CN109343558A - A kind of rotor wing unmanned aerial vehicle automatically corrects navigation control system - Google Patents
A kind of rotor wing unmanned aerial vehicle automatically corrects navigation control system Download PDFInfo
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- CN109343558A CN109343558A CN201811376650.0A CN201811376650A CN109343558A CN 109343558 A CN109343558 A CN 109343558A CN 201811376650 A CN201811376650 A CN 201811376650A CN 109343558 A CN109343558 A CN 109343558A
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- aerial vehicle
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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 present invention relates to a kind of rotor wing unmanned aerial vehicles to automatically correct navigation control system, including signal transmission module, self-navigation module, gesture stability module, motor drive module, signal transmission module connects self-navigation module, self-navigation module connects gesture stability module, gesture stability module connects motor drive module, self-navigation module carries out navigation posture estimation according to the signal instruction of signal transmission module, gesture stability module controls motor drive module according to the posture estimation result and each rotor is driven to complete instruction action, self-navigation module includes Inertial Measurement Unit, deferred verification unit, automatically correct unit, posture evaluation unit, Inertial Measurement Unit connects posture evaluation unit, posture evaluation unit connection delay authentication unit, the connection of deferred verification unit automatically corrects unit, automatically correct unit connection Inertial Measurement Unit.Advantage is: carrying out data fusion and correction using complementary characteristic of each sensor on frequency domain, avoids generating accumulated error.
Description
Technical field
The present invention relates to a kind of navigation system, especially a kind of rotor wing unmanned aerial vehicle automatically corrects navigation control system.
Background technique
In recent years, rotor wing unmanned aerial vehicle is to be widely used in military affairs, emergency response, monitor, take photo by plane and accurate agricultural pipe
The fields such as reason, since it does not need emission system, energy VTOL, to environment no requirement (NR) of taking off, compared with fixed-wing unmanned plane
Maximum advantage is can freely to hover in the sky, and flight flexibility is quite superb, can use various speed, and various flights are cutd open
The air route in face is flown, thus than fixed-wing unmanned plane in the difficult tasks environment such as investigation, rescue, it is excellent with more application
Gesture.
In the prior art, navigation module provides reliable and stable posture, position data is that rotor wing unmanned aerial vehicle realizes accurate appearance
The premise of state control and position control, currently, being combined with inertial navigation with satellite navigation in the integrated navigation technology of application
Mode is the most universal.Inertial Measurement Unit dynamic response characteristic is good, can calculate the angle, speed, position of rotor wing unmanned aerial vehicle
Etc. information, but long-term work can generate accumulated error, and global positioning system can directly give the speed of carrier, location information,
But renewal frequency is very slow and the accuracy of speed position information is vulnerable to blocking interference.
Summary of the invention
Goal of the invention: in view of the above-mentioned problems, the object of the present invention is to provide a kind of rotor wing unmanned aerial vehicles to automatically correct navigation control
System processed avoids generating accumulated error to provide accurate posture, position data.
Technical solution: a kind of rotor wing unmanned aerial vehicle automatically corrects navigation control system, including signal transmission module, self-navigation
Module, gesture stability module, motor drive module, the signal transmission module connects the self-navigation module, described automatic
Navigation module connects the gesture stability module, and the gesture stability module connects the motor drive module, described to lead automatically
Model plane root tuber carries out navigation posture estimation according to the signal instruction of the signal transmission module, and the gesture stability module is according to the appearance
State estimation result controls the motor drive module and each rotor is driven to complete instruction action,
The self-navigation module includes Inertial Measurement Unit, deferred verification unit, automatically corrects unit, posture pro form bill
Member, the Inertial Measurement Unit connect the posture evaluation unit, and the posture evaluation unit connects the deferred verification unit,
Unit is automatically corrected described in the deferred verification unit connection, the unit that automatically corrects connects the Inertial Measurement Unit,
The Inertial Measurement Unit, which connects firmly, is integrated with three-axis gyroscope, three axis accelerometer to detect angular velocity data, add
Speed data, and the data are transferred to the posture evaluation unit,
The posture evaluation unit carries out resolving processing to the data, and estimate the flight attitude after obtaining t seconds, position,
Altitude information, while the estimated data is transferred to the deferred verification unit,
The deferred verification unit includes global positioning system GNSS, pitot meter TAS, magnetometer COMPASS, barometer
Baro, the deferred verification unit detects physical location, height, the speed data after t seconds, and will test result and institute
State posture evaluation unit and verifying be compared in the estimated data that front transfer in t seconds comes, then by comparison result pass to it is described oneself
Dynamic correction unit,
It is described to automatically correct unit correction instruction is passed to by the Inertial Measurement Unit according to comparison result, it is tied when comparing
For fruit in the error range of design, correction instruction is attonity, outside error range of the comparison result beyond design, the inertia
Measuring unit resets benchmark according to correction instruction automatically, and detects again.
The principle of the present invention is: self-navigation module carries out navigation posture according to the signal instruction of signal transmission module and estimates
It calculates, gesture stability module controls the flight attitude of rotor wing unmanned aerial vehicle according to the posture estimation result of self-navigation module, and motor drives
Dynamic model root tuber completes required movement according to each rotor of gesture stability order-driven of gesture stability module.Carry out navigation posture estimation
When, posture evaluation unit is according to the flight attitude after detection calculation result estimation t seconds of the Inertial Measurement Unit, position, height
The data such as degree, and the data are transmitted to gesture stability module and carry out gesture stability, when deferred verification unit detected this after t seconds
Between the data such as physical location, the height put, and verifying is compared with estimation result of the posture evaluation unit before t seconds, when estimating
When counting according to real data comparison result in the error range of design, posture evaluation unit continues according to Inertial Measurement Unit
Testing result estimate flight attitude, and estimation result is continued to be transmitted to gesture stability module.When posture comparison result exceeds
When outside the error range of design, deferred verification unit output error is instructed to unit is automatically corrected, and automatically corrects unit according to accidentally
Difference instruction adjusts Inertial Measurement Unit and resets benchmark on the basis of existing and automatically corrected with realizing, later test pose again
Data, and will be corrected after attitude data retransmit posture evaluation unit, posture evaluation unit is according to the appearance after correction
State data re-evaluate, and formation automatically corrects circulation, avoid navigation system from generating accumulated error, guarantee the reliable of attitude data
Property.Meanwhile the Inertial Measurement Unit of this programme uses the angular speed of the three-axis gyroscope connected firmly with body output can by integral
It is logical using the three axis accelerometer connected firmly with body to calculate attitude of carrier and have the characteristics that projection accuracy is higher in the short time
The posture of carrier, detection accuracy with higher can directly be calculated by crossing all directions component.Global positioning system GNSS is for surveying
Position, elevation information are measured, with long-time stability, it can be achieved that permanently effective precise positioning；Magnetometer COMPASS, barometer
Baro is used to combine measurement altitude information, to avoid soft magnetism and Hard Magnetic error and wind from disturbing error simultaneously；Pitot meter TAS is for calculating
Movement velocity of the rotor wing unmanned aerial vehicle relative to atmosphere.This programme carries out posture, position using complementary characteristic of the sensor on frequency domain
Set data fusion, the navigation such as the accurate posture of final output, position critical data.
Further, the error range of the design is each rotor attitude angle deviation ± 1 °；Position deviation Φ 2cm；Highly
Deviation 3cm.
Further, the Inertial Measurement Unit uses MPU6000 element.This programme selects MPU6000 element as inertia
In measuring unit, the attitude algorithm for integrating three-axis gyroscope, three axis accelerometer progress rotor wing unmanned aerial vehicle is connected firmly, detection can be promoted
Precision.
Further, the magnetometer COMPASS uses LSM303D element, and the barometer Baro uses MS5611 element,
The global positioning system GNSS uses NEO-M8N element, and the pitot meter TAS uses MPXV7002 element.Utilizing sensing
After complementary characteristic of the device on frequency domain carries out posture, position data fusion, the sensor realization that low cost can be selected is high-precision
Measurement data.
Further, the posture evaluation unit uses the group combined based on the direct method that EKF algorithm constructs with indirect method
Close navigation model.System model constructed by direct method generally has strong nonlinearity, and uses the model of indirect method building non-thread
Property it is weaker, this programme uses the integrated navigation model that combines with indirect method of direct method, improves the output accuracy of integrated navigation.
Further, the gesture stability module includes attitude controller, speed control, positioner, height control
Device.Attitude controller be used for control rotor wing unmanned aerial vehicle each rotor rotation attitude, speed control for control rotor nobody
The rotation speed of each rotor of machine, positioner are used to control traveling and the hovering position of rotor wing unmanned aerial vehicle, height controller
For controlling the traveling and hovering height of rotor wing unmanned aerial vehicle.
It further, further include automatic collision module, the input terminal of the automatic collision module and the self-navigation module
Connection, output end connect the gesture stability module, and the automatic collision module includes supersonic range finder, slow down hovering dress
It sets.After self-navigation module is estimated t seconds after the data such as flight attitude, automatic collision module detects t by supersonic range finder
The data such as posture, position after second are with the presence or absence of threat is hit, by the estimation result of self-navigation module if threatening without shock
It is transmitted to gesture stability module, then gives gesture stability module by the transmission hovering instruction of deceleration suspension device if any hitting to threaten,
And deceleration hovering movement is done under the control of motor drive module, it is threatened with evading hitting in time.
Further, the supersonic range finder uses HC-SR04 ultrasonic sensor.By measuring ultrasonic wave high level
The time of return obtains range data, then carries out data smoothing processing by low-pass filtering, and it is anti-to obtain stable range information
Feedback.
Further, the deceleration suspension device uses light stream sensor, to realize accurate, stable spot hover.
The utility model has the advantages that compared with prior art, the invention has the advantages that using complementary characteristic of the sensor on frequency domain into
Row posture, position data fusion and correction, navigate key message for the accurate posture of final output, position etc., leads for combination
Boat provides accurately estimation foundation, avoids influence of the accumulated error to integrated navigation system.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.
A kind of rotor wing unmanned aerial vehicle automatically corrects navigation control system, as shown in Fig. 1, including it is signal transmission module 1, automatic
Navigation module 2, gesture stability module 3, motor drive module 4, automatic collision module 5.
Signal transmission module 1 connects self-navigation module 2, and self-navigation module 2 connects automatic collision module 5, automatic anti-
It hits module 5 and connects gesture stability module 3, gesture stability module 3 connects motor drive module 4.
Self-navigation module 2 include Inertial Measurement Unit 21, deferred verification unit 22, automatically correct unit 23, posture is estimated
Unit 24 is calculated, Inertial Measurement Unit 21 connects posture evaluation unit 24, and 24 connection delay authentication unit 22 of posture evaluation unit prolongs
The slow connection of authentication unit 22 automatically corrects unit 23, automatically corrects unit 23 and connects Inertial Measurement Unit 21.
Inertial Measurement Unit 21 uses MPU6000 element, connects firmly and is integrated with three-axis gyroscope 211, three axis accelerometer
212.The angular speed of the three-axis gyroscope output connected firmly with body can calculate attitude of carrier by integral and have in the short time
The higher feature of projection accuracy, the three axis accelerometer connected firmly with body can directly calculate the appearance of carrier by all directions component
State, select MPU6000 element as in Inertial Measurement Unit, connect firmly integrate three-axis gyroscope, three axis accelerometer progress rotor
The attitude algorithm of unmanned plane promotes detection accuracy.
Deferred verification unit 22 include global positioning system GNSS221, pitot meter TAS222, magnetometer COMPASS223,
Barometer Baro224.Global positioning system GNSS is used for measurement position, elevation information, has long-time stability, it can be achieved that long-term
Effective precise positioning；Magnetometer COMPASS, barometer Baro be used for combine measurement altitude information, with simultaneously avoid soft magnetism with
Hard Magnetic error and wind disturb error；Movement velocity of rotor wing unmanned aerial vehicle of the pitot meter TAS for calculating relative to atmosphere.Magnetometer
COMPASS223 uses LSM303D element, and barometer Baro224 uses MS5611 element, and global positioning system GNSS221 is used
NEO-M8N element, pitot meter TAS222 use MPXV7002 element.Appearance is being carried out using complementary characteristic of the sensor on frequency domain
After state, position data fusion, the sensor that low cost can be selected realizes high-precision measurement data.
Posture evaluation unit 24 is using the integrated navigation mould combined based on the direct method that EKF algorithm constructs with indirect method
Type.System model constructed by direct method generally has strong nonlinearity, and uses the model nonlinear of indirect method building weaker, this
The integrated navigation model that scheme uses direct method to combine with indirect method, improves the output accuracy of integrated navigation.
Automatic collision module 5 includes supersonic range finder 51, deceleration suspension device 52.
Supersonic range finder 51 uses HC-SR04 ultrasonic sensor.By measurement ultrasonic wave high level return when
Between, range data is obtained, then data smoothing processing is carried out by low-pass filtering, obtains stable range information feedback.
Deceleration suspension device 52 uses light stream sensor, to realize accurate, stable spot hover.
Gesture stability module 3 includes attitude controller 31, speed control 32, positioner 33, height controller 34.
Attitude controller is used to control the rotation attitude of each rotor of rotor wing unmanned aerial vehicle, and speed control is for controlling rotor wing unmanned aerial vehicle
The rotation speed of each rotor, positioner are used to control traveling and the hovering position of rotor wing unmanned aerial vehicle, and height controller is used for
Control the traveling and hovering height of rotor wing unmanned aerial vehicle.
In use, carrying out navigation posture estimation according to the signal instruction of signal transmission module by self-navigation module first:
Inertial Measurement Unit combination three-axis gyroscope, three axis accelerometer carry out the angular speed of rotor wing unmanned aerial vehicle, acceleration parsing, and will
Data are transmitted to posture evaluation unit, by posture evaluation unit modeling, estimation t seconds after rotor wing unmanned aerial vehicle flight attitude, position,
The data are transmitted to automatic collision module later by the navigation informations such as height.
Secondly, the data such as posture, position after automatic collision module is detected t seconds by supersonic range finder whether there is
It hits and threatens, the estimation result of self-navigation module is transmitted to gesture stability module if without threat is hit, if any shock prestige
The side of body then gives gesture stability module by the transmission hovering instruction of deceleration suspension device, and does and slow down under the control of motor drive module
Hovering movement is threatened with evading hitting in time.
Thirdly, automatic collision module will be transmitted to gesture stability module without the attitude Navigation data for hitting threat, and lead to
Cross the Navigation Control that attitude controller, speed control, positioner, height controller etc. carry out rotor wing unmanned aerial vehicle.
Finally, motor drive module is completed specified dynamic according to each rotor of gesture stability order-driven of gesture stability module
Make.
Period, during gesture stability module realizes Navigation Control by attitude Navigation data, deferred verification unit is in t
The data such as the physical location, height, speed at the time point, and the estimation result with posture evaluation unit before t seconds are detected after second
Verifying is compared, when estimated data and real data comparison result exist: each rotor attitude angle deviation ± 1 °；Position deviation Φ
2cm；When in the range of height tolerance ± 3cm, posture evaluation unit continues to estimate according to the testing result of Inertial Measurement Unit and fly
Row posture, and estimation result is continued to be transmitted to gesture stability module.When posture comparison result exceeds: each angular deviation ± 1 °；
Position deviation Φ 2cm；When outside the range of height tolerance 3cm, the instruction of deferred verification unit output error is to unit is automatically corrected, certainly
Dynamic correction unit instructs the three-axis gyroscope for adjusting Inertial Measurement Unit, three axis accelerometer weight on the basis of existing according to error
New settings benchmark is automatically corrected with realizing, later test pose data again, and will be corrected after attitude data send out again
Posture evaluation unit is sent, posture evaluation unit is re-evaluated according to the attitude data after correction, and formation automatically corrects circulation, is avoided
Navigation system generates accumulated error, guarantees the reliability of attitude data.
The present embodiment carries out posture using complementary characteristic of the sensor on frequency domain, position data merges and correction, finally
The navigation such as accurate posture, position key message is exported, accurately estimation foundation is provided for integrated navigation, accumulation is avoided to miss
Influence of the difference to integrated navigation system.
Claims (9)
1. a kind of rotor wing unmanned aerial vehicle automatically corrects navigation control system, it is characterised in that: including signal transmission module (1), automatically
Navigation module (2), gesture stability module (3), motor drive module (4), signal transmission module (1) connection is described to be led automatically
Model plane block (2), the self-navigation module (2) connect the gesture stability module (3), gesture stability module (3) connection
The motor drive module (4), the self-navigation module (2) carry out according to the signal instruction of the signal transmission module (1)
Posture of navigating estimation, the gesture stability module (3) control the motor drive module (4) according to the posture estimation result and drive
Each rotor completes instruction action,
The self-navigation module (2) includes Inertial Measurement Unit (21), deferred verification unit (22), automatically corrects unit
(23), posture evaluation unit (24), the Inertial Measurement Unit (21) connect the posture evaluation unit (24), and the posture is estimated
It calculates unit (24) and connects the deferred verification unit (22), automatically correct unit described in deferred verification unit (22) connection
(23), described automatically correct unit (23) connect the Inertial Measurement Unit (21),
The Inertial Measurement Unit (21), which connects firmly, is integrated with three-axis gyroscope (211), three axis accelerometer (212) to detect angle speed
Degree evidence, acceleration information, and the data are transferred to the posture evaluation unit (24),
The posture evaluation unit (24) carries out resolving processing to the data, and estimate the flight attitude after obtaining t seconds, position,
Altitude information, while the estimated data is transferred to the deferred verification unit (22),
The deferred verification unit (22) includes global positioning system GNSS (221), pitot meter TAS (222), magnetometer
COMPASS (223), barometer Baro (224), the deferred verification unit (22) is to physical location, height, the speed after t seconds
Data are detected, and be will test result and compared with the posture evaluation unit (24) in the estimated data that front transfer in t seconds comes
To verifying, then by comparison result pass to it is described automatically correct unit (23),
It is described to automatically correct unit (23) correction instruction is passed to by the Inertial Measurement Unit (21) according to comparison result, when than
To result in the error range of design, correction instruction is attonity, described outside error range of the comparison result beyond design
Inertial Measurement Unit (21) resets benchmark according to correction instruction automatically, and detects again.
2. a kind of rotor wing unmanned aerial vehicle according to claim 1 automatically corrects navigation control system, it is characterised in that: described to set
The error range of meter is each rotor attitude angle deviation ± 1 °；Position deviation Φ 2cm；Height tolerance 3cm.
3. a kind of rotor wing unmanned aerial vehicle according to claim 1 automatically corrects navigation control system, it is characterised in that: described used
Property measuring unit (21) use MPU6000 element.
4. a kind of rotor wing unmanned aerial vehicle according to claim 1 automatically corrects navigation control system, it is characterised in that: the magnetic
Power meter COMPASS (223) uses LSM303D element, and the barometer Baro (224) uses MS5611 element, and the whole world is fixed
Position system GNSS (221) uses NEO-M8N element, and the pitot meter TAS (222) uses MPXV7002 element.
5. a kind of rotor wing unmanned aerial vehicle according to claim 1 automatically corrects navigation control system, it is characterised in that: the appearance
State evaluation unit (24) is using the integrated navigation model combined based on the direct method that EKF algorithm constructs with indirect method.
6. a kind of rotor wing unmanned aerial vehicle according to claim 1 automatically corrects navigation control system, it is characterised in that: the appearance
State control module (3) includes attitude controller (31), speed control (32), positioner (33), height controller (34).
7. a kind of rotor wing unmanned aerial vehicle according to claim 1 automatically corrects navigation control system, it is characterised in that: further include
Automatic collision module (5), the input terminal of the automatic collision module (5) is connect with the self-navigation module (2), output end connects
The gesture stability module (3) is connect, the automatic collision module (5) includes supersonic range finder (51), deceleration suspension device
(52)。
8. a kind of rotor wing unmanned aerial vehicle according to claim 7 automatically corrects navigation control system, it is characterised in that: described super
Sound ranging device (51) uses HC-SR04 ultrasonic sensor.
9. a kind of rotor wing unmanned aerial vehicle according to claim 7 automatically corrects navigation control system, it is characterised in that: described to subtract
Fast suspension device (52) uses light stream sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811376650.0A CN109343558A (en) | 2018-11-19 | 2018-11-19 | A kind of rotor wing unmanned aerial vehicle automatically corrects navigation control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811376650.0A CN109343558A (en) | 2018-11-19 | 2018-11-19 | A kind of rotor wing unmanned aerial vehicle automatically corrects navigation control system |
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| Publication Number | Publication Date |
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| CN109343558A true CN109343558A (en) | 2019-02-15 |
Family
ID=65316008
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182090A (en) * | 2019-07-01 | 2019-08-30 | 北京有感科技有限责任公司 | Unmanned plane charging system and unmanned plane charging method |
| CN112678205A (en) * | 2021-03-15 | 2021-04-20 | 北京云圣智能科技有限责任公司 | Abnormity monitoring method and device for multi-rotor unmanned aerial vehicle and electronic equipment |
| WO2021223311A1 (en) * | 2020-05-06 | 2021-11-11 | 江苏省飞花灯饰制造有限公司 | Combined integrated smart street lamp having protection capability |
| CN115096304A (en) * | 2022-08-26 | 2022-09-23 | 中国船舶重工集团公司第七0七研究所 | Delay error correction method, device, electronic equipment and storage medium |
-
2018
- 2018-11-19 CN CN201811376650.0A patent/CN109343558A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182090A (en) * | 2019-07-01 | 2019-08-30 | 北京有感科技有限责任公司 | Unmanned plane charging system and unmanned plane charging method |
| WO2021223311A1 (en) * | 2020-05-06 | 2021-11-11 | 江苏省飞花灯饰制造有限公司 | Combined integrated smart street lamp having protection capability |
| CN112678205A (en) * | 2021-03-15 | 2021-04-20 | 北京云圣智能科技有限责任公司 | Abnormity monitoring method and device for multi-rotor unmanned aerial vehicle and electronic equipment |
| CN112678205B (en) * | 2021-03-15 | 2021-06-22 | 北京云圣智能科技有限责任公司 | Abnormity monitoring method and device for multi-rotor unmanned aerial vehicle and electronic equipment |
| CN115096304A (en) * | 2022-08-26 | 2022-09-23 | 中国船舶重工集团公司第七0七研究所 | Delay error correction method, device, electronic equipment and storage medium |
| CN115096304B (en) * | 2022-08-26 | 2022-11-22 | 中国船舶重工集团公司第七0七研究所 | Delay error correction method, device, electronic equipment and storage medium |
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Application publication date: 20190215 |