CN110430254A - A kind of unmanned controller analytic signal method, signal processing method and system - Google Patents
A kind of unmanned controller analytic signal method, signal processing method and system Download PDFInfo
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- CN110430254A CN110430254A CN201910701907.3A CN201910701907A CN110430254A CN 110430254 A CN110430254 A CN 110430254A CN 201910701907 A CN201910701907 A CN 201910701907A CN 110430254 A CN110430254 A CN 110430254A
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
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Abstract
The invention belongs to unmanned aerial vehicle control systems and method, it is high to manipulation Capability Requirement to solve hand-hold wireless remote controler in the prior art, the control mode of ground control station is when unmanned plane is influenced by poor environment, it is difficult the problem of making anticipation and fast reaction, a kind of unmanned controller analytic signal method, signal processing method and system is provided.Processing method includes signal conversion, the disposal of gentle filter, verification, data are sent and verification, and whether check CRC check position determining data whether consistent with local check bit by ground control station correct.Processing system includes ground control station, remote controler and data processing module, by original single control unmanned plane of ground control station or remote controler, introduce data processing module, had both ground control station can real-time control and remote controler can further ensure the precise control of unmanned plane under emergency case with the advantage of manual control.
Description
Technical field
The invention belongs to unmanned aerial vehicle control systems and method, and in particular to a kind of unmanned controller analytic signal method,
Signal processing method and system.
Background technique
Unmanned plane is that one kind is self-powered not to be carried people to fly using what radio robot or independent procedure control manipulated
Device, instantly because its be widely applied with cheap price, public sight is gradually come into, along with the plant of intelligentized control method algorithm
Enter, the Function Extension of unmanned plane is more and more abundant.Currently, take photo by plane, survey and draw, plant protection, miniature self-timer, express transportation, disaster are rescued
Help, wild animal observation, news report, electric inspection process and diet shooting etc. fields be widely used, greatly expand nobody
The purposes of machine itself, while also actively extending industrial application and unmanned air vehicle technique.
Currently, most of UAV system are all by the way of hand-hold wireless remote controler or ground control station to unmanned plane
It is controlled, but both modes respectively have the limitation of application scenarios, causes the inconvenience of user.
The maximum advantage of hand-hold wireless remote controler is that control system is simple, at low cost, and model plane user ease of Use is suitble to fly
Row, but this mode cannot feed back the real-time flight data and flight attitude of aircraft, have very high manipulation ability to operator
It is required that.
Ground control station is a kind of manipulation side of many unmanned plane manufacturer designs without airborne data communication link
Formula, which is every flying quality that aircraft is acquired by autopilot, then transfers data to ground by data link
Face control station, terrestrial operation person can determine to operate in next step according to the real time data of aircraft.But this control mode is maximum
The shortcomings that be aircraft when the landing stage is by rough sledding such as horizontal survey wind, autopilot program is difficult to make fast reaction and corresponding
Anticipation, therefore it is easy to happen fortuitous event.
Summary of the invention
The main object of the present invention is, the ground high to manipulation Capability Requirement that is to solve hand-hold wireless remote controler in the prior art
The control mode of face control station is difficult the problem of making anticipation and fast reaction, provides when unmanned plane is influenced by poor environment
A kind of unmanned controller analytic signal method, signal processing method and system.
To achieve the above object, the invention provides the following technical scheme:
A kind of unmanned controller analytic signal method, is characterized in that, comprising the following steps:
Step 1, signal is converted, and the analog signal that capture remote controler is sent converts analog signals into raw digital signal；
Step 2, the disposal of gentle filter smoothly filters the raw digital signal that step 1 obtains using median filtering method
Wave processing；
Step 3, it verifies, CRC check position is obtained using CRC check algorithm, generate and smoothly filtered by CRC check position and step 2
The digital signal packet of the digital signal composition of wave processing；
Step 4, data are sent, and remote controler is spaced at preset timed intervals in accordance with preset protocol, to the ground control station sending step 3
The digital signal packet；
Step 5, it checks, ground control station is resolved to obtain local check bit by CRC cyclic redundancy check position algorithm, if CRC
Check bit is consistent with local check bit, then data are correct, is sent to unmanned plane as unmanned aerial vehicle (UAV) control instruction；If inconsistent,
Data exception.
It further, further include format conversion, to the disposal of gentle filter in step 2 between the step 2 and step 3
Digital signal carries out cutting splicing, obtains the corresponding data of 11 bit formats, improves data capacity, reduces data redundancy.
Further, described to convert analog signals into digital signal in step 1, specifically using 2MHz clock as mark
Quasi- counting unit calculates the duration of each analog signal, using the duration as signal controlled variable.
Further, in step 2, the median filtering method, specifically,
Step 2.1, it is one group of data with the every 5 continuous signal controlled variables and is ranked up, selects median work
For preselected signal control amount, remaining 4 are used as temporary signal control amount；
Step 2.2,4 temporary signal control amounts and next signal control amount constitute one group of new data, again
It sorts according to step 2.1 and selects median；So circulation；
Step 2.3, using preselected signal control amount as output, verification described in step 3 is carried out.
It, will not be to control instruction using median filtering method selection median output if there is abnormal larger or smaller number
True value have an impact.
Further, described that CRC check position is obtained using CRC check algorithm in step 3, specifically obtained using look-up table
To CRC check position, a large amount of calculating time is saved.
Further, in step 4, digital signal packet, specifically digital signal described in control station sending step 3 to the ground
Packet is sent in the buffer of remote controler by serial ports, is triggered and is interrupted after the timer technique of remote controler resets, then passes through letter
Number converter, is converted to RS485 differential signal for the raw digital signal in digital signal packet, is sent to ground control station.
A kind of unmanned plane signal processing method, is characterized in that, comprising the following steps:
Step 1, judge
Ground control station judges whether remote controler sends instruction, if not sent, ground control station is according to presetting method control
Unmanned plane processed；If sending, ground control station controls unmanned plane according to step 2 to step 6；
Step 2, signal is converted, and the analog signal that capture remote controler is sent converts analog signals into raw digital signal；
Step 3, the disposal of gentle filter smoothly filters the raw digital signal that step 1 obtains using median filtering method
Wave processing；
Step 4, it verifies, CRC check position is obtained using CRC check algorithm, generate and smoothly filtered by CRC check position and step 3
The digital signal packet of the digital signal composition of wave processing；
Step 5, data are sent, and remote controler is spaced at preset timed intervals in accordance with preset protocol, to the ground control station sending step 4
The digital signal packet；
Step 6, it checks, ground control station is resolved to obtain local check bit by CRC cyclic redundancy check position algorithm, if CRC
Check bit is consistent with local check bit, then data are correct, is sent to unmanned plane as unmanned aerial vehicle (UAV) control instruction；If inconsistent,
Data exception.
A kind of unmanned plane signal processing system, is characterized in that, including ground control station, remote controler and data processing
Module；
Data processing module, the analog signal that capture remote controler is sent, after converting analog signals into raw digital signal
The disposal of gentle filter is carried out, CRC check position is obtained using CRC check algorithm, generates raw digital signal and CRC check position composition
Digital signal packet, the digital signal packet is sent to ground control station；
Ground control station receives digital signal packet, resolves to obtain local verification according to CRC cyclic redundancy check position algorithm
Position, it is whether consistent with CRC check position to judge local check bit, if unanimously, data are correct, instruct and sends as unmanned aerial vehicle (UAV) control
To unmanned plane；If inconsistent, data exception.
Further, the data processing module is integrated on the remote controler, need to only be reequiped to remote controler, economical
High efficiency.
Further, the data processing module includes power supply unit, signal input unit, data parsing unit and data
Transmission unit；
Power supply unit is signal input unit, data parsing unit and data transmission unit power supply；
Signal input unit, the analog signal that capture remote controler is sent；
Data parsing unit carries out the disposal of gentle filter after converting analog signals into raw digital signal, using the school CRC
Checking method obtains CRC check position, generates the digital signal packet of raw digital signal and CRC check position composition, and the number is believed
Number packet is sent to data transmission unit；
Data transmission unit receives digital signal packet and is sent to ground control station.
Using modular design, whole system versatility is more preferable, and replaceability is higher.
Compared with prior art, the beneficial effects of the present invention are:
1. unmanned controller analytic signal method of the invention establishes data connection between remote controler and ground control station
System.By the analog signal that remote controler is sent be converted to can identified raw digital signal, then carry out the disposal of gentle filter, advise
Due to data fluctuations caused by shaking when keeping away artificial manipulation remote controler；CRC check position is obtained using CRC check algorithm, and will be former
The digital signal packet of beginning digital signal and CRC check position composition is sent to ground control station, and local is calculated in ground control station
Check bit, it is whether consistent with CRC check position by checking local check bit, judge whether data are correct, passes through ground if correct
Face control station controls unmanned plane.The advantage that can be controlled according to the real time data of aircraft using ground control station,
So that remote controler is not only retained original advantage, also can improve unmanned plane system by being controlled with being associated with for ground control station
The operability of system, versatility are good.
2. the present invention is converted by format, minimal format 16 in original communication protocol data cuttings are spliced into 11
Format improves data capacity, reduces data redundancy.
3. look-up table of the present invention obtains CRC check position, the defect of plenty of time can be occupied by having evaded general calculating method, effectively
Reduce signal processing time.
4. the present invention converts digital signals into RS485 differential signal, data accuracy is improved, ensure that the height of communication
Effect transmission.
5. unmanned plane signal processing method of the invention, by the control of unmanned plane by original ground control station or remote controler
Single control, is converted into the co- controlling of ground control station and remote controler, controls unmanned plane by ground control station under regular situation
Flight can also be completed to control when encountering burst or poor environment influences by remote controller, when ground control station judges
Remote controler has issued instruction, so that it may unmanned aerial vehicle (UAV) control is completed in conjunction with above-mentioned remote controller signal processing method, so that unmanned plane
It controls more accurate.
6. unmanned plane signal processing system of the invention, passes through being total to for ground control station, remote controler and data processing module
With control, while the advantage that ground control station is capable of real-time control is played, can also passed through when being influenced by external environment
Remote controler completes control, so that the control to unmanned plane is more accurate.
7. the present invention is integrated on a remote control by data processing module, directly remote controler is improved, further to letter
Number processing system is simplified, and by the repacking on original remote controler, extra cost is small, high financial profit.
8. the present invention is by modularized design, versatility is good, and replaceability is high.
Detailed description of the invention
Fig. 1 is the flow diagram of unmanned controller analytic signal method of the present invention；
Fig. 2 is the flow diagram of unmanned controller analytic signal method one embodiment of the present invention；
Fig. 3 is the composition schematic diagram of data processing module of the present invention；
Fig. 4 is a part of electrical block diagram of power supply unit of the present invention；
Fig. 5 is another part electrical block diagram of power supply unit of the present invention；
Fig. 6 is a part of electrical block diagram of data parsing unit of the present invention；
Fig. 7 is another part electrical block diagram of data parsing unit of the present invention.
Specific embodiment
Below in conjunction with the embodiment of the present invention and attached drawing, technical solution of the present invention is clearly and completely described,
Obviously, described embodiment is not limitation of the present invention.
As shown in Figure 1, a kind of unmanned controller analytic signal method, includes the following steps,
Step 1, signal is converted, and the analog signal that capture remote controler is sent converts analog signals into raw digital signal；
Step 2, the disposal of gentle filter smoothly filters the raw digital signal that step 1 obtains using median filtering method
Wave processing；
Step 3, it verifies, CRC check position is obtained using CRC check algorithm, generate and smoothly filtered by CRC check position and step 2
The digital signal packet of the digital signal composition of wave processing；
Step 4, data are sent, and remote controler is spaced at preset timed intervals in accordance with preset protocol, to the ground control station sending step 3
The digital signal packet；
Step 5, it checks, ground control station is resolved to obtain local check bit by CRC cyclic redundancy check position algorithm, if CRC
Check bit is consistent with local check bit, then data are correct, is sent to unmanned plane as unmanned aerial vehicle (UAV) control instruction；If inconsistent,
Data exception.
The analog signal that above-mentioned processing method capture remote controler is sent, carries out CRC check meter after the disposal of gentle filter
Calculation obtains CRC check position, then sends data to ground control station, and local check bit is calculated in ground control station, passes through core
Whether consistent to CRC check position and local check bit, whether confirmation data correct, if data correctly if pass through ground control station pair
Unmanned plane carries out real-time control, and control unmanned plane carries out saving flight from damage, reduces loss to greatest extent.
The data that remote controler is sent are analog signals, are difference with different pulse widths in a control command
Control amount use 2MHz clock as counting clock in one embodiment of the invention, using it as the counting unit of standard
The duration for calculating each signal, using this time as the control amount of signal, and then the analog signal that remote controler is sent
Be converted to corresponding digital signal.
Since operator is the control stick that remote controler is manually operated, shake is inevitably had, corresponding data is caused to generate
A certain range of fluctuation, therefore the disposal of gentle filter is carried out to data.Median filtering method logarithm is used in the embodiment of the present invention
According to being handled:
Step 2.1, it is one group of data with the every 5 continuous signal controlled variables and is ranked up, selects median work
For preselected signal control amount, remaining 4 are used as temporary signal control amount；
Step 2.2,4 temporary signal control amounts and next signal control amount constitute one group of new data, again
It sorts according to step 2.1 and selects median；So circulation；
Step 2.3, using preselected signal control amount as output, verification described in step 3 is carried out.
It,, will not be to true due to being exported according to median if there is larger or smaller exceptional value using median filtering method
Real value has an impact.
It in one embodiment of the invention, between aforementioned step 2 and step 3 further include format conversion referring to Fig. 2,
Digital signal by the disposal of gentle filter is the data for the most original that remote controler issues, and data area is past between 0-2047
It is past to contain more invalid numerical position, it is only necessary to which that 11 data can satisfy the use demand, but the number in general communication protocol
It is 16 according to minimal format, in order to improve the effective percentage of data, reduces the size of data packet, need to turn data format
It changes, cutting splicing is carried out to the digital signal of the disposal of gentle filter in step 2, obtains the corresponding data of 11 bit formats.
Since there is complicated electromagnetic interferences in the external world in data communication system, it cannot be guaranteed that data are absolutely
Transmission is correct, so being verified, obtains CRC check position using look-up table in the embodiment of the present invention, mainly considers
The plenty of time can be occupied by the way of calculating.But other methods of calibration are equally applicable, such as even-odd check and it is cumulative and
Deng.
The digital signal packet of CRC check position and raw digital signal composition is sent to the buffer of remote controler by serial ports
In, it triggers and interrupts after the timer technique of remote controler resets, sent the digital signal packet in the buffer by serial ports
To ground control station.And be sent in the buffer of remote controler by serial ports, specifically serial ports, will be digital by signal adapter
Raw digital signal in signal packet is converted to RS485 differential signal, retransmits to ground control station.
The invention also includes a kind of unmanned plane signal processing methods, are controlled based on ground control station unmanned plane, when
When there are urgent abnormal conditions, be switched to remote controler issue control instruction through ground control station control unmanned plane save from damage it is winged
Row reduces loss to greatest extent.Judge whether remote controler sends instruction by ground control station, if not sent, ground control station
Unmanned plane is controlled according to presetting method；If sending, ground control station controls nobody according to above-mentioned remote controler analytic signal method
Machine.
A kind of unmanned plane signal processing system, including ground control station, remote controler and data processing module；
Data processing module, the analog signal that capture remote controler is sent, after converting analog signals into raw digital signal
The disposal of gentle filter is carried out, CRC check position is obtained using CRC check algorithm, generates raw digital signal and CRC check position composition
Digital signal packet, the digital signal packet is sent to ground control station；
Ground control station receives digital signal packet, resolves to obtain local verification according to CRC cyclic redundancy check position algorithm
Position, it is whether consistent with CRC check position to judge local check bit, if unanimously, data are correct, instruct and sends as unmanned aerial vehicle (UAV) control
To unmanned plane；If inconsistent, data exception.
Above-mentioned unmanned plane signal processing system, is completed jointly by ground control station, remote controler and data processing module
The control of unmanned plane, the advantage for playing ground control station real-time control simultaneously, when by extraneous adverse effect, can also pass through
Manual control remote controler carries out saving flight from damage.
It is formed a kind of improved unmanned controller on a remote control in addition, data processing module is integrated, only needs
Appropriate repacking is done on original remote controler, extra cost is small, high financial profit.
Data processing module not only can integrate on a remote control or modularized design in the embodiment of the present invention, data
Processing module includes power supply unit, signal input unit, data parsing unit and data transmission unit；Power supply unit is signal
Input unit, data parsing unit and data transmission unit power supply；Signal input unit, the simulation letter that capture remote controler is sent
Number；Data parsing unit is carried out the disposal of gentle filter after converting analog signals into raw digital signal, is calculated using CRC check
Method obtains CRC check position, the digital signal packet of raw digital signal and CRC check position composition is generated, by the digital signal packet
It is sent to data transmission unit；Data transmission unit receives digital signal packet and is sent to ground control station.Modularized design is logical
More preferable with property, replaceability is high.
Such as Fig. 4 and Fig. 5, power supply unit is in order to reduce the heating temperature of the circuit board in decompression, the side being depressured using two-stage
Voltage drop is first supplied to partial circuit use as low as 5V, then voltage drop as low as 3.3V, is supplied to other circuits by formula.Such as Fig. 6
It is the circuit diagram of data parsing unit with Fig. 7, raw digital signal accesses central control module, is cooperated by internal circuit final
Data are issued by UART serial ports, the data that UART serial ports issues are poor better than anti-interference ability, are easy by external electrical
The interference of magnetic environment leads to corrupt data, so using the format transmission data having compared with strong anti-interference ability, UART serial ports passes through
Signal adapter can convert data to RS485 differential signal, improve data accuracy, guarantee communication high efficiency of transmission.
Remote controler analytic signal method of the invention can be improved the operability of unmanned plane, and system composition is simple, cost
Small while high financial profit.
The above description is only an embodiment of the present invention, and it is not intended to limit the protection scope of the present invention, all to utilize the present invention
Equivalent structure transformation made by specification and accompanying drawing content, is applied directly or indirectly in other relevant technical fields, and wraps
It includes in scope of patent protection of the invention.
Claims (10)
1. a kind of unmanned controller analytic signal method, which comprises the following steps:
Step 1, signal is converted, and the analog signal that capture remote controler is sent converts analog signals into raw digital signal；
Step 2, the disposal of gentle filter carries out at smothing filtering the raw digital signal that step 1 obtains using median filtering method
Reason；
Step 3, it verifies, CRC check position is obtained using CRC check algorithm, is generated by CRC check position and step 2 smothing filtering
The digital signal packet of the digital signal composition of reason；
Step 4, data are sent, and remote controler is spaced at preset timed intervals in accordance with preset protocol, to the ground described in control station sending step 3
Digital signal packet；
Step 5, it checks, ground control station is resolved to obtain local check bit by CRC cyclic redundancy check position algorithm, if CRC check
Position is consistent with local check bit, then data are correct, is sent to unmanned plane as unmanned aerial vehicle (UAV) control instruction；If inconsistent, data
It is abnormal.
2. a kind of unmanned controller analytic signal method as described in claim 1, it is characterised in that: the step 2 and step 3
Between, further include format conversion, cutting splicing is carried out to the digital signal of the disposal of gentle filter in step 2, obtains 11 bit formats
Corresponding data.
3. a kind of unmanned controller analytic signal method as described in claim 1, it is characterised in that: described by mould in step 1
Quasi- signal is converted to digital signal, specifically using 2MHz clock as standard counting unit, calculates continuing for each analog signal
Time, using the duration as signal controlled variable.
4. a kind of unmanned controller analytic signal method as claimed in claim 3, it is characterised in that: in step 2, the intermediate value
Filter method, specifically,
Step 2.1, it is one group of data with the every 5 continuous signal controlled variables and is ranked up, selects median as pre-
Signal controlled variable is selected, remaining 4 are used as temporary signal control amount；
Step 2.2,4 temporary signal control amounts and next signal control amount constitute one group of new data, again according to
Step 2.1 sorts and selects median；So circulation；
Step 2.3, using preselected signal control amount as output, verification described in step 3 is carried out.
5. a kind of unmanned controller analytic signal method as described in claim 1, it is characterised in that: in step 3, the use
CRC check algorithm obtains CRC check position, specifically obtains CRC check position using look-up table.
6. a kind of unmanned controller analytic signal method as described in claim 1, it is characterised in that: in step 4, control to the ground
Digital signal packet described in the sending step 3 of system station, specifically digital signal packet are sent in the buffer of remote controler by serial ports,
It triggers and interrupts after the timer technique of remote controler resets, then by signal adapter, by the original figure in digital signal packet
Signal is converted to RS485 differential signal, is sent to ground control station.
7. a kind of unmanned plane signal processing method, which comprises the following steps:
Step 1, judge
Ground control station judges whether remote controler sends instruction, if not sent, ground control station controls nothing according to presetting method
It is man-machine；If sending, ground control station controls unmanned plane according to step 2 to step 6；
Step 2, signal is converted, and the analog signal that capture remote controler is sent converts analog signals into raw digital signal；
Step 3, the disposal of gentle filter carries out at smothing filtering the raw digital signal that step 1 obtains using median filtering method
Reason；
Step 4, it verifies, CRC check position is obtained using CRC check algorithm, is generated by CRC check position and step 3 smothing filtering
The digital signal packet of the digital signal composition of reason；
Step 5, data are sent, and remote controler is spaced at preset timed intervals in accordance with preset protocol, to the ground described in control station sending step 4
Digital signal packet；
Step 6, it checks, ground control station is resolved to obtain local check bit by CRC cyclic redundancy check position algorithm, if CRC check
Position is consistent with local check bit, then data are correct, is sent to unmanned plane as unmanned aerial vehicle (UAV) control instruction；If inconsistent, data
It is abnormal.
8. a kind of unmanned plane signal processing system, it is characterised in that: including ground control station, remote controler and data processing module；
Data processing module, the analog signal that capture remote controler is sent, carries out after converting analog signals into raw digital signal
The disposal of gentle filter obtains CRC check position using CRC check algorithm, generates the number of raw digital signal and CRC check position composition
The digital signal packet is sent to ground control station by word signal packet；
Ground control station receives digital signal packet, resolves to obtain local check bit according to CRC cyclic redundancy check position algorithm, sentence
Whether disconnected local check bit and CRC check position are consistent, if unanimously, data are correct, are sent to nothing as unmanned aerial vehicle (UAV) control instruction
It is man-machine；If inconsistent, data exception.
9. a kind of unmanned plane signal processing system as claimed in claim 8, it is characterised in that: the data processing module is integrated in
On the remote controler.
10. a kind of unmanned plane signal processing system as described in claim 8 or 9, it is characterised in that: the data processing module packet
Include power supply unit, signal input unit, data parsing unit and data transmission unit；
Power supply unit is signal input unit, data parsing unit and data transmission unit power supply；
Signal input unit, the analog signal that capture remote controler is sent；
Data parsing unit is carried out the disposal of gentle filter after converting analog signals into raw digital signal, is calculated using CRC check
Method obtains CRC check position, the digital signal packet of raw digital signal and CRC check position composition is generated, by the digital signal packet
It is sent to data transmission unit；
Data transmission unit receives digital signal packet and is sent to ground control station.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111240350A (en) * | 2020-02-13 | 2020-06-05 | 西安爱生无人机技术有限公司 | Unmanned aerial vehicle pilot dynamic behavior evaluation system |
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