CN112506098A - LTCC-based monolithic unmanned aerial vehicle integrated navigation flight control micro system - Google Patents
LTCC-based monolithic unmanned aerial vehicle integrated navigation flight control micro system Download PDFInfo
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Abstract
The invention relates to an LTCC-based monolithic unmanned aerial vehicle integrated navigation flight control micro system, and belongs to the field of unmanned aerial vehicle navigation flight control and micro systems. The microsystem comprises: the device comprises an LTCC circuit, an airspeed meter chip arranged on the top layer of the LTCC circuit, an IPX seat connected with a Beidou navigation antenna, a navigation CPU, a flight control CPU, a power supply chip, a surface-mounted large-capacity capacitor, an inductor and a precision resistor; a three-axis accelerometer chip, a Z-axis gyroscope chip, a three-axis magnetic field meter chip, an altimeter chip, a Beidou navigation chip, a memory chip, an operational amplifier chip, an RS232 chip, an RS422 chip, an I/O interface chip, a crystal oscillator, a surface-mounted large-capacity capacitor, an inductor and a precision resistor are arranged in the bottom layer cavity; and the side wall is provided with an X-axis gyro chip and a Y-axis gyro chip. The invention adopts a micro-system architecture and single-chip manufacturing, greatly reduces the volume and the weight, and can meet the navigation and autonomous flight control requirements of the micro unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle navigation flight control and microsystems, and relates to a single-chip unmanned aerial vehicle integrated navigation flight control microsystem based on LTCC.
Background
The micro unmanned aerial vehicle has the advantages of simple structure, high safety, low cost, simplicity and convenience in use and the like, and is widely applied to the fields of reconnaissance, target monitoring and tracking, information collection, information relay, geographical mapping, disaster relief and the like. With the deep application and the development of the industry, the micro unmanned aerial vehicle provides further higher requirements on a navigation flight control system, such as small volume, light weight, high reliability and high precision. The existing navigation flight control system is composed of a navigation sensor module, a component, a plurality of navigation circuit boards, a flight control circuit board, an external structural member and the like which are separated, and the traditional design architecture and manufacturing mode can not adapt to the development requirements of the micro unmanned aerial vehicle.
Disclosure of Invention
In view of the above, the invention aims to provide an integrated navigation flight control microsystem of a single-chip type unmanned aerial vehicle based on LTCC, which solves the problem of high precision, miniaturization, light weight and other requirements of the navigation flight control system of the microminiature unmanned aerial vehicle.
In order to achieve the purpose, the invention provides the following technical scheme:
a monolithic unmanned aerial vehicle integrated navigation flight control micro-system based on Low Temperature Co-fired Ceramic (LTCC), comprising: LTCC circuit, and
the device comprises an airspeed meter chip 2 arranged on the top layer 1 of the LTCC circuit, an IPX seat 5 connected with a Beidou navigation antenna, a navigation CPU6, a flight control CPU 7, a power supply chip 8, a surface-mounted high-capacity capacitor, an inductor, a precision resistor and other chips;
a three-axis accelerometer chip 12, a Z-axis gyroscope chip 15, a three-axis magnetometer chip 14, an altimeter chip 13, a Beidou navigation chip 16, a memory chip 11, an operational amplifier chip 17, an RS232 chip 19, an RS422 chip 18, an I/O interface chip, a high-precision crystal oscillator, a surface-mounted high-capacity capacitor, an inductor, a precision resistor and other chips are arranged in the LTCC circuit bottom layer cavity 10;
an X-axis gyro chip 3 and a Y-axis gyro chip 4 are arranged on the side wall of the LTCC circuit;
the navigation CPU6 is respectively connected and communicated with X, Y, Z triaxial gyro chip, triaxial accelerometer chip 12, altimeter chip 13, airspeed meter chip 2, triaxial magnetometer chip 14 and Beidou navigation chip 16; the flight control CPU 7 is respectively connected with an RS232 chip 19 and an RS422 chip 18 for communication, is also connected with the navigation CPU6 through a data bus, sends all navigation parameters and sensor data to the flight control CPU, and receives flight control commands;
the top layer and the bottom layer of the LTCC circuit are parallel to each other, and the top surface and the bottom layer of the LTCC circuit are perpendicular to the side surfaces.
Preferably, the navigation CPU6 is connected with and communicates with X, Y, Z a triaxial gyro chip, a triaxial accelerometer chip 12, an altimeter chip 13, and an airspeed meter chip 2, respectively, by using an SPI interface, and collects data such as triaxial angular rate, triaxial acceleration, atmospheric pressure, and airspeed pressure difference; the navigation CPU6 is connected with the triaxial magnetometer chip 14 for communication by adopting an IIC interface, and acquires triaxial magnetometer data; the navigation CPU6 is connected with the Beidou navigation chip 16 through a UART1 interface for communication, controls Beidou navigation parameters, receives NMEA0183 navigation data output by the Beidou navigation chip 16, and sends Beidou differential data uploaded by a ground Beidou reference station through a data chain to the Beidou navigation bucket chip 16.
Preferably, the beidou navigation chip 16 can adopt a differential beidou navigation chip.
Preferably, the navigation CPU6 uses a UART2 interface to communicate with other modules of the drone.
Preferably, the flight control CPU 7 acquires 4 channels of analog signals (including 2 sets of unmanned aerial vehicle battery voltage, flight control circuit voltage, and navigation circuit voltage) of the unmanned aerial vehicle through the signal conditioning circuit and the AD circuit; outputting an analog control signal through the DA signal; the memory chip 11 stores data such as flight waypoints, flight configuration parameters and the like; the 2 RS422 chips 18 are connected with the data link I and wirelessly communicate with a ground station to realize the functions of remote measurement and remote control; the 2-path RS232 chip 19 is connected with the data link II and the task load, receives differential data sent by the ground Beidou differential station, and communicates with task load equipment (a photoelectric pod, a radar and the like); reserving a path of CAN interface; the flight control CPU 7 outputs 16 paths of PWM signals to respectively control 4-8 paths of power devices such as a rotor motor of the unmanned aerial vehicle, an accelerator, a left aileron steering engine, a right aileron steering engine, a left V-tail steering engine and a right V-tail steering engine; the digital I/O interface is used for controlling switches such as starting or loading, monitoring the digital quantity state, measuring the rotating speed of the motor and the like.
Preferably, the power supply chip 8 includes: a DC-DC power supply chip and an LDO chip.
Preferably, the cavity depth of the cavity 10 of the bottom layer of the LTCC circuit is 3 mm.
Preferably, the control method of the microsystem includes: after the navigation CPU6 collects sensors such as an X/Y/Z axis gyroscope, a three-axis accelerometer, a three-axis magnetic field meter, an altimeter, an airspeed meter and the like and Beidou data, filtering and error compensation processing are carried out, inertial navigation, geomagnetic navigation, Beidou navigation resolving and atmospheric data calculation are carried out, adaptive Kalman filtering combined navigation is carried out, the optimal estimated attitude angle, speed, position, height, angular speed, acceleration and other navigation parameters of the unmanned aerial vehicle are calculated, the parameters are sent to a flight control CPU 7, and the flight control CPU controls power devices such as a rotor wing, an aileron, a flap, a rudder, a lifting rudder, an accelerator and the like of the unmanned aerial vehicle by adopting an adaptive control algorithm, so that the tasks of taking off and landing, horizontal flight, lateral flight, linear flight, hovering and directional flight, flying according to a planned flight path, automatic driving, return.
Preferably, the microsystem manufacturing method specifically comprises the following steps:
step 1: manufacturing an LTCC circuit according to a single-chip integrated navigation flight control micro-system LTCC circuit layout, simultaneously making 50-ohm impedance matching on Beidou radio-frequency signals, ensuring that the front surface and the bottom surface are smooth and parallel, and the front surface, the ground and the side surface are vertical, and selecting qualified LTCC circuit boards after the circuit manufacturing is finished;
step 2: the chip mounting of the top layer of the LTCC circuit board is carried out by adopting high-temperature soldering paste, and the chip of the airspeed meter is not mounted;
and step 3: mounting a chip in a bottom layer cavity of the LTCC circuit board by using low-temperature soldering paste;
and 4, step 4: welding an LTCC side chip and an airspeed meter chip, wherein an X, Y-axis gyro chip is manually welded to the side surface of the LTCC circuit, and the airspeed meter chip is welded on the top layer;
and 5: calibrating various sensors, namely installing a navigation flight control micro system on a clamp, then installing the navigation flight control micro system on a turntable, calibrating zero positions, proportionality coefficients, cross couplings and temperature coefficients of a gyroscope and an accelerometer, calibrating error coefficients of a magnetometer, and calibrating an air pressure altimeter chip and an air speed meter chip by using a standard air pressure system;
step 6: the navigation and flight control program programming is to write the calibrated and compensated sensor parameters into the navigation program and the flight control program and to burn the programs into the navigation CPU and the flight control CPU;
and 7: and testing the monolithic integrated navigation flight control micro system, inspecting according to the standard, finishing the manufacture after the system is qualified, and warehousing products.
The invention has the beneficial effects that: the invention is designed and manufactured by adopting a micro-system technology, the navigation flight control micro-system takes LTCC as a structural body, high-density and multilayer wiring is simultaneously carried out inside the LTCC, various navigation source sensors, a navigation resolving CPU, a flight control CPU, a navigation circuit, a flight control circuit and the like are integrated on the LTCC in a high-precision three-dimensional manner, the technology greatly improves the system integration level, has good heat conductivity and high reliability, and the navigation flight control system is integrally manufactured in structure and function, so that compared with the traditional unmanned aerial vehicle navigation system and flight control system structure, the volume and the weight are reduced in multiples, and the precision and the reliability are greatly improved. The method has the following specific beneficial effects:
1) the integrated navigation flight control micro system is small in size, is only composed of a single LTCC ceramic circuit, is only 32mm multiplied by 20mm multiplied by 7mm in size, and is 110 times smaller than that of the existing unmanned aerial vehicle navigation flight control system.
2) The single-chip type navigation flight control micro-system is light in weight, the weight of the single-chip type navigation flight control micro-system is less than 10g, and the single-chip type navigation flight control micro-system is 1/40 of an existing unmanned aerial vehicle navigation flight control system.
3) The power consumption is low, the micro-system architecture is adopted, the power consumption can be as low as 0.6W, and the power consumption is 1/10 of the power consumption of the conventional navigation flight control system.
4) The integrated navigation flight control micro-system software can be flexibly configured, and can meet the navigation and flight control of various unmanned aerial vehicles such as a rotor wing, a fixed wing, a mixed layout (combination of the rotor wing and the fixed wing) and the like by programming different flight control software.
5) The LTCC is integrally manufactured in a structure function mode, is not only a navigation flight control electric performance carrier, but also a structural body, and is directly installed in an unmanned aerial vehicle after being manufactured, so that the navigation and flight control functions are completed.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a top view of an integrated navigation flight control micro-system of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a bottom view of the integrated navigation flight control microsystem of the unmanned aerial vehicle of the present invention;
FIG. 3 is an exploded view of an integrated navigation flight control microsystem architecture of the unmanned aerial vehicle of the present invention;
FIG. 4 is a composition diagram of an integrated navigation flight control microsystem of the unmanned aerial vehicle;
FIG. 5 is a flow chart of the integrated navigation flight control microsystem of the unmanned aerial vehicle;
reference numerals: the device comprises a 1-LTCC circuit top layer, a 2-airspeed meter chip, a 3-X axis gyro chip, a 4-Y axis gyro chip, a 5-IPX seat, a 6-navigation CPU, a 7-flight control CPU, an 8-power chip, a 9-pin bonding pad, a 10-LTCC circuit bottom cavity, an 11-memory chip, a 12-three-axis accelerometer chip, a 13-altimeter chip, a 14-three-axis magnetic field meter chip, a 15-Z axis gyro chip, a 16-Beidou navigation chip, a 17-operational amplifier chip, an 18-RS422 chip and a 19-RS232 chip.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 5, the integrated navigation flight control micro system is designed in the present embodiment, and the physical architecture thereof is shown in fig. 1 to 3. The microsystem is composed of a single LTCC circuit which is a physical carrier of various chips and a multilayer circuit board for signal connection among the chips, a plurality of resistors are embedded in the circuit, and a bonding pad at the bottom is used for electric signal connection of the navigation microsystem and a user carrier and is also used for structural fixation of the microsystem. The top plane is parallel to the bottom plane, and the top plane and the bottom cavity plane are strictly vertical to the side surface, so that an orthogonal guarantee is provided for the installation of an X, Y, Z triaxial sensor in the navigation flight control micro-system. The top of the LTCC circuit is a plane, the bottom of the LTCC circuit is a cavity, and the depth of the cavity is 3 mm.
1) The LTCC circuit top layer 1 is provided with an airspeed meter chip 2, an IPX seat 5 connected with a Beidou navigation antenna, a navigation CPU6, a flight control CPU 7, a power chip 8, a surface-mounted high-capacity capacitor, an inductor, a precision resistor and other chips.
The 8 groups of power supply chips respectively output 5V, analog 3.3V, digital 3.3V and digital 1.8V to provide power supplies for a gyroscope, an accelerometer, a magnetic field meter, an altimeter, an airspeed meter, an operational amplifier, a navigation CPU, a flight control CPU, a memory, RS232, RS422, a Beidou navigation chip and the like.
The flight control CPU 7 is connected with the RS422 chip through UART1 and UART2 serial ports respectively, and is connected with the unmanned aerial vehicle data chain 1, and the flight control CPU is communicated with the unmanned aerial vehicle ground control station through the data chain 1.
The flight control CPU 7 is connected with the RS232 chip through a UART4 serial port and is connected with a task load (such as a photoelectric pod) to control the task load to complete tasks such as searching, tracking and identifying and receive target data.
The flight control CPU 7 outputs PWM signals through PWM-16-path pins to control motors and steering engines such as a rotor wing, an aileron, a flap, a rudder, an elevator, an accelerator and the like.
The flight control CPU 7 is connected with switches such as starting switches, loads and the like and a measuring sensor through I/O pins 1-6 and outputs switch signals.
2) The bottom of the LTCC circuit is of a cavity structure, namely a three-axis accelerometer chip 12, a Z-axis gyroscope chip 15, a three-axis magnetic field meter chip 14, an altimeter chip 13 (an optional barometric altimeter chip), a Beidou navigation chip 16, a memory chip 11, an operational amplifier chip 17, an RS232 chip 19, an RS422 chip 18, an I/O interface chip, a high-precision crystal oscillator, a surface-mounted large-capacity capacitor, an inductor, a precision resistor and the like are arranged in a cavity 10 at the bottom of the LTCC circuit.
The triaxial accelerometer chip 12 is installed in LTCC bottom cavity, is connected with SPI1 interface of navigation CPU through SPI bus, outputs triaxial acceleration data.
The triaxial magnetometer chip 14 is connected to the IIC1 of the navigation CPU using an IIC bus, and outputs a triaxial magnetic field signal.
The altimeter chip 13 is connected to the SPI1 interface of the navigation CPU using an SPI bus, and outputs atmospheric pressure data.
The Beidou navigation chip 16 is connected with a UART2 interface of the navigation CPU by adopting a UART1, and outputs Beidou satellite navigation data.
The navigation CPU6 is connected with a UART6 interface of the flight control CPU by adopting UART6, the transmission speed is 2Mbps, and the navigation CPU sends data of the three-axis angular speed, the acceleration, the magnetic field signal, the air pressure altitude, the airspeed, the course, the attitude, the longitude, the latitude, the altitude, the magnetic course, the speed and the like of the unmanned aerial vehicle to the flight control CPU.
3) X-axis gyro chips 3 and Y-axis gyro chips 4 are installed respectively to LTCC circuit lateral wall, and three X, Y, Z planes of make full use of LTCC circuit are mutually perpendicular, realize mutual quadrature between the triaxial gyro, improve flight control system integration simultaneously.
X, Y axle gyro chips are respectively installed on the both sides lateral wall of LTCC, and Z axle gyro chip is installed on the front, forms the quadrature, is connected with navigation CPU's SPI1 interface through the SPI bus, output triaxial angular velocity data.
The voltage signal of the 3-path battery of the unmanned aerial vehicle is 0-60V, the signal conditioning is carried out through an operational amplifier, the voltage signal is converted into 0-3.3V, then the voltage signal is input into a built-in AD pin of a flight control CPU, the CPU acquires AD conversion data, and the voltage of the 3-path battery of the unmanned aerial vehicle is obtained through calculation.
As shown in fig. 4, the internal composition diagram of the microsystem includes: the DC-DC power supply and the LDO chip set respectively provide precise power supplies for various sensors, a navigation CPU, a flight control CPU and other chips.
The integrated navigation flight control micro-system of the embodiment mainly comprises two functional units, namely unmanned plane navigation and flight control.
The navigation functional unit takes a navigation CPU as a core, the navigation CPU is an ARM M7 core, the main frequency is 480MHz, and the navigation functional unit has the hardware double-precision floating point operation capability; the navigation CPU adopts an SPI interface to respectively communicate with an X, Y, Z triaxial gyro chip, a triaxial accelerometer, an altimeter chip and an airspeed meter chip, and acquires data such as triaxial angular rate, triaxial acceleration, atmospheric pressure, airspeed differential pressure and the like; collecting data of a three-axis magnetometer through an IIC interface; the Beidou navigation system is communicated with a Beidou navigation chip through a UART1 interface, Beidou navigation parameters are controlled, NMEA0183 navigation data output by the Beidou navigation chip are received, and Beidou differential data uploaded by a ground Beidou reference station through a data chain are sent to the Beidou navigation chip; communicating with other modules of the drone through UART 2; the system is connected with the flight control CPU through a data bus, sends all navigation parameters and sensor data to the flight control CPU, and receives flight control commands.
The unmanned plane flight control functional unit is a flight control circuit taking a flight control CPU as a core; the flight control CPU is an ARM M7 core, the main frequency can reach 480MHz at most, and the flight control CPU is provided with a hardware double-precision floating point operation unit; the flight control CPU acquires 4 paths of analog signals (comprising 2 sets of unmanned aerial vehicle battery voltage, flight control circuit voltage and navigation circuit voltage) of the unmanned aerial vehicle through the signal conditioning circuit and the AD circuit; outputting an analog control signal through the DA signal; the memory stores data such as flight waypoints, flight configuration parameters and the like; the 2 paths of RS422 communication are connected with the data link I and wirelessly communicate with the ground station to realize the functions of remote measurement and remote control; the 2-path RS232 communication is connected with the data link II and the task load, receives differential data sent by the ground Beidou differential station and communicates with task load equipment (a photoelectric pod, a radar and the like); 1 path of CAN communication is reserved; the flight control CPU outputs 16 paths of PWM signals to respectively control 4-8 paths of power devices such as a rotor motor of the unmanned aerial vehicle, an accelerator, a left aileron steering engine, a right aileron steering engine, a left V-tail steering engine, a right V-tail steering engine and the like; the digital I/O signals comprise switches for starting, loading and the like, monitoring the digital quantity state, measuring the rotating speed of the motor and the like.
The operating principle of the microsystem is as follows: after the navigation CPU collects the sensor such as a gyroscope, an accelerometer, a magnetometer, an altimeter, an airspeed meter and the like and Beidou data, the navigation CPU carries out filtering and error compensation processing, carries out inertial navigation, geomagnetic navigation, Beidou navigation resolving and atmospheric data calculation, carries out self-adaptive Kalman filtering combined navigation, calculates the optimal estimated attitude angle, speed, position, height, angular velocity, acceleration and other navigation parameters of the unmanned aerial vehicle, and sends the parameters to the flight control CPU. The flight control CPU controls power devices such as a rotor wing, an aileron, a flap, a rudder, an elevator, an accelerator and the like of the unmanned aerial vehicle by adopting a self-adaptive control algorithm, and realizes the tasks of taking off and landing, horizontal, lateral, linear, hovering and directional flight of the aircraft, flying according to a planned flight path, automatic driving, returning and the like.
An adaptive Kalman filtering algorithm is operated in a navigation CPU, differential Beidou high-precision positioning is used in a microsystem, and a Kalman filtering state equation is
Wherein F (t) is a state transition matrix, G (t) is a noise driving matrix, X (t) is an 18-order state variable, and the observation equation of the system is
In the formula, vVE、vVN、vL、vλ、vh、vψEast speed, north speed, latitude, longitude, altitude of Beidou differential (RTK) respectivelyMagnetic heading noise. Where v is the measurement white noise of the observed signal and is uncorrelated with the drive white noise W of the system. Errors of longitude, latitude, altitude and speed of Beidou differential navigation measurement change along with environment and time, and the micro system adopts an adaptive Kalman filtering algorithm to dynamically change observation noise in real time, so that the navigation flight control micro system has stronger adaptive capacity to the environment and higher precision.
The flight control system software comprises the parts of flight management, flight navigation, flight guidance, flight control, guidance law, data receiving and processing, system state monitoring, fault management and the like.
The manufacturing steps of the microsystem are shown in fig. 5, and specifically include the following steps:
step 1: according to the manufacturing LTCC circuit of the monolithic integrated navigation flight control micro-system LTCC circuit layout, 50-ohm impedance matching is needed to be done by Beidou radio-frequency signals, the front surface and the bottom surface are guaranteed to be flat and parallel, the front surface, the ground surface and the side surface are perpendicular, and after the circuit manufacturing is completed, the LTCC circuit board qualified in inspection is selected.
Step 2: and the chip on the top layer of the LTCC circuit board is pasted by adopting high-temperature soldering paste, and the airspeed meter is not pasted.
And step 3: and (3) mounting the chip in the bottom cavity of the LTCC circuit board by using low-temperature soldering paste.
And 4, step 4: LTCC side chip, airspeed meter welding adopt manual mode to weld X, Y axle top to LTCC circuit side, and the airspeed meter chip welds at the top layer.
And 5: and calibrating various sensors, namely installing the navigation flight control micro system on a clamp, then installing the navigation flight control micro system on a turntable, calibrating the zero position, the proportionality coefficient, the cross coupling and the temperature coefficient of a gyroscope and an accelerometer, calibrating the error coefficient of a magnetic field meter, and calibrating an air pressure altimeter and an airspeed meter by using a standard air pressure system.
Step 6: and (4) programming a navigation program and a flight control program, writing the calibrated and compensated sensor parameters into the navigation program and the flight control program, and programming into a navigation CPU and the flight control CPU.
And 7: and testing the monolithic integrated navigation flight control micro system, inspecting according to the standard, finishing the manufacture after the system is qualified, and warehousing products.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (8)
1. The utility model provides a monolithic formula unmanned aerial vehicle integration navigation flies to control microsystem based on LTCC which characterized in that, this system includes: a Low Temperature Co-fired Ceramic (LTCC) circuit, and
the device comprises an airspeed meter chip (2) arranged on a top layer (1) of the LTCC circuit, an IPX (internet protocol X) seat (5) connected with a Beidou navigation antenna, a navigation CPU (6), a flight control CPU (7), a power chip (8), a surface-mounted large-capacity capacitor, an inductor and a precision resistor;
the low temperature co-fired ceramic (LTCC) circuit comprises a three-axis accelerometer chip (12), a Z-axis gyroscope chip (15), a three-axis magnetic field meter chip (14), an altimeter chip (13), a Beidou navigation chip (16), a memory chip (11), an operational amplifier chip (17), an RS232 chip (19), an RS422 chip (18), an I/O interface chip, a high-precision crystal oscillator, a surface-mounted large-capacity capacitor, an inductor and a precision resistor, wherein the three-axis accelerometer chip (12), the Z-axis gyroscope chip (15), the three-axis magnetic field;
an X-axis gyro chip (3) and a Y-axis gyro chip (4) are mounted on the side wall of the LTCC circuit;
the navigation CPU (6) is respectively connected and communicated with the X, Y, Z triaxial gyro chip, the triaxial accelerometer chip (12), the altimeter chip (13), the airspeed meter chip (2), the triaxial magnetometer chip (14) and the Beidou navigation chip (16); the flight control CPU (7) is respectively connected with and communicated with an RS232 chip (19) and an RS422 chip (18), is also connected with the navigation CPU (6) through a data bus, sends all navigation parameters and sensor data to the flight control CPU, and receives flight control commands; the power supply chip (8) provides power supply for each chip;
the top layer and the bottom layer of the LTCC circuit are parallel to each other, and the top surface and the bottom layer of the LTCC circuit are perpendicular to the side surfaces.
2. The LTCC-based monolithic unmanned aerial vehicle integrated navigation flight control microsystem as claimed in claim 1, wherein the navigation CPU (6) is connected and communicated with X, Y, Z triaxial gyro chip, triaxial accelerometer chip (12), altimeter chip (13) and airspeed meter chip (2) respectively by using SPI interface to collect triaxial angular rate, triaxial acceleration, atmospheric pressure and airspeed pressure difference; the navigation CPU (6) is connected with and communicates with the triaxial magnetometer chip (14) by adopting an IIC interface, and acquires triaxial magnetometer data; the navigation CPU (6) is connected with the Beidou navigation chip (16) through a UART1 interface for communication, Beidou navigation parameters are controlled, navigation data output by the Beidou navigation chip (16) are received, and Beidou differential data uploaded by a ground Beidou reference station through a data chain are sent to the Beidou navigation chip (16).
3. The LTCC-based monolithic drone-integrated navigational flight control microsystem according to claim 1 or 2, characterized in that the navigation CPU (6) employs a UART2 interface to communicate with other modules of the drone.
4. The LTCC-based monolithic unmanned aerial vehicle integrated navigation flight control microsystem as claimed in claim 1, wherein the flight control CPU (7) collects unmanned aerial vehicle analog signals through signal conditioning circuit and AD circuit; outputting an analog control signal through the DA signal; the memory chip (11) stores flight waypoints and flight configuration parameters; the RS422 chip (18) is connected with the data chain I and carries out wireless communication with the ground station; the RS232 chip (19) is connected with the data chain II and the task load, receives differential data sent by the ground Beidou differential station and communicates with the task load equipment; reserving a path of CAN interface; the flight control CPU (7) outputs 16 paths of PWM signals to respectively control 4-8 paths of rotor motors of the unmanned aerial vehicle, an accelerator, a left aileron steering engine, a right aileron steering engine, a left V-tail steering engine and a right V-tail steering engine; the digital I/O interface is used for controlling the starting or load switch, monitoring the digital quantity state and measuring the rotating speed of the motor.
5. The LTCC-based monolithic drone-integrated navigational flight control microsystem as claimed in claim 1, wherein the power chip (8) comprises: a DC-DC power supply chip and an LDO chip.
6. The LTCC-based monolithic drone integrated navigational micro system according to claim 1, wherein the LTCC circuit substrate cavity (10) has a cavity depth of 3 mm.
7. The LTCC-based monolithic unmanned aerial vehicle integrated navigation flight control microsystem as claimed in claim 1, wherein the control method of the microsystem comprises: after the navigation CPU (6) collects an X/Y/Z axis gyro, a three-axis accelerometer, a three-axis magnetic field meter, an altimeter, an airspeed meter and Beidou data, filtering and error compensation processing are carried out, inertial navigation, geomagnetic navigation, Beidou navigation resolving and atmospheric data calculation are carried out, adaptive Kalman filtering combined navigation is carried out, navigation parameters of the optimal estimated attitude angle, speed, position, height, angular velocity and acceleration of the unmanned aerial vehicle are calculated, and the parameters are sent to a flight control CPU (7), and the flight control CPU controls a rotor wing, an aileron, a wing flap, a rudder, a lifting rudder and an accelerator of the unmanned aerial vehicle by adopting an adaptive control algorithm, so that the takeoff and landing of the aircraft, the horizontal direction, the lateral direction, the straight line, the hovering and the directional flight are realized, the flight is carried out according to a planned.
8. The LTCC-based monolithic unmanned aerial vehicle integrated navigation and flight control microsystem as claimed in any one of claims 1 to 7, wherein the microsystem is manufactured by the steps of:
step 1: manufacturing an LTCC circuit according to a single-chip integrated navigation flight control micro-system LTCC circuit layout, simultaneously, making an impedance match for Beidou radio-frequency signals, ensuring that the front surface and the bottom surface are flat and parallel, and the front surface and the ground are vertical to the side surfaces, and selecting an LTCC circuit board qualified for inspection after the circuit manufacturing is finished;
step 2: the chip mounting of the top layer of the LTCC circuit board is carried out by adopting high-temperature soldering paste, and the chip of the airspeed meter is not mounted;
and step 3: mounting a chip in a bottom layer cavity of the LTCC circuit board by using low-temperature soldering paste;
and 4, step 4: welding an LTCC side chip and an airspeed meter chip, wherein an X, Y-axis gyro chip is manually welded to the side surface of the LTCC circuit, and the airspeed meter chip is welded on the top layer;
and 5: calibrating various sensors, namely installing a navigation flight control micro system on a clamp, then installing the navigation flight control micro system on a turntable, calibrating zero positions, proportionality coefficients, cross couplings and temperature coefficients of a gyroscope and an accelerometer, calibrating error coefficients of a magnetic field meter, and calibrating an altimeter chip and an airspeed meter chip by using a standard air pressure system;
step 6: the navigation and flight control program programming is to write the calibrated and compensated sensor parameters into the navigation program and the flight control program and to burn the programs into the navigation CPU and the flight control CPU;
and 7: and testing the monolithic integrated navigation flight control micro system.
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