CN115480590A - Unmanned aerial vehicle fixed station debugging system - Google Patents
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Abstract
The invention provides an unmanned aerial vehicle fixed station debugging system, and belongs to the technical field of unmanned aerial vehicle debugging. The debugging system comprises a central processing computer, an information receiving device, an information display device, an intranet output device, interactive control equipment and an information output device. According to the invention, through the construction of the whole debugging system, the action instruction and the state monitoring of the whole unmanned aerial vehicle are realized, starting from the unmanned aerial vehicle, through the information receiving device, the central processing computer and the interactive control equipment, the stroke information is output and input in a closed loop, so that the serious consequences such as information loss and the like caused by information transmission open loop are completely avoided, and the safety of the unmanned aerial vehicle is protected to the greatest extent; the external interface arranged in the invention can realize connection with an internal network and file output, and under the condition of demand, the detection data is output in the two modes for debugging personnel and inspection personnel to use, so that the original information output procedure handling time and process approval are saved, the information is output in real time, and the working efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle debugging, and relates to a debugging system for an unmanned aerial vehicle when the unmanned aerial vehicle is positioned at a fixed station, which realizes the whole-machine debugging work of the unmanned aerial vehicle.
Background
Unmanned aerial vehicle need realize functions such as information reconnaissance, military striking, information opposition, communication relay, simulated flight, aerial early warning, for realizing above-mentioned function, its design has a plurality of systems to cross-link work simultaneously, and because unmanned design, the mode that a plurality of items of complicated information can't be according to having the man-machine is read by the pilot in the cabin, can only be with various data of collecting outside the aircraft and unmanned aerial vehicle self encode, form all kinds of signals and send to ground station, decode all kinds of signals by ground station in order to obtain each kind of information.
In the above-mentioned in-process, ground station can only realize sending the instruction and the signal collection to unmanned aerial vehicle, under the circumstances that no other unmanned aerial vehicle or someone aircraft company fly, ground service personnel of ground station can't acquire unmanned aerial vehicle's actual motion state, for example, the rudder face, the undercarriage, actual states such as hatch door, under this condition, need one set of unmanned aerial vehicle fixed station position debug system, when unmanned aerial vehicle is located the fixed station position debugging, can simulate actual aerial operating condition to the at utmost, can realize instruction sending function and signal collection function that ground station has, can realize actual motion state information acquisition function through external equipment again, through the detection debugging that uses this system, guarantee aircraft actual state and self collection state unanimity, guarantee security and reliability when unmanned aerial vehicle normally works, adopt information output device simultaneously, but high efficiency's output detection information, avoid the extravagant operating time of original similar approval process.
Disclosure of Invention
The invention aims to provide a fixed station debugging system of an unmanned aerial vehicle, which is used for debugging the system when the unmanned aerial vehicle is at the fixed station.
The technical scheme of the invention is as follows:
the utility model provides an unmanned aerial vehicle fixed station position debug system, includes central processing computer 1, information receiving arrangement 2, information display device 3, intranet output device 4, interactive controlgear 5 and information output device 6.
The central processing computer 1 has five channels, the first channel is in communication connection with the information receiving device 2, the second channel is connected with the information display device 3, the third channel is connected with the intranet output device 4, the fourth channel is connected with the interactive control equipment 5, and the fifth channel is connected with the information output device 6, and the connection modes adopt a network cable information input/output mode for connection.
The information receiving device 2 is in communication connection with the unmanned aerial vehicle, and includes a receiving antenna 21 and an information transmission component 22. Wherein, receiving antenna 21 receives each item of external information that unmanned aerial vehicle sent and with information analysis processing and packing for corresponding data package, send data package to central processing computer 1 by information transmission subassembly 22 again.
The information display device 3 includes a signal analysis module 31 and a display screen 32, receives the electric signal output from the central processing computer 1, classifies the electric signal by the signal analysis module 31, receives and decodes the packet into an image signal in HDMI format and an image signal in AV format, and displays a corresponding image on the display screen 32.
The intranet output device 4 comprises a data integration device 41 and an internal network interface 42; the data integration device 41 integrates various data transmitted from the central processing computer 1 into a data packet, and transmits the data packet into an internal network through a network cable via the internal network interface 42.
The interactive control equipment 5 is used for wirelessly connecting the central processing computer 1 with the unmanned aerial vehicle, receiving an interactive operation instruction for the image, and controlling the unmanned aerial vehicle according to the interactive operation instruction.
The information output device 6 comprises a signal analysis device 61 and a file output device 62; the signal analysis device 61 converts the data output from the central processing computer 1 into digital signals and character signals, and the digital signals and character signals are printed and output by the file output device 62 for analysis by the debugging personnel.
What is known from the constitution of above-mentioned unmanned aerial vehicle fixed station position debug system, establish 5 passageways in the central processing computer 1, accept or send information respectively, the information is analog quantity signal value actually, and it transmits through each sensor between central processing computer 1 and the other device, specifically judges according to each sensor self attribute parameter and actual current, and the concrete formula is as follows:
W q ＝K g (I q R g +V g )
wherein, W q Representing the analog signal value; k g A sensor fixed coefficient, typically (1,10); i is q Is the actual current value; r is g Is the sensor resistance value; v g And correcting the voltage value for the sensor.
After the information is transmitted to the central processing computer 1, the total data amount model transmitted by 5 channels collected by the central processing computer 1 is as follows:
X＝X 1 +X 2 +X 3 +X 4 +X 5
wherein X is the total amount of data of the central processing computer, X 1 To X 5 The data amounts of 5 channels each.
Taking the first channel as an example, the data volume of the first channel depends on the data volume of the single line and the total number of lines, and the model is as follows:
wherein, X 1 The data volume of the first channel is the data volume of the first channel;
a single line data volume for a first channel, i.e. the information receiving apparatus; n is the total number of the first channel lines.
Wherein, K a Parameter set for information receiving deviceCounting;
the data volume at the time t for a single line of the first channel,
as analog signal values
The model is as follows:
combining the above derivation model formula, a corresponding model formula of the first channel data quantity, the actual current quantity and the sensor can be obtained:
therefore, the total data amount model of 5 channels collected by the central processing computer 1 can be processed as follows:
wherein n, m, o, p, q represent the total number of lines of the 1 st to 5 th channels, respectively.
The central processing computer 1 receives information sent by 5 channels of the system at the same time, in this case, it is particularly important how the central processing computer 1 discriminates and analyzes the received information source, if the information cannot be accurately analyzed and judged, the information transmission is not smooth, and the instruction cannot be realized, so a judgment model is set in the central processing computer 1, the data volume of a single line corresponding to different devices is judged in different numerical value ranges, and the central processing computer 1 judges the data channel source according to the collected data volume of the single line, the model is as follows:
channel 1:
the range is (0,2);
and (3) a channel 2:
the range is (3,10);
and (3) passage:
the range is (11,50);
and (4) passage:
the range is (51,150);
passage 5:
the range is (151,300).
The invention has the beneficial effects that:
(1) The invention adopts a unique design idea, realizes the action instruction and state monitoring of the whole unmanned aerial vehicle through the construction of the whole debugging system, completely avoids the serious consequences of information loss and the like caused by information transmission open loop from the beginning of the unmanned aerial vehicle through an information receiving device, a central processing computer and an interactive control device and the closed loop of stroke information output and input, and protects the safety of the unmanned aerial vehicle to the maximum extent;
(2) The external interface arranged in the invention can realize connection with an internal network and file output, and under the condition of demand, the detection data is output for debugging personnel and inspection personnel in the two modes, so that the original information output procedure handling time and process approval are saved, the information is output in real time, and the working efficiency is greatly improved.
Drawings
Fig. 1 is a schematic diagram of a fixed station debugging system of an unmanned aerial vehicle.
In the figure: 1 central processing computer; 2 an information receiving device; 3 an information display device; 4, a network output device; 5 an interactive control device; 6 an information output device; 21 a receiving antenna; 22 an information transmission component; 31 a signal analysis component; 32 display screens; 41 a data integration device; 42 an internal network interface; 61 a signal analyzing device; 62 document output device.
Detailed Description
The following examples and drawings are included to further illustrate the embodiments of the present invention and are not intended to limit the invention thereto.
The fixed station debugging system of the unmanned aerial vehicle shown in fig. 1 comprises the following specific implementation steps:
(1) Placing the unmanned aerial vehicle at a fixed debugging station through an airplane hanger, supporting the unmanned aerial vehicle by a jack, and adjusting the whole airplane to be in a horizontal state through the jack after the airplane is in a stable state;
(2) Starting the unmanned aerial vehicle and the debugging system, so that the unmanned aerial vehicle is successfully connected with the debugging system, and the connection between the information receiving device 2 and the interactive control equipment 5 is ensured;
(3) Through the switching control equipment 5, manually or through a preset automatic debugging program, outputting various operation instructions to the unmanned aerial vehicle, controlling various movable parts of the unmanned aerial vehicle to perform various actions and realizing various system functions;
(4) An operator can observe the states and parameter information of all systems of the airplane fed back to the central processing computer 1 by the unmanned aerial vehicle through the information receiving device 2 in real time through the display screen 32, monitor the overall situation of the airplane, and judge whether all indexes of the airplane are abnormal or not and whether the airplane state is in a problem or not;
(5) When debugging data needs to be transmitted to an internal network, the debugging data is connected to an intranet computer through an intranet output device 4 by using a network cable, so that data transmission is realized;
(6) If the experimental data needs to be output in a paper edition or optical disk form, the experimental data is output through the information output device 6;
(7) After the system debugging is finished, the debugging system is disconnected from the unmanned aerial vehicle, the unmanned aerial vehicle and the debugging system are closed, and the unmanned aerial vehicle is hung on the ground through the airplane.
Claims (4)
1. An unmanned aerial vehicle fixed station debugging system is characterized by comprising a central processing computer (1), an information receiving device (2), an information display device (3), an intranet output device (4), interactive control equipment (5) and an information output device (6);
the central processing computer (1) has five channels, the first channel is in communication connection with the information receiving device (2), the second channel is connected with the information display device (3), the third channel is connected with the intranet output device (4), the fourth channel is connected with the interactive control equipment (5), the fifth channel is connected with the information output device (6), and the connection modes adopt a network cable information input/output mode for connection;
the information receiving device (2) is in communication connection with the unmanned aerial vehicle and comprises a receiving antenna (21) and an information transmission component (22); the receiving antenna (21) receives various external information sent by the unmanned aerial vehicle, analyzes and packages the information into corresponding data packets, and then the information transmission assembly (22) sends the data packets to the central processing computer (1);
the information display device (3) comprises a signal analysis component (31) and a display screen (32), is used for receiving the electric signals output by the central processing computer (1), classifies and processes the electric signals through the signal analysis component (31), is used for receiving and decoding the data packets into image signals in an HDMI format and image signals in an AV format, and displays corresponding images on the display screen (32);
the intranet output device (4) comprises a data integration device (41) and an internal network interface (42); the data integration device (41) integrates various data transmitted by the central processing computer (1) into a data packet, and then transmits the data packet into an internal network through a network cable through an internal network interface (42);
the interactive control equipment (5) is used for wirelessly connecting the central processing computer (1) with the unmanned aerial vehicle, receiving an interactive operation instruction for the image and controlling the unmanned aerial vehicle according to the interactive operation instruction;
the information output device (6) comprises a signal analysis device (61) and a file output device (62); the signal analysis device (61) converts the data output by the central processing computer (1) into digital signals and character signals, and then the digital signals and the character signals are printed and output by the file output device (62) for analysis and use by a debugging person.
2. The fixed station debugging system of unmanned aerial vehicle of claim 1, wherein 5 channels in the central processing computer (1) receive or send information, the information is actually analog signal values, the information is transmitted through sensors between the central processing computer (1) and each device, and the determination is specifically performed according to the attribute parameters of each sensor and the actual current, and the specific formula is as follows:
W q ＝K g (I q R g +V g )
wherein, W q Representing the analog signal value; k g A sensor fixed coefficient of (1,10); i is q Is the actual current value; r g Is the sensor resistance value; v g Correcting a voltage value for the sensor;
after the information is transmitted to the central processing computer (1), the central processing computer (1) collects the following data total amount model transmitted by 5 channels:
X＝X 1 +X 2 +X 3 +X 4 +X 5
wherein X is the total amount of data of the central processing computer, X 1 To X 5 The data amounts of 5 channels each.
3. The fixed station debugging system of claim 2, wherein the data volume of the first channel depends on the data volume of the single line and the total number of lines, and the model is as follows:
wherein, X 1 The data volume of the first channel is the data volume of the first channel;
as a single line of the first channel, i.e. the information receiving meansThe amount of way data; n is the total number of the first channel lines;
wherein, K a Fixing parameter coefficients for the information receiving device;
the amount of data at time t for a single line of the first lane,
as analog signal values
The model is as follows:
and combining the derivation model formula to obtain a corresponding model formula of the first channel data quantity, the actual current quantity and the sensor:
therefore, the total data quantity model of 5 channels transmitted collected by the central processing computer (1) is processed as follows:
wherein n, m, o, p, q represent the total number of lines of the 1 st to 5 th channels, respectively.
4. The fixed station debugging system of unmanned aerial vehicle according to any one of claims 1-3, wherein the central processing computer (1) sets a determination model, the data volume of a single line corresponding to different devices makes different value range determinations, and the central processing computer (1) determines the source of a data channel according to the acquired data volume of the single line, the model is as follows:
channel 1:
the range (0,2);
and (3) a channel 2:
the range is (3,10);
and (3) passage:
the range (11,50);
and (4) passage:
the range is (51,150);
passage 5:
the range is (151,300).
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693888A (en) * | 2017-04-07 | 2018-10-23 | 中交遥感载荷（北京）科技有限公司 | A kind of centralized monitoring system for unmanned plane polling transmission line |
| US20200073412A1 (en) * | 2018-09-04 | 2020-03-05 | Bell Helicopter Textron Inc. | Systems and methods for executing aircraft take-off and landing events |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693888A (en) * | 2017-04-07 | 2018-10-23 | 中交遥感载荷（北京）科技有限公司 | A kind of centralized monitoring system for unmanned plane polling transmission line |
| US20200073412A1 (en) * | 2018-09-04 | 2020-03-05 | Bell Helicopter Textron Inc. | Systems and methods for executing aircraft take-off and landing events |
Non-Patent Citations (1)
| Title |
|---|
| 黄超;孟凡计;王玉文;: "无人机信息传输系统仿真设计", 通信技术, no. 12, 10 December 2012 (2012-12-10) * |
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