CN110187695A - A kind of unmanned plane Collaborative Control verification platform - Google Patents
A kind of unmanned plane Collaborative Control verification platform Download PDFInfo
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- CN110187695A CN110187695A CN201910316494.7A CN201910316494A CN110187695A CN 110187695 A CN110187695 A CN 110187695A CN 201910316494 A CN201910316494 A CN 201910316494A CN 110187695 A CN110187695 A CN 110187695A
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- 238000004422 calculation algorithm Methods 0.000 abstract description 12
- 238000011156 evaluation Methods 0.000 abstract description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
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Abstract
The invention discloses a kind of unmanned plane Collaborative Control verification platforms.The platform includes multiple unmanned planes, positioning system, earth station and communication module；The first controller is integrated on each unmanned plane, the first controller controls the unmanned plane during flying according to unmanned plane Collaborative Control algorithm；Positioning system includes UWB navigation positioning system and the GPS chip that is integrated on unmanned plane, and UWB navigation positioning system is located at interior, and GPS chip is electrically connected with the first controller；Earth station includes the second controller for sending instruction to unmanned plane and the display for showing unmanned plane position；Earth station carries out information exchange by communication module and each unmanned plane, is communicated between each unmanned plane by communication module.The present invention is capable of operating status of the presentation unmanned plane of reality under Collaborative Control algorithm, improves the accuracy to Collaborative Control algorithm evaluation.
Description
Technical field
The present invention relates to unmanned plane Collaborative Controls to verify field, verifies more particularly to a kind of unmanned plane Collaborative Control flat
Platform.
Background technique
Unmanned plane can be regarded as air-robot again, and one kind can complete a degree of autonomous control, can be in the sky
Controllable flight is carried out, so as to complete the non-manned vehicle of corresponding task by carrying particular device.With manned vehicle
Compare, it is small in size, at low cost, safety is good, be more suitable for executing repeatability or task that risk is high, therefore civilian and
Military domain has wide practical use.However, the work that it can be completed is to be restricted when single rack unmanned plane executes task
, for increasingly complex task, multi rack is needed to be performed in unison with task, the equipment that can be carried by reasonable distribution simultaneously forms conjunction
Suitable formation, while covering large area cooperates with completion task with higher efficiency, concrete application include coordinated investigation, detection with
And it surrounds and seize.In multi-machine collaborative operation, a group of planes is frequently necessary to form suitable formation.On the one hand, it is kept between unmanned plane
The case where unmanned plane that suitable spacing helps avoid colliding or have is detached from a group of planes；On the other hand, in some tasks
It is necessary to form specified formation, such as communication relay etc. between middle unmanned plane.Therefore, autonomous Collaborative Control is a unmanned plane group of planes
Execute the important foundation of various tasks.
The verification platform of most of unmanned machine Synergy is all based on the software of emulation at present, with simulation software mould
The operating status of unmanned machine is drawn up, is then calculated according to the various parameters evaluation unmanned machine collaboration generated during simulation run
The superiority-inferiority of method, however, simulation software can not accomplish the operating status for restoring unmanned machine completely, therefore, simulation software simulation
Various data required for the assessment of unmanned machine synergetic out are inaccurate, how to build a real environment to adopt
Collect the various parameters of unmanned machine in the process of running, is weight urgently to be resolved to evaluate the superiority-inferiority of unmanned machine synergetic
Want problem.
Summary of the invention
The object of the present invention is to provide a kind of unmanned plane Collaborative Control verification platform, the presentation unmanned plane for capableing of reality is being assisted
With the operating status under control algolithm, the accuracy to Collaborative Control algorithm evaluation is improved.
To achieve the above object, the present invention provides following schemes:
A kind of unmanned plane Collaborative Control verification platform, comprising:
Multiple unmanned planes are integrated with the first controller on each unmanned plane, and the first controller is cooperateed with according to unmanned plane
Control algolithm controls the unmanned plane during flying；
Positioning system, including UWB navigation positioning system and the GPS chip being integrated on the unmanned plane, the UWB navigation
Positioning system is located at interior, and the GPS chip is electrically connected with first controller；
Earth station, including for sending the second controller of instruction to the unmanned plane and for showing the unmanned seat in the plane
The display set；With
Communication module, the earth station carries out information exchange by the communication module and each unmanned plane, each described
It is communicated between unmanned plane by the communication module.
Optionally, it is also integrated with the three axis accelerometer for detecting gravity and acceleration on each unmanned plane, is used for
Detect the three pieces single axis gyroscope of body angular speed and the three axle electronic compass for detecting earth magnetism field direction.
Optionally, the laser range sensor of measurement unmanned plane height is also integrated on the unmanned plane.
Optionally, the communication module is XBee communication module.
Optionally, software interface is also integrated on the unmanned plane, external program passes through described in software interface loading
First controller.
Optionally, the UWB navigation positioning system includes PC host, anchor point and label, and the anchor point is laid in setting position
It sets, the label is installed in the unmanned aerial vehicle rack, and the label is used to send Location Request, the anchor point to the anchor point
For receiving the request signal of the label and the signal being transmitted to the PC host by network interface, the PC host is used for
Resolving obtains the location information of the unmanned plane.
Optionally, the unmanned plane Collaborative Control verification platform further includes the remote control for controlling the unmanned plane during flying
Device.
Optionally, data storage is also integrated on the unmanned plane.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: it is provided by the invention nobody
Machine Collaborative Control verification platform includes: multiple unmanned planes, positioning system, earth station and communication module, on each unmanned plane
It is integrated with the first controller, the first controller controls the unmanned plane during flying according to unmanned plane Collaborative Control algorithm；Positioning system
Including UWB navigation positioning system and the GPS chip being integrated on the unmanned plane, the GPS chip is for unmanned plane in outdoor
Positioning under environment, the UWB navigation positioning system is for the positioning under unmanned plane indoors environment；Earth station is used for nobody
Machine sends the position of control instruction and each unmanned plane of real-time display.As it can be seen that provided by the invention calculate for unmanned plane Collaborative Control
The platform of method verifying, can enable the superiority and inferiority of the Collaborative Control algorithm of unmanned plane be verified in form in kind, and existing
Verifying is carried out in technology in the form of simulation software to compare, the advantage for having assessment accuracy high.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the system block diagram of unmanned plane of embodiment of the present invention Collaborative Control verification platform；
Fig. 2 is earth station of embodiment of the present invention monitoring figure；
Fig. 3 is earth station of the embodiment of the present invention to unmanned plane stand-alone debugging surface chart；
Fig. 4 is that the instruction of earth station of the embodiment of the present invention sends surface chart；
Fig. 5 is UWB of embodiment of the present invention navigation positioning system block diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of unmanned plane Collaborative Control verification platform, the presentation unmanned plane for capableing of reality is being assisted
With the operating status under control algolithm, the accuracy to Collaborative Control algorithm evaluation is improved.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the system block diagram of 2 Collaborative Control verification platform of unmanned plane of the embodiment of the present invention, as shown in Figure 1, the present invention mentions
The 2 Collaborative Control verification platform of unmanned plane of confession includes: multiple unmanned planes 2, positioning system, earth station 4 and communication module 3, wherein
The first controller is integrated on each unmanned plane 2, the first controller controls the unmanned plane according to unmanned plane Collaborative Control algorithm
Flight；Positioning system includes UWB navigation positioning system 1 and the GPS chip that is integrated on unmanned plane 2, UWB navigation positioning system 1
Positioned at interior, GPS chip is electrically connected with the first controller；Earth station 4 includes the second control for sending instruction to unmanned plane 2
Device and display for showing 2 position of unmanned plane；Earth station 4 carries out information exchange by communication module 3 and each unmanned plane 2,
It is communicated between each unmanned plane 2 by communication module 3.
On the basis of the above embodiments, as an embodiment of the present invention, UWB navigation positioning system 1 includes PC master
Machine, anchor point and label, anchor point are laid in setting position, and label is installed in 2 rack of unmanned plane, and it is fixed that label is used to send to anchor point
Position request, for anchor point for receiving signal and transmitting a signal to PC host by network interface, PC host obtains unmanned plane 2 for resolving
Location information.
On the basis of the above embodiments, as an embodiment of the present invention, it is also integrated on each unmanned plane 2 for examining
The three axis accelerometer of measuring gravity and acceleration, the three pieces single axis gyroscope for detecting body angular speed and for detecting earth magnetism
The three axle electronic compass of field direction.
On the basis of the above embodiments, as an embodiment of the present invention, it is also integrated on unmanned plane 2 and measures nobody
The laser range sensor of machine height.
Communication module is XBee communication module, and for providing communication network, communication module also may include XBee communication mould
A variety of communication modules in the communication modules such as block, WiFi communication module and 3G/4G/5G communication module are used cooperatively.Unmanned plane
On be also integrated with software interface, external program passes through software interface and is loaded into the first controller.
Unmanned plane can be quadrotor drone, and quadrotor drone is moving person, positioning system be quadrotor nobody
Machine provides navigation data, and earth station monitors entire group of planes state, and whole system is used by communication module and wirelessly contacted
Come.Wherein, each frame unmanned plane all has the autonomous flight ability based on positioning system under outdoor and indoor conditions, while respectively matching
Standby corresponding remote controler, can be by logical between unmanned plane and unmanned plane, between unmanned plane and earth station for emergency processing
Letter module carry out wireless communication, on the one hand be used for formation flight when unmanned plane between coordination, on the other hand for earth station with
The interaction of a group of planes.By ground station software, the state of cluster system can be monitored, and send parameter configuration instruction or compile
Team's flight, track flight instruction after unmanned plane receives instruction, calculate flight according to the Collaborative Control algorithm in own controller
Positional relationship between track and coordination and other unmanned planes.Quadrotor drone in this platform utilizes self-contained sensing
Device and external positioning systems accurately determine absolute position and relative position, and it is total to carry out information using XBee communication module and earth station
It enjoys, has the ability for collaboration flight of forming into columns, and the software interface of Collaborative Control level is provided, it can be to the Collaborative Control of independent development
Algorithm is verified.
Earth station refers to ground system policer operation end, is that a set of software operates on windows platform, is based on
Labview 16.0 writes, and carries out information exchange by XBee wireless communication module and unmanned plane, function mainly includes two parts:
The state for receiving and showing each frame unmanned plane sends parameter or instruction to a group of planes or specific unmanned plane.Fig. 2 show earth station
Monitored picture, in system, the information that each frame unmanned plane issues earth station includes the oneself states information such as posture, position, every frame
The details of unmanned plane are shown in the corresponding position of the right one side of something in interface, and the horizontal direction position of all unmanned planes is then unified to show
Show on the XY figure of the left one side of something in interface, to facilitate monitoring group of planes formation effect.The different face of information of different unmanned planes on interface
Differentiation is marked in color.
The parameter and instruction that can be sent by earth station to a group of planes include: that flight control and the control of formation control are joined
Number, track instruction, flight pattern instruction, communication topology configuration etc..Send parameter and instruction can directly on monitored picture point
Pop-up transmission window is hit to be sent.Fig. 3 show earth station to unmanned plane stand-alone debugging surface chart, it can be seen that specifies nobody
The detailed status information of machine, including posture, position, expectation instruction, fly the control output details such as PWM wave, facilitate single rack nobody
The debugging and detection of machine.Fig. 4 be instruction send interface, can on the left of interface drop-down menu specify to specific unmanned plane transmission refer to
It enables or is broadcasted to an entire group of planes.On the right side of interface, relevant parameter can be inputted, concurrently by drop-down menu designated order type
Send instruction.The tasks such as in the present invention, earth station does not execute mission planning, track generates, flight control, therefore, there is no need in real time
Control instruction is sent to a group of planes, theoretically the disconnection of a group of planes and earth station will not impact the control of a group of planes after communicating.
Positioning system refers to that GPS and UWB navigation positioning system, this platform all support both the above positioning method,
It can be adjusted at any time according to place difference, GPS positioning system is suitable for outdoor large ward, and UWB positioning system is suitable for
Indoor and outdoor small-sized place.Wherein GPS positioning system is made of GPS chip, is located in quadrotor drone, is passed through serial ports
Line is connected with the first controller, and the first controller receives GPS signal and calculates current longitude and latitude, is then converted to reference to inertial system
Under world coordinates.UWB positioning system is made of PC host, anchor point, label, interchanger, power supply, cable, and software is host solution
Calculate software installation on PC host, as shown in Figure 5.Anchor point is laid in known location, and label is installed in quadrotor rack, in anchor
In the region of point covering, label sends Location Request, and anchor point receives signal and send PC host by network interface, resolves by PC host
Location information can be provided for quadrotor.
Quadrotor drone refers to the four axis multi-rotor unmanned aerial vehicles for carrying independent research flight control system, has outer ring indoors
Self-position posture is detected under border and the autonomous flight ability that controls it and is communicated with neighbours' quadrotor and earth station
Ability.Every frame unmanned plane is equipped with remote controler simultaneously, can make operator whenever necessary can at any time manual intervention quadrotor nobody
Machine flight, to improve safety.
AHRS (Attitude Heading Reference System, attitude heading reference system) in this platform, which is used, to be divided
Sensor component of writing a biography is built, including for detecting gravity and acceleration a piece of three axis accelerometer, for detect body angle speed
The three pieces single axis gyroscope of degree and a three axle electronic compass for detecting earth magnetism field direction, are all located at the control of each unmanned plane
On plate, to realize the resolving to UAV Attitude.Position on standard of fuselage direction is measured using GPS/UWB positioning system, high
Degree is measured using laser ranging module.Using the position and acceleration information measured, by the position filtering algorithm voluntarily write,
Available precision and the higher unmanned plane position and speed information of bandwidth.In this platform, every frame unmanned plane is carried in a piece of 2G
The Micro SD card deposited is used for data record.Unmanned plane and unmanned plane, unmanned plane and ground are used for using XBee module in this system
Wireless communication between the station of face.XBee module has the ability of ad hoc network, supports point-to-point communication and broadcast, meets multiple aircraft formation
It flies the demand of this kind of application.The processor used on every frame unmanned plane is a piece of TMS320F28335 DSP (Digital
Signal Processor, digital signal processor), include interface abundant and calculation resources, can satisfy system requirements.Fly
Control system whole related software is run on DSP, including data acquisition, filtering, flight control, formation control, communication, data
Record etc..The posture filtering of quadrotor and the underlying tasks running frequencies such as control are 500Hz, are protected by the clock interrupt of high priority
Demonstrate,prove its real-time.
Unmanned plane Collaborative Control verification platform provided by the invention includes: multiple unmanned planes, positioning system, earth station and leads to
Believe module, is integrated with the first controller on each unmanned plane；Positioning system includes UWB navigation positioning system and is integrated in institute
The GPS chip on unmanned plane is stated, the GPS chip is used for the positioning of unmanned plane in an outdoor environment, UWB navigator fix system
System is for the positioning under unmanned plane indoors environment；Earth station is used to send control instruction and each nothing of real-time display to unmanned plane
Man-machine position.As it can be seen that the platform provided by the invention for unmanned plane Collaborative Control proof of algorithm, can make the collaboration of unmanned plane
The superiority and inferiority of control algolithm can be verified in form in kind, and be verified in the form of simulation software in the prior art
It compares, the advantage for having assessment accuracy high.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of unmanned plane Collaborative Control verification platform characterized by comprising
Multiple unmanned planes are integrated with the first controller on each unmanned plane, and first controller is cooperateed with according to unmanned plane
Control algolithm controls the unmanned plane during flying；
Positioning system, including UWB navigation positioning system and the GPS chip being integrated on the unmanned plane, the UWB navigator fix
System is located at interior, and the GPS chip is electrically connected with first controller；
Earth station, including for sending the second controller of instruction to the unmanned plane and for showing the unmanned plane position
Display；With
Communication module, the earth station carry out information exchange by the communication module and each unmanned plane, it is each it is described nobody
It is communicated between machine by the communication module.
2. unmanned plane Collaborative Control verification platform according to claim 1, which is characterized in that also collect on each unmanned plane
At the three axis accelerometer having for detecting gravity and acceleration, the three pieces single axis gyroscope for detecting body angular speed and use
In the three axle electronic compass of detection earth magnetism field direction.
3. unmanned plane Collaborative Control verification platform according to claim 1, which is characterized in that also integrated on the unmanned plane
There is the laser range sensor of measurement unmanned plane height.
4. unmanned plane Collaborative Control verification platform according to claim 1, which is characterized in that the communication module is XBee
Communication module.
5. unmanned plane Collaborative Control verification platform according to claim 1, which is characterized in that also integrated on the unmanned plane
There is software interface, external program is loaded into first controller by the software interface.
6. unmanned plane Collaborative Control verification platform according to claim 1, which is characterized in that UWB navigator fix system
System includes PC host, anchor point and label, and the anchor point is laid in setting position, and the label is installed on the unmanned aerial vehicle rack
On, the label is used to send Location Request to the anchor point, and the anchor point is used to receive the request signal of the label and leads to
It crosses network interface and the signal is transmitted to the PC host, the PC host obtains the location information of the unmanned plane for resolving.
7. unmanned plane Collaborative Control verification platform according to claim 1, which is characterized in that the unmanned plane Collaborative Control
Verification platform further includes the remote controler for controlling the unmanned plane during flying.
8. unmanned plane Collaborative Control verification platform according to claim 1, which is characterized in that also integrated on the unmanned plane
There is data storage.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111486841A (en) * | 2020-05-19 | 2020-08-04 | 西安因诺航空科技有限公司 | Unmanned aerial vehicle navigation positioning method based on laser positioning system |
| CN112306088A (en) * | 2020-10-12 | 2021-02-02 | 西北工业大学 | DSP-based cooperative task planner of multi-unmanned aerial vehicle system |
| CN112947544A (en) * | 2021-01-26 | 2021-06-11 | 北京京东乾石科技有限公司 | Aircraft control method, device, system and storage medium |
| CN115542951A (en) * | 2022-11-28 | 2022-12-30 | 北京卓翼智能科技有限公司 | Unmanned aerial vehicle centralized management and control method, system, equipment and medium based on 5G network |
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