CN112650266A - Automatic terrain cruising system of unmanned aerial vehicle based on laser radar - Google Patents
Automatic terrain cruising system of unmanned aerial vehicle based on laser radar Download PDFInfo
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- CN112650266A CN112650266A CN202011521443.7A CN202011521443A CN112650266A CN 112650266 A CN112650266 A CN 112650266A CN 202011521443 A CN202011521443 A CN 202011521443A CN 112650266 A CN112650266 A CN 112650266A
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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
- G05D1/08—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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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
Abstract
An unmanned aerial vehicle automatic terrain cruising system based on laser radar relates to a cruising system, in particular to a terrain cruising system, which comprises a laser radar module, a host control module, a flight control module, a positioning module and a flight monitoring module, wherein the laser radar module, the flight control module, the positioning module and the flight monitoring module are connected with the host control module, the laser radar module comprises a receiving unit, a transmitting unit and a microcontroller, the host control module comprises a flight control unit and a data processing unit, the flight control module comprises a motor driving unit and a brushless direct current motor, the brushless direct current motor is connected on the motor driving unit, the flight monitoring module comprises an inertia measuring unit and a pitot tube, and the distance between the terrains in front of the unmanned aerial vehicle is scanned in real time through a carried laser radar device, and a PID algorithm is adopted to adjust the angle of the unmanned aerial vehicle, so that the unmanned aerial vehicle can automatically cruise according to the terrain.
Description
Technical Field
The invention relates to the unmanned aerial vehicle technology, in particular to an unmanned aerial vehicle automatic terrain cruising system based on a laser radar.
Background
At present, in the exploration field, a manual training mode is usually adopted for training, the number of required personnel and exploration equipment is large, the patrol cost is very high, exploration is carried out on a relatively mature manned aircraft, and the unmanned aircraft has the advantages of being high in flying height, high in speed block, wide in operation area and the like, but the manned aircraft is high in cost, harsh in taking-off and landing conditions and not suitable for patrol exploration in some local areas.
At present in the automatic topography of unmanned aerial vehicle technique of cruising, most are based on real-time image acquisition, and utilize in image and the computation of topography matching, and image matching algorithm complexity is higher, needs the on-board computer of high performance for unmanned aerial vehicle system volume is too huge, with high costs, the consumption is big, the real-time is weak.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle automatic terrain cruising system based on a laser radar, aiming at the defects and shortcomings of the prior art, the unmanned aerial vehicle automatic terrain cruising system scans the distance between the unmanned aerial vehicle and the front terrain in real time through a carried laser radar device, the measured data is processed through a host control module, and the data analysis adopts a PID algorithm, so that the unmanned aerial vehicle has an automatic terrain cruising function.
In order to achieve the purpose, the invention adopts the following technical scheme: it comprises a laser radar module 1, a host control module 2, a flight control module 3, a positioning module 4 and a flight monitoring module 5, the laser radar module 1 is connected with the host control module 2, the flight control module 3 is connected with the host control module 2, the positioning module 4 is connected with the host control module 2, the flight monitoring module 5 is connected with the flight control module 2, the lidar module 1 comprises a receiving unit 11, a transmitting unit 12 and a microcontroller 13, the receiving unit 11, the transmitting unit 12 and the microcontroller 13 are connected, the host control module 2 comprises a flight control unit 21 and a data processing unit 22, the flight control module 3 comprises a motor driving unit 31 and a brushless direct current motor 32, the brushless direct current motor 32 is connected to the motor driving unit 31, and the flight monitoring module 5 comprises an inertia measuring unit 51 and an airspeed head 52.
Further, the flight control unit 21 is electrically connected to the motor driving unit 31.
Further, the data processing unit 22 is connected to the microcontroller 13 via a serial line.
Further, the obtained positioning module 4, the inertia measurement unit 51 and the pitot tube 52 are connected with the data processing unit 22 through serial port lines.
Further, an automatic terrain matching cruise system is installed on the host control module 2, and the operation steps of the automatic terrain matching cruise system are as follows:
1) terrain data acquisition, through install in the laser radar on unmanned aerial vehicle gather the straight-line distance D of the vertical height H of unmanned aerial vehicle and ground and unmanned aerial vehicle and the place ahead topography in real time, the contained angle of H and D is the angle beta of setting for among the laser rangefinder unit, when unmanned aerial vehicle normally level flight, gets its horizontal direction and H contained angle and be alpha0；
2) Processing terrain data, namely processing the data acquired in the step 1) according to a trigonometric function formula:
3) Adaptive terrain control, applying PID algorithm, according to formula
In the alternative, the number of bits in the bit stream is,
the transfer function is formulated so that,
using formula (c) as a transfer function of a PID formula, using an unmanned aerial vehicle flight control module as a controlled object, and inputting an average inclination angle
Alpha is an input parameter of a PID formula through the PID regulation function0Is always kept constant.
The working principle of the invention is as follows: the invention carries on a laser radar device through an unmanned aerial vehicle, utilizes the laser radar to emit two laser pulses in different directions, one laser pulse is used for measuring the flight height H between the unmanned aerial vehicle and the bottom surface, the other laser pulse is used for measuring the linear distance D between the unmanned aerial vehicle and the front terrain, wherein H and D are a fixed included angle beta, the unmanned aerial vehicle acquires H, D data in real time through a microcontroller 13 positioned in an unmanned aerial vehicle laser radar module 1 during normal flight, the acquired data is sent to a host control module 2 through a serial communication line, the host control module 2 calls a built-in PID algorithm of self-adaptive terrain control to calculate the data, when the unmanned aerial vehicle flies normally, the inclination angle of the terrain below the unmanned aerial vehicle is alpha, when the monitoring terrain in front of the unmanned aerial vehicle is the ascending terrain, the alpha angle gradually becomes smaller, so as to reduce errors, taking the mean inclination angle
To make alpha0Keep the constant value, application PID regulation mode, input numerical value increase in the formula this moment, the unmanned aerial vehicle flight control module will be adjusted to the system, makes unmanned aerial vehicle pursueGradually flies in parallel relative to the shape of an uphill land, gradually increases the alpha angle and recovers to alpha0In the same way, when the unmanned aerial vehicle flies in the front and monitors the terrain to be the downhill terrain, the alpha angle gradually becomes larger, the system adjusts the unmanned aerial vehicle flight control module in a PID (proportion integration differentiation) adjusting mode, so that the unmanned aerial vehicle can fly in parallel relative to the downhill terrain, the alpha angle is gradually reduced and recovered to alpha0Thereby make, unmanned aerial vehicle can follow topography fluctuation automatically regulated flight attitude at the flight in-process.
After the technical scheme is adopted, the invention has the beneficial effects that: the laser radar carried by the system has the characteristics of high automation degree, small influence by external environment, high precision of acquired information, short data generation period and the like, and the automatic terrain cruising system carried by the system has the characteristics of reliable theory, less calculation amount, high running speed and the like, so that the unmanned aerial vehicle can be widely applied to various terrain occasions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic diagram of the constituent mechanism of the laser radar module 1.
Fig. 3 is a schematic diagram of the components of the flight control module 3.
Fig. 4 is a schematic diagram of the components of the flight monitoring module 5.
FIG. 5 is a flow chart of system PID adjustment.
Fig. 6 is a schematic view of drone flight.
Description of reference numerals: the system comprises a laser radar module 1, a receiving unit 11, a transmitting unit 12, a microcontroller 13, a host control module 2, a flight control unit 21, a data processing unit 22, a flight control module 3, a motor driving unit 31, a brushless direct current motor 32, a positioning module 4, a flight monitoring module 5, an inertia measuring unit 51 and an airspeed head 52.
Detailed Description
Referring to fig. 1 to 6, the technical solution adopted by the present embodiment is: it contains laser radar module 1, host control module 2, flight control module 3, orientation module 4 and flight monitoring module 5, laser radar module 1 be connected with host control module 2, flight control module 3 be connected with host control module 2, orientation module 4 gather unmanned aerial vehicle positional information in real time, orientation module 4 be connected with host control module 2, flight monitoring module 5 be connected with flight control module 2, laser radar module 1 contain receiving element 11, transmitting element 12 and microcontroller 13, receiving element 11 be used for receiving the signal that laser pulse reflects back, transmitting element 12 be used for transmitting laser pulse, receiving element 11, transmitting element 12 and be connected with microcontroller 13, host control module 2 contain flight control unit 21 and data processing unit 22, flight control module 3 contain motor drive unit 31 and brushless DC motor 32, brushless DC motor 32 connect on motor drive unit 31, brushless DC motor 32 passes through motor drive unit 31 and realizes speed governing and just reversing, flight monitoring module 5 contain inertia measuring unit 51 and airspeed tube 52, inertia measuring unit 51 be used for measuring unmanned aerial vehicle's flight angle, airspeed tube 52 be used for measuring unmanned aerial vehicle's flying speed.
The flight control unit 21 is electrically connected with the motor driving unit 31, the flight control unit 21 drives the motor driving unit 31 by sending out a PWM signal,
the data processing unit 22 is connected with the microcontroller 13 through a serial port line.
The obtained positioning module 4, the inertia measurement unit 51 and the pitot tube 52 are connected with the data processing unit 22 through serial port lines.
The host control module 2 is provided with an automatic terrain matching cruise system, and the operation steps of the automatic terrain matching cruise system are as follows:
1) terrain data acquisition, through install in the laser radar on unmanned aerial vehicle gather the straight-line distance D of the vertical height H of unmanned aerial vehicle and ground and unmanned aerial vehicle and the place ahead topography in real time, the contained angle of H and D is the angle beta of setting for among the laser rangefinder unit, when unmanned aerial vehicle normally level flight, gets its horizontal direction and H contained angle and be alpha0Fig. 6 is a schematic view of the flight of the unmanned aerial vehicle;
2) processing terrain data, namely processing the data acquired in the step 1) according to a trigonometric function formula:
3) Adaptive terrain control, applying PID algorithm, according to formula
In the formula
Is the average angle of inclination
Laplace transform is performed on the formula (a) as a function of time t,
the transfer function is formulated so that,
using formula (c) as the transfer function of PID formula to operate the droneThe flight control module is a controlled object to input an average inclination angle
Alpha is an input parameter of a PID formula through the PID regulation function0Is always kept constant.
The invention carries a laser radar device through an unmanned aerial vehicle, utilizes the laser radar to emit two laser pulses in different directions, one laser pulse is used for measuring the flight height H between the unmanned aerial vehicle and the bottom surface, the other laser pulse is used for measuring the linear distance D between the unmanned aerial vehicle and the front terrain, wherein H and D are a fixed included angle beta, the unmanned aerial vehicle acquires data of H and D in real time through a microcontroller 13 positioned in an unmanned aerial vehicle laser radar module 1 in the normal flight process, the acquired data is sent to a host control module 2 through a serial communication line, the host control module 2 calls a built-in PID algorithm of self-adaptive terrain control to calculate the data, when the unmanned aerial vehicle flies normally, the inclination angle of the terrain below the unmanned aerial vehicle is alpha, when the monitoring terrain in front of the flight of the unmanned aerial vehicle is the uphill terrain, the alpha angle is gradually reduced, so as to reduce errors, taking the mean inclination angle
To make alpha0Keep the constant value, application PID regulation mode, input numerical value increases in the formula this moment, the unmanned aerial vehicle flight control module will be adjusted to the system, flight control module sends control command to motor drive unit 31 according to the instruction, motor drive unit 31 drives brushless DC motor, connect the unmanned aerial vehicle screw on the brushless DC motor, brushless DC motor is through control screw rotational speed and direction, in order to realize unmanned aerial vehicle attitude adjustment and flying speed adjustment, thereby realize that unmanned aerial vehicle will be relative to the parallel flight of uphill terrain gradually, make alpha angle crescent gradually and resume to alpha angle0In the same way, when the unmanned aerial vehicle flies in the front and monitors the terrain to be the downhill terrain, the alpha angle gradually becomes larger, the system adjusts the unmanned aerial vehicle flight control module in a PID (proportion integration differentiation) adjusting mode, so that the unmanned aerial vehicle can fly in parallel relative to the downhill terrain, the alpha angle is gradually reduced and recovered to alpha0Drawings attached hereto5 is PID regulation flow chart among this self-adaptation terrain control, to sum up for, unmanned aerial vehicle can follow the terrain undulation automatically regulated flight gesture at flight in-process, realizes that unmanned aerial vehicle automatic terrain cruises.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (6)
1. The utility model provides an unmanned aerial vehicle automatic topography cruise system based on laser radar which characterized in that: it contains laser radar module (1), host control module (2), flight control module (3), orientation module (4) and flight monitoring module (5), laser radar module (1) be connected with host control module (2), flight control module (3) be connected with host control module (2), orientation module (4) be connected with host control module (2) piece, flight monitoring module (5) be connected with flight control module (2), laser radar module (1) contain receiving element (11), transmitting element (12) and microcontroller (13), receiving element (11), transmitting element (12) and be connected with microcontroller (13), host control module (2) contain flight control unit (21) and data processing unit (22), flight control module (3) contain motor drive unit (31) and brushless DC motor (32), the brushless direct current motor (32) is connected to the motor driving unit (31), and the flight monitoring module (5) comprises an inertia measuring unit (51) and an airspeed head (52).
2. The automatic terrain cruising system of unmanned aerial vehicle based on lidar as defined in claim 1, wherein: the flight control unit (21) is electrically connected with the motor driving unit (31).
3. The automatic terrain cruising system of unmanned aerial vehicle based on lidar as defined in claim 1, wherein: the data processing unit (22) is connected with the microcontroller (13) through a serial port line.
4. The automatic terrain cruising system of unmanned aerial vehicle based on lidar as defined in claim 1, wherein: the obtained positioning module (4), the inertia measurement unit (51) and the airspeed head (52) are connected with the data processing unit (22) through serial port lines.
5. The automatic terrain cruising system of unmanned aerial vehicle based on lidar as defined in claim 1, wherein: and an automatic terrain matching cruise system is installed on the host control module (2).
6. The automatic terrain cruising system of unmanned aerial vehicle based on lidar as defined in claim 5, wherein: the operation steps of the automatic terrain matching cruise system are as follows:
1) terrain data acquisition, through install in the laser radar on unmanned aerial vehicle gather the straight-line distance D of the vertical height H of unmanned aerial vehicle and ground and unmanned aerial vehicle and the place ahead topography in real time, the contained angle of H and D is the angle beta of setting for among the laser rangefinder unit, when unmanned aerial vehicle normally level flight, gets its horizontal direction and H contained angle and be alpha0；
2) Processing terrain data, namely processing the data acquired in the step 1) according to a trigonometric function formula:
3) Adaptive terrain control, applying PID algorithm, according to formula
In the formula
Is the average angle of inclination
Laplace transform is performed on the formula (a) as a function of time t,
the transfer function is formulated so that,
using formula (c) as a transfer function of a PID formula, using an unmanned aerial vehicle flight control module as a controlled object, and inputting an average inclination angle
Alpha is an input parameter of a PID formula through the PID regulation function0Is always kept constant.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113160211A (en) * | 2021-05-11 | 2021-07-23 | 国投工程检验检测有限公司 | Building damage interpretation system based on unmanned aerial vehicle platform |
| CN114326724A (en) * | 2021-12-21 | 2022-04-12 | 航天科工通信技术研究院有限责任公司 | Low-power consumption intelligence system of cruising |
| CN115327534A (en) * | 2022-10-13 | 2022-11-11 | 湖南纳雷科技有限公司 | Unmanned aerial vehicle obstacle avoidance radar system and control method |
-
2020
- 2020-12-21 CN CN202011521443.7A patent/CN112650266A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113160211A (en) * | 2021-05-11 | 2021-07-23 | 国投工程检验检测有限公司 | Building damage interpretation system based on unmanned aerial vehicle platform |
| CN114326724A (en) * | 2021-12-21 | 2022-04-12 | 航天科工通信技术研究院有限责任公司 | Low-power consumption intelligence system of cruising |
| CN114326724B (en) * | 2021-12-21 | 2023-10-13 | 航天科工通信技术研究院有限责任公司 | Low-power consumption intelligent cruising system |
| CN115327534A (en) * | 2022-10-13 | 2022-11-11 | 湖南纳雷科技有限公司 | Unmanned aerial vehicle obstacle avoidance radar system and control method |
| CN115327534B (en) * | 2022-10-13 | 2023-02-28 | 湖南纳雷科技有限公司 | Unmanned aerial vehicle obstacle avoidance radar system and control method |
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