CN109144090A - Distributed unmanned aerial vehicle self-driving instrument with networked communication - Google Patents
Distributed unmanned aerial vehicle self-driving instrument with networked communication Download PDFInfo
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- CN109144090A CN109144090A CN201811229338.9A CN201811229338A CN109144090A CN 109144090 A CN109144090 A CN 109144090A CN 201811229338 A CN201811229338 A CN 201811229338A CN 109144090 A CN109144090 A CN 109144090A
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- unmanned plane
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- communication
- communication equipment
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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 provides a distributed unmanned aerial vehicle self-driving instrument with networked communication, belonging to the technical field of unmanned aerial vehicle control, and the self-driving instrument comprises: the communication equipment is used for realizing communication in the ad hoc network through a plurality of network interfaces; the sensing unit is in data interaction with the communication equipment through a network interface, is used for acquiring the measurement data of the unmanned aerial vehicle and transmitting the measurement data to the control unit through the communication equipment; the control unit comprises a DSP and is in data interaction with the communication equipment through a network interface; the DSP completes control rate calculation according to the flight mission of the unmanned aerial vehicle and the measurement data to form a control instruction and transmits the control instruction to the actuating mechanism through the communication equipment; and the execution unit is in data interaction with the communication equipment through a network interface, and drives an execution mechanism of the unmanned aerial vehicle after processing the control instruction. The invention provides an interactive unmanned aerial vehicle self-driving instrument with the advantages of strong expandability, flexible use, strong adaptability and high redundancy rate.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical fields, and in particular to a kind of distributed unmanned plane self-driving of networked communication
Instrument.
Background technique
The basic function of unmanned plane autopilot is to control the flight attitude of unmanned plane according to certain index request, and lead to
It crosses given control strategy and unmanned plane is directed to desired locations, complete set aerial mission.Meanwhile in flight course,
Realize that the telecommand between unmanned plane and earth station, telemetry interact.
Currently, the control of autopilot in the market primarily directed to single aircraft, on the circuit board of an autopilot
It is integrated with processor, sensor and drive module of executing agency etc..Such design can preferably simplify the ruler of autopilot
Very little, weight etc. meets the use demand of various specifications unmanned plane.But such mentality of designing also brings certain defect,
The scalability of most importantly system is poor, and one sensor module of every increase or other component generally require to redesign
Hardware, this brings greater inconvenience to the exploitation use of autopilot.On the other hand, autopilot currently on the market is in order to improve
System reliability and redundancy realize processor by interfaces such as SPI/I2C often using the thinking of sensor redundancy backup
With the communication of more set sensors.But such method, generally there are certain limitations for the configuration of hardware system and scalability, difficult
To realize flexible Application on a variety of platforms.
Summary of the invention
The defects of in order to overcome scalability existing in the prior art and insufficient flexibility, the invention proposes a kind of tools
Have that scalability is strong, interactive unmanned plane autopilot of using flexible, networked communication adaptable, redundancy is high.
Realization that the present invention adopts the following technical solutions:
A kind of distributed unmanned plane autopilot of networked communication, comprising:
Communication equipment, for realizing communication in ad hoc network by multiple network interfaces；
Sensing unit is interacted by network interface with the communications device data, for acquiring the measurement data of unmanned plane,
And control unit is transferred to by communication equipment；
Described control unit, including DSP are interacted by network interface with the communications device data；DSP is according to unmanned plane
Aerial mission and the measurement data complete control rate and resolve, form control instruction and execution machine be transferred to by communication equipment
Structure；
The execution unit is interacted by network interface with the communications device data, after control instruction processing
Drive the executing agency of unmanned plane.
A kind of distributed unmanned plane autopilot of networked communication of the invention, can pass through the network interface of communication equipment
The sensing units of the multiple networkings of flexible expansion, networking execution unit, realize the redundancies of more set sensing units, execution unit
Backup；For the different mission requirements of unmanned plane, it can flexibly realize sensing, the control, executing agency's combination of plurality of specifications, mention
The adaptability of high system；Application higher for some reliability requirements can be controlled by the autopilot of multiple-route cluster
The combination of unit processed and redundancy backup；For the unmanned plane cluster application research carried out extensively now, may be implemented it is multiple nobody
Group-net communication between machine, meets the needs of more complicated task.
Detailed description of the invention
The general frame schematic diagram of control unit in the autopilot that Fig. 1 provides for the embodiment of the present invention one；
Fig. 2 is the autopilot distribution connection framework schematic diagram that the embodiment of the present invention one provides.
Specific embodiment
Below in conjunction with attached drawing of the invention, technical solution of the present invention is clearly and completely described, it is clear that institute
Description is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field
Those of ordinary skill's every other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Embodiment 1
Below with reference to the attached drawing in embodiment of the present invention, to the technical solution in embodiment of the present invention carry out it is clear,
It is fully described by, it is clear that described embodiment is only a part of embodiment of the invention, and not all embodiment party
Formula.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but it is merely representative of selected embodiment of the invention.Based on embodiments of the present invention, art technology
Personnel's all other embodiments obtained without making creative work, belong to protection of the invention
Range.
As shown in Figure 1 and Figure 2, the distributed unmanned plane autopilot of a kind of networked communication, comprising:
Communication equipment 1, for realizing communication in ad hoc network by multiple network interfaces；It uses in an embodiment of the present invention
Router or interchanger select the quantity of network interface according to demand；
Sensing unit 1a is interacted by network interface 100 with the communications device data, for acquiring the measurement of unmanned plane
Data, the measurement data is digital signal, and is transferred to control unit 1b by communication equipment；Sensing unit 1a is networking
Sensing unit, is provided with network interface 100, and networking sensing unit includes airspeed sensor, barometertic altimeter, ultrasonic height
Meter, position/posture/heading measure unit, engine measuring unit, the airspeed sensor is for acquiring unmanned plane relative atmospheric
Angular movement speed data, the barometertic altimeter is for acquiring altitude information of the unmanned plane with respect to ground, the ultrasonic height
Meter for acquiring unmanned plane height off the ground, the position/posture/heading measure unit be used to acquire position/posture of unmanned plane/
The real time data in course, the engine measuring unit are used to acquire the operational data of unmanned vehicle engine.It can directly acquire
Data (status datas of the moving parts such as steering engine for unmanned plane, motor) are stated as measurement data, are delivered to control through communication equipment 1
Unit 1b；
Described control unit 1b, including dsp processor 10 are handed over by network interface 100 and 1 data of communication equipment
Mutually；Dsp processor 10 is completed control rate according to the aerial mission of unmanned plane and the measurement data and is resolved, and forms network-control and refers to
It enables and passes through communication equipment 1 and be transferred to execution unit 10c；
The execution unit is referred to the network-control by network interface 100 and 1 data interaction of communication equipment
The executing agency of unmanned plane is driven after order processing.
A kind of distributed unmanned plane autopilot of networked communication of the invention, can be connect by the network of communication equipment 1
The sensing unit 1a of mouthful multiple networkings of flexible expansion, networking execution unit 1c, realize more set sensing unit 1a, execute list
The redundancy backup of first 1c；Such as: in an embodiment of the present invention, the communication equipment 1 respectively be mounted on same unmanned plane
More than two sensing unit 1a carry out data interactions, realize the redundancy backup of sensing unit, improve unmanned plane during flying
Reliability；In an alternative embodiment of the invention, communication equipment 1 respectively with more than two controls for being mounted on same unmanned plane
Unit 1b processed carries out data interaction, and each control unit 1b can be carried out control law resolving, then to multiple control unit 1b's
Output compares screening, flies and is affected in the case where having prevented a control unit from breaking down；It is another in the present invention
In embodiment, communication equipment 1 carries out data interaction with the more than two execution unit 1c being mounted on same unmanned plane respectively,
Ibid, the redundancy backup for realizing execution unit improves the reliability of unmanned plane during flying.
In addition, the mission requirements different for unmanned plane, can flexibly realize sensing, the control, execution machine of plurality of specifications
Structure combination, improves the adaptability of system；Such as: the communication equipment 1 respectively with the two or more that is mounted on same unmanned plane
Sensing unit 1a, more than two control unit 1b, more than two execution unit 1c carry out data interaction.
Application higher for some reliability requirements can carry out control unit 1b by the autopilot of multiple-route cluster
Combination and redundancy backup；Such as: 20 frame unmanned plane ad hoc network, settable more than one above-mentioned reality on every frame unmanned plane
The autopilot in example is applied, each autopilot is equivalent to a network node, and the data between node and node can be interactively with each other,
Two sets of autopilots on same unmanned plane can be carried out control and resolve, then compare screening to the output of more set autopilots,
The case where having prevented a set of autopilot failure.
For the unmanned plane cluster application research carried out extensively now, the group Netcom between multiple unmanned planes may be implemented
Letter, meets the needs of more complicated task.Such as: the communication equipment 1 respectively be mounted on the above unmanned plane of two framves described in
Sensing unit 1a, control unit 1b and execution unit 1c carry out data interaction；20 frame unmanned plane ad hoc network, there is a frame unmanned plane
It is upper setting one above-described embodiment in autopilot, remaining 19 frame unmanned plane be equipped with sensing unit 1a, control unit 1b and
Execution unit 1c, then the sensing unit 1a of the 19 frame unmanned plane, control unit 1b and execution unit 1c pass through other one
The progress data exchange of communication equipment 1 in the autopilot of frame unmanned plane, this combination loss of weight, save the cost, but it is uncomfortable
Close especially complex task.
On the basis of the above embodiments, described control unit 1b further include:
Arm processor 20, the management for peripheral interface 201 and the status data through the peripheral interface 201 acquisition are (logical
Often analog signal) processing, between dsp processor 10 by IPC communication module realize data interaction；Described control unit
The network interface 100 of 1b is connect with the arm processor 10；
The peripheral interface 201, one end is used to connect the sensor or peripheral equipment of unmanned plane, for acquiring unmanned plane
Status data, the status data are analog signal, and the other end is connect with the arm processor 10；201 serial ports of peripheral interface,
SPI interface, I2C interface；Serial ports/SPI/I2C interface unit is mainly connected on arm processor 10, is sensed with external air speed
Device, barometertic altimeter, ultrasonic height meter, position/posture/heading measure unit, engine measuring unit are communicated, and are realized
Sensor data acquisition.In the case that these sensors or peripheral equipment do not support network interface, by arm processor 20 by shape
State data be transferred to dsp processor carry out settlement process, formed control instruction after by through signal output unit to executing agency；
AD acquisition and processing unit 101, one end are used to connect the analog output equipment of unmanned plane, the other end with it is described
Dsp processor 10 connects；
The dsp processor 10 be also used to according to the arm processor 20 export data, the aerial mission of unmanned plane with
And the AD acquisition carries out control rate resolving with the analog data that output unit 101 exports, and forms non-network control instruction；AD
Acquisition is mainly connected on dsp processor with output unit, realizes acquisition and processing to relevant mode analog quantity, while supporting correlation
Analog output is to control necessary module.
Signal output unit, input terminal are connect with the dsp processor, after receiving and processing the non-network control instruction
Drive the executing agency of unmanned plane.Including PWM output unit and GPIO unit 102；The PWM output unit refers to for that will control
Enable the pwm signal output for being converted to driving executing agency；The GPIO unit is used for will be at control instruction light-coupled isolation and amplification
It is exported after reason, realizes the output of pwm signal and digital signal.PWM output unit, GPIO unit are mainly connected to dsp processor
On, it realizes that pwm signal and digital signal export, by light-coupled isolation and amplification, drives executing agency, control unmanned plane during flying,
Necessary digital signal acquiring is realized simultaneously.
Arm processor mainly completes peripheral interface management and data acquisition/processing, and dsp processor mainly completes control rate
It resolves and is exported with control instruction.Two processors of ARM, DSP pass through inter-processor communication module (Interprocessor
Communications (IPC)) realize data interaction, the burden of processor is reduced, guarantees the real-time of processor corresponding function.
It is further preferred that described control unit 1b further include: the expansible storage unit 202 of SD card and Flash storage are single
Member 103, the expansible storage unit 202 of SD card is connect, for storing flight parameter and flight record with the arm processor 20
Data；Flash storage unit 103, the dsp processor 10 connect；For storing flight parameter and flight record data；It is described
Flash storage unit 103 and the mutual redundancy backup of the expansible storage unit 202 of the SD card.
To save space and wiring, all parts of control unit 1b are integrated on single circuit board, on single circuit board
It is integrated with two processors of ARM and DSP, Flash storage unit, the expansible storage unit of SD card, serial ports/SPI/I2C interface list
Member, Network Interface Unit, AD acquisition unify power supply unit 30 with output unit, PWM output unit, GPIO unit, veneer.Power supply
Unit 30 includes multiple voltage transformation modules, and the voltage transformation module, which is separately connected, in described control unit 1b to be needed to power
Unit, the voltage transformation module convert the electric energy provided to the receptible voltage value of unit institute for needing to power.Autopilot
Veneer carries out unified power supply.
As shown in Fig. 2, the network communication equipments such as router, interchanger are integrated on unmanned plane, each Networked Sensors, net
Luo Hua executing agency is linked together by switch/router and networking autopilot, realizes multiple equipment networking, to support
Communication between multiple network nodes.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of distributed unmanned plane autopilot of networked communication characterized by comprising
Communication equipment, for realizing communication in ad hoc network by multiple network interfaces；
Sensing unit is interacted with the communications device data by network interface, for acquiring the measurement data of unmanned plane, and is led to
It crosses communication equipment and is transferred to control unit；
Described control unit, including dsp processor are interacted by network interface with the communications device data；Dsp processor root
Control rate is completed according to the aerial mission of unmanned plane and the measurement data to resolve, and is formed network-control and is instructed and pass through communication equipment
It is transferred to execution unit；
The execution unit is interacted by network interface with the communications device data, after network-control instruction processing
Drive the executing agency of unmanned plane.
2. the distributed unmanned plane autopilot of networked communication as described in claim 1, which is characterized in that described control unit
Further include:
Arm processor, for the management and the processing of the status data acquired through the peripheral interface of peripheral interface, at DSP
It manages and data interaction is realized by IPC communication module between device；The network interface of described control unit and the arm processor connect
It connects；
The peripheral interface, one end are connect with arm processor, and one end is connect with airborne peripheral equipment, complete drone status number
According to interaction and peripheral equipment instruction transmission；
AD acquisition and output unit, one end are connect with airborne analog output equipment, and one end is connect with DSP, are used for analog quantity
The acquisition of data and the output of analog form control instruction；
The aerial mission of status data, unmanned plane that the dsp processor is also used to be exported according to the arm processor and institute
It states AD acquisition and the analog data of output unit output carries out control rate resolving, form non-network control instruction；
Signal output unit, input terminal are connect with the dsp processor, are driven after receiving and processing the non-network control instruction
The executing agency of unmanned plane.
3. the distributed unmanned plane autopilot of networked communication as claimed in claim 2, which is characterized in that the peripheral interface
Including at least one in serial ports, SPI interface, I2C interface.
4. the distributed unmanned plane autopilot of networked communication as claimed in claim 2, which is characterized in that the signal output
Unit includes PWM output unit and/or digital output unit；
The pwm signal that the PWM output unit is used to be converted to control instruction driving executing agency exports；
The digital output unit realizes the defeated of digital signal for exporting control instruction after light-coupled isolation and enhanced processing
Out.
5. such as the distributed unmanned plane autopilot of the described in any item networked communications of claim 2~4, which is characterized in that institute
State control unit further include:
The expansible storage unit of SD card, connect with the arm processor, for storing flight parameter and flight record data；
Flash storage unit, the dsp processor connection；For storing flight parameter and flight record data；
The Flash storage unit and the mutual redundancy backup of the expansible storage unit of the SD card.
6. the distributed unmanned plane autopilot of networked communication as claimed in claim 5, which is characterized in that the communication equipment
Respectively be mounted on same unmanned plane more than two described control units, more than two execution units and/or two
Above sensing unit carries out data interaction.
7. the distributed unmanned plane autopilot of networked communication as claimed in claim 5, which is characterized in that the communication equipment
Respectively with the described control unit, sensing unit and the execution unit data interaction that are mounted on the above unmanned plane of two framves.
8. the distributed unmanned plane autopilot of networked communication as described in claim 1, it is characterised in that: described control unit
Further include:
Power supply unit, including multiple voltage transformation modules, the voltage transformation module, which is separately connected in described control unit, to be needed
The unit of power supply, the voltage transformation module convert the electric energy provided to the receptible voltage value of unit institute for needing to power.
9. the distributed unmanned plane autopilot of networked communication as described in claim 1, which is characterized in that the communication equipment
Including router or interchanger.
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