned aerial vehicle flight navigation control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544147.0A CN107132851B (en) | 2017-07-05 | 2017-07-05 | Unmanned aerial vehicle flight navigation control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107132851A CN107132851A (en) | 2017-09-05 |
| CN107132851B true CN107132851B (en) | 2023-03-14 |
Family
ID=59737326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710544147.0A Active CN107132851B (en) | 2017-07-05 | 2017-07-05 | Unmanned aerial vehicle flight navigation control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107132851B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108700897A (en) * | 2017-10-09 | 2018-10-23 | 深圳市大疆灵眸科技有限公司 | Mechanical angle detection method, holder and machine readable storage medium |
| US20190129937A1 (en) * | 2017-10-26 | 2019-05-02 | Autel Robotics Co., Ltd. | Method for controlling unmanned aerial vehicle, unmanned aerial vehicle and controlling device |
| CN107909790A (en) * | 2017-11-13 | 2018-04-13 | 成都航空职业技术学院 | A kind of airborne dust monitoring system based on unmanned plane |
| CN107896317B (en) * | 2017-12-01 | 2023-05-26 | 上海市环境科学研究院 | Aerial image comprehensive processing device for aircraft |
| CN108594715A (en) * | 2018-05-18 | 2018-09-28 | 赫星科技有限公司 | Unmanned plane master control borad |
| CN108919700A (en) * | 2018-06-08 | 2018-11-30 | 赫星科技有限公司 | For the data switching apparatus and unmanned plane in unmanned plane location navigation circuit |
| CN109917816A (en) * | 2019-04-30 | 2019-06-21 | 大连交通大学 | It is a kind of for dispensing the manual flight equipment monitoring system of cargo |
| CN110686680A (en) * | 2019-10-30 | 2020-01-14 | 中仿智能科技（上海）股份有限公司 | Navigation positioning system and method for simulating aircraft cluster |
| CN110658771A (en) * | 2019-10-30 | 2020-01-07 | 哈工大机器人（岳阳）军民融合研究院 | Load control device based on large-load unmanned aerial vehicle and control method thereof |
| CN113625743A (en) * | 2020-05-08 | 2021-11-09 | 丰鸟航空科技有限公司 | Intelligent control method for unmanned aerial vehicle, related device and storage medium |
| CN111966123A (en) * | 2020-08-28 | 2020-11-20 | 北京信息科技大学 | Navigation equipment and aircraft |
| CN112346473B (en) * | 2020-11-25 | 2022-03-11 | 成都云鼎智控科技有限公司 | Unmanned aerial vehicle attitude control system, flight control system and attitude control method |
| CN112230671B (en) * | 2020-12-13 | 2021-03-16 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle return monitoring method based on smart lamp post and control center |
| CN112965014B (en) * | 2021-03-04 | 2022-09-02 | 哈尔滨工业大学 | Compensation method and device for magnetic interference caused by change of mechanical structure of airplane |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4956398A (en) * | 1972-07-14 | 1974-05-31 | ||
| CN102902276A (en) * | 2012-10-12 | 2013-01-30 | 大连理工大学 | Flying control system based on polarized light sensor |
| WO2016138690A1 (en) * | 2015-03-03 | 2016-09-09 | 广州亿航智能技术有限公司 | Motion sensing flight control system based on smart terminal and terminal equipment |
-
2017
- 2017-07-05 CN CN201710544147.0A patent/CN107132851B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4956398A (en) * | 1972-07-14 | 1974-05-31 | ||
| CN102902276A (en) * | 2012-10-12 | 2013-01-30 | 大连理工大学 | Flying control system based on polarized light sensor |
| WO2016138690A1 (en) * | 2015-03-03 | 2016-09-09 | 广州亿航智能技术有限公司 | Motion sensing flight control system based on smart terminal and terminal equipment |
Non-Patent Citations (1)
| Title |
|---|
| 基于微型四旋翼无人机的智能导航系统;詹镭等;《电子测量技术》(第06期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107132851A (en) | 2017-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107132851B (en) | Unmanned aerial vehicle flight navigation control system | |
| CN104656664B (en) | Vehicle-mounted many rotor unmanned helicopter approaching and landing system control systems and guiding control method | |
| CN105353762B (en) | The control method of six rotor wing unmanned aerial vehicles based on double remaining attitude transducers | |
| CN104656660A (en) | Control system for micro-unmanned helicopter multi-mode autonomous flight and method thereof | |
| CN205281183U (en) | Low latitude environmental monitoring unmanned aerial vehicle system | |
| CN102830622B (en) | Auto-disturbance-rejection automatic flight control method for four-rotor aircraft | |
| CN100356281C (en) | Automatic pilot for aircraft | |
| CN201000576Y (en) | Flight control system for unmanned plane | |
| CN204229233U (en) | A kind of many rotor wing unmanned aerial vehicles automatic flight control system | |
| CN204440169U (en) | The control system of the multi-modal autonomous flight of Miniature Unmanned Helicopter | |
| CN105807779A (en) | Flight control system and method for unmanned aerial vehicle | |
| CN104914872A (en) | Sensor dual-redundancy flight control computer system suitable for small civilian unmanned aerial vehicle | |
| CN105793792A (en) | Flight auxiliary method and system of unmanned aerial vehicle, unmanned aerial vehicle, and mobile terminal | |
| CN107272740A (en) | A kind of new four rotor wing unmanned aerial vehicles control system | |
| CN106325289A (en) | Renesas R5F100LEA master control-based four-rotor flight controller and control method thereof | |
| CN103611324A (en) | Unmanned helicopter flight control system and control method thereof | |
| CN102424112A (en) | Three-layer airborne flight control device for micro four-rotor aerial vehicle | |
| CN101515178A (en) | Master-slave burden type redundancy automatic unmanned aircraft pilot based on CAN bus | |
| CN102426457A (en) | Flight control navigation system of miniature flapping-wing flying vehicle | |
| CN106155075B (en) | Separable unmanned aerial vehicle control system | |
| CN102968123A (en) | Automatic pilot of unmanned aerial vehicle | |
| CN102508493A (en) | Flight control method for small unmanned aerial vehicle | |
| CN109542108A (en) | A kind of unmanned plane wind resistance patrols winged system | |
| CN202939490U (en) | Autopilot for unmanned aerial vehicles | |
| CN105468010A (en) | Multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |