CN108459617A - A kind of UAV Flight Control System based on projection mobile phone - Google Patents
A kind of UAV Flight Control System based on projection mobile phone Download PDFInfo
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- CN108459617A CN108459617A CN201810211469.8A CN201810211469A CN108459617A CN 108459617 A CN108459617 A CN 108459617A CN 201810211469 A CN201810211469 A CN 201810211469A CN 108459617 A CN108459617 A CN 108459617A
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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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- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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Abstract
The invention discloses a kind of UAV Flight Control Systems based on projection mobile phone, including drone body, the projection mobile phone for being installed in the drone body and being connected with each other respectively, sensitive servo controller and flight executing agency；Flight control program is equipped in projection mobile phone；Gyroscope, accelerometer, GPS and magnetic field sensor are equipped in projection mobile phone；It is equipped with microcontroller, intelligent identification module, GPS, timer, AD samplers in sensitive servo controller and includes infrared sensor, baroceptor, ultrasonic sensor, light stream sensor, magnetic field sensor, gyroscope external auxiliary sensor；The PWM generation timers for being connected to the flight executing agency are provided in sensitive servo controller.The present invention realizes saving system resource, improves stability, easily controllable function.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of UAV Flight Control systems based on projection mobile phone
System.
Background technology
The fields such as unmanned plane is widely used in taking photo by plane, military affairs, agricultural, gradually extend to personal consumption field now.Such as
The big boundary of the leading enterprise of unmanned plane innovates the Spark unmanned planes issued in June, 2017, small, light-weight, mainly meets general
The self-timer demand of the logical masses.Small drone in face of personal consumption field, control model mainly include remote control control with
And cell phone application control.The Spark unmanned planes of great Jiang Creative Company support remote control control and cell phone application to control two ways, both
Short distance self-timer demand, the needs that distance is taken photo by plane in capable of also realizing can be met.The DOBBY pockets unmanned plane of zero degree intelligence control then only props up
Hold the modes such as cell phone application control, including motion sensing control, the control of virtual rocking bar, voice control.Cell phone application control utilizes projection hand
The manipulation of unmanned plane is realized in the WIFI of machine and unmanned plane connections, but cell phone application control needs to utilize the low cost in projection mobile phone
Micro-electro-mechanical sensors, measurement error is larger, can cause larger attitude estimation error, unmanned plane during flying when leading to motion sensing control
Unstability increase.
In addition, need to carry accelerometer, gyroscope, barometer, GPS, magnetometer etc. a variety of for UAV Flight Control System
Sensor realizes the stability contorting of aircraft to perceive the motion state of aircraft.Currently based on the flight control of projection mobile phone
System schema processed, the sensor carried using mobile phone and arithmetic element, realize navigation, the control function of unmanned vehicle.However,
The sensor that projection mobile phone carries usually is lacked a certain kind needed for UAV Flight Control System by limitations such as cost, purposes
Or multiple sensors；Even if being equipped with certain sensor, sensing accuracy or sample frequency are often relatively low, therefore based entirely on
The control effect of the flight control system of projection mobile phone self-sensor device is poor.
Invention content
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, it is winged to provide a kind of unmanned plane based on projection mobile phone
Row control system is realized and saves system resource, and stability, easily controllable function are improved.
The invention is realized in this way a kind of UAV Flight Control System based on projection mobile phone, including unmanned plane sheet
Body, the projection mobile phone for being installed in the drone body and being connected with each other respectively, sensitive servo controller and flight execution machine
Structure；
Flight control program is equipped in the projection mobile phone；
Gyroscope, accelerometer, GPS and magnetic field sensor are equipped in the projection mobile phone；
Microcontroller, intelligent identification module, GPS, timer, AD samplers and comprising red are equipped in the sensitive servo controller
The external auxiliary sensing of outer sensor, baroceptor, ultrasonic sensor, light stream sensor, magnetic field sensor, gyroscope
Device；
The PWM generation timers for being connected to the flight executing agency are provided in the sensitive servo controller.
Wherein, the front camera and rear camera that can be called is provided in the projection mobile phone, and remote in real time by 4G/5G networks
Journey transmits photo or video.
Wherein, the data connection approach between the projection mobile phone and the sensitive servo controller be SPI, I/O or
I2C buses connect.
Wherein, the projection mobile phone is the projection mobile phone with display screen either without the projection mobile phone of display screen or holography
Mobile phone.
Wherein, the intelligent identification module includes gesture identification unit, face identification unit, visual identity unit, image
Recognition unit and bone recognition unit.
Wherein, damping device is equipped between the projection mobile phone and the drone body.
Wherein, it includes that PWM capture timers and PWM generate timer that the PWM, which generates timer,.
Wherein, it is respectively equipped in the drone body and is individually for the sensitive servo controller and projection mobile phone confession
The power supply unit of electricity.
Wherein, the running frequency of the flight control program is 90Hz to 520Hz.
The present invention has technique effect beneficial below：The present invention includes drone body, be installed in respectively it is described nobody
On machine ontology and be connected with each other projection mobile phone, sensitive servo controller and flight executing agency；It is equipped in the projection mobile phone
Flight control program；Gyroscope, accelerometer, GPS and magnetic field sensor are equipped in the projection mobile phone；The sensitive servo control
It is equipped with microcontroller, intelligent identification module, GPS, timer, AD samplers in device processed and includes GPS sensor, infrared sensing
The external auxiliary sensing of device, baroceptor, ultrasonic sensor, light stream sensor, magnetic field sensor, gyroscope, acceleration
Device；The PWM generation timers for being connected to the flight executing agency are provided in the sensitive servo controller, in this way, logical
Gyroscope, accelerometer, GPS and the magnetic field sensor crossed in projection mobile phone obtain the posture and flying quality of unmanned plane in real time,
And due to the mission program of unmanned plane, pass through the external auxiliary that projection mobile phone internal sensor and sensitive servo controller are provided
Sensor is combined, and is calculated and is obtained the accurate posture of aircraft, location information, by the flight inside projection mobile phone control program into
Row operation obtains preliminary control instruction, is sent to sensitive servo controller and is further processed, and then drives the execution machine of aircraft
Structure realizes the stability contorting of aircraft.This system is easy to operate, and stability is good, suitable for being widely applied and using.
In addition, since the data connection approach between projection mobile phone and sensitive servo controller is USB connections or bluetooth
Connection, to ensure that the stability and accuracy of data transmission.
In addition, due to being provided with the front camera and rear camera that can be called in the projection mobile phone of operating system, and pass through 4G/5G
Network real-time Transmission makes realtime graphic be not limited solely to operator's viewing.
In addition, since the running frequency of flight control program is 90Hz to 520Hz, so that control effect is more
It is good, more stablize.
Description of the drawings
Fig. 1 is the structural representation for the UAV Flight Control System based on projection mobile phone that one embodiment of the invention provides
Figure.
Specific implementation mode
In order to make the technical problems, technical solutions and beneficial effects solved by the present invention be more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
As shown in Figure 1, the present invention provides a kind of UAV Flight Control System based on projection mobile phone, including unmanned plane
Ontology, the projection mobile phone for being installed in the drone body and being connected with each other respectively, sensitive servo controller and flight execute
Mechanism；
Flight control program is equipped in the projection mobile phone；
Gyroscope, accelerometer, GPS and magnetic field sensor are equipped in the projection mobile phone；
Microcontroller, intelligent identification module, GPS, timer, AD samplers and comprising red are equipped in the sensitive servo controller
The external auxiliary sensing of outer sensor, baroceptor, ultrasonic sensor, light stream sensor, magnetic field sensor, gyroscope
Device；
The PWM generation timers for being connected to the flight executing agency are provided in the sensitive servo controller.
The sensor inside projection mobile phone is supplemented and optimized using external sensor in the present embodiment, to obtain
Better heat transfer agent so that the flight control system based on projection mobile phone has better control effect.Meanwhile using effective
Task Scheduling Mechanism, make aircraft shooting photo, video when still maintain stable flight.
Flight control system passes through the external auxiliary sensor for providing interior of mobile phone sensor and sensitive servo controller
It is combined, calculates and obtain the accurate posture of aircraft, location information, operation is carried out by the flight control program inside projection mobile phone
Preliminary control instruction is obtained, is sent to sensitive servo controller via usb mouthfuls or blue tooth interface, and then drive holding for aircraft
After row mechanism is further processed, the stability contorting of aircraft is realized.In the present invention, through measuring, when control program operation frequency
Rate has best control effect when 90Hz is between 520Hz.
The projection mobile phone carries operative sensor necessary to the UAV Flight Controls such as accelerometer, gyroscope, matches
Standby one of the interface for touching screen and being interacted with user as flight control system.Flight control system of the projection mobile phone in the present invention
In rise it is main sensing, calculate, human-computer interaction the effects that.
The sensitive servo controller carries the sensor needed for the UAV Flight Control System of part, as to projection
The supplement of unequipped sensor on mobile phone, or to being equipped on projection mobile phone but the insufficient sensor of precision provides higher precision
Optimization.In addition, sensitive servo controller realizes data connection by USB or bluetooth approach with projection mobile phone, on the one hand will
The real time data of its sensor carried is sent to projection mobile phone, is used for the calculating of flight control instruction；On the other hand, it receives
Flight that projection mobile phone is sent controls result of calculation, after further treatment after, generate final control instruction, be sent to aircraft
Executing agency.
There is the operative sensor (such as gyroscope, accelerometer etc.) needed for flight control in projection mobile phone, by obtaining
The supplementary sensor data that sensitive servo controller is sent are taken, by the state estimation program with mobile phone, by sensor
After data combination, fusion, the calculation process such as filtered, differential, integral, the estimation of the final motion state for obtaining aircraft
Value.By the way that obtained motion state and desired motion state vs will be resolved, using PID or other control algolithms, obtain just
The control instruction of step.Here, the command status or aircraft for the operator that desired motion state receives for aircraft are automatic
It is the dbjective state for meeting mission requirements and being calculated by program when execution task.By obtaining motion state vector and it is expected
Motion state vector subtracts each other the deviation for obtaining the two, after carrying out differential, integral and gain operation to this deviation, by this three's warp
Property or nonlinear combination, generate preliminary control instruction.Preliminary control instruction is sent to sensing by SPI, I/O or I2C interface
Servo controller.The preliminary control instruction received from projection mobile phone is further processed in sensitive servo controller, then
Handling result is generated into timer by PWM and generates the cognizable control signal of aircraft executing agency, and then sends out control
Instruction.Flight executing agency deflects rudder face or changes revolution speed of propeller or change pitch, to change after receiving control instruction
The motion state for becoming aircraft, reaches desired state of flight
Wherein, it is provided with the front camera and rear camera that can be called in the projection mobile phone, and is passed by 4G/5G network real time remotes
Defeated photo or video.
Wherein, the data connection approach between the projection mobile phone and the sensitive servo controller be SPI, I/O or
I2C buses connect.
Wherein, the projection mobile phone is the projection mobile phone with display screen either without the projection mobile phone of display screen or holography
Mobile phone, projection mobile phone refer to the mobile phone for being integrated with projecting function, and projection mobile phone is based on LCOS or DLP Technology applications in micro projection
And be integrated in mobile phone, in this way, when projection mobile phone is the projection mobile phone with display screen, can be shown by mobile phone display screen
Read mobile phone on picture, either file can also directly read picture, video or file on mobile phone to video, then into
Row projection；When projection mobile phone is the projection mobile phone without display screen, picture, video or the text on mobile phone can be directly read
Then part is projected, can save power supply, alleviate weight；When projection mobile phone is holographic mobile phone, by tracking regarding for human eye
Angle Position is then based on holographic image data model, according to the view position of human eye, calculates actual hologram image, then lead to
It crosses special directive property and shows that screen precisely projects the stereo-picture of right and left eyes in human eye retina, to make human eye generate
Visual effect as feeling completely with actual environment.
Wherein, the intelligent identification module includes gesture identification unit, face identification unit, visual identity unit, image
Recognition unit and bone recognition unit, wherein gesture identification unit is by gesture control work station, controlled unmanned plane and Image Acquisition
Camera three parts are constituted, and the Intelligent gesture identification technology of view-based access control model is combined by it with unmanned plane during flying platform, makes unmanned plane
Different aerial missions can be completed according to the intention of people, realize the man-machine coordination operation function on flying platform；Face
Recognition unit uses multiple alignment face detection method, can carry out high speed to the angle other than face front and accurately detect；Together
When using perturbation space law, to deal with environmental change, system records various pre- measuring angles in advance, in order to avoid by ring when human face recognition
The influence of border bright and dark light variation, when recognition of face unmanned plane works, face and data that identification system can shoot empty bat machine
Library compares, pick out with the database person of coincideing, prompt will be made；Visual identity unit is to obtain mesh by visual sensor
Logo image obtains the image coordinate of target, then realize testee by computer by Digital Image Processing and feature point extraction
The quick calculating of the parameters such as Space geometric parameter and position and attitude.Image identification unit is by acquiring ambient image and by environment map
Picture, and processing is carried out to collected ambient image and obtains picture frame, then image recognition processing is carried out to described image frame, according to
Identifying processing result generates instruction, and sends instructions to unmanned plane, so that unmanned plane is according to instruction execution autonomous flight task.
Wherein, damping device is equipped between the projection mobile phone and the drone body.
Wherein, the PWM
It includes that PWM capture timers and PWM generate timer to generate timer.
Wherein, it is respectively equipped in the drone body and is individually for the sensitive servo controller and projection mobile phone confession
The power supply unit of electricity.
Wherein, the running frequency of the flight control program is 90Hz to 520Hz.
Wherein, flight executing agency is powered by electrical source of power, and sensitive servo controller is powered by battery of mobile phone.
Preferably, flight control system can connect wireless remote control device.When connection, is connected and be remotely controlled by sensitive servo controller
The receiver of equipment holds telecontrol transmitter remote controlled drone by operator.
It should be noted that the flight control program hair control flow set in projection mobile phone is as follows：
System is started at projection mobile phone end by user.After user starts flight control program at projection mobile phone end, user's hair is waited for
Go out instruction of taking off.This instruction of taking off is sent out by user's operation screen or by remote controler.It is waiting receive take off instruction after, judge to fly
It is the setting of user or the instruction that sends out in real time that device, which uses autonomous flight pattern or remote control distributor pattern, basis for estimation,.It is autonomous to fly
Under row pattern, it is not necessarily to the remote signal of user, the telecommand of user otherwise need to be read from sensitive servo controller.Hereafter, it obtains
The sensor information for taking mobile phone to carry merges both this then from the sensor information outside the acquisition of sensitive servo controller
Afterwards, the attitude algorithm of current flight device is completed.It is resolved followed by guidance, it is to complete aerial mission specially to resolve aircraft
Required object attitude angle.Then control resolving is carried out, the deviation at current pose angle and object attitude angle is specially utilized, is carried out
A series of ratio, integral, differential, amplitude limit etc. linearly or nonlinearly after operation, generate preliminary control instruction.By this preliminary control
After instruction sends sensitive servo controller, the status information of real-time update projection mobile phone screen display then detects the end of user
Only flight directive continues cycling through calculating, otherwise terminates the flight if not terminating the flight.In the present invention, flight control frequency i.e. this follow
The running frequency of ring has best control effect through measuring when it is 90 to 520Hz.
It should be noted that the sensitive servo flow of sensitive servo controller is as follows：
After sensitive servo controller receives the enabled instruction of projection mobile phone, start sensitive servo flow.Capture manipulates first
The remote signal of person, other ports such as the Pwm capture controllers or serial port that are carried using sensitive servo controller.Then
Telecommand information is sent to the flight on mobile phone via USB or bluetooth and controls program.Then sensitive servo control is obtained
Sensor information mounted on device, including GPS sensor, infrared sensor, baroceptor, ultrasonic sensor, light stream
Sensor, accelerometer, gyroscope, Magnetic Sensor, barometer, GPS, AD converter etc. are one or more.Then etc. to be received
The initial control signal sent by projection mobile phone, and it is handled, it sends executing agency's driving aircraft and changes movement shape
State, the final stability contorting for realizing aircraft.
It should be noted that projection mobile phone is taken pictures, camera shooting flow is as follows：
Projection mobile phone camera shooting flow of taking pictures starts automatically after system start-up, mutually independent with flight control flow.When user sends out
It takes pictures after camera shooting instruction, startup, which is taken pictures, images plug-in unit.Camera shooting plug-in unit of taking pictures is independently of another application of flight control program
Program.After execution is taken pictures or imaged, if desired real-time Transmission, is transferred out the multiple image of acquisition by 4G/5G networks,
With this reciprocation cycle, stop wait receiving stopping and taking pictures after camera shooting instructs.
In the present embodiment, the prerequisite of human face recognition is the enough images of esolving degree to be photographed, but the bat of unmanned plane
The setting height that height is but far above general monitoring camera is taken the photograph, the face image of shooting clear very to be not easy.It is asked for above-mentioned
Topic can be carried out high speed to the angle other than face front and accurately be detected using multiple alignment face detection method；It uses simultaneously
Perturb space law, and to deal with environmental change, system records various pre- measuring angles in advance, in order to avoid by ambient light when human face recognition
The influence of light and shade variation.When face intelligent identification module works, identification system can clap projection mobile phone or unmanned plane camera
The face taken the photograph compares with database, pick out with the database person of coincideing, prompt will be made.
In the present embodiment, unmanned plane realizes independent navigation, collision detection by using various sensing technologies, as GPS is passed
Sensor, infrared sensor, baroceptor, ultrasonic sensor are used on unmanned plane more and more, in numerous sensors
Supersonic sensing is particularly useful to UAV Landing, hovering, Deep space tracking.
For example, ultrasonic wave can pass through various media（Gas, liquid, solid）To detect the unmatched object of acoustic impedance
Body.The velocity of sound is distance when sound wave is propagated in elastic fluid per unit time.For example, in the dry air of 20 °C (68 °F)
In, the velocity of sound is 343 metre per second (m/s)s（1,125 feet per seconds）.Ultrasonic attenuation in air increases with the increase of frequency and humidity
Add.Therefore, because excessive path loss/absorption, Air Coupling ultrasonic wave is generally limited to 500kHz frequencies below.
Supersonic sensing can detect the insoluble surface of other technologies.For example, unmanned plane is frequently encountered building
Windowpane on object and other glass surfaces.Optical sensing passes through glass and other transparent materials sometimes, this is to unmanned plane
It hovers over and causes difficulty on glass-enclosed building.Ultrasonic wave then can reliably reflect glass surface.Although numerous sensing skills
Art can be with the degree of closeness of detection object, but the detection range that supersonic sensing can be in UAV Landing, however unmanned plane
It must take into consideration the real-time range with ground when decline.
For example, as unmanned plane in flight course, by the information of its sensor collection surrounding enviroment, measurement away from
From to make corresponding action command, to have the function that " avoidance ", the most direct benefit brought is exactly previous one
It hits caused by a little human negligences, can go to avoid via barrier avoiding function now, while both having ensured that unmanned plane during flying is safe,
The damage to surrounding people's property is also avoided, the threshold of winged unmanned plane is allowed further to be reduced.Currently, unmanned plane is kept away
Most commonly seen in barrier technique is ultrasonic sensor, infrared sensor, laser sensor and visual sensor.
Wherein, ultrasonic wave is exactly one kind of sound wave in fact, because frequency is higher than 20kHz, human ear is not heard, and is referred to
Tropism is stronger.The principle of ultrasonic ranging is more simpler than infrared ray, because sound wave encounters barrier and can reflect, and the speed of sound wave
Degree can easily calculate measurement distance it is known that so it is only necessary to know that be emitted to the time difference of reception, in conjunction with transmitter and
The distance of receiver can calculate the actual range of barrier, and infrared distance measurement is compared in ultrasonic ranging, and price is cheaper, phase
The induction speed and precision answered are also more inferior.Similarly, since need actively to emit sound wave, so for too far barrier,
Precision can also be reduced with the decaying of sound wave, in addition, absorbing the object of sound wave for sponge etc. or in the feelings of strong wind interference
Under condition, ultrasonic wave will be unable to work.
Wherein, the common realization method of infrared ray avoidance is exactly principle of triangulation, and infrared inductor includes infrared emission
Device and CCD detector, RF transmitter can emit infrared ray, and infrared ray can reflect on object, the light quilt of reflection
After CCD detector receives, since the distance D of object is different, reflection angle also can be different, and different reflection angles will produce not
With deviant L, it is known that these data can obtain the distance of object using calculating.
Wherein, laser avoidance is similar with infrared ray, and then transmitting laser receives.The but measurement side of laser sensor
The many samples of formula have similar infrared triangulation, also there is the time difference similar to ultrasonic wave+speed.But due to the wave of laser
Beam is extremely narrow, multiple laser can be used to form array radar simultaneously, this technology is gradually ripe in recent years, is chiefly used in automatic Pilot vehicle
It is expensive on, but since its is bulky, therefore it is poorly suitable for unmanned plane.
Wherein, vision avoidance technology, " seeing " vision avoidance technology that how solves the problems, such as robot, visual identifying system are logical
May include one or two camera for often.Single photo only has two-dimensional signal, like 2D films, has no directly
Spatial impression only leans on us to be mended by experience of lifes brains such as " object block, is near big and far smaller " by oneself.Therefore single camera obtains
The information that arrives and its limited, can not directly obtain in the certain analogy to machine vision of effect that we want, single camera
Pictorial information can not get the distance relation of each object and camera lens in scene, that is, lack third dimension.
The present invention is supplemented and is optimized to the sensor inside projection mobile phone using external sensor, more preferable to obtain
Heat transfer agent so that the flight control system based on projection mobile phone has better control effect.Meanwhile being appointed using effective
Business scheduling mechanism makes to still maintain stable flight when aircraft shooting photo, video.
Flight control system passes through the external auxiliary sensor for providing interior of mobile phone sensor and sensitive servo controller
It is combined, calculates and obtain the accurate posture of aircraft, location information, operation is carried out by the flight control program inside projection mobile phone
Preliminary control instruction is obtained, is sent to sensitive servo controller via SPI, I/O or I2C interface, and then drive aircraft
Executing agency be further processed after, realize the stability contorting of aircraft.In the present invention, through measuring, when control program fortune
Line frequency has best control effect when 90Hz is between 520Hz.
The projection mobile phone carries operative sensor necessary to the UAV Flight Controls such as accelerometer, gyroscope, matches
Standby one of the interface for touching screen and being interacted with user as flight control system.Flight control system of the projection mobile phone in the present invention
In rise it is main sensing, calculate, human-computer interaction the effects that.
The sensitive servo controller carries the sensor needed for the UAV Flight Control System of part, as to projection
The supplement of unequipped sensor on mobile phone, or to being equipped on projection mobile phone but the insufficient sensor of precision provides higher precision
Optimization.In addition, sensitive servo controller realizes data connection by SPI, I/O or I2C bus mode and projection mobile phone,
On the one hand the real time data of the sensor carried is sent to projection mobile phone, is used for the calculating of flight control instruction；Another party
Face, receive projection mobile phone send flight control result of calculation, after further treatment after, generate final control instruction, send
To the executing agency of aircraft.
There is the operative sensor (such as gyroscope, accelerometer etc.) needed for flight control in projection mobile phone, by obtaining
The supplementary sensor data that sensitive servo controller is sent are taken, by the state estimation program with mobile phone, by sensor
After data combination, fusion, the calculation process such as filtered, differential, integral, the estimation of the final motion state for obtaining aircraft
Value.By the way that obtained motion state and desired motion state vs will be resolved, using PID or other control algolithms, obtain just
The control instruction of step.Here, the command status or aircraft for the operator that desired motion state receives for aircraft are automatic
It is the dbjective state for meeting mission requirements and being calculated by program when execution task.By obtaining motion state vector and it is expected
Motion state vector subtracts each other the deviation for obtaining the two, after carrying out differential, integral and gain operation to this deviation, by this three's warp
Property or nonlinear combination, generate preliminary control instruction.Preliminary control instruction is sent to sensing by SPI, I/O or I2C interface
Servo controller.The preliminary control instruction received from projection mobile phone is further processed in sensitive servo controller, then
Handling result is generated into timer by PWM and generates the cognizable control signal of aircraft executing agency, and then sends out control
Instruction.Flight executing agency deflects rudder face or changes revolution speed of propeller or change pitch, to change after receiving control instruction
The motion state for becoming aircraft, reaches desired state of flight.
The present invention includes drone body, is installed in the drone body and is connected with each other respectively projection mobile phone,
Sensitive servo controller and flight executing agency；Flight control program is equipped in the projection mobile phone；It is set in the projection mobile phone
There are gyroscope, accelerometer, GPS and magnetic field sensor；Microcontroller, intelligent recognition mould are equipped in the sensitive servo controller
Block, GPS, timer, AD samplers and include infrared sensor, baroceptor, ultrasonic sensor, light stream sensor, magnetic
The external auxiliary sensor of field sensor, gyroscope；It is provided in the sensitive servo controller and is connected to the flight execution
The PWM of mechanism generates timer, in this way, real by gyroscope, accelerometer, GPS and the magnetic field sensor in projection mobile phone
When obtain the posture and flying quality of unmanned plane, and due to the mission program of unmanned plane, by by projection mobile phone internal sensor
It is combined with the external auxiliary sensor that sensitive servo controller provides, calculates and obtain the accurate posture of aircraft, location information,
Operation is carried out by the flight control program inside projection mobile phone and obtains preliminary control instruction, is sent to sensitive servo controller into one
Step processing, and then the executing agency of aircraft is driven, realize the stability contorting of aircraft.This system is easy to operate, and stability is good,
Suitable for being widely applied and using.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (9)
1. a kind of UAV Flight Control System based on projection mobile phone, which is characterized in that fixed including drone body, difference
In the drone body and be connected with each other projection mobile phone, sensitive servo controller and flight executing agency；
Flight control program is equipped in the projection mobile phone；
Gyroscope, accelerometer, GPS and magnetic field sensor are equipped in the projection mobile phone；
Microcontroller, intelligent identification module, GPS, timer, AD samplers and comprising red are equipped in the sensitive servo controller
The external auxiliary sensing of outer sensor, baroceptor, ultrasonic sensor, light stream sensor, magnetic field sensor, gyroscope
Device；
The PWM generation timers for being connected to the flight executing agency are provided in the sensitive servo controller.
2. according to a kind of UAV Flight Control System based on projection mobile phone described in claim 1, which is characterized in that institute
The front camera and rear camera that is provided with and can call in projection mobile phone is stated, and photo is transmitted by 4G/5G network real time remotes or is regarded
Frequently.
3. according to a kind of UAV Flight Control System based on projection mobile phone described in claim 1, which is characterized in that institute
The data connection approach between projection mobile phone and the sensitive servo controller is stated to connect for SPI, I/O or I2C bus.
4. according to a kind of UAV Flight Control System based on projection mobile phone described in claim 1, which is characterized in that institute
It is the projection mobile phone with display screen either without the projection mobile phone of display screen or holographic mobile phone to state projection mobile phone.
5. according to a kind of UAV Flight Control System based on projection mobile phone described in claim 1, which is characterized in that institute
It includes that gesture identification unit, face identification unit, visual identity unit, image identification unit and bone are known to state intelligent identification module
Other unit.
6. a kind of UAV Flight Control System based on projection mobile phone according to claim 1, which is characterized in that described
Damping device is equipped between projection mobile phone and the drone body.
7. according to a kind of UAV Flight Control System based on projection mobile phone described in claim 1, which is characterized in that
It includes that PWM capture timers and PWM generate timer that the PWM, which generates timer,.
8. according to a kind of UAV Flight Control System based on projection mobile phone described in claim 1, which is characterized in that institute
State the power supply unit for being equipped in drone body and being each independently the sensitive servo controller and projection mobile phone power supply.
9. according to a kind of UAV Flight Control System based on projection mobile phone described in claim 1, which is characterized in that institute
The running frequency for stating flight control program is 90Hz to 520Hz.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810211469.8A CN108459617A (en) | 2018-03-15 | 2018-03-15 | A kind of UAV Flight Control System based on projection mobile phone |
| PCT/CN2018/095801 WO2019174166A1 (en) | 2018-03-15 | 2018-07-16 | Projection mobile phone-based flight control system for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810211469.8A CN108459617A (en) | 2018-03-15 | 2018-03-15 | A kind of UAV Flight Control System based on projection mobile phone |
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| CN201810211469.8A Pending CN108459617A (en) | 2018-03-15 | 2018-03-15 | A kind of UAV Flight Control System based on projection mobile phone |
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| WO (1) | WO2019174166A1 (en) |
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| WO2019174166A1 (en) | 2019-09-19 |
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