CN110109471A - A kind of UAV Flight Control System and its working method based on electromagnetic field ranging - Google Patents
A kind of UAV Flight Control System and its working method based on electromagnetic field ranging Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
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Abstract
The invention discloses a kind of UAV Flight Control System and its working method based on electromagnetic field ranging, are related to unmanned plane field.Common naked eyes judgement requires height to staff, the event of unmanned aerial vehicle to transmission line of electricity happens occasionally in line walking at a distance from transmission line of electricity to existing unmanned plane during flying in the process.The present invention includes electromagnetic field measurements module, measurement of flight altitude module, data processing module, safety control module and flight control modules；The electromagnetic field component of electromagnetic field measurements module real-time measurement flight position, measurement of flight altitude module real-time measurement drone flying height, calculated in real time by data processing module flight position each component variation rate of electric and magnetic fields and corresponding danger threshold, then unmanned plane during flying state is judged and monitored in real time by safety control module, controls unmanned plane during flying by flight control modules.The technical program improves unmanned plane inspection safety, reduces polling transmission line cost, guarantees transmission line of electricity operational reliability and safety.
Description
Technical field
The present invention relates to unmanned plane field more particularly to UAV Flight Control Systems and its working method.
Background technique
It is raising detection accuracy in unmanned plane inspection, it should as far as possible close to transmission line of electricity, but be got over apart from transmission line of electricity
Closely, the electromagnetic interference of unmanned plane received is stronger, while encountering the emergency situations such as wind direction mutation and getting off the plane the danger out of control for bumping against route
It is dangerous higher.But there is also deficiencies in ranging and automatic obstacle-avoiding technical aspect for current unmanned plane cruising inspection system.Existing unmanned plane
Mainly by operator's naked eyes judgement at a distance from transmission line of electricity in flight course, the requirement to staff is high, this
Unmanned aerial vehicle in line walking is caused to occur to the event of transmission line of electricity.To the precision ranging skill of transmission line of electricity during unmanned plane line walking
Art, early warning technology and automatic obstacle-avoiding technology are also less perfect, and there are certain security risks.
Summary of the invention
The technical problem to be solved in the present invention and the technical assignment of proposition are to be improved and improved to prior art,
A kind of UAV Flight Control System and its working method based on electromagnetic field ranging is provided, it is efficient to reach unmanned plane inspection
Rate, low cost, low-risk purpose.For this purpose, the present invention takes following technical scheme.
A kind of UAV Flight Control System based on electromagnetic field ranging, it is characterised in that: including electromagnetic field measurements module,
Measurement of flight altitude module, data processing module, safety control module, flight control modules, the emf sensor fly
Row elevation carrection module is connected with data processing module, and the data processing module is through safety control module and flight control mould
Block is connected；Wherein:
Emf sensor: it is used for real-time measurement present position electromagnetic field intensity；
Measurement of flight altitude module: for measuring the distance away the ground of unmanned plane；
Data processing module: for calculating electromagnetic field threshold value according to distance away the ground, according to electromagnetic field intensity computational EM waves
Change rate；
Safety control module: whether for comparing change rate of electromagnetic fields in real time, to be more than threshold value monitor unmanned plane during flying shape
State；
Flight control modules: for be responsible for the acquisition of signal, the resolving of control law, aircraft posture and speed, Yi Jiyu
The communication of ground installation controls the flight of unmanned plane；And unmanned plane is controlled according to the change rate of electromagnetic fields threshold value that obtains of test
Flight；If electric field change rate is less than threshold value, continue to fly by set flight is specified；If it is greater than or equal to threshold value, then unmanned plane hovers,
And the alarm signal excessively close to control centre's transmission range, switch to manually control or plan again flight road after retreating set distance
Line；
The electromagnetic field component of electromagnetic field measurements module real-time measurement flight position, measurement of flight altitude module real-time measurement without
Man-machine flying height, data processing module calculate in real time flight position change rate of electromagnetic fields and corresponding danger threshold, peace
Full control module judgement and real time monitoring unmanned plane during flying state, and unmanned plane safe action is sent according to corresponding state of flight and is referred to
It enables, finally controls unmanned plane during flying by flight control modules.
The technical program controls unmanned plane safe operation, solution and then comparing change rate of electromagnetic fields and danger threshold in real time
The certainly ranging problem during electric power unmanned plane line walking passes through the electromagnetic field intensity and flight of real-time measurement unmanned plane position
Highly, the unmanned plane inspection route that safety is obtained in conjunction with the magnetic distribution rule of transmission line of electricity, by monitoring unmanned plane in real time
State of flight, and unmanned plane safe action instruction is sent to guarantee unmanned plane inspection safety according to corresponding state of flight, it is somebody's turn to do
Invention compensates for the deficiency of the range-measurement system in current unmanned plane inspection field, reduces polling transmission line cost, guarantees transmission of electricity
Route operational reliability and safety.
As optimization technique means: measurement of flight altitude module includes surveying high sensor, and the high sensor of the survey is
MS5611-01BA03 surveys high sensor；Electromagnetic field measurements module includes DARE electric field probe；Data processing module includes
TMS320VC33 chip.
As optimization technique means: flight control modules include 586-Engine embedded chip, CPU be 32 AMD
Elan SC520, SD card, gyroscope, the chip LSM303D for having accelerometer function and gyroscope function, has accelerometer
The chip MPU6000 and pressure sensor of function and magnetometer function.
As optimization technique means: electromagnetic field measurements module includes detection coil, low noise amplifier circuit, capacitor filtering electricity
Road, RMS-DC conversion circuit, adjustable gain A/D conversion circuit, single-chip microcontroller；Induced magnetic field is converted electric signal by detection coil,
Electric signal after conversion carries out bandpass filtering after low noise amplifier circuit amplifies, using capacitor filter, filters latter
The electric signal U of the detection coil output on roadZIt is added with the same frequency sine wave that multi-channel signals generator generates；Another way after filtering
Electric signal UXIt is added with zero potential to enhance load capacity；By adder U after being addedX、UZElectricity is converted by RMS-DC
Road, A/D conversion circuit are converted to digital signal, are acquired by single-chip microcontroller and pass through telecommunication circuit and are transmitted to data processing module
Reason.
As optimization technique means: measurement of flight altitude module includes pressure sensor, amplifying circuit, zeroing circuit, A/D
The analog signal of generation is transmitted to A/ after amplifying circuit and zeroing circuit by converter and FPGA processing unit, pressure sensor
The digital signal of output is sent to FPGA by D converter, A/D converter, in FPGA processing unit, is carried out calculation process and is obtained phase
The pressure altitude H answered, this elevation information corresponds to as needed to be transferred to the automatic control system of interior of aircraft or is sent to ground
Console.
As optimization technique means: flight control modules include motherboard, power conversion plate, analog quantity channel template, open
Measure channel template and steering engine control panel in pass；Motherboard is equipped with serial communication module, memory and CPU, for the logical of flying quality
News, storage and calculating；Power conversion plate is used to be powered for airborne sensor and steering engine, and analog quantity channel template then passes through reading
Gyro parameter and engine parameter are taken, steering engine control panel, switching value channel mould are output a control signal to after motherboard cpu is handled
Plate connects the security control realized during unmanned plane inspection with safety control module, and steering engine control panel then directly controls unmanned plane
Flight.
It is a further object to provide a kind of work of UAV Flight Control System based on electromagnetic field ranging
Method, it is characterised in that the following steps are included:
1) unmanned plane first sets line voltage distribution grade, tower, selectable line voltage distribution in flying control module before flight
Grade includes 1000kV, 500kV, 220kV, 110kV, and selectable tower includes common-tower double-return, with tower single back line；
2) unmanned plane is after normal flight, barometric surveying distance away the ground, and emf sensor measures electromagnetic field intensity；
3) data processing module is calculated according to the altitude information of line voltage distribution grade and tower, barometric surveying or selection is electric
Magnetic field threshold value；
4) the data computational EM waves change rate that data processing module is measured according to emf sensor；
5) fly the calculated result that control module obtains data processing module, judge whether change rate of electromagnetic fields is exceeded；If electromagnetism
Field change rate is exceeded, then unmanned plane hovers, and the alarm signal excessively close to control centre's transmission range, and enters step 6), if
Change rate of electromagnetic fields is normal, then return step 2), flying machine is in regular flight condition；
6) judge whether it is automatic flight；If so, planning flight road again after control unmanned plane retreats set distance
Line；If unmanned plane is that non-automatic state of flight switchs to manually control.
As optimization technique means: emf sensor is for measuring electric field Ex, Ey, Ez component and virtual value；Measure magnetic
Induction Bx, By, Bz component and virtual value.
As optimization technique means: data processing module calculates any space according to the integrated form of maxwell equation group
Magnetic distribution:
In formula:It is magnetic field strength,It is conduction current density,It is electric displacement vector, ρ is the density of volume charges,
It is electric field strength,It is magnetic induction intensity；
Industrial frequency AC electric field similar to quasi-static field；If transmission line of electricity is the unlimited long straight conductor for being parallel to ground,
Taking ground potential when calculating field distribution is zero；In the case where known conductive surface current potential, using image method, according to endless
The current potential formula and principle of stacking that straight wire generates, the line charge for calculating conducting wire in multiple conductor line using following matrix equation are close
Spend τ 1, τ 2 ..., τ n, it may be assumed that
In formula, D is the distance between each phase conductor, lightning conducter and mirror image；D is that each phase conductor and lightning conducter are mutual
Distance；R is the equivalent redius of each phase conductor；W is the radius of lightning conducter；At horizontal and vertical minute of the electric field strength of (x, y) point
Measuring Ex and Ey indicates are as follows:
Calculated result, is then superimposed, obtains by the magnetic field that the generation of every electric current is calculated separately using Biot-Savart law
If the magnetic field strength around conducting wire is equipped with N phase conductor, and ignores the influence of image conductor, then at space any point (x, y)
Magnetic induction intensity are as follows:
I in formulanFor current in wire, μ0For space permeability, B is magnetic induction intensity；Transmission line of electricity periphery electromagnetic field passes through formula
(2)-formula (8) solves, and establishes the distribution of electromagnetic field on different transmission line of electricity peripheries accordingly.
The utility model has the advantages that (1) introduces new controling parameter during unmanned plane inspection, change rate of electromagnetic fields is with electromagnetic field threshold
Value, has further ensured the safety of unmanned plane inspection；(2) range-measurement system is not during overcoming unmanned plane tradition inspection
Foot, conducive to combining the magnetic distribution rule of transmission line of electricity to obtain the unmanned plane automatic detecting route of safety；(3) the technical program
The control circuit stability proposed is strong, and accuracy is high, safe and simple, has fully considered environmental factor, can be in most of ring
It is applied under border.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is flight control circuit module relational graph of the invention.
Fig. 3 is electromagnetic field measurements modular structure block diagram of the invention.
Fig. 4 is elevation carrection modular structure block diagram of the invention.
Fig. 5 is UAV Flight Control module map of the invention.
Fig. 6 is serial expanded circuit figure of the invention.
Fig. 7 is D/A level shifting circuit figure of the invention.
Fig. 8 is power supply module structure chart of the invention.
Fig. 9 is flow chart of the invention.
Specific embodiment
Technical solution of the present invention is described in further detail below in conjunction with Figure of description.
As shown in Figure 1, a kind of UAV Flight Control System based on electromagnetic field ranging mainly includes 5 modules, respectively
For electromagnetic field measurements module, measurement of flight altitude module, data processing module, safety control module and flight control modules.Respectively
Relationship and connection type such as Fig. 2 of a intermodule, data processing module respectively with electromagnetic field measurements module, measurement of flight altitude mould
Block and safety control module are electrically connected；Flight control modules are electrically connected with safety control module.
Wherein, electromagnetic field measurements module mainly completes the electromagnetic field measurements work of unmanned plane during flying position, the modular circuit
Composition is as shown in figure 3, mainly including detection coil, low noise amplifier circuit, capacitor filter, RMS-DC conversion circuit, increasing
Beneficial adjustable A/D conversion circuit, single-chip microcontroller etc..Circuit workflow is as follows: detection coil passes through electromagnetic induction principle for power transmission line
Induced magnetic field near road is converted into electric signal, and the electric signal after conversion is amplified to 2Vpp or so by low noise amplifier circuit
Afterwards, bandpass filtering, B after filtering are carried out using switch capacitor filterZThe electric signal U of detection coil output all the wayZBelieve with multichannel
The same frequency sine wave that number generator generates is added；BXElectric signal U all the wayXIt is added with zero potential to enhance load capacity.By
Adder U after being addedX、UZDigital signal is converted to by RMS-DC conversion circuit, A/D conversion circuit, is acquired by single-chip microcontroller
And host computer (data processing module) processing is transmitted to by telecommunication circuit.
Measurement of flight altitude module mainly completes the function of height free-air value locating for unmanned plane being converted into electric signal, the mould
Block circuit composition by pressure sensor, amplifying circuit, zeroing circuit, A/D converter and FPGA as shown in figure 4, mainly handled single
The analog signal of generation is transmitted to by a few part compositions of member, pressure sensor after the signal conditioning circuit for amplifying and returning to zero is handled
The digital signal of output is sent to FPGA processing unit by A/D converter, A/D converter, in FPGA processing unit, carries out operation
Processing obtains corresponding pressure altitude H, this elevation information can be transferred to the automatic control system of interior of aircraft according to different needs
Unite or be sent to ground control cabinet.
Data processing module mainly completes the unmanned plane inspection parameter newly introduced: electromagnetic field threshold value and change rate of electromagnetic fields
Computing function, the module core are the TMS320VC33 chip of TI company.TMS320VC33 chip reads electromagnetic field measurements module
Surveyed electromagnetic field component and the surveyed flying height of measurement of flight altitude module utilize the real-time computational EM waves threshold value of program and electromagnetism
Field change rate, and by calculated result real-time delivery into safety control module.
Safety control module mainly completes the real time monitoring of unmanned plane during flying state and dangerous anticipation function, the module use
Digital information is converted to electric signal, inputs flight control modules by precision comparator composition.
Flight control modules control unmanned plane during flying, and concrete function includes control unmanned plane rise and fall, control nobody
Machine hovering controls unmanned plane horizontal movement, adjustment unmanned plane during flying state etc..Its structure composition is as shown in figure 5, include host
Plate, power conversion plate, analog quantity channel template, switching value channel template and steering engine control panel.Motherboard needs to navigate with GPS, magnetic
It is communicated to meter, radio altimeter, ground detection and remote telemetry device, needs 5 serial ports altogether.Due to 586-
Engine mainboard only provides 2 serial ports, it is therefore desirable to carry out serial ports expansion, serial expanded circuit is as shown in Figure 6.Serial ports expansion electricity
TL16C754 four-way UART parallel-serial converter device is used in road, and 8 bit parallel datas are converted into 4 road Serial outputs, it is additional
MAX202 and MAX489 electrical level transferring chip extends 2 RS232 serial ports and 2 RS422 serial ports, can meet flight controller
Hsrdware requirements.Steering engine control panel needs the 6 road channels D/A to generate pwm signal to drive steering engine altogether using simulation steering engine.586-
Engine mainboard provides 8 road D/A in total, wherein 4 tunnel, 12 parallel-by-bit D/A (DA7625) controls lifting steering engine, left and right aileron respectively
Steering engine and direction steering engine, 2 tunnel, 12 Bits Serial D/A (LTC1446) control front-wheel steering engine and throttle steering engine.Due to the output of DA7625
Voltage range is 0~2.5V, and LTC1446 output voltage range is 0~4.095V, and steering engine operating voltage is -10~10V, because
This needs to amplify signal and level translation.D/A level translation circuit is as shown in Figure 7.As seen from the figure, D/A level conversion
Principle is to be added input signal and reference level ratio using add circuit in amplifier input terminal, obtains the electricity for being suitble to sampling
Press range.The relationship of incoming level and output level are as follows:
Unmanned plane for polling transmission line has certain requirement to size, while considering reliability and cost, because
This has selected mature standard module power supply in design, and external a small amount of device can work.
Power conversion plate is mainly that airborne sensor and steering engine are powered, and analog quantity channel template then passes through reading gyro
Parameter and engine parameter output a control signal to steering engine control panel, switching value channel template and peace after motherboard cpu is handled
Full control module connects the security control realized during unmanned plane inspection, and steering engine control panel then directly controls unmanned plane during flying.
Flight control modules are the core components of UAV Flight Control System, it is responsible for the acquisition of flight control system signal, control
The resolving of rule, the posture of aircraft and speed, and with the work such as the communication of ground installation.Flight control modules of the invention are main
Using 586-Engine embedded chip as core, 586-Engine is TERN company based on AMD Elan SC520 processor
Micro-control module has the characteristics that high reliability, compact-sized and low-power consumption, it has powerful debugging soft simultaneously
Part.The major parameter index of 586-Engine is as follows:
(1) CPU is 32 AMD Elan SC520, dominant frequency 133MHz.
(2) FPU Float Point Unit with high performance supports the complex calculations such as sine, tangent, logarithm, is very suitable to need
The application of complex calculation.
(3) the byte inner RAM of SRAM, the Flash of 512KB, 114 of 512KB is configured.
(4) 15 external interrupts are supported.7 timers, including a programmable timer internal are shared, provides 3 16
Position timer internal and 3 16 GP timers add a software timer.The meter of these timers support external event
When and counting.The hardware timeout benchmark of software timer offer Microsecond grade.
(5) providing 32 tunnels may be programmed I/O, 2 UART.Share the A/D input of 12,19 tunnel, including 11 road ADC serial inputs
With 8 tunnel Parallel ADCs, conversion frequency 300kHz；6 road D/A output, including 2 Serial output DAC and 4 output parallel 12
DAC, conversion frequency 200kHz.
(6) operating temperature is -40 DEG C~80 DEG C, having a size of 91.4mm × 58.4mm × 7.6mm.
The A/D interface on 12,19 tunnel carried on 586-Engine mainboard, meets flight control system port number and conversion accuracy
Requirement, these A/D interfaces can acquire pressure altimeter, unmanned aerial vehicle onboard voltage, engine speed, temperature and throttle respectively and open
The data such as degree.In addition to this, 32 I/O mouthfuls of 16 programmable digitals are provided on 586-Engine mainboard, for acquiring engine
Enabling signal, umbrella cabin opening signal etc., and export on-off model and control other equipment, control unmanned plane takes off and recycled
Journey.The use of 586-Engine embedded chip reduces the volume and weight of flight controller, realizes flight control modules
It minimizes, the design object of high integration.
Measurement of flight altitude module uses a new generation of MEAS company is high-resolution to survey high sensor MS5611-
01BA03；Electromagnetic field measurements module uses the DARE electric field probe of Instruments company；Data processing module mainly uses beauty
The TMS320VC33 chip that TI company, state newly releases.Flight control modules mainly use 586-Engine embedded chip, 32
The CPU of AMD Elan SC520, SD card, gyroscope (L3GD20 that chip uses ST company), have accelerometer function and top
The chip LSM303D of spiral shell instrument function, have accelerometer function and chip MPU6000, TE company of magnetometer function
MS5611 pressure sensor, pitot meter and GPS chip.
TMS320VC33 chip reads elevation information by digital altimeter MS5611-01BA03, according to elevation information, benefit
The electromagnetic field threshold value of unmanned plane present position is calculated with correlation formula.
TMS320VC33 chip reads electromagnetic field information by DARE electric field probe, calculates unmanned plane according to electromagnetic field information
The change rate of electromagnetic fields of present position.
Safety control module reads the change rate of electromagnetic fields and corresponding electromagnetic field threshold value of TMS320VC33 chip output,
Unmanned plane during flying state is judged using precision comparator.
Flight control modules read precision comparator output information by 586-Engine embedded chip, judge nobody
(state of flight is dangerous if change rate of electromagnetic fields is greater than corresponding electromagnetic field threshold value, takes braking, if being less than phase for machine state of flight
Answer electromagnetic field threshold value then normal flight).
Flight control modules have accelerometer function and gyroscope function by the reading of 586-Engine embedded chip
Chip LSM303D output information, for calculate unmanned plane during flying posture and rotation angle.
Flight control modules have accelerometer function and magnetometer function by the reading of 586-Engine embedded chip
Chip MPU6000 output information, for calculating unmanned plane during flying posture and yaw angle.
Flight control modules read the output information of gyroscope by 586-Engine embedded chip, for calculating nobody
Machine rotates angle.
Flight control modules read the output information of MS5611 pressure sensor by 586-Engine embedded chip, use
In calculating drone flying height.
Flight control modules read the output information of pitot meter and GPS chip by 586-Engine embedded chip, use
In calculating unmanned plane during flying speed and absolute position.
Compared with prior art, the invention has the benefit that (1) introduces control ginseng new during unmanned plane inspection
Amount, change rate of electromagnetic fields have further ensured the safety of unmanned plane inspection with electromagnetic field threshold value；(2) unmanned plane biography is overcome
The deficiency of range-measurement system during system inspection, conducive to combining the magnetic distribution rule of transmission line of electricity to obtain the unmanned plane of safety certainly
Dynamic inspection route；(3) control circuit stability proposed by the invention is strong, and accuracy is high, safe and simple, has fully considered environment
Factor can be applied under most of environment.
Flight controller power supply module circuit is as shown in Figure 8.Wherein, using 24T05D12 modular power source as power supply circuit
Master chip, the power provided is 30W, and input voltage range is 18V~36V, there is three-way power output :+5V and ± 12V,
Power module provides completely stable supply voltage for flight control system, for guaranteeing that unmanned plane works normally.
A kind of UAV Flight Control System based on electromagnetic field ranging proposed by the present invention, specific control flow is as schemed
9, which mainly executes following steps when controlling unmanned plane progress patrolling transmission line work:
Step S1: according to line voltage distribution grade and tower is maked an inspection tour, relevant parameter is set；
Step S2: normal flight is maked an inspection tour；
Step S3: according to barometer real-time measurement distance away the ground, according to emf sensor real-time measurement electromagnetic field intensity；
Step S4: data processing module calculates electromagnetic field threshold value according to distance away the ground, calculates electromagnetism according to electromagnetic field intensity
Field change rate；
Step S5: judge whether change rate of electromagnetic fields is more than threshold value, unmanned plane is then controlled more than threshold value and hovers and sends police
Signal is accused, carries out in next step, then returning to S2 no more than threshold value；
Step S6: judging whether unmanned plane is to fly automatically, then controls unmanned plane if automatic flight and retreats a meter Bing Chong
Otherwise new planning path switchs to manually control.
Title shown in figure 1 above -9 is specific embodiments of the present invention, embodied substantive distinguishing features of the present invention and
Progress can carry out the equivalent modifications of shape, structure etc. to it under the inspiration of the present invention using needs according to actual,
In the column of the protection scope of this programme.
Claims (9)
1. a kind of UAV Flight Control System based on electromagnetic field ranging, it is characterised in that: including electromagnetic field measurements module, fly
Row elevation carrection module, data processing module, safety control module, flight control modules, the emf sensor, flight
Elevation carrection module is connected with data processing module, and the data processing module is through safety control module and flight control modules
It is connected；Wherein:
Emf sensor: it is used for real-time measurement present position electromagnetic field intensity；
Measurement of flight altitude module: for measuring the distance away the ground of unmanned plane；
Data processing module: for calculating electromagnetic field threshold value according to distance away the ground, changed according to electromagnetic field intensity computational EM waves
Rate；
Safety control module: whether for comparing change rate of electromagnetic fields in real time, to be more than threshold value monitor unmanned plane during flying state；
Flight control modules: for be responsible for the acquisition of signal, the resolving of control law, aircraft posture and speed, and and ground
The communication of equipment controls the flight of unmanned plane；And the flight of change rate of electromagnetic fields threshold value control unmanned plane is obtained according to test；
If electric field change rate is less than threshold value, continue to fly by set flight is specified；If it is greater than or equal to threshold value, then unmanned plane hovers, and to control
The excessively close alarm signal of center transmission range processed switchs to manually control or plan again flight path after retreating set distance；
The electromagnetic field component of electromagnetic field measurements module real-time measurement flight position, measurement of flight altitude module real-time measurement unmanned plane
Flying height, data processing module calculates the change rate of electromagnetic fields of flight position in real time and corresponding danger threshold, safety are controlled
The judgement of molding block and real time monitoring unmanned plane during flying state, and unmanned plane safe action instruction is sent according to corresponding state of flight,
Finally unmanned plane during flying is controlled by flight control modules.
2. a kind of UAV Flight Control System based on electromagnetic field ranging according to claim 1, it is characterised in that: fly
Row elevation carrection module includes surveying high sensor, and the high sensor of the survey is that MS5611-01BA03 surveys high sensor；Electromagnetic field
Measurement module includes DARE electric field probe；Data processing module includes TMS320VC33 chip.
3. a kind of UAV Flight Control System based on electromagnetic field ranging according to claim 1, it is characterised in that: fly
Row control module include 586-Engine embedded chip, CPU be 32 AMD Elan SC520, SD card, gyroscope, have plus
The chip LSM303D of speedometer function and gyroscope function, the chip MPU6000 for having accelerometer function Yu magnetometer function
And pressure sensor.
4. a kind of UAV Flight Control System based on electromagnetic field ranging according to claim 1, it is characterised in that: electricity
Magnetic-field measurement module includes detection coil, low noise amplifier circuit, capacitor filter, RMS-DC conversion circuit, adjustable gain
A/D conversion circuit, single-chip microcontroller；Induced magnetic field is converted electric signal by detection coil, and the electric signal after conversion is put by low noise
After big circuit amplification, bandpass filtering is carried out using capacitor filter, the electric signal U of the detection coil output after filtering all the wayZ
It is added with the same frequency sine wave that multi-channel signals generator generates；The electric signal U of another way after filteringXIt is added with zero potential to increase
Strong load capacity；By adder U after being addedX、UZDigital letter is converted to by RMS-DC conversion circuit, A/D conversion circuit
Number, acquired by single-chip microcontroller and pass through telecommunication circuit be transmitted to data processing module processing.
5. a kind of UAV Flight Control System based on electromagnetic field ranging according to claim 1, it is characterised in that: fly
Row elevation carrection module includes pressure sensor, amplifying circuit, zeroing circuit, A/D converter and FPGA processing unit, and pressure passes
The analog signal of generation is transmitted to A/D converter, number of the A/D converter output by sensor after amplifying circuit and zeroing circuit
Word signal is sent to FPGA, in FPGA processing unit, carries out calculation process and obtains corresponding pressure altitude H, this elevation information root
According to the corresponding automatic control system for being transferred to interior of aircraft of needs or it is sent to ground control cabinet.
6. a kind of UAV Flight Control System based on electromagnetic field ranging according to claim 1, it is characterised in that: fly
Row control module includes motherboard, power conversion plate, analog quantity channel template, switching value channel template and steering engine control panel；It is main
Machine plate is equipped with serial communication module, memory and CPU, communication, storage and calculating for flying quality；Power conversion plate is used for
It is powered for airborne sensor and steering engine, analog quantity channel template, which then passes through, reads gyro parameter and engine parameter, through master
Steering engine control panel is output a control signal to after machine plate CPU processing, switching value channel template connects with safety control module realizes nothing
Security control during man-machine inspection, steering engine control panel then directly control unmanned plane during flying.
7. using a kind of working method of the UAV Flight Control System based on electromagnetic field ranging described in claim 1-6,
Characterized by the following steps:
1) unmanned plane first sets line voltage distribution grade, tower, selectable line voltage distribution grade in flying control module before flight
Including 1000kV, ± 800kV, 500kV, 220kV, 110kV, selectable tower includes common-tower double-return, with tower single back line；
2) unmanned plane is after normal flight, barometric surveying distance away the ground, and emf sensor measures electromagnetic field intensity；
3) data processing module calculates or selects electromagnetic field according to the altitude information of line voltage distribution grade and tower, barometric surveying
Threshold value；
4) the data computational EM waves change rate that data processing module is measured according to emf sensor；
5) fly the calculated result that control module obtains data processing module, judge whether change rate of electromagnetic fields is exceeded；If electromagnetic field becomes
Rate is exceeded, then unmanned plane hovers, and the alarm signal excessively close to control centre's transmission range, and enters step 6), if electromagnetism
Field change rate is normal, then return step 2), flying machine is in regular flight condition；
6) judge whether it is automatic flight；If so, planning flight path again after control unmanned plane retreats set distance；If
Unmanned plane is that non-automatic state of flight switchs to manually control.
8. UAV Flight Control method according to claim 7, it is characterised in that: emf sensor is for measuring electricity
Field Ex, Ey, Ez component and virtual value；Measure magnetic induction density B x, By, Bz component and virtual value.
9. UAV Flight Control method according to claim 8, it is characterised in that:
Data processing module calculates the magnetic distribution in any space according to the integrated form of maxwell equation group:
In formula:It is magnetic field strength,It is conduction current density,It is electric displacement vector, ρ is the density of volume charges,
It is electric field strength,It is magnetic induction intensity；
Industrial frequency AC electric field similar to quasi-static field；If transmission line of electricity is the unlimited long straight conductor for being parallel to ground, calculating
It is zero that ground potential is taken when field distribution；In the case where known conductive surface current potential, using image method, directly led according to endless
The current potential formula and principle of stacking that line generates, the linear charge density τ of conducting wire in multiple conductor line is calculated using following matrix equation
1, τ 2 ..., τ n, it may be assumed that
In formula, D is the distance between each phase conductor, lightning conducter and mirror image；D be each phase conductor and lightning conducter it is mutual away from
From；R is the equivalent redius of each phase conductor；W is the radius of lightning conducter；In the horizontal and vertical component of the electric field strength of (x, y) point
Ex and Ey is indicated are as follows:
Calculated result, is then superimposed, obtains conducting wire by the magnetic field that the generation of every electric current is calculated separately using Biot-Savart law
If magnetic field strength around is equipped with N phase conductor, and ignores the influence of image conductor, then the magnetic at space any point (x, y)
Induction are as follows:
I in formulanFor current in wire, μ0For space permeability, B is magnetic induction intensity；Transmission line of electricity periphery electromagnetic field passes through formula (2)-
Formula (8) solves, and establishes the distribution of electromagnetic field on different transmission line of electricity peripheries accordingly.
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