CN109213198A - Multiple no-manned plane cooperative control system - Google Patents
Multiple no-manned plane cooperative control system Download PDFInfo
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- 238000004891 communication Methods 0.000 claims abstract description 26
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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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention discloses a kind of multiple no-manned plane cooperative control systems, it is connected including multiple unmanned planes, and between multiple unmanned planes by communication network between machine, each unmanned plane includes group control system and flight control system, group control system is set on team control plate, and flight control system, which is set to, to fly on control plate；Group control system generates UAV Flight Control and means order and be sent to flight control system for obtaining group of planes status information and then obtaining next status information of the unmanned plane itself；Flight control system is used to receive the control instruction of group control system, it is also used to be responsible for the information of acquisition unmanned plane related sensor, and sensor information is analyzed and processed, obtain unmanned plane current state information, in conjunction with unmanned plane current state information, it is calculated by flight control system, generates corresponding steering engine control instruction, control unmanned plane during flying.The present invention can be improved UAV system to adaptive capacity to environment, improve task execution efficiency, it is made to meet the following use demand to unmanned plane.
Description
Technical field
The present invention relates to unmanned plane Collaborative Control technical field, in particular to a kind of raising UAV system adapts to environment
Ability improves task execution efficiency, it is made to meet the multiple no-manned plane cooperative control system of the following use demand to unmanned plane.
Background technique
With increasingly complicated unmanned plane operating environment and ever-expanding job area, single rack unmanned plane is due to being visited
The limitation of the factors such as survey ability, load, single rack unmanned plane would become hard to complete alone the collection of the information in complex environment situation, region prison
Depending on etc. tasks, the efficiency that single rack unmanned plane can play under the emerging operation form such as future network, informationization will be very
It is limited.In order to promote overall efficiency, multiple no-manned plane work compound has become the inevitable choice that the following unmanned plane uses.
Multiple no-manned plane coordinated operation system is to be based on open system framework by a large amount of unmanned planes to carry out comprehensive integration, with logical
Centered on communication network information, using the swarm intelligence of system as core, based on the cooperation interaction ability between platform, with single platform
Node work capacity be support, building has the function of the work body of the advantages such as survivability, low cost, distribution and intelligent characteristic
System.Compared to single rack unmanned plane, multiple no-manned plane system constitutes multiplicity, and model is relative complex, clustering management and control difficulty compared with
Greatly.But multiple no-manned plane system function multiplicity, to strong environmental adaptability, can execute more complicated task, such as fighting
Investigation, search mission etc. are executed under environment.In the case that operating environment is complicated and changeable, task wide variety, real-time height etc. s, it is single
Frame unmanned plane will not be able to satisfy mission requirements.
Summary of the invention
The present invention is directed to overcome the deficiencies of existing technologies, a kind of multiple no-manned plane cooperative control system is provided, improves unmanned plane
System improves task execution efficiency to adaptive capacity to environment, it is made to meet the following use demand to unmanned plane.
To achieve the above object, the invention adopts the following technical scheme: providing a kind of multiple no-manned plane cooperative control system,
Including multiple unmanned planes, each unmanned plane includes two pieces of core control systems, group control system and flight control system, team control
System is set on team control plate, and flight control system, which is set to, to fly on control plate；
Group control system generates nobody for obtaining group of planes status information and then obtaining the next status information of the unmanned plane
Machine flight control instruction is simultaneously sent to flight control system；
Flight control system is used to receive the control instruction of group control system, and acquires and handle the information of unmanned plane sensor,
Obtain unmanned plane current state information, and then generate corresponding steering engine control instruction, control the flying height of unmanned plane, speed,
Course.
Further, it is connected between multiple unmanned planes by communication network between machine；Each unmanned plane is respectively with unmanned plane
Face station passes connection by number, and each unmanned plane is passed by figure/number with group monitoring earth station connect respectively.
Further, group control system mainly includes primary processor, radar module, video module, communication module, storage mould
Block；
Primary processor, that is, CPU uses Exynos4412 processor, for being responsible for radar information, video information
Reason, dyspoiesis object information and group of planes status information, and according to assignment instructions, it calculates and generates UAV Flight Control instruction；
Radar module is for being responsible for relative position and obstacle information between explorer；
Video module is for being responsible for cognitive disorders object and ground reconnaissance；
Memory module is NAND FLASH and EEPROM；
Communication module is communicated for being responsible for each communication module, flight control system, memory module.
Further, group of planes status information is stored in the memory module NAND FLASH of group control system by address bus,
The parameter information of group control system is stored in EEPROM.
Further, flight control system includes DSP primary processor and NAND FLASH, unmanned plane current state information and nobody
Machine flight control, which is meant, to be enabled by the NAND FLASH of DSP primary processor write-in flight control system.
Further, fly control plate and use DSP primary processor, acquire and handle the information of unmanned plane sensor for being responsible for,
Unmanned plane current state information is obtained, meanwhile, the UAV Flight Control received from group control system means order, in conjunction with unmanned plane
Current state information is calculated by flight control system, generates corresponding steering engine control instruction, and be converted to corresponding PWM duty cycle, is led to
Isolation module control steering engine for unmanned plane and engine rotation are crossed, and then controls flying height, the speed, course of unmanned plane.
Further, fly control plate and load TI-RTOS operating system, UAV Flight Control algorithm and data acquisition are in TI-
It developed, run under RTOS operating system.
Further, multiple no-manned plane cooperative control system is made of two pieces of circuit boards, a piece of cooling fin, is divided into three layers, is flown
Control plate is located at lower layer, and team control plate is located at upper layer, and cooling fin is located on team control plate.
Further, the shell of multiple no-manned plane cooperative control system is cuboid, and in shell side, there are GPS antenna seats
Son, number pass antenna stand, number/figure and pass antenna stand, the first USB interface, secondary USB interface, connector interface.
Further, the swarming line number in the memory module NANDFLASH in group control system is read by the first USB interface
According to, pass through secondary USB interface read flight control system on NAND FLASH in unmanned plane during flying data.
The beneficial effects of the present invention are:
1, the present invention uses the design method of ARM+DSP, and ARM is Exynos4412 multi-core processor, has stronger place
Reason ability, DSP use F28377 processor, interface abundant and processing capacity, meet unmanned plane demand.
2, team control plate loads Ubuntu operating system, and ROS operating system, Ke Yiti are run in Ubuntu operating system
Stability, the reliability of the high complication system, run system high efficiency.
3, flight control system uses TI-RTOS operating system, has the very quick response time, is interrupting and task switching
When reach shorter delay, strong seizes system, and the Memory Allocation and stack management of optimization can be realized the modularization of system
And cutting, there is high real-time.
4, common mode interference can be effectively suppressed with winged control plate using RS422 communication is isolated in team control plate.
5, power supply is isolated with numerical portion for power, is effectively prevented from power section and crosstalk occurs for numerical portion, reduce peace
Full blast danger and noise improve flight control system reliability.
6, team control plate and winged control plate are all made of large capacity NANDFLASH storage chip, and storage chip is kept away as storage medium
Exempt from the poor contact that airborne vibration situation is likely to occur, guarantees flying quality normal storage.
Detailed description of the invention
Fig. 1 is the working principle diagram of multiple no-manned plane cooperative control system of the invention；
Fig. 2 is the structural block diagram of group control system of the invention；
Fig. 3 is the hardware arrangement figure of group control system of the invention.
1, number/figure antenna stand；2, GPS antenna stand；3, number passes antenna stand；4, the first USB；5, the 2nd USB；6, it connects
Plug-in unit；7, cooling fin；8, team control plate；9, fly control plate
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, but not to limit the present invention.
As shown in Figure 1, 2, multiple no-manned plane cooperative control system provided in an embodiment of the present invention, mainly sets including group control system
Meter, flight control system design.
The present invention includes multiple unmanned plane UAV1, UAV2 ... UAVn, and passes through communication network between machine between multiple unmanned planes
Network is connected, and passes through number biography antenna 3 respectively with unmanned aerial vehicle station and connect, and monitors earth station with group and passes through the company of number/figure antenna 1
It connects, each unmanned plane includes two pieces of core control systems, group control system and flight control system, and group control system is set on team control plate 8, is flown
Control system, which is set to, to fly on control plate 9, and team control plate 8 is properly termed as host computer, loads multiple no-manned plane Collaborative Control algorithm, load operation system
System is Ubuntu and ROS.Fly control plate 9 and be properly termed as slave computer, control unmanned plane flies according to the instruction of host computer, uses DSP
As processor, TI/BIOS operating system is loaded.It is communicated between upper computer and lower computer using the RS422 serial ports of isolation,
Host computer can obtain current unmanned plane current state information by serial ports, obtain the shape of other unmanned planes by communication network between machine
State information.Then, next state of the unmanned plane itself is calculated by synergetic, and control instruction is passed through
RS422 serial ports is sent to the flight control system of the unmanned plane.
Host computer is communicated to obtain unmanned plane current state information with slave computer by RS422 serial ports, and there are biggish
Error and delay increase range radar in host computer to allow the Collaborative Control algorithm of host computer to have higher control performance
Etc. coming relative position and obstacle information between explorer, increases video module barrier and ground reconnaissance etc. for identification, pass through
Sensor unit obtains unmanned plane current state information.
State of flight is researched and analysed for convenience of the later period, unmanned aerial vehicle group status information is stored in team control by address bus
The memory module of plate 8, i.e. NAND FLASH storage chip, unmanned plane current state information and control instruction are write by dsp processor
Enter the NAND FLASH storage chip of flight control system, the parameter information of group control system is stored in EEPROM storage chip.
Specific implementation step is as follows:
Step 1: group control system design
(1) group control system mainly includes primary processor, radar module, video module, communication module, memory module, storage
Module is NAND FLASH storage chip and EEPROM storage chip.
(2) primary processor, that is, CPU uses Exynos4412 processor, is mainly used for being responsible for radar information, video information
It is handled, dyspoiesis object information and group of planes status information, and according to assignment instructions, calculates generation UAV Flight Control and refer to
It enables.Group control system loads multiple no-manned plane Collaborative Control algorithm, and load operating system is Ubuntu and ROS, and flight control system uses DSP
As primary processor, TI-RTOS operating system is loaded, communication network obtains group of planes status information between group control system passes through machine, leads to
Next state that the unmanned plane itself is calculated in Collaborative Control algorithm is crossed, and the unmanned plane is sent to by RS422 serial ports
Flight control system, isolation RS422 serial ports is provided in group control system and flight control system and is in communication with each other；
(3) radar module is for being responsible for relative position and obstacle information between explorer, and video module is for being responsible for identification
Barrier and ground reconnaissance etc..
(4) memory module is NAND FLASH storage chip, for being responsible for storage unmanned aerial vehicle group flying quality, is convenient for the later period
Data Analysis Services.
(5) communication module is mainly responsible for communicates with each communication module, flight control system, memory module.
Step 2: flight control system design
(1) flight control system mainly includes DSP primary processor, sensor unit, communication module, memory module etc..
(2) DSP primary processor uses the TMS320F28377 processor of TI C2000 series, is mainly used for being responsible for acquisition
The information of unmanned plane related sensor, the specifically information of acquisition state sensor, and sensor information is analyzed and processed,
Obtain unmanned plane current state information.Meanwhile reception means order from the UAV Flight Control of group control system, in conjunction with unmanned plane
Current state information is calculated by flight control system, generates corresponding steering engine control instruction, and be converted to corresponding PWM duty cycle, is led to
Isolation module control steering engine for unmanned plane and engine rotation are crossed, and then controls flying height, speed, the course etc. of unmanned plane.
(3) sensor unit includes altimeter, pitot meter, magnetometer, gyroscope, GPS sensor, and being responsible for acquisition, nobody works as
Preceding machine status information.
(4) communication module mainly includes the RS422 communication of isolation, the RS232 communication of isolation, the CAN communication of isolation, IIC
The communication modules such as communication, SPI communication are mainly responsible for and communicate with sensor unit, group control system etc..
(5) memory module mainly includes EEPROM storage chip, NANDFLASH storage chip, and EEPROM storage chip is logical
Cross SPI to be connected with DSP primary processor, be mainly used for storing control parameter, NAND FLASH storage chip by address bus with
DSP primary processor is connected, and carries out the storage of the big datas such as flying quality.
Step 3: the operating system design of group control system and flight control system:
(1) group control system loads Ubuntu operating system, and ROS operating system, group are run in Ubuntu operating system
Control algolithm is developed in ROS operating system, is run.
(2) flight control system loads TI-RTOS operating system, and UAV Flight Control algorithm and data acquisition etc. are in TI-
It developed, run under RTOS operating system.
Step 4: reading data
(1) after flying, the group in the NANDFLASH storage chip in group control system is read by the first USB interface 4
Flying quality.
(2) after flying, the unmanned plane in the FLASH storage chip in group control system is read by secondary USB interface 5
Flying quality.
Step 5: mounting arrangement
As shown in figure 3, cooperative control system is made of two pieces of circuit boards, a sheet heat radiator, three layers are divided into, flies control plate 9
In lower layer, team control plate 8 is located at upper layer, and cooling fin 7 is located on team control plate 8.The shell of cooperative control system is cuboid, in shell
There are GPS antenna stand 2, numbers to pass antenna stand 3 for side, number/figure passes antenna stand 1, the first USB interface 4, secondary USB interface
5, connector interface 6.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications made by technical concept of the invention should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of multiple no-manned plane cooperative control system, which is characterized in that
Including multiple unmanned planes, each unmanned plane includes two pieces of core control systems, group control system and flight control system, group control system
On team control plate, flight control system, which is set to, to fly on control plate；
The group control system generates nothing for obtaining group of planes status information and then obtaining the next status information of the unmanned plane
Man-machine flight control instruction is simultaneously sent to flight control system；
The flight control system is used to receive the control instruction of group control system, and acquires and handle the letter of unmanned plane sensor
Breath obtains unmanned plane current state information, and then generates corresponding steering engine control instruction, controls flying height, the speed of unmanned plane
Degree, course.
2. multiple no-manned plane cooperative control system as described in claim 1, which is characterized in that lead between multiple unmanned planes
Communication network is connected between crossing machine；Each unmanned plane passes connection by number with unmanned aerial vehicle station respectively, each of described
Unmanned plane monitors earth station with group respectively and passes connection by figure/number.
3. multiple no-manned plane cooperative control system as described in claim 1, which is characterized in that
The group control system mainly includes primary processor, radar module, video module, communication module, memory module；
Primary processor, that is, the CPU uses Exynos4412 processor, for being responsible for radar information, video information
Reason, dyspoiesis object information and group of planes status information, and according to assignment instructions, it calculates and generates UAV Flight Control instruction；
The radar module is for being responsible for relative position and obstacle information between explorer；
The video module is for being responsible for cognitive disorders object and ground reconnaissance；
The memory module is NAND FLASH storage chip and EEPROM storage chip；
Communication module is communicated for being responsible for each communication module, flight control system, memory module.
4. multiple no-manned plane cooperative control system as claimed in claim 3, which is characterized in that the group of planes status information passes through
Address bus is stored in the memory module NAND FLASH storage chip of group control system, and the parameter information of the group control system is deposited
It is stored in EEPROM storage chip.
5. multiple no-manned plane cooperative control system as claimed in claim 3, which is characterized in that the flight control system includes DSP
Primary processor and NAND FLASH storage chip, unmanned plane current state information and UAV Flight Control mean order by described
The NAND FLASH storage chip of DSP primary processor write-in flight control system.
6. multiple no-manned plane cooperative control system as described in claim 1, which is characterized in that the winged control plate uses DSP master
Processor acquires and handles the information of unmanned plane sensor for being responsible for, obtains unmanned plane current state information, meanwhile, it receives
Order is meant from the UAV Flight Control of the group control system, in conjunction with unmanned plane current state information, passes through flight control system
It calculates, generates corresponding steering engine control instruction, and be converted to corresponding PWM duty cycle, steering engine for unmanned plane is controlled by isolation module
And engine rotation, and then control flying height, the speed, course of unmanned plane.
7. multiple no-manned plane cooperative control system as described in claim 1, which is characterized in that fly control plate load TI-RTOS operation
System, UAV Flight Control algorithm and data acquisition are developed under TI-RTOS operating system, are run.
8. multiple no-manned plane cooperative control system as described in claim 1, which is characterized in that the multiple no-manned plane Collaborative Control
System is made of two pieces of circuit boards, a piece of cooling fin, is divided into three layers, is flown control plate and is located at lower layer, team control plate is located at upper layer, cooling fin
On team control plate.
9. multiple no-manned plane cooperative control system as claimed in claim 6, which is characterized in that multiple no-manned plane Collaborative Control system
The shell of system is cuboid, passes antenna stand, number/figure there are GPS antenna stand, number in shell side and passes antenna stand, first
USB interface, secondary USB interface, connector interface.
10. multiple no-manned plane cooperative control system as described in claim 1, which is characterized in that read by first USB interface
Group's flying quality in the memory module NANDFLASH storage chip in group control system is taken, is read by the secondary USB interface
The unmanned plane during flying data in NAND FLASH storage chip in flight control system.
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| CN110303506A (en) * | 2019-02-26 | 2019-10-08 | 浙江树人学院（浙江树人大学） | A kind of robot for space and its control method of Collaborative Control |
| CN110488862A (en) * | 2019-08-02 | 2019-11-22 | 南京理工大学 | A kind of sub- grade integration flight control system of rocket one |
| CN110703794A (en) * | 2019-11-29 | 2020-01-17 | 河池学院 | Multi-unmanned aerial vehicle control system based on ROS and control method thereof |
| CN112235545A (en) * | 2020-10-19 | 2021-01-15 | 中国人民解放军国防科技大学 | Multi-machine cooperation and video relay transmission method |
| CN112260747A (en) * | 2020-10-19 | 2021-01-22 | 中国人民解放军国防科技大学 | Airborne cooperative control and relay transmission system |
| CN112306088A (en) * | 2020-10-12 | 2021-02-02 | 西北工业大学 | DSP-based cooperative task planner of multi-unmanned aerial vehicle system |
| CN114355983A (en) * | 2022-03-18 | 2022-04-15 | 北京卓翼智能科技有限公司 | Distributed unmanned aerial vehicle cluster control system |
| WO2022077817A1 (en) * | 2020-10-13 | 2022-04-21 | 湖南大学 | Multiple unmanned aerial vehicle cooperative control method and system based on vision and performance constraints |
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| CN110303506A (en) * | 2019-02-26 | 2019-10-08 | 浙江树人学院（浙江树人大学） | A kind of robot for space and its control method of Collaborative Control |
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| CN112260747A (en) * | 2020-10-19 | 2021-01-22 | 中国人民解放军国防科技大学 | Airborne cooperative control and relay transmission system |
| CN114355983A (en) * | 2022-03-18 | 2022-04-15 | 北京卓翼智能科技有限公司 | Distributed unmanned aerial vehicle cluster control system |
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