CN115164867A - Sensor combination flight navigation - Google Patents
Sensor combination flight navigation Download PDFInfo
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- CN115164867A CN115164867A CN202210639914.7A CN202210639914A CN115164867A CN 115164867 A CN115164867 A CN 115164867A CN 202210639914 A CN202210639914 A CN 202210639914A CN 115164867 A CN115164867 A CN 115164867A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention discloses a sensor combined flight navigation system, which relates to the technical field of aircraft navigation system application, and the technical scheme main points are as follows: the device comprises a main control unit, an inertia measurement unit, a GPS unit, an air pressure measurement unit and an auxiliary circuit; the main control unit is a dual-core heterogeneous processor OMAPL138 formed by an ARM core processor and a DSP core processor; the ARM core processor and the DSP core processor are communicated with the interrupt through a shared memory; the ARM core processor is responsible for collecting original data of each sensor, and the DSP core processor is responsible for data fusion processing, resolving information of the attitude, the position, the course, the height and the speed of the aircraft, transmitting the information to the ARM core processor, and sending the information to external flight control for navigation control. The combined flight navigation system can improve the accuracy of the measured data of the navigation system, enhance the reliability of the data, enhance the anti-interference capability of the system, reduce the burden of a processor and improve the real-time performance of the system.
Description
Technical Field
The invention relates to the technical field of application of aircraft navigation systems, in particular to a sensor combined flight navigation system.
Background
The flight navigation system is the 'eyes' of the aircraft, is responsible for measuring information such as attitude, position, course, high speed, speed and the like of the aircraft, provides data support for autonomous flight control, and has accuracy as a key factor influencing autonomous flight and flight safety of the aircraft. From the 20 th century and the 30 th century to the present, researchers are continuously researching and developing flight navigation technologies, and common airborne navigation technologies at present include satellite navigation, visual navigation, geomagnetic navigation, inertial navigation, combined navigation and the like.
The satellite navigation system comprises a united states Global Positioning System (GPS), a russian GLONASS (GLONASS), a european GALILEO (GALILEO) and a chinese BEIDOU system (BEIDOU), and can provide all-weather, all-time, all-region, high-precision navigation information with errors not dispersed along with time, but the information updating frequency is slow, the anti-interference performance is poor, and cycle slips are generated due to volatile lock. The vision navigation system has high autonomy and measurement precision, but is greatly interfered by the environment, has large measurement blind area and large difficulty in developing a vision algorithm, and requires a vision sensor and a vision calculation controller to have higher performance. The geomagnetic navigation has the characteristics of being passive, free of radiation, strong in concealment, free of interference of enemies, all-weather, all-region, low in energy consumption, free of error accumulation and the like, but a large amount of geomagnetic data needs to be stored for pose matching, and the geomagnetic navigation is suitable for navigation guidance. The inertial navigation system can be divided into a platform type and a digital strapdown type, wherein the platform type is built by using a high-precision gyroscope and an accelerometer, so that the size and the weight are large and the price is high; a mathematical platform is built for the gyroscope, the acceleration, the magnetometer and the like manufactured based on the MEMS (micro electro mechanical system) technology to replace a solid platform, and the MEMS gyroscope has the characteristics of small size, light weight, low power consumption and the like, the short-term precision of the measurement attitude angle of the MEMS gyroscope is high, but the drift error of the angular velocity is accumulated and dispersed along with time, the long-term stability of the output error of the accelerometer and the magnetometer is good, the output error of the accelerometer and the magnetometer is easily interfered by the external environment, and the dynamic performance is low. Therefore, higher requirements are provided for the error modeling and calibration method and the filtering algorithm of the MEMS inertial device; the platform type and strapdown type inertial navigation systems are completely self-contained calculation type navigation positioning systems, and have the advantages of strong autonomy, good concealment, continuous and comprehensive output information and high frequency, but errors are continuously accumulated along with time, the precision is reduced, and even divergence can be caused.
Therefore, the present invention is directed to a sensor-integrated flight navigation system to solve the above problems.
Disclosure of Invention
The invention aims to solve the problems and provides a sensor combined flight navigation system, which adopts the combination of an inertial sensor and a GPS sensor and combines an air pressure sensor and other auxiliary circuits to form the sensor combined flight navigation system, thereby improving the accuracy of measured data of the navigation system, enhancing the reliability of the data, enhancing the anti-interference capability of the system, reducing the burden of a processor and improving the real-time property of the system.
The technical purpose of the invention is realized by the following technical scheme: a sensor combined flight navigation system comprises a main control unit, an inertia measurement unit, a GPS unit, an air pressure measurement unit and an auxiliary circuit;
the main control unit is a dual-core heterogeneous processor OMAPL138 formed by an ARM core processor and a DSP core processor; the ARM core processor and the DSP core processor are communicated with each other through a shared memory and an interrupt; the ARM core processor is responsible for collecting original data of each sensor, the DSP core processor is responsible for data fusion processing, the attitude, position, course, height and speed information of the aircraft is calculated out, the information is transmitted to the ARM core processor, and the information is sent to external flight control for navigation control;
the inertial measurement unit comprises a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer;
the auxiliary circuit comprises a power supply unit, a debugging unit, a storage unit and an external interface unit; the power supply unit supplies power to the electric equipment; the debugging unit is provided with a JTAG downloading port and a debugging interface and is used for developing and debugging programs; the storage unit is provided with a NANDFLASH data storage space and an SDRAM program operating space and is used for storing flight data and providing a memory space for the main control unit;
the GPS unit is used for measuring longitude, latitude, height, track angle, northeast speed and time information of the body, and comprises a GPS receiver and a GPS antenna;
the air pressure measuring unit comprises a static pressure meter and a full pressure meter.
By adopting the technical scheme, the three-axis gyroscope, the three-axis accelerometer and the three-axis magnetometer are fused with each other to carry out attitude measurement, so that advantage complementation is realized, the attitude measurement precision of the system is improved, the accumulated error of inertial navigation is corrected by utilizing the position information with high precision of the GPS unit for a long time, the reliability of navigation data is improved, the precision of the measurement data of the navigation system can be improved, and the reliability of the system is enhanced; when the GPS signal is interfered by high intensity or fails, the inertial measurement unit can assist the GPS antenna to quickly align to the satellite, and the inertial navigation system can independently perform navigation and positioning, so that the influence of interference on the system can be reduced, and the anti-interference capability of the system is enhanced; the ARM core processor collects data based on a real-time operating system, and the DSP core processor is responsible for data fusion and calculation, so that the reasonable load sharing of the processors is realized, and the real-time performance of the system can be effectively improved; the advantages of high positioning precision and high data sampling rate of the inertial sensor in a short time are utilized to interpolate the real-time position of the event to be solved and provide auxiliary information for the GPS unit, so that the sampling rate and the real-time performance of the system are improved; and the MEMS device with higher integration level and lower power consumption is adopted, so that the miniaturization and the light weight of the system are facilitated, and the power consumption of the system is also facilitated to be reduced.
The invention is further configured to: the GPS receiver adopts Noritai OEM718D and has RTK function, and the GPS receiver supports all GNSS systems including GPS, GLONASS, GALILEO and BEIDOU.
By adopting the technical scheme, the GPS unit is convenient to combine with the ground differential system, so that the measurement precision of the spatial position can reach centimeter level.
The invention is further configured to: the inertial measurement unit employs a tactical level 10-degree-of-freedom inertial sensor ADIS16488, with the three-axis gyroscope, three-axis accelerometer, and three-axis magnetometer built-in to the tactical level 10-degree-of-freedom inertial sensor ADIS16488.
By adopting the technical scheme, the sensitivity, the offset, the alignment and the linear acceleration of the sensor can be calibrated, so that the sensor has very small offset error and random angle wandering, has an accurate dynamic error compensation formula and remarkably improves the measurement precision.
The invention is further configured to: the three-axis gyroscope, the three-axis accelerometer and the three-axis magnetometer are all provided with an average value or decimation filter.
By adopting the technical scheme, the three-axis gyroscope is used for measuring the angular velocities of the three axial directions of the body, has good noise performance and temperature performance, and has the characteristics of low power consumption and high resolution, the three-axis accelerometer is used for measuring the accelerations of the three axial directions, and the three-axis magnetometer is used for measuring the magnetic field strengths of the three axial directions; all of them are equipped with mean value or extraction filter, so that it is favourable for raising accuracy of angular speed, acceleration and magnetic field intensity.
The invention is further configured to: the power supply unit has a wide voltage input of 6-28V and 95% power conversion efficiency, and is a three-way power supply hot backup.
By adopting the technical scheme, the power supply for the system is convenient.
The invention is further configured to: the external interface unit is a 1-channel RS422 interface, and the RS422 interface can be converted into RS485 through wiring.
By adopting the technical scheme, the communication distance is long, the anti-interference performance is strong, and the long-distance transmission can be effectively guaranteed.
In summary, compared with the single navigation system in the prior art, the invention has the following beneficial effects:
(1) The accuracy of measurement data of a navigation system can be improved, the reliability of the system is improved, the Kalman filtering and complementary filter simultaneously carries out fusion measurement and calculation on gyroscope, accelerometer, magnetometer, GPS data and air pressure data, the advantage complementation is realized, and the measurement accuracy of the system is improved;
(2) The anti-interference capability of the system can be improved, the characteristics of high positioning precision and high data sampling rate in a short time of the inertial sensor are utilized, auxiliary information can be provided for the GPS, and when the GPS is interfered and fails, the inertial system can be utilized for navigation, so that the anti-interference capability of the system is enhanced;
(3) The real-time performance of the system can be improved, the ARM is responsible for data acquisition and storage, and the DSP is responsible for data resolving, so that reasonable load sharing is realized, the burden of a processor is reduced, and the real-time performance of the system is improved;
(4) The miniaturization of a navigation system can be realized, the power consumption of the system is reduced, an MEMS device, a Norwatai GPS board card and a small-sized air pressure sensor are adopted, the miniaturization and the light weight of the system are improved, and the power consumption of the system is also reduced.
Drawings
FIG. 1 is a block diagram of a sensor-integrated flight navigation system in an embodiment of the present invention;
FIG. 2 is a front view of a sensor-integrated flight navigation system in an embodiment of the present invention;
FIG. 3 is a real object backside view of a sensor-integrated flight navigation system in an embodiment of the invention.
In the figure: 1. a main control unit; 2. an inertial measurement unit; 3. a GPS unit; 4. an air pressure measuring unit; 5. a power supply unit; 6. a debugging unit; 7. a storage unit; 8. an external interface unit; 9. an ARM core processor; 10. a DSP core processor; 11. a three-axis gyroscope; 12. a three-axis accelerometer; 13. a three-axis magnetometer; 14. a static pressure meter; 15. a total pressure meter; 16. a GPS receiver; 17. a GPS antenna; 18. a first power supply; 19. a second power supply; 20. a third power supply; 21. a JTAG download port; 22. debugging an interface; 23. SDRAM program operating space; 24. NANDFLASH data storage space.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions of the present invention will be described in further detail below with reference to the embodiments of the present invention and the accompanying drawings. 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.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail with reference to examples.
Example (b):
as shown in fig. 1, 2 and 3, a sensor-integrated flight navigation system includes a main control unit 1, an inertial measurement unit 2, a GPS unit 3, an air pressure measurement unit 4 and an auxiliary circuit;
the main control unit 1 is a dual-core heterogeneous processor OMAPL138 formed by an ARM core processor 9 and a DSP core processor 10; the ARM core processor 9 and the DSP core processor 10 are communicated with the interrupt through a shared memory; the ARM core processor 9 is responsible for collecting original data of each sensor, and the DSP core processor 10 is responsible for data fusion processing, resolving information of the attitude, the position, the course, the height and the speed of the aircraft, transmitting the information to the ARM core processor 9 and sending the information to external flight control for navigation control;
the inertial measurement unit 2 adopts a tactical-level freedom degree inertial sensor ADIS16488, a three-axis gyroscope 11, a three-axis accelerometer 12, a three-axis magnetometer 13 and an internal temperature sensor are arranged in the inertial measurement unit, and a manufacturer calibrates the sensitivity, bias, alignment and linear acceleration of the sensor to ensure that the sensor has small bias error and random angle wandering, has an accurate dynamic error compensation formula and obviously improves the measurement accuracy; the three-axis gyroscope 11 is used for measuring the angular velocities of three axial directions of the body, has good noise performance and temperature performance, and has the characteristics of low power consumption and high resolution, the three-axis accelerometer 12 is used for measuring the acceleration of the three axial directions, the three-axis magnetometer 13 is used for measuring the magnetic field intensity of the three axial directions, and each sensor is provided with an average value or an extraction filter, so that the accuracy of the angular velocities, the acceleration, the magnetic field intensity and other primary quantities is favorably improved;
the auxiliary circuit comprises a power supply unit 5, a debugging unit 6, a storage unit 7 and an external interface unit 8; the power supply unit 5 supplies power to the electric equipment; the debugging unit 6 is provided with a JTAG downloading port 21 and a debugging interface 22 and is used for developing and debugging programs; the storage unit 7 is provided with a NANDFLASH data storage space 24 and an SDRAM program operating space 23, and is used for storing flight data and providing a memory space for the main control unit 1;
the GPS unit 3 is used for measuring information such as longitude, latitude, height, track angle, northeast speed, time and the like of the body, and the GPS unit 3 comprises a GPS receiver 16 and a GPS antenna 17; the GPS receiver 16 adopts Nortaita OEM718D, has RTK function, and supports all GNSS systems including GPS, GLONASS, GALILEO, BEIDOU; the GPS unit 3 is used for measuring information such as longitude, latitude, height, track angle, northeast ground speed, time and the like of the body, and is combined with a ground difference system, so that the spatial position measuring precision can reach centimeter level.
The air pressure measuring unit 4 comprises a static pressure gauge 14 and a full pressure gauge 15, adopts an MS4525 series small ceramic pressure sensor, has temperature compensation, digital output and the like, and is used for collecting static pressure, full pressure and temperature data and calculating air pressure height, airspeed, temperature and the like.
In the present embodiment, the power supply unit 5 supplies power to all the power consumers in the system, has a wide voltage input of 6-28V and a power conversion efficiency as high as 95%, and is designed as a three-way power hot backup, the power utilization priorities of the power are power one 18, power two 19 and power three 20, and when the power of the high priority channel fails, the power monitoring circuit can seamlessly switch to the power of the next priority channel to supply power to the system.
The external interface unit 8 is a 1-channel RS422 interface, the RS422 interface can be converted into RS485 through wiring, the communication distance is long, the anti-interference performance is strong, and the long-distance transmission is effectively guaranteed.
In the embodiment of the invention, the system adopts the sensor combination to perform fusion calculation on the gyroscope, the accelerometer, the magnetometer, the GPS data and the air pressure data, so that advantage complementation is realized, the accuracy of data measurement of the navigation system is improved, and the reliability of the data is enhanced; in addition, the inertial sensor has higher positioning precision in a short time and high data sampling rate, can provide auxiliary information for the GPS, and can independently navigate by the inertial system when the GPS is unlocked under the external interference, thereby enhancing the anti-interference capability of the system; in addition, an ARM + DSP dual-core heterogeneous processor is adopted, ARM is responsible for data acquisition and storage, and DSP simultaneously adopts a Kalman filtering algorithm and a complementary filtering algorithm to perform data fusion calculation respectively, so that reasonable load sharing is realized, processor burden is reduced, and system instantaneity is improved.
The working principle is as follows: in the system, the three-axis gyroscope 11, the three-axis accelerometer 12 and the three-axis magnetometer 13 are fused with each other to perform attitude measurement, so that advantage complementation is realized, the attitude measurement precision of the system is improved, the accumulated error of inertial navigation is corrected by utilizing the position information with high precision of the GPS unit 3 for a long time, the reliability of navigation data is improved, the accuracy of the measurement data of the navigation system can be improved, and the reliability of the system is enhanced; when the GPS signal is interfered by high intensity or has a fault, the GPS antenna 17 can be assisted to quickly align to the satellite, and the inertial navigation system can independently perform navigation and positioning, so that the influence of the interference on the system can be reduced, and the anti-interference capability of the system is enhanced; the ARM core processor 9 is used for collecting data based on a real-time operating system, and the DSP core processor 10 is used for data fusion and calculation, so that reasonable load sharing of the processors is realized, and the real-time performance of the system can be effectively improved; the real-time position of the event is interpolated by utilizing the advantages of high positioning precision and high data sampling rate in a short time of the inertial sensor, and auxiliary information is provided for the GPS unit 3, so that the sampling rate and the real-time property of the system are improved; and the MEMS device with higher integration level and lower power consumption is adopted, so that the miniaturization and light weight of the system are facilitated, and the power consumption of the system is also facilitated to be reduced.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (6)
1. A sensor combination flight navigation system is characterized in that: the device comprises a main control unit (1), an inertia measurement unit (2), a GPS unit (3), an air pressure measurement unit (4) and an auxiliary circuit;
the main control unit (1) is a dual-core heterogeneous processor OMAPL138 which is composed of an ARM core processor (9) and a DSP core processor (10); the ARM core processor (9) and the DSP core processor (10) are communicated with an interrupt through a shared memory; the ARM core processor (9) is responsible for collecting original data of each sensor, the DSP core processor (10) is responsible for data fusion processing, the information of the attitude, the position, the course, the height and the speed of the aircraft is calculated out, the information is transmitted to the ARM core processor (9), and the information is sent to external flight control for navigation control;
the inertial measurement unit (2) comprises a three-axis gyroscope (11), a three-axis accelerometer (12) and a three-axis magnetometer (13);
the auxiliary circuit comprises a power supply unit (5), a debugging unit (6), a storage unit (7) and an external interface unit (8); the power supply unit (5) supplies power to electric equipment; the debugging unit (6) is provided with a JTAG downloading port (21) and a debugging interface (22) for developing and debugging programs; the storage unit (7) is provided with a NANDFLASH data storage space (24) and an SDRAM program operating space (23) and is used for storing flight data and providing a memory space for the main control unit (1);
the GPS unit (3) is used for measuring information of longitude, latitude, height, track angle, northeast speed and time of the body, and the GPS unit (3) comprises a GPS receiver (16) and a GPS antenna (17);
the air pressure measuring unit (4) comprises a static pressure meter (14) and a full pressure meter (15).
2. The sensor-integrated flight guidance system of claim 1, wherein: the GPS receiver (16) employs a Nortay OEM718D and the GPS receiver (16) supports all GNSS systems including GPS, GLONASS, GALILEO, BEIDOU.
3. The sensor-integrated flight guidance system of claim 1, wherein: the inertial measurement unit (2) employs a tactical level 10 degree of freedom inertial sensor ADIS16488, with the three-axis gyroscope (11), three-axis accelerometer (12) and three-axis magnetometer (13) built into the tactical level 10 degree of freedom inertial sensor ADIS16488.
4. The sensor-integrated flight guidance system of claim 3, wherein: the three-axis gyroscope (11), the three-axis accelerometer (12) and the three-axis magnetometer (13) are all provided with an average value or a decimation filter.
5. The sensor-integrated flight guidance system of claim 1, wherein: the power supply unit (5) has a wide voltage input of 6-28V and 95% power conversion efficiency, and the power supply unit (5) is a three-way power supply hot backup.
6. The sensor-integrated flight navigation system of claim 1, wherein: the external interface unit (8) is a 1-channel RS422 interface, and the RS422 interface can be converted into RS485 through wiring.
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| CN202210639914.7A CN115164867A (en) | 2022-06-08 | 2022-06-08 | Sensor combination flight navigation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115562137A (en) * | 2022-12-06 | 2023-01-03 | 北京星途探索科技有限公司 | Flight control software architecture, flight control method and device and electronic equipment |
| CN115597596A (en) * | 2022-12-13 | 2023-01-13 | 湖南高至科技有限公司（Cn） | Aircraft flight parameter measuring device |
-
2022
- 2022-06-08 CN CN202210639914.7A patent/CN115164867A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115562137A (en) * | 2022-12-06 | 2023-01-03 | 北京星途探索科技有限公司 | Flight control software architecture, flight control method and device and electronic equipment |
| CN115597596A (en) * | 2022-12-13 | 2023-01-13 | 湖南高至科技有限公司（Cn） | Aircraft flight parameter measuring device |
| CN115597596B (en) * | 2022-12-13 | 2023-03-31 | 湖南高至科技有限公司 | Aircraft flight parameter measuring device |
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