CN110136298A - A kind of unmanned aerial vehicle monitoring system and method - Google Patents
A kind of unmanned aerial vehicle monitoring system and method Download PDFInfo
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- CN110136298A CN110136298A CN201910456069.8A CN201910456069A CN110136298A CN 110136298 A CN110136298 A CN 110136298A CN 201910456069 A CN201910456069 A CN 201910456069A CN 110136298 A CN110136298 A CN 110136298A
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/26—Visual data mining; Browsing structured data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
- G07C5/0825—Indicating performance data, e.g. occurrence of a malfunction using optical means
Abstract
A kind of unmanned aerial vehicle monitoring system and method is related to monitoring unmanned technical field, including aerial mission setting module, the setting for aerial mission instruction；Autopilot parameter adjustment module, the system control parameters for on-line debugging autopilot；Serial data transceiver module is uploaded to the autopilot of unmanned plane for receiving every status data of unmanned plane transmission, while by the system control parameters of the aerial mission instruction of ground monitoring system setting, autopilot；Map display module, for showing the flight path and destination route information of unmanned plane；Posture display module, for showing the flight attitude of unmanned plane in a manner of motion graphics；Curve graph drafting module, for the flight real time data of unmanned plane to be depicted as curve graph with target data respectively and is shown, this unmanned aerial vehicle monitoring system and method can intuitively reflect unmanned plane during flying situation and easy to operate.
Description
Technical field:
The present invention relates to monitoring unmanned technical field more particularly to a kind of unmanned aerial vehicle monitoring system and methods.
Background technique:
With the development of science and technology, unmanned air vehicle technique is not only militarily widely used, but also also obtained at civilian aspect
Most attention is arrived.It is widely used in terms of forest fire protection, pesticide spray solarization, power-line patrolling, border are maked an inspection tour.It builds
The analogue system for standing the flight in relation to unmanned plane, control and assessment has become the common recognition of various countries.Though China's unmanned plane is started to walk
It is so later, but quickly grow in recent years.
Unmanned aerial vehicle station system is the command and control center of UAV system, for ancillary terrestrial operator to nobody
Machine carries out flight condition monitoring and real-time control.However, unmanned aerial vehicle station in the prior art system is past in use
It is not intuitive enough, complicated for operation, inconvenient for use toward there is a problem of, lack in the prior art it is a kind of it is easy to operate, can intuitively instead
Reflect the unmanned aerial vehicle station system that unmanned plane during flying situation uses so as to operator.
Summary of the invention:
It, can be straight in order to solve the above-mentioned technical problems, the present invention provides a kind of unmanned aerial vehicle monitoring system and method
See reflection unmanned plane during flying situation and easy to operate.
The present invention is realized by following technical proposals:
A kind of unmanned aerial vehicle monitoring system, characterized in that include:
Aerial mission setting module, the aerial mission setting module are used for the setting of aerial mission instruction；
Autopilot parameter adjustment module, system of the autopilot parameter adjustment module for on-line debugging autopilot control ginseng
Number；
Serial data transceiver module, the serial data transceiver module are used to receive every status data of unmanned plane transmission, together
When by ground monitoring system setting aerial mission instruction, autopilot system control parameters be uploaded to the autopilot of unmanned plane；
Map display module, the map display module are used to show the flight path and destination route information of unmanned plane；
Posture display module, the posture display module in a manner of motion graphics for showing the flight attitude of unmanned plane
Come；
Airplane data display module, the airplane data display module are used to show the GPS information and way point information, use of unmanned plane
In deletion, upload, downloading way point information；
Curve graph drafting module, the curve graph drafting module are used to distinguish the flight real time data of unmanned plane and target data
It is depicted as curve graph and is shown.
In another aspect of the present invention, the assignment instructions setting means of the aerial mission setting module includes a key
It takes off, a key makes a return voyage, key landing and a key are stopped.
In another aspect of the present invention, map display module is used to show unmanned plane according to specific offline mode
Flight path and destination route information, the offline mode include increasing steady mode manually, determining height mode, fixed point mode, return automatically
Model plane formula, destination offline mode, map give directions offline mode, automatic takeoff mode and automatic landing mode.
In another aspect of the present invention, the curve graph abscissa is time shaft, and ordinate is real-time flight data
Or target flight data, the real-time flight data and target flight data are in rolling value, pitch value, direction value and air speed value
One kind.
In another aspect of the present invention, further include display interface, the display interface include menu bar, toolbar,
Map display area, status bar, posture viewing area, flight information viewing area and autopilot parameter regulation area.
In another aspect of the present invention, the map display area is used to show the flight path of unmanned plane, describedly
Figure viewing area uses different color track wire tag difference offline mode, and the map display area is for adding aerial mission boat
Point, pilot point.
In another aspect of the present invention, the status bar is for showing current com-state, the current command, GPS shape
State, offline mode, save state, the longitude and latitude height value at map where mouse, away from Home point distance, total voyage estimated time,
To the target point estimated time.
In another aspect of the present invention, the posture viewing area be used in a manner of motion graphics real-time display nobody
The flight attitude of machine, the motion graphics include real-time pitching angular dimensions, real-time rolling angular dimensions and real-time direction
Angular dimensions.
A kind of unmanned aerial vehicle monitoring method, characterized in that include:
Unmanned plane sends unmanned plane real-time flight data to the serial ports transceiver module for the monitoring system for being set to ground；
The monitoring system on ground is by map display area according to the flight path of different offline mode display unmanned planes and nobody
Machine flight destination route information；
The monitoring system on ground shows the flight attitude of unmanned plane posture viewing area in a manner of motion graphics；
The monitoring system on ground shows the GPS information and way point information of unmanned plane by flight information viewing area, delete, upload,
Download way point information；
The monitoring system on ground is drawn the flight real time data of unmanned plane with target data by curve graph drafting module respectively
At curve graph and shown；
The monitoring system on ground sets aerial mission by aerial mission setting module and instructs and pass through serial ports transceiver module and will fly
Row assignment instructions data are uploaded to unmanned plane；
The monitoring system on ground passes through the system control parameters of autopilot parameter adjustment module on-line debugging autopilot and passes through string
System control parameters data are uploaded to unmanned plane by mouth transceiver module.
In another aspect of the present invention, the motion graphics include pitching roll attitude display diagram and directional diagram.
The beneficial effects of the present invention are:
This unmanned aerial vehicle monitoring system and method have flight course planning, map denotation, posture is shown, GPS information is shown, is joined
The function that number is adjusted；The visual and clear flight path for having reproduced unmanned plane, flight attitude information etc. are conducive to improve efficiency；
It can intuitively reflect unmanned plane during flying situation and easy to operate.
One aspect of the present invention bring beneficial effect is, by aerial mission setting module be arranged a key take off,
The assignment instructions such as one key makes a return voyage, a key lands and a key stops, so that the operation of unmanned plane is more convenient, quick.
One aspect of the present invention bring beneficial effect is that map display module shows nothing according to specific offline mode
Man-machine flight path and destination route information allows the operator to more be intuitive to see fitting current flight mode
Flight path and destination route information, more intuitive and hommization.
One aspect of the present invention bring beneficial effect is to distinguish the flight real time data of unmanned plane and target data
It is depicted as curve graph and is shown, allow the operator to the curve difference time update arrived according to the observation, adjustment, more
Intuitively, fast, be conducive to improve efficiency.
One aspect of the present invention bring beneficial effect is that posture display module is by the flight attitude of unmanned plane with dynamic
The mode of figure is shown, monitoring personnel is enabled intuitively to grasp very much the real-time status of unmanned plane.
Detailed description of the invention:
Fig. 1 is display interface structural schematic diagram in the embodiment of the present invention.
Fig. 2 is module relationship schematic diagram in the embodiment of the present invention.
Fig. 3 is implementation process flow chart of the present invention.
Fig. 4 is flight attitude of embodiment of the present invention motion graphics original state figure.
Fig. 5 is example A of flight attitude of the embodiment of the present invention motion graphics in flight course.
Fig. 6 is example B of flight attitude of the embodiment of the present invention motion graphics in flight course.
Fig. 7 is example C of flight attitude of the embodiment of the present invention motion graphics in flight course.
In attached drawing: 101, menu bar, 102, toolbar, 103, map display area, 104, status bar, 105, posture shows
Area, 106, flight information viewing area, 107, autopilot parameter regulation area, 2, pitching roll attitude display diagram, 3, directional diagram.
Specific embodiment:
Embodiments of the present invention are described further with reference to the accompanying drawings and embodiments:
In the description of this invention, it is to be understood that being described as indicating position or positional relationship is based on the figure
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to the scope of the present invention
Limitation.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " setting ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment 1
A kind of unmanned aerial vehicle monitoring system, comprising:
Aerial mission setting module, the aerial mission setting module are used for the setting of aerial mission instruction；
Autopilot parameter adjustment module, system of the autopilot parameter adjustment module for on-line debugging autopilot control ginseng
Number；The system control parameters of autopilot include the parameters of PID, each channel direction of steering engine and screw pitch pulsewidth.
Serial data transceiver module, the serial data transceiver module are used to receive every status number of unmanned plane transmission
According to, while the system control parameters of the aerial mission instruction of ground monitoring system setting, autopilot are uploaded to oneself of unmanned plane
Drive instrument；
Map display module, the map display module are used to show the flight path and destination route information of unmanned plane；
Posture display module, the posture display module in a manner of motion graphics for showing the flight attitude of unmanned plane
Come；
Airplane data display module, the airplane data display module are used to show the GPS information and way point information, use of unmanned plane
In deletion, upload, downloading way point information；
Curve graph drafting module, the curve graph drafting module are used to distinguish the flight real time data of unmanned plane and target data
It is depicted as curve graph and is shown.The curve graph abscissa is time shaft, and ordinate is that real-time flight data or target fly
Row data, the real-time flight data and target flight data are one of rolling value, pitch value, direction value and air speed value.
Real-time flight data and target flight data can show the real value and target value of rolling, pitching, direction and air speed as needed.
Curve graph is to fly control professional adjustment parameter (such as PID parameters) in specified flight course to provide reference.
The assignment instructions setting means of the aerial mission setting module includes that a key takes off, a key makes a return voyage, key landing
And one key parking.
Map display module is used to show the flight path and destination route information of unmanned plane according to specific offline mode,
The offline mode includes increasing steady mode manually, determining height mode, fixed point mode, mode of making a return voyage automatically, destination offline mode, map
Give directions offline mode, automatic takeoff mode and automatic landing mode.
It further include display interface, the display interface includes menu bar 101, toolbar 102, map display area 103, state
Column 104, posture viewing area 105, flight information viewing area 106 and autopilot parameter regulation area 107.
The map display area 103 is used to show the flight path of unmanned plane, and 103 utilization of map display area is not homochromy
Color track wire tag difference offline mode, the map display area 103 is for adding aerial mission destination, pilot point.
The status bar 104 for show current com-state, the current command, GPS state, offline mode, preservation state,
Longitude and latitude height value at map where mouse, away from Home point distance, total voyage estimated time, to the target point estimated time.
Flight attitude of the posture viewing area 105 for the real-time display unmanned plane in a manner of motion graphics, it is described dynamic
State figure includes real-time pitching angular dimensions, real-time rolling angular dimensions and real-time direction angular dimensions.Such as Fig. 4, Fig. 5, figure
6, shown in Fig. 7, left part is the display diagram of pitching and roll attitude, that is, pitching roll attitude display diagram 2, right side in figure
Part is directional diagram 3.The top half of left part represents blue sky using blue, and the lower half portion of left part uses yellow generation
Table the earth, then roll angle is positive the lifting of unmanned plane left wing sinking right flank, and yellow area similarly deflects on instrument board, arrow area
Domain indicates roll angle.Right part shows the direction of aircraft, and up north and down south, it is 360 degree that when unmanned plane level, which rotates a circle,.Figure
4 be original state figure, and Fig. 5, Fig. 6, Fig. 7 are respectively several examples in flight course.
In conjunction with Fig. 1, Fig. 2, Fig. 3, interface display includes menu bar 101, toolbar 102, map display area 103, status bar
104, posture viewing area 105, flight information viewing area 106, autopilot parameter regulation area 107.Functional module includes aerial mission
Setting module, autopilot parameter adjustment module, serial data transceiver module, map display module, posture display module, aircraft number
According to display module, curve graph drafting module.
Menu bar 101 mainly completes the importing of aerial mission, export function, the curve graph of flight parameter and target component
Function, the setting of serial ports parameter and on-off function are drawn, a key of control of flying takes off, a key makes a return voyage, a key lands, a key stops
The function of vehicle, the recording function etc. of track line.
Toolbar 102 mainly completes the quick setting of serial ports on-off, and ranging sets pilot point, destination, destination course line
The display of height mode and fill pattern, a key takes off, a key makes a return voyage, a key lands, the quick setting of key parking, quickly leads
Destination out empties the function of screen.
Map display area 103 uses Google Maps, can use offline.It is capable of the flight road of real-time display unmanned plane
Line, with different color track wire tag difference offline mode.Aerial mission destination, pilot point can be added in this region, surveyed
Away from display etc..The different display visual effects of height mode and ground mode can be achieved in the information such as track line destination.
Status bar 104 mainly completes current com-state, the current command, GPS state, offline mode, preservation state, mouse
Longitude and latitude height value where mark at map arrives Home point distance, total voyage estimated time, to the display of target point estimated time.
It is responsible for completing the real-time display of unmanned plane during flying posture in posture viewing area 105.Mainly pitch angle, roll angle, side
To the Real-time dynamically display at angle.
Airplane information viewing area 106 mainly includes the display of aircraft GPS data: longitude, latitude, height, HDOP value, ground
Rate, the real-time tracking of satellite number and display；It further include the display of way point information: the longitude of way point information, latitude, height, two
The display of the distance between destination value.The functions such as deletion, the operation for being uploaded to autopilot can be executed to destination simultaneously.
Mainly the parameters including PID are adjusted in autopilot parameter regulation area 107, and each channel direction of steering engine is adjusted, screw pitch
Pulse-width regulated and other parameter regulations etc..Wherein pid parameter adjusting includes rolling, pitching, the read-write of direction channel PID value, than
Example rolling, ratio pitching, the read-write of proportion directional, ratio tortuous passageway pid value, the read-write of tortuous passageway pid value, height are kept
The read-write of channel PID value, throttle channel, acceleration throttle channel pid value read-write.Each channel direction of steering engine adjusts main packet
Include steering engine roll channel, steering engine pitch channel, steering engine throttle channel, steering engine direction channel, steering engine camera lens rolling direction, steering engine mirror
The adjusting of head pitch orientation.Screw pitch pulse-width regulated is mainly that screw pitch maximin, zero pitch, tail are adjusted under manual mode
Steering engine limit minimum, maximum value.Other parameters adjust part, and the mainly adjusting of feed-forward coefficients, hover posture trim roll angle
The adjusting etc. of pitch angle.
Above-mentioned aerial mission setting module mainly completes addition, deletion, upload, the downloading of destination, and a key takes off, a key drops
It falls, a key makes a return voyage, the function of key parking.
Autopilot parameter adjustment module corresponds to parameter regulation area 107, is responsible for pid parameter, steering engine in autopilot control system
The adjusting of the parameters such as direction, screw pitch pulsewidth.
Serial ports transceiver module is responsible for receiving posture information, the GPS information, current flight pattern information of aircraft, and autopilot is each
Item parameter information etc.；It is responsible for sending the aerial mission information of earth station's setting, the ginseng such as autopilot PID, steering engine direction, screw pitch pulsewidth
Number information.
Above-mentioned map display module corresponds to the map display area 103 in interface display area, which uses Google
Earth map realizes the load and display operation of the destination, course line of map by JavaScript.
Above-mentioned posture display module corresponds to the posture viewing area 105 in interface display area, is mainly responsible for and transmits serial ports
Aspect data carry out Dynamically Announce.
Above-mentioned airplane data display module corresponds to the airplane data viewing area 106 in interface display area, is responsible for passing serial ports
The GPS data come, destination data etc. are processed and displayed.
Above-mentioned curve graph drafting module is applied when there is aerial mission, is responsible for the flight real time data and target of unmanned plane
Data are depicted as curve graph, and the winged control personnel of profession is facilitated to provide reference in specified winged control parameter regulation.Curve graph abscissa
For time shaft, ordinate is flying quality.The flying quality can show the real-time of rolling, pitching, direction and air speed as needed
Value and target value.The curve is to fly control professional adjustment parameter (such as PID parameters) in specified flight course to provide ginseng
It examines.
The cross-platform earth station system is developed based on JAVA SWT, and map function part is opened using JavaScript
Hair.
Specific works operational process approximately as:
After program operation, the data that unmanned plane is sent are received by serial ports transceiver module.It will be respectively displayed on ground after data processing
Figure viewing area 103, posture viewing area 105, airplane information viewing area 106.Aerial mission is set by aerial mission setting module,
Guidance flight, copes with different flight demands.Autopilot parameter, which is modified, by autopilot parameter adjustment module reaches flight attitude
More stably purpose.Continue observation flight posture, flying quality by ground station software.After the completion of aerial mission or it is not required to continue
It exits the program when observation.
The present embodiment sets out, has the following characteristics that from professional platform independence, the angle of adjustable autopilot parameter
Use JAVA SWT as development language, there is good professional platform independence.It can be transported at windows and Linux system
Row；It can help to fly the parameter testing work that control design specialist personnel carry out control method experimental stage；On-line debugging, according to sight
The phenomenon that observing time update is conducive to improve efficiency；The visual and clear flight path for having reproduced unmanned plane, flight attitude letter
Breath etc..
The present embodiment realizes a kind of cross-platform unmanned aerial vehicle monitoring system, has flight course planning, map denotation, appearance
State is shown, GPS information is shown, the function of parameter regulation.The system has reliable and stable, easy to operate, interface simple, intuitive
Feature.Since which employs JAVA languages as developing instrument, with the professional platform independence under windows and Linux system.
Embodiment 2
A kind of unmanned aerial vehicle monitoring method, comprising:
Unmanned plane sends unmanned plane real-time flight data to the serial ports transceiver module for the monitoring system for being set to ground；
The monitoring system on ground is by map display area according to the flight path of different offline mode display unmanned planes and nobody
Machine flight destination route information；
The monitoring system on ground shows the flight attitude of unmanned plane posture viewing area in a manner of motion graphics；
The monitoring system on ground shows the GPS information and way point information of unmanned plane by flight information viewing area, delete, upload,
Download way point information；
The monitoring system on ground is drawn the flight real time data of unmanned plane with target data by curve graph drafting module respectively
At curve graph and shown；
The monitoring system on ground sets aerial mission by aerial mission setting module and instructs and pass through serial ports transceiver module and will fly
Row assignment instructions data are uploaded to unmanned plane；
The monitoring system on ground passes through the system control parameters of autopilot parameter adjustment module on-line debugging autopilot and passes through string
System control parameters data are uploaded to unmanned plane by mouth transceiver module.
The system control parameters of autopilot include the parameters of PID, each channel direction of steering engine and screw pitch pulsewidth.
The motion graphics include pitching roll attitude display diagram and directional diagram.The motion graphics include real-time pitching
Angular dimensions, real-time rolling angular dimensions and real-time direction angular dimensions.As shown in Fig. 4, Fig. 5, Fig. 6, Fig. 7, left side in figure
It is divided into the display diagram i.e. pitching roll attitude display diagram of pitching and roll attitude, right part is directional diagram.Left part it is upper
Half part represents blue sky using blue, and the lower half portion of left part represents the earth, unmanned plane left wing sinking right flank using yellow
Then roll angle is positive for lifting, and yellow area similarly deflects on instrument board, and arrow region indicates roll angle.Right part exhibition
Show the direction of aircraft, up north and down south, it is 360 degree that when unmanned plane level, which rotates a circle,.Fig. 4 is original state figure, Fig. 5, Fig. 6, Fig. 7
Several examples respectively in flight course.
The map display area 103 uses different color track wire tag difference offline mode, and offline mode includes manual
Increase steady mode, determine height mode, fixed point mode, mode of making a return voyage automatically, destination offline mode, map indication offline mode, automatic
Fly mode and automatic landing mode.
In conjunction with Fig. 1, Fig. 2, Fig. 3, interface display includes menu bar 101, toolbar 102, map display area 103, status bar
104, posture viewing area 105, flight information viewing area 106, autopilot parameter regulation area 107.Functional module includes aerial mission
Setting module, autopilot parameter adjustment module, serial data transceiver module, map display module, posture display module, aircraft number
According to display module, curve graph drafting module.
Menu bar 101 mainly completes the importing of aerial mission, export function, the curve graph of flight parameter and target component
Function, the setting of serial ports parameter and on-off function are drawn, a key of control of flying takes off, a key makes a return voyage, a key lands, a key stops
The function of vehicle, the recording function etc. of track line.
Toolbar 102 mainly completes the quick setting of serial ports on-off, and ranging sets pilot point, destination, destination course line
The display of height mode and fill pattern, a key takes off, a key makes a return voyage, a key lands, the quick setting of key parking, quickly leads
Destination out empties the function of screen.
Map display area 103 uses Google Maps, can use offline.It is capable of the flight road of real-time display unmanned plane
Line, with different color track wire tag difference offline mode.Aerial mission destination, pilot point can be added in this region, surveyed
Away from display etc..The different display visual effects of height mode and ground mode can be achieved in the information such as track line destination.
Status bar 104 mainly completes current com-state, the current command, GPS state, offline mode, preservation state, mouse
Longitude and latitude height value where mark at map arrives Home point distance, total voyage estimated time, to the display of target point estimated time.
It is responsible for completing the real-time display of unmanned plane during flying posture in posture viewing area 105.Mainly pitch angle, roll angle, side
To the Real-time dynamically display at angle.
Airplane information viewing area 106 mainly includes the display of aircraft GPS data: longitude, latitude, height, HDOP value, ground
Rate, the real-time tracking of satellite number and display；It further include the display of way point information: the longitude of way point information, latitude, height, two
The display of the distance between destination value.The functions such as deletion, the operation for being uploaded to autopilot can be executed to destination simultaneously.
Mainly the parameters including PID are adjusted in autopilot parameter regulation area 107, and each channel direction of steering engine is adjusted, screw pitch
Pulse-width regulated and other parameter regulations etc..Wherein pid parameter adjusting includes rolling, pitching, the read-write of direction channel PID value, than
Example rolling, ratio pitching, the read-write of proportion directional, ratio tortuous passageway pid value, the read-write of tortuous passageway pid value, height are kept
The read-write of channel PID value, throttle channel, acceleration throttle channel pid value read-write.Each channel direction of steering engine adjusts main packet
Include steering engine roll channel, steering engine pitch channel, steering engine throttle channel, steering engine direction channel, steering engine camera lens rolling direction, steering engine mirror
The adjusting of head pitch orientation.Screw pitch pulse-width regulated is mainly that screw pitch maximin, zero pitch, tail are adjusted under manual mode
Steering engine limit minimum, maximum value.Other parameters adjust part, and the mainly adjusting of feed-forward coefficients, hover posture trim roll angle
The adjusting etc. of pitch angle.
Above-mentioned aerial mission setting module mainly completes addition, deletion, upload, the downloading of destination, and a key takes off, a key drops
It falls, a key makes a return voyage, the function of key parking.
Autopilot parameter adjustment module corresponds to parameter regulation area 107, is responsible for pid parameter, steering engine in autopilot control system
The adjusting of the parameters such as direction, screw pitch pulsewidth.
Serial ports transceiver module is responsible for receiving posture information, the GPS information, current flight pattern information of aircraft, and autopilot is each
Item parameter information etc.；It is responsible for sending the aerial mission information of earth station's setting, the ginseng such as autopilot PID, steering engine direction, screw pitch pulsewidth
Number information.
Above-mentioned map display module corresponds to the map display area 103 in interface display area, which uses Google
Earth map realizes the load and display operation of the destination, course line of map by JavaScript.
Above-mentioned posture display module corresponds to the posture viewing area 105 in interface display area, is mainly responsible for and transmits serial ports
Aspect data carry out Dynamically Announce.
Above-mentioned airplane data display module corresponds to the airplane data viewing area 106 in interface display area, is responsible for passing serial ports
The GPS data come, destination data etc. are processed and displayed.
Above-mentioned curve graph drafting module is applied when there is aerial mission, is responsible for the flight real time data and target of unmanned plane
Data are depicted as curve graph, and the winged control personnel of profession is facilitated to provide reference in specified winged control parameter regulation.Curve graph abscissa
For time shaft, ordinate is flying quality.The flying quality can show the real-time of rolling, pitching, direction and air speed as needed
Value and target value.The curve is to fly control professional adjustment parameter (such as PID parameters) in specified flight course to provide ginseng
It examines.
The cross-platform earth station system is developed based on JAVA SWT, and map function part is opened using JavaScript
Hair.
Specific works operational process approximately as:
After program operation, the data that unmanned plane is sent are received by serial ports transceiver module.It will be respectively displayed on ground after data processing
Figure viewing area 103, posture viewing area 105, airplane information viewing area 106.Aerial mission is set by aerial mission setting module,
Guidance flight, copes with different flight demands.Autopilot parameter, which is modified, by autopilot parameter adjustment module reaches flight attitude
More stably purpose.Continue observation flight posture, flying quality by ground station software.After the completion of aerial mission or it is not required to continue
It exits the program when observation.
The present embodiment sets out, has the following characteristics that from professional platform independence, the angle of adjustable autopilot parameter
Use JAVA SWT as development language, there is good professional platform independence.It can be transported at windows and Linux system
Row；It can help to fly the parameter testing work that control design specialist personnel carry out control method experimental stage；On-line debugging, according to sight
The phenomenon that observing time update is conducive to improve efficiency；The visual and clear flight path for having reproduced unmanned plane, flight attitude letter
Breath etc..
The present embodiment realizes a kind of cross-platform unmanned aerial vehicle monitoring system, has flight course planning, map denotation, appearance
State is shown, GPS information is shown, the function of parameter regulation.The system has reliable and stable, easy to operate, interface simple, intuitive
Feature.Since which employs JAVA languages as developing instrument, with the professional platform independence under windows and Linux system.
In short, the foregoing is merely presently preferred embodiments of the present invention, it is all according to equalization made by scope of the present invention patent
Variation and modification, shall all be covered by the patent of the invention.
Claims (10)
1. a kind of unmanned aerial vehicle monitoring system, characterized in that include:
Aerial mission setting module, the aerial mission setting module are used for the setting of aerial mission instruction；
Autopilot parameter adjustment module, system of the autopilot parameter adjustment module for on-line debugging autopilot control ginseng
Number；
Serial data transceiver module, the serial data transceiver module are used to receive every status data of unmanned plane transmission, together
When by ground monitoring system setting aerial mission instruction, autopilot system control parameters be uploaded to the autopilot of unmanned plane；
Map display module, the map display module are used to show the flight path and destination route information of unmanned plane；
Posture display module, the posture display module in a manner of motion graphics for showing the flight attitude of unmanned plane
Come；
Airplane data display module, the airplane data display module are used to show the GPS information and way point information, use of unmanned plane
In deletion, upload, downloading way point information；
Curve graph drafting module, the curve graph drafting module are used to distinguish the flight real time data of unmanned plane and target data
It is depicted as curve graph and is shown.
2. a kind of unmanned aerial vehicle monitoring system according to claim 1, which is characterized in that the aerial mission sets mould
The assignment instructions setting means of block includes that a key takes off, a key makes a return voyage, key landing and a key are stopped.
3. a kind of unmanned aerial vehicle monitoring system according to claim 1, which is characterized in that map display module is for pressing
The flight path and destination route information of unmanned plane are shown according to specific offline mode, the offline mode includes increasing steady mould manually
Formula determines height mode, fixed point mode, mode of making a return voyage automatically, destination offline mode, map indication offline mode, automatic takeoff mode
With automatic landing mode.
4. a kind of unmanned aerial vehicle monitoring system according to claim 1, which is characterized in that the curve graph abscissa is
Time shaft, ordinate are real-time flight data or target flight data, and the real-time flight data and target flight data are rolling
Turn one of value, pitch value, direction value and air speed value.
5. a kind of unmanned aerial vehicle monitoring system according to claim 1, which is characterized in that it further include display interface, institute
Stating display interface includes menu bar (101), toolbar (102), map display area (103), status bar (104), posture viewing area
(105), flight information viewing area (106) and autopilot parameter regulation area (107).
6. a kind of unmanned aerial vehicle monitoring system according to claim 5, which is characterized in that the map display area
(103) for showing the flight path of unmanned plane, the map display area (103) flies with different color track wire tag difference
Row mode, the map display area (103) is for adding aerial mission destination, pilot point.
7. a kind of unmanned aerial vehicle monitoring system according to claim 5, which is characterized in that the status bar (104) is used
Longitude and latitude where showing current com-state, the current command, GPS state, offline mode, preservation state, mouse at map is high
Angle value, away from Home point distance, total voyage estimated time, arrive the target point estimated time.
8. a kind of unmanned aerial vehicle monitoring system according to claim 5, which is characterized in that the posture viewing area
(105) flight attitude for the real-time display unmanned plane in a manner of motion graphics, the motion graphics include real-time pitching
Angular dimensions, real-time rolling angular dimensions and real-time direction angular dimensions.
9. a kind of unmanned aerial vehicle monitoring method, characterized in that include:
Unmanned plane sends unmanned plane real-time flight data to the serial ports transceiver module for the monitoring system for being set to ground；
The monitoring system on ground is by map display area according to the flight path of different offline mode display unmanned planes and nobody
Machine flight destination route information；
The monitoring system on ground shows the flight attitude of unmanned plane posture viewing area in a manner of motion graphics；
The monitoring system on ground shows the GPS information and way point information of unmanned plane by flight information viewing area, delete, upload,
Download way point information；
The monitoring system on ground is drawn the flight real time data of unmanned plane with target data by curve graph drafting module respectively
At curve graph and shown；
The monitoring system on ground sets aerial mission by aerial mission setting module and instructs and pass through serial ports transceiver module and will fly
Row assignment instructions data are uploaded to unmanned plane；
The monitoring system on ground passes through the system control parameters of autopilot parameter adjustment module on-line debugging autopilot and passes through string
System control parameters data are uploaded to unmanned plane by mouth transceiver module.
10. a kind of unmanned aerial vehicle monitoring method according to claim 9 or 10, which is characterized in that the motion graphics
Including pitching roll attitude display diagram (2) and directional diagram (3).
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Inventor after: Dong Pixia Inventor after: Ding Shijun Inventor after: Bian Shengde Inventor after: Liu Peng Inventor before: Dong Pixia Inventor before: Ding Shijun Inventor before: Bian Shengde Inventor before: Liu Peng |
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Application publication date: 20190816 |