CN1358984A - Telemetry system for coaxial double-rotary wing pilotless helicopter - Google Patents
Telemetry system for coaxial double-rotary wing pilotless helicopter Download PDFInfo
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- CN1358984A CN1358984A CN02100628A CN02100628A CN1358984A CN 1358984 A CN1358984 A CN 1358984A CN 02100628 A CN02100628 A CN 02100628A CN 02100628 A CN02100628 A CN 02100628A CN 1358984 A CN1358984 A CN 1358984A
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Abstract
The remote measuring system of coaxial dual-rotor pilotless helicopter includes airborne remote measuring equipment and ground remote measuring equipment, the airborne remote measuring equipment is formed from sensor group, signal condition, GPS receiver, data acquisition and processing device and remote mesuring transmitter, the signal condition is connected with every sensor, and can transfer the every sensor signal into data acquisition and processing device, said data acquisition and processing device of connected with GPS receiver, remote control instruction back-transmission device, flight-course computer and remote measuring transmitter. The ground remote measuring equipoment is formed from remote measuring receiver, remote measuring data ground processing system and ground monitoring computer. Said remote measuring receiver can transfer the received signal to ground processing system by means of PCM code flow, and said ground processing system is connected with ground monitoring computer by means of PCI interface.
Description
The present invention relates to a kind of remote measurement disposal system, particularly relate to a kind of telemetry system that is used for axle-shared double-rotary wing pilotless helicopter.
Because most of the time, pilotless helicopter all flies outside operator's the visual field, so terrestrial operation person depends on telemetry to the various manipulations of aircraft.Therefore, satisfy system requirements, the technology such as accurate measurement of the reliability of necessary solution communication link and telemetry, stability, the various states of aircraft.In addition, the duty for airborne and each system of ground of monitoring pilotless helicopter provides data analysis to the fault that may occur, and need carry out whole process to the airborne control loop of pilotless helicopter and surface telemetry system and monitor.
The telemetry system of pilotless helicopter is divided into airborne telemetering system and two parts of surface telemetry system.In the singularity of environment for use, require this system should have following characteristics:
1) pilotless helicopter guarantees that under the situation of high maneuvering flight communication link is reliable and stable.
2) in order to guarantee the stable, correct of telemetry, system should have low error rate.
3),, accomplish simple, reliable so require airborne equipment to reduce complexity as far as possible because airborne equipment is very responsive to weight.
4) the uphole equipment requirement is succinct, efficient, and vehicle-mounted mobile earth station is installed and use to meet.
The object of the present invention is to provide a kind of telemetry system of pilotless helicopter, this telemetry system can be in real time with the attitude of aircraft, course, highly, data such as speed, position, engine behavior, Fuel Oil Remaining monitor and measure, and then pass land station back by wireless channel through processing such as signal Processing, collection, coding, encryption framings.Show in real time through offering real-time display system after the processing such as vehicle-mounted remote measurement decoding device deciphering, decoding, thereby the foundation of operating aircraft is provided for ground controlling person.
Purpose of the present invention realizes like this: a kind of telemetry system that is used for axle-shared double-rotary wing pilotless helicopter, it comprises airborne telemetry unit and ground telemetering equipment, wherein: (a) airborne telemetry unit is made up of sensor groups, signal conditioner, GPS receiver, data acquisition and processor, telemetering transmiter, signal conditioner connects each sensor, and sending each sensor signal to data acquisition and processor, data acquisition and processor connect GPS receiver, telecommand upstream device, navigational computer and telemetering transmiter; (b) ground telemetering equipment is made up of telemetering receiver, telemetry Ground Processing System and ground monitoring computing machine, telemetering receiver sends the signal that receives to the telemetry Ground Processing System through pcm stream, and the telemetry Ground Processing System connects with the ground monitoring computing machine with pci interface.
Isolate by the sensor groups signal that comes to transmitting for described signal conditioner, conversion, amplification shaping become voltage signal in low impedance, is transferred to data acquisition unit again.
Described sensor groups has power supply monitoring sensor on the supporting sensor of engine, radio altitude sensor, air data sensor, height sensor near the ground, aspect sensor, fuel-quantity transducer, Temperature Humidity Sensor, the machine.
The rotating speed of described engine sensor monitoring engine, temperature, lubricating oil pressure parameter.
The inclination of described aspect sensor measurement aircraft, pitching, course angle parameter, measuring accuracy can reach 0.2 degree.
Described state of flight sensor provides air speed, flying height, the rising or falling speed parameter of aircraft.
Described measurement of engine rotate speed scope is 0～7000 rev/min, and cylinder head temperature and oil temperature measurement range are 50 ℃～150 ℃, and the lubricating oil pressure measurement range is 0～100PSI.
Described GPS receiver provides the aircraft position coordinate parameters.
Described data acquisition and processor are encoded to the received signal, encryption, framing, are combined into the telemetry frame and send telemetering transmiter to.
Described telemetry Ground Processing System carry out to the received signal sign indicating number synchronously, frame synchronization, decipher, separate frame and handle.
Described frame head detecting device detects and is positioned at the frame synchronization head that each frame begins, and with the form notice single-chip microcomputer of testing result to interrupt, as the input signal of Single Chip Microcomputer (SCM) program frame synchronization flow process.
Advantage of the present invention is, total system succinct, in light weight, perfect in shape and function rational in infrastructure, ground telemetering equipment is succinct, efficient, reliable, to remote measurement to data have very strong confidentiality and anti-interference.
Description of drawings:
Fig. 1 is a structured flowchart of the present invention.
Fig. 2 is a Ground Processing System block diagram of the present invention.
Fig. 3 is a frame synchronization of the present invention detecting device block diagram.
Fig. 4 is a frame synchronization state transition diagram of the present invention.
The present invention is described in further detail below in conjunction with drawings and Examples.
A kind of telemetry system that is used for axle-shared double-rotary wing pilotless helicopter, it comprises airborne telemetry unit and ground telemetering equipment, please referring to shown in Figure 1.(a) airborne telemetry unit is made up of sensor groups, signal conditioner, GPS receiver, data acquisition and processor, telemetering transmiter, signal conditioner connects each sensor, and sending each sensor signal to data acquisition and processor, data acquisition and processor connect GPS receiver, telecommand upstream device, navigational computer and telemetering transmiter; (b) ground telemetering equipment is made up of telemetering receiver, telemetry Ground Processing System and ground monitoring computing machine, telemetering receiver sends the signal that receives to the telemetry Ground Processing System through pcm stream, and the telemetry Ground Processing System connects with the ground monitoring computing machine with pci interface.
Telemetry subsystem (subsystem is with regard to the pilotless helicopter total system) airborne portion in real time to the attitude of aircraft, course, highly, data such as speed, position, engine behavior, Fuel Oil Remaining monitor and measure, and then pass land station back by wireless channel through processing such as signal condition, collection, coding, encryption framings.
Please referring to shown in Figure 2, pilotless helicopter telemetry Ground Processing System mainly is made up of bit synchronizer, frame head detecting device, dual port RAM, interface microcontroller, pci bus interface, key reservoir and single-chip microcomputer and software thereof.Part in the wherein empty frame is realized that by CPLD single-chip microcomputer is synchronous and deciphering decoding by the software flow achieve frame.
The frame head detecting device is responsible for detecting and is positioned at the frame synchronization head that each frame begins, and with the form notice single-chip microcomputer of testing result to interrupt, as the input signal of Single Chip Microcomputer (SCM) program frame synchronization flow process.The frame detector theory diagram as shown in Figure 3.At first under the effect of the PCM clock after recovering, convert the PCM data stream to parallel data,, calculate the correlation of PCM data and local frame synchronization head by correlator then in each PCM clock period by bit synchronizer.The detection threshold controller judges whether to capture the frame synchronization head according to the threshold value of frame synchronization logic setting.
Interface module is made up of interface microcontroller and pci bus interface.The low order address that interface microcontroller is mainly finished the AT89C51 single-chip microcomputer latchs, address decoding, and single-chip microcomputer is to the read-write control of modules such as the dual port RAM of CPLD inside, parallel-to-serial converter.The isa bus interface is mainly finished the memory-mapped of computing machine and buffer memory and the read-write operation of buffer memory.
The major function that scm software is finished is a frame synchronization, simultaneously to the Frame after synchronously be decrypted, channel-decoding and data check.
Frame synchronization adopts the same footwork of set, and its state exchange relation as shown in Figure 4.State is reset to desynchronizing state after system initialization finishes, in case the frame head detection signal that CPLD provides is effective, promptly detects the frame synchronization head, then frame synchronization state is changed to the verification state, through two frame checks,, just determine to have entered lock-out state if still can detect the frame synchronization head; If do not exist at verification status discovery frame head, judge that then what begin to detect is false frame synchronizing signal, abandoned, again captured frame synchronous head again.When system is in the lock state, owing to disturb or interruption, may make Frame Alignment Loss, at this moment to judge whether true step-out, in order to avoid mistake enters capture-process.This judgement will be through three checks, if continuous three times are lost synchronizing information, system enters desynchronizing state with regard to judgement, begins to repeat above-mentioned capture-process.
When system was in the lock state, system began each channel data is decrypted and decodes, and calculated the frame check value.System's encipher-decipher method is a kind of sequence encipher-decipher method of one-time pad, chnnel coding has been used the shorten cyclic codes (8 that can entangle 1 mistake, 4), look-up table is adopted in decoding, the bit error rate for fear of telemetry when being subjected to disturbing strongly exceeds the error correcting capability of Error Correction of Coding and causes the telemetry confusion, and system has also used redundancy check bit as the error detection means.And only do not have wrong Frame to write dual port RAM,, cause the manipulation hand to make false judgment to prevent the monitored program display of misdata thinking after the error detection.
When unmanned helicopter flight, the parameter of airplane operation and control is had: engine parameter, flight attitude, flying speed, aircraft position and flying height and rising or falling speed etc.Engine parameter comprises engine speed, engine cylinder head temperature, oil temperature and lubricating oil pressure etc.The survey sensor of these parameters adopts the supporting sensor groups of depopulated helicopter engine.The measurement of engine rotate speed scope is 0～7000 rev/min, and cylinder head temperature and oil temperature measurement range are 50 ℃～150 ℃, and the lubricating oil pressure measurement range is 0～100PSI.Owing to must guarantee engine health work awing, therefore in ground monitoring system, the normal operating range of above-mentioned each parameter has all been done mark, when certain parameter exceeds normal range, all can produce warning message.The unmanned helicopter flight attitude parameter has horizontal and vertical two, and gyroscope is installed on depopulated helicopter, can measure the vertical and horizontal attitude of aircraft.Native system can reach 0.2 degree to attitude measurement accuracy.The measurement of unmanned helicopter flight speed is mainly measured by air speed and two kinds of means realizations of ground velocity measurement.Be installed in the air speed instrument on the machine, can measure the air speed when flying before the depopulated helicopter.And but the positioning system survey aircraft is with respect to the movement velocity of ground level.The flying height of depopulated helicopter is a very important parameter.In this unmanned helicopter system, parameter highly there are three kinds of modes.The atmosphere data machine can survey aircraft sea level elevation, its measurement range is 0～3000 meter, precision can reach 1%.Because the high maneuverability of depopulated helicopter, so when the relative height of unmanned helicopter flight is hanged down, must control more accurately and monitor its height and rising or falling speed, to guarantee aircraft safety.To 0～300 meter this segment limit of relative height, we have adopted radio altimeter.Relative height measuring accuracy 0.5%, its rising or falling speed measurement range be-10M/S～+ 10M/S.Practice shows that radio altimeter is subject to noise jamming at the range content that is lower than 3 meters, and duty is stable inadequately, therefore in less than 5 meters altitude range, has adopted the low clearance measuring instrument with centimetre-sized precision to measure.
This telemetry system is simple for structure, weight of equipment is light, perfect in shape and function, easy for installation, to remote measurement to data have very strong confidentiality and anti-interference.Can be applicable on aircraft, aircraft, the pilotless automobile.
Claims (12)
1. telemetry system that is used for axle-shared double-rotary wing pilotless helicopter, it comprises airborne telemetry unit and ground telemetering equipment, it is characterized in that: (a) airborne telemetry unit is made up of sensor groups, signal conditioner, GPS receiver, data acquisition and processor, telemetering transmiter, signal conditioner connects each sensor, and sending each sensor signal to data acquisition and processor, data acquisition and processor connect GPS receiver, telecommand upstream device, navigational computer and telemetering transmiter; (b) ground telemetering equipment is made up of telemetering receiver, telemetry Ground Processing System and ground monitoring computing machine, telemetering receiver sends the signal that receives to the telemetry Ground Processing System through pcm stream, and the telemetry Ground Processing System connects with the ground monitoring computing machine with pci interface.
2. telemetry system according to claim 1 is characterized in that: isolate by the sensor groups signal that comes to transmitting for signal conditioner, conversion, amplification shaping become voltage signal in low impedance, is transferred to data acquisition unit again.
3. telemetry system according to claim 1 is characterized in that: sensor groups has power supply monitoring sensor on the supporting sensor of engine, radio altitude sensor, air data sensor, height sensor near the ground, aspect sensor, fuel-quantity transducer, Temperature Humidity Sensor, the machine.
4. telemetry system according to claim 1 is characterized in that: the rotating speed of engine sensor monitoring engine, temperature, lubricating oil pressure parameter.
5. telemetry system according to claim 1 is characterized in that: the inclination of aspect sensor measurement aircraft, pitching, course angle parameter, measuring accuracy can reach 0.2 degree.
6. telemetry system according to claim 1 is characterized in that: the state of flight sensor provides air speed, flying height, the rising or falling speed parameter of aircraft.
7. telemetry system according to claim 1 is characterized in that: the measurement of engine rotate speed scope is 0～7000 rev/min.
8. telemetry system according to claim 1 is characterized in that: cylinder head temperature and oil temperature measurement range are 50 ℃～150 ℃, and the lubricating oil pressure measurement range is 0～100PSI.
9. telemetry system according to claim 1 is characterized in that: the GPS receiver provides the aircraft position coordinate parameters.
10. telemetry system according to claim 1 is characterized in that: data acquisition and processor are encoded to the received signal, encryption, framing, are combined into the telemetry frame and send telemetering transmiter to.
11. telemetry system according to claim 1 is characterized in that: the telemetry Ground Processing System carry out to the received signal sign indicating number synchronously, frame synchronization, decipher, separate frame and handle.
12. telemetry system according to claim 1 is characterized in that: the frame head detecting device detects and is positioned at the frame synchronization head that each frame begins, and with the form notice single-chip microcomputer of testing result to interrupt, as the input signal of Single Chip Microcomputer (SCM) program frame synchronization flow process.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB021006288A CN1161677C (en) | 2002-01-29 | 2002-01-29 | Telemetry system for coaxial double-rotary wing pilotless helicopter |
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| CNB021006288A CN1161677C (en) | 2002-01-29 | 2002-01-29 | Telemetry system for coaxial double-rotary wing pilotless helicopter |
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| CN1358984A true CN1358984A (en) | 2002-07-17 |
| CN1161677C CN1161677C (en) | 2004-08-11 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1305194C (en) * | 2004-12-17 | 2007-03-14 | 华北电力大学（北京） | Power circuit scanning test robot airplane and controlling system |
| CN100368789C (en) * | 2005-07-04 | 2008-02-13 | 浙江大学 | Test bench for testing flight performance of small-sized helicopter |
| CN100444069C (en) * | 2007-01-19 | 2008-12-17 | 北京航空航天大学 | Double measurement and control system in use for coaxial dual rotors of unmanned helicopter |
| CN1971213B (en) * | 2005-11-24 | 2010-04-14 | 中国科学院自动化研究所 | Remotely-controlled helicopter-carried land form detection device |
| CN101587181B (en) * | 2009-06-17 | 2012-02-08 | 北京航空航天大学 | Wideband digital telemetered signal isolating and matching method |
| CN106585966A (en) * | 2016-12-13 | 2017-04-26 | 天津传承科技有限公司 | Electromechanical integration unmanned aerial vehicle device capable of smoothly taking off and landing |
| CN107764574A (en) * | 2017-09-08 | 2018-03-06 | 中国飞行试验研究院 | A kind of anti-icing functional verification flight test method of pusher airscrew |
| CN109962742A (en) * | 2019-03-29 | 2019-07-02 | 西安工业大学 | Portable remote monitoring data monitoring platform and monitoring method |
-
2002
- 2002-01-29 CN CNB021006288A patent/CN1161677C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1305194C (en) * | 2004-12-17 | 2007-03-14 | 华北电力大学（北京） | Power circuit scanning test robot airplane and controlling system |
| CN100368789C (en) * | 2005-07-04 | 2008-02-13 | 浙江大学 | Test bench for testing flight performance of small-sized helicopter |
| CN1971213B (en) * | 2005-11-24 | 2010-04-14 | 中国科学院自动化研究所 | Remotely-controlled helicopter-carried land form detection device |
| CN100444069C (en) * | 2007-01-19 | 2008-12-17 | 北京航空航天大学 | Double measurement and control system in use for coaxial dual rotors of unmanned helicopter |
| CN101587181B (en) * | 2009-06-17 | 2012-02-08 | 北京航空航天大学 | Wideband digital telemetered signal isolating and matching method |
| CN106585966A (en) * | 2016-12-13 | 2017-04-26 | 天津传承科技有限公司 | Electromechanical integration unmanned aerial vehicle device capable of smoothly taking off and landing |
| CN107764574A (en) * | 2017-09-08 | 2018-03-06 | 中国飞行试验研究院 | A kind of anti-icing functional verification flight test method of pusher airscrew |
| CN107764574B (en) * | 2017-09-08 | 2021-09-14 | 中国飞行试验研究院 | Test method for verifying anti-icing function of propulsion type aviation propeller during test flight |
| CN109962742A (en) * | 2019-03-29 | 2019-07-02 | 西安工业大学 | Portable remote monitoring data monitoring platform and monitoring method |
| CN109962742B (en) * | 2019-03-29 | 2021-09-03 | 西安工业大学 | Portable telemetering data monitoring platform and monitoring method |
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| Publication number | Publication date |
|---|---|
| CN1161677C (en) | 2004-08-11 |
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Granted publication date: 20040811 Termination date: 20120129 |