CN111891385A - Unmanned aerial vehicle orientation module test system - Google Patents
Unmanned aerial vehicle orientation module test system Download PDFInfo
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- CN111891385A CN111891385A CN202010822801.1A CN202010822801A CN111891385A CN 111891385 A CN111891385 A CN 111891385A CN 202010822801 A CN202010822801 A CN 202010822801A CN 111891385 A CN111891385 A CN 111891385A
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- aerial vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
Abstract
When the unmanned aerial vehicle executes a ground target searching task, ground information is returned to the target tracking module through the camera, the target tracking module identifies a target through comparing picture information shot by the camera in real time with a stored target sample, and the unmanned aerial vehicle is guided to track and position the target. Target identification and positioning is a complex process, and can be completed by hundreds of times of improvement of simulation tests. Various uncertain factors can be met in the existing unmanned aerial vehicle actual measurement improvement process to cause a series of risks such as out of control, crash, explosion and the like. The invention provides a test system for a positioning module of an unmanned aerial vehicle, which is used for simulating the unmanned aerial vehicle to carry the positioning module and a pan-tilt camera to search a ground target in the air and identifying, positioning and tracking the ground target. The simulation unmanned aerial vehicle is installed on the revolving stage, and the revolving stage is installed on the slip table, and the moving target is installed on the structure platform. The positioning module test system effectively avoids the risks and losses of the existing unmanned aerial vehicle such as out-of-control unmanned aerial vehicle, crash and explosion caused by uncertain factors in the actual measurement improvement process of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle systems, in particular to a testing system for an unmanned aerial vehicle positioning module.
Background
When the unmanned aerial vehicle executes a ground target searching task, ground information is returned to the target tracking module through the camera, the target tracking module identifies a target through comparing picture information shot by the camera in real time with a stored target sample, and the unmanned aerial vehicle is guided to track and position the target. Target identification and positioning is a complex process, and can be completed by hundreds of times of improvement of simulation tests. In the existing unmanned aerial vehicle actual measurement improvement process, various uncertain factors can cause series of risks such as out of control, crash, explosion and the like, and a simulation test system needs to be established for simulating the identification, positioning and tracking process of the unmanned aerial vehicle on a ground target in the air.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides an unmanned aerial vehicle orientation module test system for simulate unmanned aerial vehicle carry on orientation module and cloud platform camera and search for the ground target in the air, discern the tracking location to the ground target, avoid effectively that current unmanned aerial vehicle actual measurement improves the in-process because of uncertain factor leads to unmanned aerial vehicle out of control, crash, explode risks and losses such as machine.
The technical scheme provided by the invention is as follows: an unmanned aerial vehicle positioning module test system is characterized by comprising an upper computer, a controller, a simulation unmanned aerial vehicle, a laser, a moving target, a sliding table, a rotary table and a structural platform; the simulation unmanned aerial vehicle is installed on the rotary table, the rotary table is installed on the sliding table, and the moving target is installed on the structural platform.
Further, the upper computer controls the sliding table, the rotary table and the moving target to move through the controller.
Furthermore, the controller is a multi-axis controller, multiple axes can be linked simultaneously, and the controller receives an instruction of the upper computer in real time to control the movement of the sliding table, the rotary table and the moving target.
Furthermore, the simulated unmanned aerial vehicle consists of a flight control module, a positioning module and a camera; the working process of the positioning module is divided into three stages: the method comprises a target identification test stage, a positioning judgment test stage and a positioning guide stage.
Stage one, identifying a target test stage: the camera shoots ground information in real time, shot pictures are transmitted to the positioning module and the upper computer, and the positioning module identifies and positions the moving target according to the comparison between the pictures transmitted by the camera and target sample pictures stored in a sample characteristic information base.
Stage two, positioning judgment test stage: after the positioning module identifies the moving target, the positioning module calculates the relative position of the moving target and sends a position and an identification positioning signal to the flight control, the flight control sends the simulated unmanned aerial vehicle position and posture information to the positioning module, and the upper computer controls the adjustment of the rotary table to position the moving target by monitoring the communication information between the positioning module and the flight control and outputs the information.
Stage three, positioning and guiding stage: after the positioning module positions the moving target, the positioning module guides the simulation unmanned aerial vehicle to perform attitude adjustment so as to position the moving target, the positioning module sends a data signal to the flight control, and the upper computer guides the simulation unmanned aerial vehicle to be close to the moving target by monitoring communication between the positioning module and the flight control. The positioning module guides the simulated unmanned aerial vehicle to position and track the moving target on the ground.
Furthermore, the lasers are arranged on the camera in parallel and linked with the camera; and when the positioning module positions the moving target, a signal is sent to the laser, and the laser emits auxiliary positioning laser to indicate the moving target so as to actually observe whether the moving target is positioned.
Further, the upper computer comprises a computer and a display screen; the function of the upper computer comprises inputting various simulation test environments, testing the identification and positioning effects of the positioning module in each environment, and keeping monitoring the communication information between the positioning module and the flight control; after the test, the host computer outputs test results such as relevant test data, images and the like for data analysis, so that the follow-up actual flight test of the unmanned aerial vehicle is facilitated.
Further, the moving target consists of an equal proportion model and a moving belt; the upper computer controls the horizontal movement of the moving belt through the controller to drive the moving target to move.
Further, the slip table is controlled by the host computer through controller horizontal, vertical movement for the removal of simulation unmanned aerial vehicle.
Further, the revolving stage contains mutually perpendicular's diaxon, the host computer passes through the controller control the diaxon is rotatory for the every single move and the roll of simulation unmanned aerial vehicle.
Furthermore, the structure platform is composed of steel structural members or aluminum profiles and is used for building the structure of the whole test system.
Compared with the prior art, the invention has the advantages and positive effects that: unmanned aerial vehicle orientation module test system, through the various simulation test environment of input, simulation unmanned aerial vehicle carries on orientation module and cloud platform camera and searches for the ground target in the air, discern the location tracking to the ground target, test unmanned aerial vehicle orientation module's discernment location effect under each environment, output relevant test data, test results such as image, for data analysis, be convenient for follow-up unmanned aerial vehicle actual flight test, it is out of control because of uncertain factor leads to unmanned aerial vehicle in the improvement process to avoid current unmanned aerial vehicle actual measurement effectively, the crash, risk and loss such as explode.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a functional block diagram of a positioning module testing system of an unmanned aerial vehicle.
Fig. 2 is a control schematic diagram of the unmanned aerial vehicle positioning module test system.
Fig. 3 is a schematic diagram of communication between the upper computer monitoring and positioning module and the flight control.
In the figure: 1. an upper computer; 2. a controller; 3. simulating an unmanned aerial vehicle; 4. a laser; 5. moving the target; 6. a sliding table; 7. a turntable; 8. and (5) a structural platform.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, this embodiment has related to an unmanned aerial vehicle orientation module test system, including host computer 1, controller 2, simulation unmanned aerial vehicle 3, laser instrument 4, moving target 5, slip table 6, revolving stage 7 and structural platform 8. The simulated unmanned aerial vehicle 3 is arranged on a rotary table 7, the rotary table 7 is arranged on a sliding table 6, and a moving target 5 is arranged on a structural platform 8.
Further, the software of the upper computer 1 supports secondary development, and the controller 2 controls the sliding table 6, the rotary table 7 and the moving target 5 to move. The communication interface between the upper computer 1 and the controller 2 can adopt a serial port, a USB or an Ethernet.
Further, the controller 2 is a multi-axis controller, can link six axes simultaneously, and receives the instruction of the upper computer 1 in real time to control the movement of the sliding table 6, the rotary table 7 and the moving target 5.
Further, as shown in fig. 2, the simulated unmanned aerial vehicle 3 is composed of a flight control module, a positioning module and a camera. The working process of the positioning module is divided into three stages: the method comprises a target identification test stage, a positioning judgment test stage and a positioning guide stage. After each identification and positioning test, the test is repeated for a certain number of times to obtain the identification rate and the positioning accuracy rate.
Stage one, identifying a target test stage: the camera shoots ground information in real time, and transmits the shot picture to the positioning module and the upper computer 1. The communication between the camera and the upper computer 1 adopts an HDMI interface. And the positioning module identifies a positioning target by comparing the picture returned by the camera with the target sample picture stored in the sample characteristic information base. Whether the positioning module can accurately identify the target object is determined through the process from the absence to the absence of the target object under the camera, and the accurate identification function of the positioning module on various complex targets on the ground is tested.
Stage two, positioning judgment test stage: after the positioning module identifies the target, the positioning module calculates the relative position of the target and sends the position and the identification positioning signal to the flight control. The flight control positioning module sends unmanned aerial vehicle position attitude information, and serial TTL 3.3v 57600 is adopted in the communication of the flight control and positioning module. The upper computer 1 controls the adjustment of the rotary table 7 to position the target by monitoring the communication information between the positioning module and the flight control module, and outputs the information. It is tested whether the positioning module can correctly output the positioning signal when the positioning condition is achieved under various conditions. Fig. 3 is a schematic diagram of the upper computer 1 monitoring communication between the positioning module and the flight control, the upper computer 1 uses two serial ports, RX ends of the two serial ports are respectively connected with a TX end of the positioning module and a TX end of the flight control module, the serial port 1 receives data sent by the flight control to the positioning module, the serial port 2 receives data sent by the positioning module to the flight control, and the upper computer 1 uses two serial port tools to respectively read information of the two serial ports.
Stage three, positioning and guiding stage: after the positioning module positions the moving target 5, the positioning module guides the simulated unmanned aerial vehicle 3 to perform attitude adjustment to position the moving target 5. The positioning module sends a data signal to the flight control, and the upper computer 1 guides the simulation unmanned aerial vehicle 3 to approach the moving target 5 by monitoring communication between the positioning module and the flight control. What is tested is that the positioning module guides the simulated unmanned aerial vehicle 3 to perform attitude adjustment to position the target. The positioning module guides the unmanned aerial vehicle to position and track the ground target.
Further, the simulated drone 3 has a maximum weight of 2kg and a length and width of 200mm, respectively.
Further, the lasers 4 are arranged on the camera in parallel, and the lasers 4 are linked with the camera. When the positioning module positions the target, a signal is sent to the laser 4, and the laser 4 emits auxiliary positioning laser to indicate the moving target 5 so as to actually observe whether the moving target 5 is positioned.
Further, the upper computer 1 comprises a computer and a display screen. The function of the upper computer 1 comprises inputting various simulation test environments, testing the identification and positioning effects of the positioning module in each environment, and keeping the communication information of the monitoring and positioning module and the flight control. After the test is finished, test results such as relevant test data and images are output to supply data analysis, and follow-up actual flight test of the unmanned aerial vehicle is facilitated.
Further, the moving object 5 is composed of an equal-scale model and a moving belt. The length, width and height of the moving target 5 were 400 mm, 200mm and 200mm, respectively, and the maximum weight of the moving target 5 was 2 kg. The upper computer 1 controls the horizontal movement of the moving belt through the controller 2 to drive the moving target 5 to move, the horizontal movement range is 0-5m, the maximum movement speed is 2.5m/s, the movement precision is 1mm, and the follow-up control of the upper computer 1 is supported.
Further, the sliding table 6 is controlled to horizontally and vertically move by the upper computer 1 through the controller 2 and is used for simulating the movement of the unmanned aerial vehicle 3. The horizontal movement range of the sliding table 6 is 0-5m, the vertical movement range is 0.5-3m, the maximum movement speed in the horizontal direction is 2.5m/s, the maximum movement speed in the vertical direction is 1m/s, the position precision is 1mm, the upper computer 1 is supported to perform follow-up control, and the maximum load provided by the sliding table 6 is 20 kg.
Further, the rotary table 7 comprises two shafts which are perpendicular to each other, and the upper computer 1 controls the two shafts to rotate through the controller 2 so as to simulate pitching and rolling of the unmanned aerial vehicle 3. The pitch direction angle is +/-30 degrees, the roll direction angle is +/-30 degrees, the precision is 0.1 degree, the maximum angular speed is 15 degrees/s, the angular speed precision is 0.1 degrees/s, and the maximum load of the rotary table 7 is 2 kg.
Further, the structural platform 8 is composed of a steel structural member or an aluminum profile and is used for building the structure of the whole testing system.
Compared with the prior art, the invention has the advantages and positive effects that: unmanned aerial vehicle orientation module test system, through the various simulation test environment of input, simulation unmanned aerial vehicle 3 carries on orientation module and cloud platform camera and searches for the ground target in the air, discern the tracking location to the ground target, test unmanned aerial vehicle orientation module's discernment location effect under each environment, output relevant test data, test results such as image, for data analysis, be convenient for follow-up unmanned aerial vehicle actual flight test, it is out of control because of uncertain factor leads to unmanned aerial vehicle in the improvement process of current unmanned aerial vehicle actual measurement effectively, the crash, risk and loss such as explode. The system repeated positioning precision is less than 2 mm.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An unmanned aerial vehicle positioning module test system is characterized by comprising an upper computer, a controller, a simulation unmanned aerial vehicle, a laser, a moving target, a sliding table, a rotary table and a structural platform; the simulation unmanned aerial vehicle is installed on the rotary table, the rotary table is installed on the sliding table, and the moving target is installed on the structural platform.
2. The unmanned aerial vehicle positioning module test system of claim 1, wherein the host computer controls the movement of the sliding table, the turntable, and the moving target through the controller.
3. The unmanned aerial vehicle positioning module test system of claim 2, wherein the controller is a multi-axis controller, and multiple axes can be linked simultaneously to receive the instruction of the upper computer in real time to control the movement of the sliding table, the turntable and the moving target.
4. The unmanned aerial vehicle positioning module testing system of claim 1, wherein the simulated unmanned aerial vehicle is comprised of a flight control, a positioning module, and a camera; the working process of the positioning module is divided into three stages:
stage one, identifying a target test stage: the camera shoots ground information in real time, and transmits shot pictures to the positioning module and the upper computer, and the positioning module identifies and positions the moving target according to the comparison between the pictures transmitted back by the camera and target sample pictures stored in a sample characteristic information base;
stage two, positioning judgment test stage: after the positioning module identifies the moving target, the positioning module calculates the relative position of the moving target and sends a position and an identification positioning signal to the flight control, the flight control sends the simulated unmanned aerial vehicle position and posture information to the positioning module, and the upper computer controls the adjustment of the rotary table to position the moving target by monitoring the communication information between the positioning module and the flight control and outputs the information;
stage three, positioning and guiding stage: after the positioning module positions the moving target, the positioning module guides the simulated unmanned aerial vehicle to perform attitude adjustment so as to position the moving target, the positioning module sends a data signal to the flight control, and the upper computer guides the simulated unmanned aerial vehicle to approach the moving target by monitoring communication between the positioning module and the flight control; the positioning module guides the simulated unmanned aerial vehicle to position and track the moving target on the ground.
5. The unmanned aerial vehicle positioning module testing system of claim 4, wherein the laser is mounted in parallel on the camera, the laser being in linkage with the camera; and when the positioning module positions the moving target, a signal is sent to the laser, and the laser emits auxiliary positioning laser to indicate the moving target so as to actually observe whether the moving target is positioned.
6. The unmanned aerial vehicle positioning module testing system of claim 4, wherein the upper computer comprises a computer, a display screen; the function of the upper computer comprises inputting various simulation test environments, testing the identification and positioning effects of the positioning module in each environment, and keeping and monitoring the communication information between the positioning module and the flight control; and after the test is finished, the upper computer outputs test results such as related test data, images and the like.
7. The unmanned aerial vehicle positioning module test system of claim 1, wherein the moving target is comprised of an equal scale model and a moving belt; the upper computer controls the horizontal movement of the moving belt to drive the moving target to move through the controller.
8. The unmanned aerial vehicle positioning module test system of claim 1, wherein the slipway is controlled by the upper computer through the controller to move horizontally and vertically for simulating the movement of the unmanned aerial vehicle.
9. The unmanned aerial vehicle positioning module testing system of claim 1, wherein the turntable comprises two shafts perpendicular to each other, and the upper computer controls the two shafts to rotate through the controller so as to simulate pitching and rolling of the unmanned aerial vehicle.
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