CN111610800B - Loosely-coupled unmanned aerial vehicle control system - Google Patents
Loosely-coupled unmanned aerial vehicle control system Download PDFInfo
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- CN111610800B CN111610800B CN202010455469.XA CN202010455469A CN111610800B CN 111610800 B CN111610800 B CN 111610800B CN 202010455469 A CN202010455469 A CN 202010455469A CN 111610800 B CN111610800 B CN 111610800B
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- G—PHYSICS
- G08—SIGNALLING
- 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
Abstract
The invention discloses a loosely-coupled unmanned aerial vehicle control system, and relates to the field of unmanned aerial vehicle control technology. The invention comprises an unmanned aerial vehicle airborne system and a ground control system; the loosely-coupled unmanned aerial vehicle control system comprises an unmanned aerial vehicle, an inertial system module, a camera, an onboard controller and a wireless communication module; the inertial system module, the camera, the onboard controller and the wireless communication module are all arranged on the unmanned aerial vehicle, and the inertial system module, the camera and the wireless communication module are all electrically connected with the onboard controller; the ground control system comprises a ground controller and wireless communication, wherein the ground controller is electrically connected with the wireless communication; the unmanned aerial vehicle airborne control system is in communication connection with the ground control system. The processing efficiency of the processor is improved, the higher flexibility and the stronger system expansion capability of a software system are realized, and the requirement on the universality of the unmanned aerial vehicle system is met.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control technology, in particular to a loosely-coupled unmanned aerial vehicle control system.
Background
An unmanned aerial vehicle, abbreviated as "unmanned aerial vehicle" ("UAV"), is an unmanned aerial vehicle that is operated using a radio remote control device and a self-contained program control device. Compared with a manned airplane, the unmanned aerial vehicle has the characteristics of small volume, low manufacturing cost, convenient use and flexible operation, is widely applied to civil use and military use, and can effectively improve the working efficiency by using the unmanned aerial vehicle to carry out power inspection and observe the conditions of ambient air, soil, vegetation and water quality in the civil aspect; in military terms, the unmanned aerial vehicle can be used for battlefield reconnaissance and monitoring, positioning and correcting, damage assessment, electronic warfare and the like, and the investment of personnel and cost can be effectively reduced.
At present, with the increasing use and the increasing complexity of unmanned aerial vehicles, the external environment information which needs to be acquired by the unmanned aerial vehicles is increased, and in the prior art, the unmanned aerial vehicles mostly adopt a control mode that a single airborne control system or an airborne control system is equipped with a ground station, but the equipped ground station has only a data display function and cannot feed back the control; in addition, most control systems adopt a global data undifferentiated processing mode, and all data information is processed and transmitted in the main processor one by one, which greatly increases the processing time of the processor; the loosely-coupled unmanned aerial vehicle control system provided by the invention adopts a mode that an airborne control system and a ground control system are added to control the unmanned aerial vehicle at the same time, and software can be debugged and modified on line in the ground control system, so that the telescopic capacity of the software system is greatly improved. And the data processing adopts a demand type processing mode, processes the data required by the function demand deployment and subscription, and effectively improves the data processing efficiency.
Disclosure of Invention
Aiming at the defects in the background art, the loosely-coupled unmanned aerial vehicle control system provided by the invention can improve the processing efficiency of the processor while ensuring the real-time performance of the system, realize higher flexibility and stronger system expansion capability of a software system, and meet the requirement of the universality of the unmanned aerial vehicle system.
The invention provides a technical scheme that: a loosely-coupled unmanned aerial vehicle control system comprises an unmanned aerial vehicle airborne system and a ground control system; unmanned aerial vehicle airborne system includes: the device comprises an inertial system module, a camera, an onboard controller and a wireless communication module; the inertial system module, the camera and the wireless communication module are electrically connected with the airborne controller; the ground control system comprises a ground controller and a wireless communication module, wherein the ground controller is electrically connected with the wireless communication module; the unmanned aerial vehicle airborne system and the ground control system realize data interaction through respective wireless communication modules; the inertial system module includes: accelerometers, gyroscopes, geomagnetism; acquiring environmental data through a camera, calculating the attitude of the unmanned aerial vehicle and the surrounding environment state of the unmanned aerial vehicle, acquiring data through an inertial system module, calculating the attitude of the unmanned aerial vehicle, fusing the attitudes of the unmanned aerial vehicle and the unmanned aerial vehicle, and controlling the unmanned aerial vehicle by combining the surrounding environment state of the unmanned aerial vehicle;
the ground controller and the airborne controller both adopt a loose coupling mode to control the unmanned aerial vehicle; the control method for controlling the unmanned aerial vehicle in the loose coupling mode comprises the following steps:
unmanned aerial vehicle machine carries system end:
the on-board controller classifies the obtained data according to different categories, including power category data, position category data and camera category data, and each category comprises: original data measured by self type, control output expected data of an airborne controller and control output expected data of a ground controller;
when the unmanned aerial vehicle takes off or does not need to track a target, the onboard controller needs to subscribe positioning data and power data of the unmanned aerial vehicle, the onboard controller analyzes and calculates acceleration data, attitude data, geomagnetic data and environmental air pressure data of the unmanned aerial vehicle, data are fused and converted into coordinate data of the unmanned aerial vehicle in the environment, the actual coordinate information of the unmanned aerial vehicle is used for calculating the motion characteristic of the unmanned aerial vehicle to be realized next, power pulse modulation control data are output after the motion characteristic is analyzed, and the electric controller is controlled to convert the output data into an alternating current control signal required by a motor so as to control the motion of the unmanned aerial vehicle; when the unmanned aerial vehicle needs to track the target, the onboard controller not only needs to subscribe positioning data and power data of the unmanned aerial vehicle, but also needs to subscribe camera data; the airborne controller needs to analyze and calculate target depth data, target attitude data, target characteristic data and target ranging data of cameras, extract targets, calculate coordinate information of the targets relative to the cameras, and calculate coordinate data of the targets relative to the unmanned aerial vehicles through coordinate conversion; calculating the motion characteristic of the unmanned aerial vehicle according to the calculated coordinate data, and outputting motion control as control information of a motor so as to realize the tracking of the unmanned aerial vehicle on a target;
ground control system end:
the ground controller classifies the obtained data according to different categories, including power category data, position category data and camera category data. The ground controller can process the subscription data required to be processed by the movement of the unmanned aerial vehicle in real time on the ground machine according to the processing mode of the onboard controller, then compares the processed calculation output result with the onboard control output stored in the category, and judges the running state of the onboard control system according to the comparison result for many times; the ground controller can store all data returned by wireless communication, display the running condition in the interface, correct the deviation in the control in real time by an instruction correction mode in the interface, analyze the data processing process in real time on line or off line so as to analyze the problems in the functional software design, and conveniently adjust, optimize and develop the software for the second time;
the camera is an intel real sense D435i depth camera which can recognize a minimum distance of 0.1m by vision, and the posture information of the camera can be calculated effectively and quickly by using the camera, it adopts the feature extraction and matching in the image by the feature transformation with invariable scale to obtain the preliminary feature matching point set, then, the obtained preliminary feature matching point set is screened out by adopting a random sampling consistency method to remove points with low matching precision and extract matching points with high matching precision in the image, the method is utilized to extract matching points with high matching precision from the images of the current frame and the next frame, the rotation data and the translation data of two adjacent frames are obtained by using the triangulation principle, and the posture change information of the camera can be obtained according to the rotation data and the translation data, and then converting the attitude information of the camera into the attitude information of the unmanned aerial vehicle through the coordinate relationship between the camera and the unmanned aerial vehicle. And finally, fusing the attitude information of the unmanned aerial vehicle obtained by the vision calculation with the attitude information obtained by the inertial system in a Kalman filtering mode to obtain accurate and reliable attitude information of the unmanned aerial vehicle.
The loosely-coupled unmanned aerial vehicle control system provided by the invention can improve the processing efficiency of the processor, realize higher flexibility and stronger system expansion capability of a software system and meet the requirement of the universality of the unmanned aerial vehicle system while ensuring the real-time performance of the system.
Drawings
Fig. 1 is a schematic structural diagram of a loosely coupled unmanned aerial vehicle control system according to an embodiment of the present invention.
Fig. 2 is a schematic view of the installation position of the inertial system module and the camera according to the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
A loosely coupled unmanned aerial vehicle control system comprises an unmanned aerial vehicle airborne system and a ground control system. The loose coupling unmanned aerial vehicle control system comprises an unmanned aerial vehicle, an inertia system module, a camera, an airborne controller and a wireless communication module. The inertial system module the camera the airborne controller and the wireless communication module are all arranged on the unmanned aerial vehicle, and the inertial system module the camera and the wireless communication module are all electrically connected with the airborne controller. The ground control system comprises a ground controller and wireless communication, wherein the ground controller is electrically connected with the wireless communication. The unmanned aerial vehicle airborne control system is in communication connection with the ground control system.
As a preferred mode of the present invention, the inertial system module of the unmanned aerial vehicle is a nine-axis attitude sensor module HI229 manufactured by the super nuclear electronics technologies company, which is integrated with a three-axis gyroscope, a three-axis acceleration meter, and a three-axis magnetometer. The newly developed data fusion algorithm is adopted in the module, the algorithm has extremely small data delay and phase distortion (less than 2.5ms), six axes of the algorithm deviate from zero by 0-0.5 degrees/min, nine axes of the algorithm have no drift, and the stability of the module is extremely good.
As a preferred mode of the invention, an intel real sense D435i depth camera is selected as a camera of the unmanned aerial vehicle, which can better mine environmental depth information and make visual modeling map data more reliable and stable by visually recognizing a minimum distance of 0.1 m.
As a preferred mode of the invention, the ground controller communicates with the unmanned aerial vehicle in a high-speed wireless communication mode, so that the real-time high efficiency of data transmission between the unmanned aerial vehicle and a ground system can be effectively ensured. The unmanned aerial vehicle and the airborne controller communicate in an Ethernet communication mode, and the real-time performance of data transmission between the unmanned aerial vehicle and the airborne device is guaranteed.
As a preferred mode of the invention, the processor of the onboard controller is Intel Core i 7-8550U; the processor of the ground controller is Intel Core i 7-8700K. Both of them adopt the Kurui i7 eight-generation processor, which can effectively ensure the real-time of data processing.
It should be noted that, in this embodiment, the inertial system module is for obtaining three-axis acceleration data, three-axis gyroscope data, and three-axis geomagnetic meter data of the unmanned aerial vehicle during flight. The camera is used for obtaining image depth data of the unmanned aerial vehicle in the flying process, then the obtained image data is used for estimating the attitude of the camera and carrying out visual modeling positioning on environment data obtained by the camera, then accurate attitude information of the unmanned aerial vehicle is obtained by fusing the attitude data of the unmanned aerial vehicle obtained by the inertial system and the estimated attitude data obtained by the camera, and finally the unmanned aerial vehicle is subjected to flying navigation by combining modeling information on the basis.
It should be noted that, in this embodiment, the inertial system module is installed at a geometric center position of the bottom support platform of the unmanned aerial vehicle, and a three-axis coordinate system of the unmanned aerial vehicle is established based on the geometric center position. The camera is fixedly installed at a position 15 cm below the inertial system module through the installation device, so that the coincidence between the coordinate system of the unmanned aerial vehicle and the coordinate system of the camera is guaranteed, and the coordinate change operation during fusion of the attitude data of the inertial system and the attitude data of the camera is reduced.
In this embodiment, the ground controller and the onboard controller both control the unmanned aerial vehicle in a loose coupling manner, that is, the unmanned aerial vehicle classifies all data obtained by its own measurement according to different categories, and then encapsulates the data of each category into a message category, where each message category includes original data obtained by the unmanned aerial vehicle, control output expected data of the onboard controller, and control output expected data of the ground controller. The functional tasks in the airborne controller and the ground controller are designed to be data processed according to message data related to task function subscription which needs to be completed by the airborne controller and the ground controller.
Meanwhile, in the embodiment, the subscription relationship between the controller and the message to be subscribed is managed by the manager created by the controller. The controller firstly provides a binding subscription application to the manager, and the manager records the message to be bound and creates a mapping relation between the message and the functional task providing the application, so that the data transmission efficiency and the data processing efficiency of the controller are effectively improved.
Meanwhile, it should be noted that, in this example, the ground controller can display the operation condition of the onboard control system in real time, and can pass the onboard controller to adjust and modify the execution condition of the unmanned aerial vehicle in a manner of sending a message command according to the actual operation condition. And the ground controller can also record and store the information data of the unmanned aerial vehicle received in real time through high-speed wireless communication into a ground computer, then carry out secondary restoration of the flight condition according to the offline data stored by the computer, analyze the problems in the functional software design according to the restoration of the flight condition, and analyze and debug the reason data generated by the problems. Problems are found through debugging, so that adjustment, optimization and secondary development of software are facilitated, and higher flexibility and stronger system expansion and contraction capacity of a software system are realized.
Claims (1)
1. A loosely-coupled unmanned aerial vehicle control system comprises an unmanned aerial vehicle airborne system and a ground control system; unmanned aerial vehicle airborne system includes: the device comprises an inertial system module, a camera, an onboard controller and a wireless communication module; the inertial system module, the camera and the wireless communication module are electrically connected with the airborne controller; the ground control system comprises a ground controller and a wireless communication module, wherein the ground controller is electrically connected with the wireless communication module; the unmanned aerial vehicle airborne system and the ground control system realize data interaction through respective wireless communication modules; the inertial system module includes: accelerometers, gyroscopes, geomagnetism; acquiring environmental data through a camera, calculating the attitude of the unmanned aerial vehicle and the surrounding environment state of the unmanned aerial vehicle, acquiring data through an inertial system module, calculating the attitude of the unmanned aerial vehicle, fusing the attitudes of the unmanned aerial vehicle and the unmanned aerial vehicle, and controlling the unmanned aerial vehicle by combining the surrounding environment state of the unmanned aerial vehicle;
the ground controller and the airborne controller both adopt a loose coupling mode to control the unmanned aerial vehicle; the control method for controlling the unmanned aerial vehicle in the loose coupling mode comprises the following steps:
unmanned aerial vehicle machine carries system end:
the on-board controller classifies the obtained data into different categories, including power category data, position category data and camera category data, and each category comprises: original data measured by self type, control output expected data of an airborne controller and control output expected data of a ground controller;
when the unmanned aerial vehicle takes off or does not need to track a target, the onboard controller needs to subscribe position data and power data of the unmanned aerial vehicle, the onboard controller analyzes and calculates acceleration data, attitude data, geomagnetic data and environmental air pressure data of the unmanned aerial vehicle, data are fused and converted into coordinate data of the unmanned aerial vehicle in the environment, the actual coordinate information of the unmanned aerial vehicle is used for calculating the motion characteristic of the unmanned aerial vehicle to be realized next, power pulse modulation control data are output after the motion characteristic is analyzed, and the electric controller is controlled to convert the output data into an alternating current control signal required by a motor so as to control the motion of the unmanned aerial vehicle; when the unmanned aerial vehicle needs to track a target, the onboard controller not only needs to subscribe position data and power data of the unmanned aerial vehicle, but also needs to subscribe camera data; the airborne controller needs to analyze and calculate target depth data, target attitude data, target characteristic data and target ranging data of cameras, extract targets, calculate coordinate information of the targets relative to the cameras, and calculate coordinate data of the targets relative to the unmanned aerial vehicles through coordinate conversion; calculating the motion characteristic of the unmanned aerial vehicle according to the calculated coordinate data, and outputting motion control as control information of a motor so as to realize the tracking of the unmanned aerial vehicle on a target;
ground control system end:
the ground controller classifies the obtained data according to different categories, including power data, position data and camera data; the ground controller can process the subscription data required to be processed by the movement of the unmanned aerial vehicle in real time on the ground control system according to the processing mode of the onboard controller, then compares the processed calculation output result with the onboard control output stored in the category, and judges the running state of the onboard control system according to the comparison result for many times; the ground controller can store all data returned by wireless communication, display the running condition in the interface, correct the deviation in the control in real time by an instruction correction mode in the interface, analyze the data processing process in real time on line or off line so as to analyze the problems in the functional software design, and conveniently adjust, optimize and develop the software for the second time;
the camera is an intel real sense D435i depth camera which can recognize a minimum distance of 0.1m by vision, and the posture information of the camera can be calculated effectively and quickly by using the camera, it adopts the feature extraction and matching in the image by the feature transformation with invariable scale to obtain the preliminary feature matching point set, then, the obtained preliminary feature matching point set is screened out by adopting a random sampling consistency method to remove points with low matching precision and extract matching points with high matching precision in the image, the method is utilized to extract matching points with high matching precision from the images of the current frame and the next frame, the rotation data and the translation data of two adjacent frames are obtained by using the triangulation principle, and the posture change information of the camera can be obtained according to the rotation data and the translation data, then converting the attitude information of the camera into the attitude information of the unmanned aerial vehicle through the coordinate relationship between the camera and the unmanned aerial vehicle; and finally, fusing the attitude information of the unmanned aerial vehicle obtained by the vision calculation with the attitude information obtained by the inertial system in a Kalman filtering mode to obtain accurate and reliable attitude information of the unmanned aerial vehicle.
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