CN108445906A - A kind of unmanned aerial vehicle control system based on android system and method - Google Patents
A kind of unmanned aerial vehicle control system based on android system and method Download PDFInfo
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- CN108445906A CN108445906A CN201810378710.6A CN201810378710A CN108445906A CN 108445906 A CN108445906 A CN 108445906A CN 201810378710 A CN201810378710 A CN 201810378710A CN 108445906 A CN108445906 A CN 108445906A
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- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 230000008450 motivation Effects 0.000 claims description 5
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- 238000012544 monitoring process Methods 0.000 claims description 3
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- 238000004458 analytical method Methods 0.000 description 6
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- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of unmanned aerial vehicle control system based on android system, control module receives the control instruction of user's operation, and control instruction is sent to unmanned plane.Main control module acquisition control director data equipped with Android system, establishes Controlling model；The flying quality for acquiring unmanned plane, establishes flight model；Anticipation pattern is exported according to the Controlling model of foundation and flight model, and generates synchronous control instruction and is sent to unmanned plane.The present invention controls dynamical system and the direction of unmanned plane using remote controler based on android system, it realizes between remote controler and unmanned plane with the two-way flow control of control stream and synchronous stream, data acquisition and processing (DAP) is efficient so that user's operation is more smooth, is easy to left-hand seat.Simple and quick simultaneously realizing is two-way to code between remote controler and unmanned plane, and is based on hardware enciphering and deciphering data, protects user data, significantly increases and crack difficulty, unmanned plane is prevented to be held as a hostage, and then improves the safety in utilization of unmanned plane.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical fields, more particularly to a kind of unmanned aerial vehicle (UAV) control system based on android system
System and method.
Background technology
Unmanned plane is becoming increasingly popular in recent years due to its high-adaptability to environment, is widely used in military affairs, is rescued
The fields such as calamity, electric power, agricultural, and in addition to other than these professional domains, unmanned plane also progresses into the daily life of ordinary people,
Namely consumer level unmanned plane.The application of consumer level unmanned plane is increasingly extensive, has a extensive future, for example, applied to photography and vedio recording or
Transport express delivery etc..
The remote controler of unmanned plane is one of the key technology of unmanned aerial vehicle (UAV) control technology, and current unmanned controller is to pass through
What microcontroller or a variety of microcontroller units were realized.Since microcontroller control is fairly simple, function is relatively simple, so current
On remote controler, transmission control instruction it is self-defined by producer, transparent transmission, due to function define it is relatively simple, so
Bad control is shown as in user's control experience, flight needs certain operation basis.Current unmanned controller is using
It is primarily present following disadvantage in the process：Control management is single, can not complete multiple instruction and quickly continuously transmit；Microcontroller management is only
Energy multiple repairing weld, can not locally do complicated processing, show as the bad control of model plane；Since control instruction is simple, transparent biography
It is defeated, cause to reveal or be tampered control command；Since safety is poor, the privacy for revealing operator or model plane is caused to be held as a hostage；More
Remote controler or unmanned plane are changed, matching is comparatively laborious, and mortality is high.
Invention content
In order to solve the above technical problems, the present invention proposes a kind of unmanned aerial vehicle control system based on android system and control
Method.
To achieve the above object, the present invention adopts the following technical scheme that：A kind of unmanned aerial vehicle (UAV) control system based on android system
System, the system comprises remote controler and unmanned plane, the unmanned plane includes flying control module, and the remote controler includes：
Control module：Control instruction for receiving user's operation, and the control instruction received is sent to unmanned plane；
Main control module equipped with Android system：For acquisition control director data, current control state is analyzed, establishes control
Simulation；
The flying quality for acquiring unmanned plane carries out dynamical system estimation according to flying quality and behavior judges, and establishes and fly
Row model；
Anticipation pattern is finally exported according to the Controlling model of foundation and flight model, after anticipation is analyzed, generates and synchronizes
Control instruction is sent to unmanned plane.
Preferably, two-way UUID authentication codes are configured between the unmanned plane and remote controler, unmanned plane is two-way with remote controler
The transmission that escape way carries out data and/or control instruction is established in certification after passing through.
Preferably, wherein described carry out dynamical system estimation and behavior judgement according to flying quality, and flight model is established
Including：Each power plant of the dynamical system of the unmanned plane is independently controlled, and forms kinetic parameter, according to described
Kinetic parameter, which calculates, generates powertrain components, establishes flight model.
Preferably, the remote controler further includes power module, and the power module includes power supply, regulator circuit and detection mould
Block, the power supply by passing to the main control module equipped with Android system after regulator circuit, detection module with equipped with Android
The main control module of system connects, and detection module is for detecting the voltage for being supplied to main control module；Wherein, power supply includes alarm mould
Block, when the detection module detects undertension, the main control module equipped with Android system sends a signal to alarm module, report
Alert module sends out prompting sound, realizes the early warning and monitoring of power supply of remote controller electricity.
Preferably, the control module includes rate control module, direction controlling module, advance and retreat control module, the winged control in side
Molding block, aileron control module and undercarriage control module.
Preferably, the control instruction include horizontal left instruction, horizontal right shift instruction, vertically upward instruction, vertically to
Give an order, horizontal Forward instruction, it is horizontal after move instruction, vertical conrotatory instruction, vertical inverse rotation instruction, horizontal conrotatory instruction, horizontal
Inverse rotation instruction, section conrotatory instruction and any one or more inverse revolved in instruction of section.
The present invention also provides a kind of unmanned aerial vehicle (UAV) control method based on android system, the method includes：
A. the control instruction of user's operation is received, and the control instruction received is sent to unmanned plane, unmanned plane receives
Control instruction, but execute not in time, wait for synchronous control instruction；
B. acquisition control director data analyzes current control state, establishes Controlling model；Acquire the flight number of unmanned plane
According to carrying out dynamical system estimation according to flying quality and behavior judge, and establish flight model；Finally according to the control mould of foundation
Type and flight model export anticipation pattern, after anticipation is analyzed, generate synchronous control instruction and are sent to unmanned plane；Unmanned plane connects
Synchronous control instruction is received, motivation of adjustment and course are instructed according to synchronous control and executes action.
Preferably, before the unmanned plane and remote controler carry out data and/or control instruction transmission, first by advance
The two-way UUID authentication codes of configuration carry out two-way authentication, by the transmission for carrying out data and/or control instruction after certification again.
Preferably, wherein described carry out dynamical system estimation and behavior judgement according to flying quality, and flight model is established
Including：Each power plant of the dynamical system of the unmanned plane is independently controlled, and forms kinetic parameter, according to described
Kinetic parameter, which calculates, generates powertrain components, establishes flight model.
Preferably, the control instruction include horizontal left instruction, horizontal right shift instruction, vertically upward instruction, vertically to
Give an order, horizontal Forward instruction, it is horizontal after move instruction, vertical conrotatory instruction, vertical inverse rotation instruction, horizontal conrotatory instruction, horizontal
Inverse rotation instruction, section conrotatory instruction and any one or more inverse revolved in instruction of section.
The advantageous effects that the present invention is brought using technical solution as above are：The present invention is using based on android system distant
Device is controlled to control dynamical system and the direction of unmanned plane, is realized between remote controler and unmanned plane with pair of control stream and synchronous stream
To flow control, data acquisition and processing (DAP) is efficient so that user's operation is more smooth, is easy to left-hand seat.Reality simple and quick simultaneously
Showed it is two-way to code between remote controler and unmanned plane, and be based on hardware enciphering and deciphering data, protect user data, greatly increase
Difficulty is cracked, unmanned plane is prevented to be held as a hostage, and then improves the safety in utilization of unmanned plane.
Description of the drawings
In order to illustrate more clearly of embodiment of the present invention, the required attached drawing of embodiment will be made below simple
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is unmanned aerial vehicle control system structure and principle schematic provided by one embodiment of the present invention；
Fig. 2 is unmanned plane provided by one embodiment of the present invention and the two-way schematic diagram to code authentication of remote controler.
Specific implementation mode
The present invention will be described in detail with reference to the accompanying drawings and examples, herein by the embodiment being described with reference to the drawings
It is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention, i.e., described embodiment is this
A part of the embodiment of invention, instead of all the embodiments, in the absence of conflict, the embodiment in the application and implementation
Feature in example can be combined with each other.
Embodiment 1
As shown in Figure 1, a kind of unmanned aerial vehicle control system based on android system provided in this embodiment, the system comprises
Remote controler and unmanned plane, the unmanned plane include flying control module, and the remote controler includes control module and equipped with Android system
Main control module, the control module is used to receive the control instruction of user's operation, and the control instruction received is sent to
Unmanned plane；The main control module equipped with Android system is used for acquisition control director data, analyzes current control state, establishes
Controlling model；The flying quality for acquiring unmanned plane carries out dynamical system estimation according to flying quality and behavior judges, and establishes and fly
Row model；Anticipation pattern is finally exported according to the Controlling model of foundation and flight model, after anticipation is analyzed, generates synchronous control
System instruction is sent to unmanned plane.The Android system that the main control module carries is high pass Android system, with high pass Android system
Compatible high pass chip of uniting is connected to each other by the interface of its peripheral interface and the remote controler.
In the present embodiment, the present invention controls dynamical system and the side of unmanned plane using remote controler based on android system
To that is, when the winged control module of the unmanned plane is after receiving control instruction, elder generation executes not in time, and synchronous control to be received is waited to refer to
It enables, action is executed behind motivation of adjustment and course after receiving synchronous control instruction.Remote control is realized by technical solution as above
With the two-way flow control of control stream and synchronous stream between device and unmanned plane, data acquisition and processing (DAP) is efficient, ensure that remote controler
The accuracy and stability of control instruction, high pass chip have certain operational analysis ability, can be according to certain time
Data sampling, as Android system utilizes high pass chip interface acquisition control director data such as Throttle Opening Control data, direction controlling number
According to etc. data establish data and curves model, analyze current state of a control, establish Controlling model；And utilize high pass chip interface
Flying quality is acquired, dynamical system estimation is carried out according to flying quality and behavior judges, and establishes flight model；Last basis is built
Vertical Controlling model and flight model export anticipation pattern, after anticipation is analyzed, generate synchronous control instruction and are sent to nobody
Machine.By above-mentioned modeling analysis, and the analysis of user operation habits is established, keep operational order output more stable, unmanned plane flies
Row control is smoother so that user's operation is also more smooth, is easy to left-hand seat.
In a preferred embodiment, wherein described carry out dynamical system estimation and behavior judgement according to flying quality, and
Establishing flight model includes：Each power plant of the dynamical system of the unmanned plane is independently controlled, and forms power
Parameter calculates according to the kinetic parameter and generates powertrain components, establishes flight model.
As shown in Fig. 2, in a preferred embodiment, two-way UUID certifications are configured between the unmanned plane and remote controler
Code, the unmanned plane establish the transmission that escape way carries out data and/or control instruction after passing through with remote controler two-way authentication.
In the present embodiment, present invention employs to code key technology, establishing, escape way carries out data and/or control refers to
The transmission of order, by being encoded to unmanned plane and remote configuration UUID, using its uniqueness as control code, bi-directionally sent
Match, and simple and quick completion is to code.
In a preferred embodiment, the control instruction transmitted between the remote controler and unmanned plane passes through in high pass chip
It is middle that safe encryption and decryption are carried out using hardware approach.In the present embodiment, the high pass chip of high energy Android system collocation, generally
All have TZ functions, the safe encipher-decipher method provided by hardware TZ ensure that control as the encipher-decipher method of control instruction
The safety for making instruction, significantly increases and cracks difficulty, and the privacy for revealing operator or unmanned plane will not be caused to be held as a hostage
Phenomenon finally ensure that the safety of unmanned plane.
It in a preferred embodiment, can also be by single in one encryption of main control module setting equipped with Android system
Member, to by synchronous control instruction be encrypted after transmit to the winged control module of unmanned plane, the winged control module is set
A decryption unit is set, the synchronous control received instruction to be decrypted, unmanned plane is dynamic according to synchronous control instruction adjustment
Power and course simultaneously execute action.
In a preferred embodiment, the control module includes rate control module, direction controlling module, retreating controls
Module, side fly control module, aileron control module and undercarriage control module.The control instruction include horizontal left instruction,
Horizontal right shift instruction, vertically upward instruction, vertically downward instruction, horizontal Forward instruction, it is horizontal after move instruction, vertical conrotatory refers to
It enables, is in vertical inverse rotation instruction, horizontal conrotatory instruction, horizontal inverse rotation instruction, section conrotatory instruction and the inverse rotation instruction of section arbitrary
It is one or more.
In a preferred embodiment, the remote controler further includes display module, key-press module and/or touch modules；Institute
Display module is stated for showing that user is selected by the operation that the key-press module and/or touch modules input.The remote controler
Including a shell, shell is made of upper shell and lower casing, and upper shell is that clamping connects with lower casing.The display module is pressed
Key module and/or touch modules are set on the upper shell, the control module and the key-press module and/or touch modules
It corresponds, control module is used to receive user and is selected by the operation that the key-press module and/or touch modules input.
In a preferred embodiment, the remote controler further includes power module, and the power module includes power supply, voltage stabilizing
Circuit and detection module, the power supply is by passing to the main control module equipped with Android system, detection module after regulator circuit
It is connect with the main control module equipped with Android system, detection module is for detecting the voltage for being supplied to main control module；Wherein, power supply
Including alarm module, when the detection module detects undertension, the main control module equipped with Android system is sent a signal to
Alarm module, alarm module send out prompting sound, realize the early warning and monitoring of power supply of remote controller electricity.
Embodiment 2
A kind of unmanned aerial vehicle (UAV) control method based on android system provided in this embodiment, the method includes：
A. the control instruction of user's operation is received, and the control instruction received is sent to unmanned plane, unmanned plane receives
Control instruction, but execute not in time, wait for synchronous control instruction；
B. acquisition control director data analyzes current control state, establishes Controlling model；Acquire the flight number of unmanned plane
According to carrying out dynamical system estimation according to flying quality and behavior judge, and establish flight model；Finally according to the control mould of foundation
Type and flight model export anticipation pattern, after anticipation is analyzed, generate synchronous control instruction and are sent to unmanned plane；Unmanned plane connects
Synchronous control instruction is received, motivation of adjustment and course are instructed according to synchronous control and executes action.
In the present embodiment, the present invention controls dynamical system and the side of unmanned plane using remote controler based on android system
To that is, when the winged control module of the unmanned plane is after receiving control instruction, elder generation executes not in time, and synchronous control to be received is waited to refer to
It enables, action is executed behind motivation of adjustment and course after receiving synchronous control instruction.Remote control is realized by technical solution as above
With the two-way flow control of control stream and synchronous stream between device and unmanned plane, data acquisition and processing (DAP) is efficient, ensure that remote controler
The accuracy and stability of control instruction, high pass chip have certain operational analysis ability, can be according to certain time
Data sampling, as Android system utilizes high pass chip interface acquisition control director data such as Throttle Opening Control data, direction controlling number
According to etc. data establish data and curves model, analyze current state of a control, establish Controlling model；And utilize high pass chip interface
Flying quality is acquired, dynamical system estimation is carried out according to flying quality and behavior judges, and establishes flight model；Last basis is built
Vertical Controlling model and flight model export anticipation pattern, after anticipation is analyzed, generate synchronous control instruction and are sent to nobody
Machine.By above-mentioned modeling analysis, and the analysis of user operation habits is established, keep operational order output more stable, unmanned plane flies
Row control is smoother so that user's operation is also more smooth, is easy to left-hand seat.
In a preferred embodiment, before the unmanned plane and remote controler carry out data and/or control instruction transmission,
Two-way authentication is carried out by preconfigured two-way UUID authentication codes first, is referred to by carrying out data and/or control after certification again
The transmission of order.
In the present embodiment, present invention employs to code key technology, establishing, escape way carries out data and/or control refers to
The transmission of order, by being encoded to unmanned plane and remote configuration UUID, using its uniqueness as control code, bi-directionally sent
Match, and simple and quick completion is to code.
In a preferred embodiment, the step B carries out data acquisition and processing (DAP) by high pass Android system and generates
Synchronous control instructs.The control instruction transmitted between the remote controler and unmanned plane in high pass chip by using hardware approach
The mode for carrying out safe encryption and decryption is transmitted.In the present embodiment, the high pass chip of high energy Android system collocation, generally
All have TZ functions, the safe encipher-decipher method provided by hardware TZ ensure that control as the encipher-decipher method of control instruction
The safety for making instruction, significantly increases and cracks difficulty, and the privacy for revealing operator or unmanned plane will not be caused to be held as a hostage
Phenomenon finally ensure that the safety of unmanned plane.
It in a preferred embodiment, can also be by single in one encryption of main control module setting equipped with Android system
Member, to by synchronous control instruction be encrypted after transmit to the winged control module of unmanned plane, the winged control module is set
A decryption unit is set, the synchronous control received instruction to be decrypted, unmanned plane is dynamic according to synchronous control instruction adjustment
Power and course simultaneously execute action.
The present invention controls dynamical system and the direction of unmanned plane using remote controler based on android system, realizes remote control
With the two-way flow control of control stream and synchronous stream between device and unmanned plane, data acquisition and processing (DAP) is efficient so that user's operation
It is more smooth, be easy to left-hand seat.Simple and quick simultaneously realizing is two-way to code between remote controler and unmanned plane, and is based on hardware
Encryption and decryption data protects user data, significantly increases and crack difficulty, unmanned plane is prevented to be held as a hostage, and then improves unmanned plane
Safety in utilization
By the description of embodiment of above, the terms such as " module " that is used in the present invention, " system " be intended to include and meter
The relevant entity of calculation machine, such as, but not limited to hardware, firmware, combination thereof, software or software in execution, i.e. this field
Those of ordinary skill can be understood that some embodiments can add the side of required general hardware platform by software
Formula is realized, naturally it is also possible to pass through hardware.Based on this understanding, above-mentioned technical proposal is substantially in other words to the prior art
The part to contribute is reflected in the form of hardware adds computer software product, which can deposit
It stores up in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are used so that a computer
Equipment (can be personal computer, server either network equipment etc.) executes certain portions of each embodiment or embodiment
Method described in point.Finally, it should be noted that embodiment described above is merely illustrative of the technical solution of the present invention, and it is not
It is limited.Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should
It is understood that it still can be with technical scheme described in the above embodiments is modified, or to which part technology
Feature progress equivalent replacement, and these modifications or replacements, the present invention that it does not separate the essence of the corresponding technical solution is each to be implemented
The spirit and scope of example technical solution.
Claims (10)
1. a kind of unmanned aerial vehicle control system based on android system, the system comprises remote controler and unmanned plane, the unmanned plane
Including flying control module, which is characterized in that the remote controler includes：
Control module：Control instruction for receiving user's operation, and the control instruction received is sent to unmanned plane；
Main control module equipped with Android system：For acquisition control director data, current control state is analyzed, establishes control mould
Type；
The flying quality for acquiring unmanned plane carries out dynamical system estimation according to flying quality and behavior judges, and establishes flight mould
Type；
Anticipation pattern is finally exported according to the Controlling model of foundation and flight model, after anticipation is analyzed, generates synchronous control
Instruction is sent to unmanned plane.
2. unmanned aerial vehicle control system according to claim 1, which is characterized in that
Two-way UUID authentication codes are configured between the unmanned plane and remote controler, unmanned plane is built after passing through with remote controler two-way authentication
Vertical escape way carries out the transmission of data and/or control instruction.
3. unmanned aerial vehicle control system according to claim 1, which is characterized in that
It is wherein described that dynamical system estimation and behavior judgement are carried out according to flying quality, and establish flight model and include：To described
Each power plant of the dynamical system of unmanned plane is independently controlled, and forms kinetic parameter, according to the kinetic parameter meter
It calculates and generates powertrain components, establish flight model.
4. unmanned aerial vehicle control system according to claim 3, which is characterized in that
The remote controler further includes power module, and the power module includes power supply, regulator circuit and detection module, the power supply
By passing to the main control module equipped with Android system, detection module and the master control mould equipped with Android system after regulator circuit
Block connects, and detection module is for detecting the voltage for being supplied to main control module；Wherein, power supply includes alarm module, the detection mould
When block detects undertension, the main control module equipped with Android system sends a signal to alarm module, and alarm module, which is sent out, to be carried
Show sound, realizes the early warning and monitoring of power supply of remote controller electricity.
5. unmanned aerial vehicle control system according to claim 1, which is characterized in that
The control module includes rate control module, direction controlling module, advance and retreat control module, the winged control module in side, aileron
Control module and undercarriage control module.
6. unmanned aerial vehicle control system according to claim 1, which is characterized in that
The control instruction includes horizontal left instruction, horizontal right shift instruction, vertically upward instruction, vertically downward instruction, level
Forward instruction, it is horizontal after move instruction, vertical conrotatory instruction, vertical inverse rotation instruction, horizontal conrotatory instruction, horizontal inverse rotation instruction, cut open
Face conrotatory instruction and any one or more inverse revolved in instruction of section.
7. a kind of unmanned aerial vehicle (UAV) control method based on android system, the method includes：
A. the control instruction of user's operation is received, and the control instruction received is sent to unmanned plane, unmanned plane receives control
Instruction, but execute not in time, wait for synchronous control instruction；
B. acquisition control director data analyzes current control state, establishes Controlling model；Acquire the flying quality of unmanned plane, root
Dynamical system estimation is carried out according to flying quality and behavior judges, and establishes flight model；Finally according to the Controlling model of foundation and
Flight model exports anticipation pattern, after anticipation is analyzed, generates synchronous control instruction and is sent to unmanned plane；Unmanned plane receives same
Control instruction is walked, motivation of adjustment and course are instructed according to synchronous control and executes action.
8. unmanned aerial vehicle (UAV) control method according to claim 7, which is characterized in that
Before the unmanned plane and remote controler carry out data and/or control instruction transmission, first by preconfigured two-way
UUID authentication codes carry out two-way authentication, by the transmission for carrying out data and/or control instruction after certification again.
9. unmanned aerial vehicle (UAV) control method according to claim 7, which is characterized in that
It is wherein described that dynamical system estimation and behavior judgement are carried out according to flying quality, and establish flight model and include：To described
Each power plant of the dynamical system of unmanned plane is independently controlled, and forms kinetic parameter, according to the kinetic parameter meter
It calculates and generates powertrain components, establish flight model.
10. unmanned aerial vehicle (UAV) control method according to claim 9, which is characterized in that
The control instruction includes horizontal left instruction, horizontal right shift instruction, vertically upward instruction, vertically downward instruction, level
Forward instruction, it is horizontal after move instruction, vertical conrotatory instruction, vertical inverse rotation instruction, horizontal conrotatory instruction, horizontal inverse rotation instruction, cut open
Face conrotatory instruction and any one or more inverse revolved in instruction of section.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110769364A (en) * | 2019-10-16 | 2020-02-07 | 广东美嘉欣创新科技股份有限公司 | Unmanned aerial vehicle flight data and image transmission system |
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| CN107590878A (en) * | 2017-09-13 | 2018-01-16 | 中国人民解放军火箭军工程大学 | A kind of unmanned plane during flying safe prediction apparatus for evaluating and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110769364A (en) * | 2019-10-16 | 2020-02-07 | 广东美嘉欣创新科技股份有限公司 | Unmanned aerial vehicle flight data and image transmission system |
| CN110769364B (en) * | 2019-10-16 | 2020-12-18 | 广东美嘉欣创新科技股份有限公司 | Unmanned aerial vehicle flight data and image transmission system |
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