CN117872930A

CN117872930A - Modularized unmanned aerial vehicle flight control system

Info

Publication number: CN117872930A
Application number: CN202410166356.6A
Authority: CN
Inventors: 陈万里; 张柏华; 李珂; 郭一凡; 蒙文跃
Original assignee: Institute of Engineering Thermophysics of CAS
Current assignee: Institute of Engineering Thermophysics of CAS
Priority date: 2024-02-05
Filing date: 2024-02-05
Publication date: 2024-04-12

Abstract

The disclosure provides a modular unmanned aerial vehicle flight control system, can be applied to the unmanned aerial vehicle field. The method comprises the following steps: the inertial guide plate is used for collecting flight attitude data and navigation data of the unmanned aerial vehicle; the atmosphere measuring plate is used for collecting the atmospheric environment data of unmanned aerial vehicle flight; the main control board is electrically connected with the inertial guide plate and the atmosphere measuring board and is used for controlling the unmanned aerial vehicle according to the received flight attitude data, navigation data and atmosphere environment data to obtain an airplane output result; the data recording plate is electrically connected with the main control plate and is used for storing the aircraft output result received from the main control plate; the indicating lamp plate is electrically connected with the main control board and is used for indicating the flight state of the unmanned aerial vehicle according to the aircraft output result received from the main control board.

Description

Modularized unmanned aerial vehicle flight control system

Technical Field

The present disclosure relates to the field of unmanned aerial vehicles, and more particularly, to a modular unmanned aerial vehicle flight control system.

Background

With the wider and wider application of unmanned aerial vehicles, the quality of the flight control system of the unmanned aerial vehicle is gradually improved, for example, higher requirements are put on the stability, the safety and the like of the flight control system of the unmanned aerial vehicle. The flight control system of the unmanned aerial vehicle generally needs to use a plurality of single devices to realize different functions, such as flight control, navigation, communication and the like, so that the flight control system of the unmanned aerial vehicle can consider both stability and safety. In this design, each functional module is independent, but the space utilization rate is low.

Disclosure of Invention

In view of the above, the present disclosure provides a modular unmanned aerial vehicle flight control system.

According to a first aspect of the present disclosure, there is provided a modular unmanned aerial vehicle flight control system comprising: the inertial guide plate is used for collecting flight attitude data and navigation data of the unmanned aerial vehicle; the atmosphere measuring plate is used for collecting the atmospheric environment data of unmanned aerial vehicle flight; the main control board is electrically connected with the inertial guide plate and the atmosphere measuring board and is used for controlling the unmanned aerial vehicle according to the received flight attitude data, navigation data and atmosphere environment data to obtain an airplane output result; the data recording plate is electrically connected with the main control plate and is used for storing the aircraft output result received from the main control plate; the indicating lamp panel is electrically connected with the main control panel and is used for indicating the flight state of the unmanned aerial vehicle according to the output result of the airplane received from the main control panel.

According to an embodiment of the present disclosure, the flight attitude data includes a triaxial acceleration, a triaxial angular velocity, and an euler angle of the unmanned aerial vehicle flight, and the navigation data includes a heading, a position, and a speed of the unmanned aerial vehicle flight; the inertial navigation plate includes: the accelerometer is used for acquiring triaxial acceleration; the gyroscope is used for acquiring triaxial angular speeds; the satellite board card is used for collecting positions and speeds; the inertial guide plate is also used for determining Euler angles corresponding to the flight attitude of the unmanned aerial vehicle according to the triaxial acceleration and the triaxial angular velocity.

According to an embodiment of the present disclosure, a main control board is configured to control an unmanned aerial vehicle according to received flight attitude data, navigation data, and atmospheric environment data, and obtaining an aircraft output result includes: analyzing the flight attitude data and the navigation data to obtain flight attitude analysis data and navigation analysis data; performing closed-loop control on the flight attitude of the unmanned aerial vehicle according to the flight attitude analysis data to obtain an attitude control result; performing closed-loop control on the flight position of the unmanned aerial vehicle according to the flight attitude analysis data and the navigation analysis data to obtain a position control result; and carrying out closed-loop control on the flying height of the unmanned aerial vehicle according to the navigation analysis data to obtain a height control result.

According to an embodiment of the present disclosure, the atmospheric environmental data includes an indicated airspeed, a vacuum speed, and an altitude of the unmanned aerial vehicle flight; the atmosphere measuring plate includes: the airspeed meter is used for collecting and indicating airspeed and vacuum speed; and the barometer is used for collecting the barometric pressure height.

According to the embodiment of the disclosure, the main control board is further used for performing closed-loop control on the airspeed of the unmanned aerial vehicle according to the indicated airspeed, the vacuum speed and the barometric altitude, so as to obtain an airspeed control result.

According to the embodiment of the disclosure, the main control board is further used for obtaining an aircraft output result according to the attitude control result, the position control result, the altitude control result and the airspeed control result.

According to an embodiment of the disclosure, the aircraft output results include a component control output sub-result of the unmanned aerial vehicle, the component control output sub-result characterizing a component operational state of the unmanned aerial vehicle.

According to the embodiment of the disclosure, the main control board is in communication connection with the component subsystem of the unmanned aerial vehicle, and is further used for sending the component control output sub-result to the component subsystem corresponding to the component control output sub-result.

According to an embodiment of the present disclosure, the indicator light panel includes a power status indicator light, a flight control operation indicator light, an inertial navigation positioning indicator light, and a communication status indicator light.

According to an embodiment of the disclosure, the main control board is in communication connection with a ground station for remotely controlling the flight of the unmanned aerial vehicle.

A modular unmanned aerial vehicle flight control system provided according to the present disclosure, the system comprising: the inertial guide plate is used for collecting flight attitude data and navigation data of the unmanned aerial vehicle, and the atmosphere measuring plate is used for collecting atmosphere environment data of the unmanned aerial vehicle; the inertial guide plate and the atmosphere measuring plate realize independent collection of different types of data. The main control board is electrically connected with the inertial guide plate and the atmosphere measuring board and is used for controlling the unmanned aerial vehicle according to the received flight attitude data, navigation data and atmosphere environment data to obtain an aircraft output result and realize independent operation of the data processing module. The data recording board is electrically connected with the main control board and is used for storing the output result of the airplane received from the main control board, so that the data storage module is independent. The indicating lamp panel is electrically connected with the main control panel and is used for indicating the flight state of the unmanned aerial vehicle according to the aircraft output result received from the main control panel, so as to realize the indicating function of the aircraft state. The modularized unmanned aerial vehicle flight control system also realizes function integration under the condition of guaranteeing module independence, and improves space utilization rate.

Drawings

The foregoing and other objects, features and advantages of the disclosure will be more apparent from the following description of embodiments of the disclosure with reference to the accompanying drawings, in which:

fig. 1 schematically illustrates a schematic diagram of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure;

fig. 2 schematically illustrates a schematic diagram of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure;

fig. 3 schematically illustrates a schematic diagram of a master control board of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure;

fig. 4 schematically illustrates a schematic diagram of a data logging board of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure;

FIG. 5 schematically illustrates a schematic view of an inertial navigation plate of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure;

FIG. 6 schematically illustrates a schematic view of an atmospheric measurement panel of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure;

fig. 7 schematically illustrates a schematic view of an indicator light panel of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure; and

fig. 8 schematically illustrates a functional block diagram of a data flow of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.

Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).

In the technical solution of the present disclosure, the related user information (including, but not limited to, user personal information, user image information, user equipment information, such as location information, etc.) and data (including, but not limited to, data for analysis, stored data, displayed data, etc.) are information and data authorized by the user or sufficiently authorized by each party, and the related data is collected, stored, used, processed, transmitted, provided, disclosed, applied, etc. in compliance with relevant laws and regulations and standards, necessary security measures are taken, no prejudice to the public order colloquia is provided, and corresponding operation entries are provided for the user to select authorization or rejection.

Unmanned aerial vehicles typically require the use of multiple individual devices for performing different functions, such as flight control, navigation, communication, etc. The design mode makes the system have huge volume and large weight, so that the no-load weight of the unmanned aerial vehicle is increased, the space utilization rate is reduced, and the flight performance and the cruising ability of the unmanned aerial vehicle are limited.

In view of this, embodiments of the present disclosure provide a modular unmanned aerial vehicle flight control system, comprising: the inertial guide plate is used for collecting flight attitude data and navigation data of the unmanned aerial vehicle; the atmosphere measuring plate is used for collecting the atmospheric environment data of unmanned aerial vehicle flight; the main control board is electrically connected with the inertial guide plate and the atmosphere measuring board and is used for controlling the unmanned aerial vehicle according to the received flight attitude data, navigation data and atmosphere environment data to obtain an airplane output result; the data recording plate is electrically connected with the main control plate and is used for storing the aircraft output result received from the main control plate; the indicating lamp panel is electrically connected with the main control panel and is used for indicating the flight state of the unmanned aerial vehicle according to the output result of the airplane received from the main control panel.

Fig. 1 schematically illustrates a schematic diagram of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure.

As shown in fig. 1, the modular unmanned aerial vehicle flight control system 100 of this embodiment includes an inertial guide plate 110, an atmospheric measurement plate 120, a main control plate 130, a data recording plate 140, and an indicator light plate 150.

And the inertial guide plate 110 is used for collecting flight attitude data and navigation data of the unmanned aerial vehicle.

The atmosphere measuring board 120 is used for collecting the atmospheric environment data of the unmanned aerial vehicle.

The main control board 130 is electrically connected with the inertial guide plate 110 and the atmosphere measuring board 120, and is used for controlling the unmanned aerial vehicle according to the received flight attitude data, navigation data and atmosphere environment data, so as to obtain an aircraft output result.

The data recording board 140 is electrically connected with the main control board 130, and is used for storing the output result of the aircraft received from the main control board 130.

The indication lamp panel 150 is electrically connected with the main control panel 130, and is used for indicating the flight state of the unmanned aerial vehicle according to the aircraft output result received from the main control panel 130.

According to the embodiment of the disclosure, the electric connection can enable the functional modules to perform data transmission through the inter-board flat cable or the inter-board pin header, so that the functional integration is ensured, the modules are independent, and independent upgrading maintenance is supported.

According to embodiments of the present disclosure, the data logging board 140 may be responsible for logging and storing aircraft output results, such as flight attitude data and navigation data, atmospheric environmental data, and the like, for use in flight data analysis and flight playback.

According to embodiments of the present disclosure, through the use of the data logging board 140, the unmanned aerial vehicle flight control system is able to achieve comprehensive logging and storage of flight parameter data. Such functionality is critical to improving the safety and reliability of the flight process. The data record board can provide reliable data support for improving the performance and reliability of the unmanned aerial vehicle flight control system whether analyzing flight data or checking flight problems.

According to embodiments of the present disclosure, the main control board 130 may be responsible for receiving and analyzing data from other modules (e.g., inertial plates, atmospheric measurement plates, etc.), and making flight control and navigation decisions based on such data, controlling servo steering engine and engine actuation. In addition, the main control board also provides a plurality of serial interfaces for carrying out data communication with other airborne equipment, realizing the collaborative work between the inertial navigation board 110, the atmosphere measuring board 120, the data recording board 140 and the indicator light board 150 inside the unmanned aerial vehicle flight control system.

According to an embodiment provided by the present disclosure, a modular unmanned aerial vehicle flight control system includes: an inertial guide plate 110, configured to collect flight attitude data and navigation data of an unmanned aerial vehicle, and an atmospheric measurement plate 120, configured to collect atmospheric environment data of the unmanned aerial vehicle for flight; the inertial guide plate 110 and the atmospheric measurement plate 120 enable independent collection of different types of data. The main control board 130 is electrically connected with the inertial guide plate 110 and the atmosphere measuring board 120, and is used for controlling the unmanned aerial vehicle according to the received flight attitude data, navigation data and atmosphere environment data, obtaining an aircraft output result and realizing independent data processing module. The data recording board 140 is electrically connected with the main control board 130, and is used for storing the output result of the aircraft received from the main control board 130, so as to realize the independence of the data storage modules. The indication lamp panel 150 is electrically connected with the main control panel 130, and is used for indicating the flight state of the unmanned aerial vehicle according to the aircraft output result received from the main control panel 130, so as to realize the indication function of the aircraft state. The modularized unmanned aerial vehicle flight control system also realizes function integration under the condition of guaranteeing module independence, and improves space utilization rate.

Fig. 2 schematically illustrates a schematic diagram of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure.

As shown in fig. 2, the modularized unmanned aerial vehicle flight control system of this embodiment includes an inertial guide plate, an atmosphere measuring plate, an indicator light plate, a data recording plate and a main control plate.

The system comprises a main control board, an inertial guide plate, an atmosphere measuring board, an indicating lamp board and a data recording board, wherein the inertial guide plate, the atmosphere measuring board, the indicating lamp board and the data recording board are respectively connected with the main control board through inter-board flat cables, the inertial guide plate can collect flight attitude data and navigation data of the unmanned aerial vehicle, the atmosphere measuring board can collect atmospheric environment data when the unmanned aerial vehicle flies, and the main control board controls the unmanned aerial vehicle by receiving the data of the inertial guide plate and the atmosphere measuring board. Meanwhile, the main control board can transmit data to the data recording board in real time for data storage, and can also perform flight data analysis and flight playback through the data recording board. The indicator light panel may be used to display a flight state of the unmanned aerial vehicle, for example, the safety state of the unmanned aerial vehicle at this time is represented by different colors, but is not limited thereto, and the specific status display of the indicator light panel is not limited by the embodiments of the present disclosure. Meanwhile, the main control board can be provided with one or more main control boards for external aviation plug interfaces. Fig. 3 schematically illustrates a schematic diagram of a master control board of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure.

As shown in fig. 3, the main control board may include a parameter storage component, a voltage and current monitoring component, and a temperature monitoring component. The parameter storage component, the voltage and current monitoring component and the temperature monitoring component can carry out data transmission with the main control board MCU, meanwhile, a plurality of types of serial ports (such as an RS422 serial port, an RS232 serial port, an RS485 serial port and the like) and an FDCAN bus and the like are arranged between the main control board MCU and the main control board external navigation plug interface, the main control board MCU can transmit data to the main control board external navigation plug interface through the PWM/DO output interface, and the main control board external navigation plug interface can transmit data to the main control board MCU through the RPM/DI input interface. The data in the data recording board can also flow out from the main control board to the external aviation plug-in interface through the data downloading component.

Fig. 4 schematically illustrates a schematic diagram of a data recording board of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure

As shown in fig. 4, the data recording board may include a data recording component, a data downloading component, a power interface component, a data recording board MCU, a data storage chip, and a program programming component. The data storage chip and the program programming assembly can respectively carry out data transmission with the data recording board MCU, the data recording board MCU can respectively carry out data bidirectional transmission with the data recording assembly and the data downloading assembly, the main control board and the data recording board can carry out data transmission and use through the inter-board flat cable, the power supply interface can be connected with the data recording board MCU, and the function of assisting the data recording board MCU in supplying power can be achieved.

According to an embodiment of the present disclosure, the flight attitude data includes a triaxial acceleration, a triaxial angular velocity, and an euler angle of the unmanned aerial vehicle flight, and the navigation data includes a heading, a position, and a speed of the unmanned aerial vehicle flight; the inertial navigation plate includes: the accelerometer is used for acquiring triaxial acceleration; the gyroscope is used for acquiring a triaxial angular velocity satellite board card and acquiring position and velocity; the inertial guide plate is also used for determining Euler angles corresponding to the flight attitude of the unmanned aerial vehicle according to the triaxial acceleration and the triaxial angular velocity.

According to the embodiment of the disclosure, the whole unmanned aerial vehicle can be used as a reference body, and the centroid of the unmanned aerial vehicle is used as the origin of coordinates to establish a space coordinate system. The X-axis, Y-axis and Z-axis of the space coordinate system are taken as three axes.

According to the embodiment of the disclosure, the three-axis acceleration may represent that the spatial acceleration of the unmanned aerial vehicle is decomposed on three axes X, Y, Z, so that acceleration values of the unmanned aerial vehicle in different directions are obtained.

According to embodiments of the present disclosure, the location may include a longitude, latitude, and altitude of the geographic location where the drone is located.

According to the embodiment of the disclosure, the inertial navigation plate can acquire and calculate the position, the speed and the course of the unmanned aerial vehicle in real time by utilizing the sensors such as the accelerometer, the gyroscope, the magnetometer and the satellite board card, and transmits the information to the main control board for processing. The main control board can process real-time data according to the information by adopting an advanced algorithm, and control and output are carried out through the communication interface, so that the precise flight control and navigation functions of the unmanned aerial vehicle are realized.

According to embodiments of the present disclosure, the euler angle may include a pitch angle, a roll angle, and a yaw angle, in the conventional sense heading, i.e., yaw angle, belonging to the attitude data.

According to embodiments of the present disclosure, magnetometers may acquire triaxial magnetic field strengths; however, in general, the attitude data used by the control system does not include the magnetic field strength, but the yaw angle is further calculated by a fusion algorithm based on the magnetic field strength.

In addition, the satellite board can be changed into a double-antenna satellite board, and the double antennas can be used for obtaining the yaw angle relative to the aircraft nose, and the purpose of the magnetometer is consistent, so that certain redundancy and redundancy components exist, the current state of the art is that the effect realized by partial sensors is overlapped.

Euler angle is the result obtained by fusion processing of the algorithm according to the triaxial acceleration, the triaxial angular velocity, the triaxial magnetic field intensity, the position, the speed and the like obtained by the double-antenna satellite board card.

According to the embodiment of the disclosure, the accelerometer can measure the triaxial acceleration of the unmanned aerial vehicle, the gyroscope can measure the triaxial angular velocity of the unmanned aerial vehicle, the magnetometer can measure the relative north direction of the unmanned aerial vehicle, the satellite board card can acquire the position and speed data of the unmanned aerial vehicle, and the position and speed data are processed into the heading, position, speed and other data required by unmanned aerial vehicle control and navigation through a filtering fusion algorithm. The data are transmitted to the main control board through the inertial navigation board, and accurate input is provided for flight control and navigation decision.

According to the embodiment of the disclosure, the inertial guide plate can be connected and communicated with the main control board by using the inter-board flat cable, and a serial port is adopted as a communication interface, so that high efficiency and stability of data transmission are ensured. Meanwhile, the inertial navigation board regularly transmits the flight attitude data and the navigation data to the main control board, and the continuity and timeliness of the data are guaranteed through accurate time scheduling. The main control board receives and analyzes the inertial navigation data, and the analyzed data is used for supporting the functions of gesture control and position navigation.

According to the embodiment of the disclosure, the inertial navigation plate can acquire the position, the speed and the course of the unmanned aerial vehicle in real time through various built-in sensors and modules, and transmit the accurate data to the main control plate, so that effective input support is provided for flight control and navigation decision. Meanwhile, the high-efficiency stable communication between the inertial guide plate and the main control board ensures the continuity and timeliness of data, and provides a reliable guarantee for the high-efficiency operation of the whole system.

Fig. 5 schematically illustrates a schematic view of an inertial navigation plate of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure.

As shown in fig. 5, the inertial navigation plate may include an accelerometer, a gyroscope, a magnetometer, a satellite board card, a program programming component, an inertial navigation plate MCU, an RS232 serial port, a data download component, and a power interface component. The accelerometer can provide triaxial acceleration, the gyroscope can measure triaxial angular velocity, the magnetometer can measure unmanned aerial vehicle's course, the satellite integrated circuit board can measure unmanned aerial vehicle's longitude, latitude and altitude. The accelerometer, the gyroscope, the magnetometer, the satellite board card and the program programming assembly respectively interact data with the inertial navigation board MCU, the inertial navigation board MCU and the inter-board flat cable interact data through the RS232 serial port and the data downloading assembly respectively, different functions are realized, and the power supply interface assembly can assist in supplying power to the inertial navigation board MCU. The inertial guide plate and the main control board transmit and use data through the inter-board flat cable.

According to embodiments of the present disclosure, inertial navigation plate data may refer to flight attitude data and navigation data. The main control board can receive and analyze the flight attitude data and the navigation data transmitted by the inertial navigation board, carry out flight control decision according to the information, and transmit the flight control decision to the data recording board for recording and storing, so that flight parameter recording and data analysis can be better realized, and data support related to the flight performance of the unmanned aerial vehicle is provided.

According to embodiments of the present disclosure, the atmospheric measurement panel may measure the static pressure and total pressure around the drone and convert it to barometric altitude, indicating the necessary information required for drone control, such as airspeed and vacuum speed. These parameters can be transmitted to the main control board to provide accurate environmental reference data for flight control and navigation, thereby enhancing the flight stability and performance of the unmanned aerial vehicle.

Fig. 6 schematically illustrates a schematic view of an atmospheric measurement panel of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure.

As shown in fig. 6, the atmosphere measuring board may include an airspeed meter, a barometer, an atmosphere total temperature component, a program programming component, an atmosphere measuring board MCU, an RS232 serial port, and a power supply interface component. Airspeed meters may be used to indicate airspeed, vacuum speed, and barometers may be used to measure barometric altitude. The airspeed meter, the barometer, the total atmospheric temperature and the program programming assembly respectively carry out data transmission with the atmospheric measurement board MCU, data interaction is carried out between the atmospheric measurement board MCU and the inter-board flat cable through the RS232 serial ports respectively, different functions are realized, and the power supply interface can assist in supplying power to the atmospheric measurement board MCU. The atmosphere measuring board and the main control board are used for transmitting and using data through the inter-board flat cable.

According to the embodiment of the disclosure, the atmosphere measuring board can communicate with the main control board by using the inter-board flat cable, and a serial port is adopted as a communication interface, so that the high efficiency and stability of data transmission are ensured. Meanwhile, the atmosphere measuring plate can send the air pressure height at regular time, and indicates airspeed and vacuum speed data to the main control board. The main control board receives and analyzes the data, and the analyzed data is used for supporting key tasks such as airspeed closed-loop control and the like.

According to the embodiment of the disclosure, the atmospheric measurement board can be converted into air pressure height by using static pressure and total pressure measurement values, indicate key data such as airspeed, vacuum speed and the like, and ensure accurate transmission and analysis of the data through communication with the main control board. This provides accurate and reliable inputs to the flight control system, which is critical to unmanned aerial vehicle flight control and navigation decisions.

According to embodiments of the present disclosure, the data logging board may be responsible for logging and storing flight parameter data of the unmanned aerial vehicle, such as position, speed, attitude, sensor data, etc., for use in flight data analysis and flight playback. The main control board is connected with the inter-board flat cable of the data recording board, and realizes data transmission through the serial port communication interface. In the flight process, the main control board can send flight data to the data recording board on time, and the data recording board receives and stores the data, so that the data can be kept in the storage integrity even under the condition of power failure. Such settings can ensure that flight data from the flight control computer is recorded for subsequent problem analysis and review and playback of the flight process.

According to embodiments of the present disclosure, the component control output sub-result may be aileron output control, elevator output control, rudder output control, engine output control, and the like.

According to embodiments of the present disclosure, the component subsystem of the unmanned aerial vehicle may be an aileron subsystem, an elevator subsystem, a rudder subsystem, an engine subsystem, or the like.

According to the embodiment of the disclosure, the main control board can be in communication connection with the component subsystem of the unmanned aerial vehicle through a serial port. The indicator lights of each component can output a sub-result according to the component control to indicate the flight state of each component.

The master control board may also provide a controller area network bus interface (CAN, controller Area Network) according to embodiments of the present disclosure. Through the interface, the external sensor can transmit the perceived environmental information to the main control board, and the main control board can control the executor through the interface to realize the coordination of flight control. In addition, the main control board also introduces I/O ports and Analog-to-digital converter interfaces (ADC, analog-to-Digital Converter), which can be used to connect to external devices and collect Analog signals.

According to embodiments of the present disclosure, the indicator light panel may be composed of a plurality of status indicator lights. Visual status indication information can be provided according to the status and flight mode of the unmanned aerial vehicle. The display of the indication lamp panel can provide the operator with immediate flight feedback and guidance, so that the perception and control of the operator on the flight state of the unmanned aerial vehicle are better enhanced. The indication lamp panel is communicated with the control signal of the main control panel to realize the lighting, extinguishing or flashing of the status indication lamp, so as to indicate the current status of the flight control computer.

According to embodiments of the present disclosure, the indicator light panel may communicate with the main control board through pins or wires of a general purpose input/output board (GPIO, general Purpose Input Output). The main control board can send control signals in a set time interval so as to control the state indicator lamp to be turned on, turned off or flash to indicate the current power state, running state, positioning state and the like of the flight control computer. The design makes the function of the indicator light board more flexible and various, and can adapt to the status indication requirements under different flight modes.

According to embodiments of the present disclosure, multiple status indicators can provide visual status indication information, as well as immediate flight feedback and guidance. Through the communication of the row needle or the winding displacement of GPIO mouth board and main control board, the function of pilot lamp board is nimble various more to can adapt to the status indication demand under the different flight modes. The design and the implementation can improve the safety and the reliability of flight, and provide reliable support for flight control and navigation decision of the unmanned aerial vehicle.

Fig. 7 schematically illustrates a schematic diagram of an indicator light panel of a modular unmanned aerial vehicle flight control system according to an embodiment of the present disclosure.

As shown in fig. 7, the indicator light panel may include a power status indicator light, a flight control operation indicator light, an inertial navigation positioning indicator light, and a communication status indicator light. The power status indicator light may be used to determine the status of use of the power source. The flight control operation indicator light may be used for flight control indication display. The inertial navigation positioning indicator light can be used for displaying whether positioning is abnormal or not. The communication status indicator light may indicate whether the communication is displayed normally, etc. The indication lamp panel and the main control panel transmit and use data through the inter-panel flat cable.

According to the embodiment of the disclosure, the main control board can support a communication interface with the ground station, so that data and instruction interaction with the ground station is realized. Through being connected with ground station, unmanned aerial vehicle can carry out real-time ground control and remote operation, has realized unmanned aerial vehicle's flight control and management, provides higher security and simple operation simultaneously.

The main control board is connected with a communication interface of the ground station to realize data interaction and remote control with a ground operator.

As shown in fig. 8, the modular unmanned aerial vehicle flight control system includes an inertial navigation panel, an atmospheric measurement panel, a main control panel, a data recording panel, and an indicator light panel. The data available from inertial guides include: triaxial angular velocity, triaxial acceleration, euler angle, longitude and latitude height, north east speed (speed calculated on north east coordinate axis), and the like. The data available from the atmospheric measurement panel include: barometric pressure altitude, indicated airspeed, vacuum velocity, and total atmospheric temperature. The data obtained from the inertial guide plate can be transmitted to a main control board, and the main control board performs gesture closed-loop control, position closed-loop control and height closed-loop control on the unmanned aerial vehicle according to the data such as the three-axis angular speed, the three-axis acceleration, the Euler angle, the longitude and latitude height, the north east ground speed and the like, so as to obtain a gesture control result, a position control result and a height control result. The data obtained from the atmosphere measuring board can be transmitted to the main control board, and the main control board performs airspeed closed-loop control on the unmanned aerial vehicle according to the data such as the air pressure height, the indicated airspeed, the vacuum speed, the total atmosphere temperature and the like, so that an airspeed control result is obtained.

And obtaining the output control of each component of the unmanned aerial vehicle according to the attitude control result, the position control result, the altitude control result and the airspeed control result.

The output controls of the components may include aileron output control, elevator output control, rudder output control, and engine output control. The data in the flight data recording component in the main control board can be transmitted to the data recording board, so that the flight process and other data of the unmanned aerial vehicle can be recorded. The data in the flight state indicating assembly can be transmitted to the indicating lamp panel, and the flight state of the unmanned aerial vehicle is displayed through the indicating lamp panel. The data recording plate can record the data of the inertial guide plate, the atmosphere measuring plate and the main control plate. The indicating lamp panel is internally provided with an integrated component comprising a power supply state, a flight control running state, an inertial navigation positioning state and a communication state indication. And finally, the data in the main control board can be sent out through the main control board to the external aviation interface.

Those skilled in the art will appreciate that the features recited in the various embodiments of the disclosure and/or in the claims may be provided in a variety of combinations and/or combinations, even if such combinations or combinations are not explicitly recited in the disclosure. In particular, the features recited in the various embodiments of the present disclosure and/or the claims may be variously combined and/or combined without departing from the spirit and teachings of the present disclosure. All such combinations and/or combinations fall within the scope of the present disclosure.

The embodiments of the present disclosure are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.

Claims

1. A modular unmanned aerial vehicle flight control system comprising:

the inertial guide plate is used for collecting flight attitude data and navigation data of the unmanned aerial vehicle;

the atmosphere measuring plate is used for collecting the atmospheric environment data of the unmanned aerial vehicle;

the main control board is electrically connected with the inertial navigation board and the atmosphere measuring board and is used for controlling the unmanned aerial vehicle according to the received flight attitude data, the received navigation data and the received atmosphere environment data to obtain an airplane output result;

the data recording board is electrically connected with the main control board and is used for storing the aircraft output result received from the main control board;

the indication lamp panel is electrically connected with the main control panel and is used for indicating the flight state of the unmanned aerial vehicle according to the output result of the airplane received from the main control panel.

2. The modular unmanned aerial vehicle flight control system of claim 1, wherein the flight attitude data comprises a tri-axial acceleration, tri-axial angular velocity, and euler angle of the unmanned aerial vehicle flight, the navigational data comprising heading, position, and speed of the unmanned aerial vehicle flight;

the inertial navigation plate includes:

the accelerometer is used for acquiring the triaxial acceleration;

a gyroscope for acquiring the triaxial angular velocity;

the satellite board card is used for collecting the position and the speed;

the inertial navigation plate is further used for determining the Euler angle corresponding to the flight attitude of the unmanned aerial vehicle according to the triaxial acceleration and the triaxial angular velocity.

3. The modular unmanned aerial vehicle flight control system of claim 2, wherein the main control board is configured to control the unmanned aerial vehicle according to the received flight attitude data, navigation data, and atmospheric environment data, and obtaining an aircraft output result comprises:

analyzing the flight attitude data and the navigation data to obtain flight attitude analysis data and navigation analysis data;

performing closed-loop control on the flight attitude of the unmanned aerial vehicle according to the flight attitude analysis data to obtain an attitude control result;

performing closed-loop control on the flight position of the unmanned aerial vehicle according to the flight attitude analysis data and the navigation analysis data to obtain a position control result;

and performing closed-loop control on the flying height of the unmanned aerial vehicle according to the navigation analysis data to obtain a height control result.

4. The modular unmanned aerial vehicle flight control system of claim 1, wherein the atmospheric environmental data comprises an indicated airspeed, vacuum speed, and barometric altitude of the unmanned aerial vehicle flight;

the atmosphere measuring plate includes:

an airspeed meter for collecting the indicated airspeed and the vacuum speed;

and the barometer is used for collecting the air pressure height.

5. The modular unmanned aerial vehicle flight control system of claim 4, wherein the main control board is further configured to perform closed-loop control on the airspeed of the unmanned aerial vehicle according to the indicated airspeed, the vacuum speed, and the barometric altitude, to obtain an airspeed control result.

6. The modular unmanned aerial vehicle flight control system of claim 5, wherein the main control board is further configured to obtain an aircraft output result based on the attitude control result, the position control result, the altitude control result, and the airspeed control result.

7. The modular unmanned aerial vehicle flight control system of claim 6, wherein the aircraft output results comprise component control output sub-results of the unmanned aerial vehicle that characterize a component operational state of the unmanned aerial vehicle.

8. The modular unmanned aerial vehicle flight control system of claim 7, wherein the main control board is communicatively coupled to a component subsystem of the unmanned aerial vehicle, the main control board further configured to send the component control output sub-result to the component subsystem corresponding to the component control output sub-result.

9. The modular unmanned aerial vehicle flight control system of claim 1, wherein the indicator light panel comprises a power status indicator light, a flight control operation indicator light, an inertial navigation positioning indicator light, and a communication status indicator light.

10. The modular unmanned aerial vehicle flight control system of claim 1, wherein the main control board is communicatively connected to a ground station for remotely controlling the flight of the unmanned aerial vehicle.