CN201203426Y

CN201203426Y - Agricultural aircraft operation navigation system based on embedded type GPS technology

Info

Publication number: CN201203426Y
Application number: CNU2008200365481U
Authority: CN
Inventors: 沈明霞; 姬长英; 熊迎军; 周良; 卢之慧; 张祥甫; 马奉先
Original assignee: Nanjing Agricultural University
Current assignee: Nanjing Agricultural University
Priority date: 2008-05-30
Filing date: 2008-05-30
Publication date: 2009-03-04
Anticipated expiration: 2018-05-30

Abstract

The utility model relates to a navigation system for an agricultural aircraft operation comprising a central processing unit (1) and a GPS module (2), an ethernet network module (3), a speech prompting module (4), a touch screen (5) and a memorizer (6). The central processing unit (1) also connected to an sd card (9), an external connection JTAG interface (8) of the central processing unit (1) is used as a writing interface of an operating system and a bootstrap program, the central processing unit (1) is also connected to an RS232 interface (7) for program debugging. The main use of the utility model is to save pesticides and flight expense, optimize the flight line, shorten operation time and effectively reduce the respraying rate and the missed spraying rate.

Description

Agricultural aircraft operation navigational system based on the Embedded GPS technology

Affiliated technical field

The utility model relates to a kind of agricultural aircraft operation navigational system, especially a kind of navigational system that can directly be applied in agricultural aircraft plant seeds by airplane operation and aircraft prevention and elimination of disease and pests operation and the aerial application operation.

Background technology

The mode of agricultural aircraft operation tradition navigation generally is to rely on the give a signal method of flag of ground crew to carry out the operation navigation, yet a lot of problem in this traditional navigate mode existence: aircraft hedgehopping and the agricultural chemicals that flies to use in the anti-operation often bring life to threaten to the ground crew, large tracts of land also often occurs and heavily spill, leak and spill, cross the situation of spilling; The domestic positioning system that is used for agriculture field mainly is the agricultural global position system of AgGPS of U.S. Trimble company exploitation at present, this system accuracy height, but volume is bigger, cost an arm and a leg, cooperate this system to carry out the most industrial computers that adopt of airborne equipment of data processing and the real-time track demonstration of figure, some is wasted one's talent on a petty job, and space hold is big, is not easy to work space narrow and small in the cabin and installs and uses.

Summary of the invention

The purpose of this utility model is a kind of agricultural chemicals of can saving that provides at the deficiency of prior art existence, shortens the agricultural aircraft operation navigational system of the Embedded GPS technology of activity duration.

In order to solve above-mentioned technical matters, the utility model is achieved through the following technical solutions:

A kind of agricultural aircraft operation navigational system based on the Embedded GPS technology, it is characterized in that, it is mainly by central processing unit 1, GPS module 2, ethernet module 3, voice cue module 4, touch-screen 5 and storer 6 are formed, the output of GPS module 2 links to each other with the RS232 serial ports of central processing unit 1, the 1 built-in lcd controller output of the display part of touch-screen 5 and central processing unit links to each other, the touch layer control section of touch-screen 5 links to each other with the touch screen interface of central processing unit 1, voice module 4 links to each other with the corresponding I/O mouth of central processing unit 1, storer 6 is connected on the data line and address wire of central processing unit 1, central processing unit 1 links to each other with safe digital card SD9 by serial data input bus SDI, the sheet choosing end of ethernet module 3 links to each other with the sheet choosing end of central processing unit 1, and the external jtag interface 8 of central processing unit 1 is as the programming interface of operating system nucleus and boot.

Central processing unit 1 also is connected to and is used for the RS232 interface 7 that program debug is used.

The beneficial effects of the utility model:

1. saving ground handling fee, GPS navigation need not be provided with any ground signal, can save signal setup fee, purchase commodity, civilian worker's expense, transportation expenses, pathfinder's allowance etc.

2. compare agricultural aircraft navigator in the past, acquisition cost of the present utility model greatly reduces, and convenient small and exquisite, and stability is high.

3. save agricultural chemicals and flight expense, optimize the line of flight, shorten the activity duration, what effectively reduce agricultural chemicals heavily spills, leaks the rate of spilling.

Description of drawings

Fig. 1 is an electric principle schematic of the present utility model.

Fig. 2 is the process flow diagram that the utility model system extracts serial data.

Fig. 3 is the process flow diagram that the utility model system obtains the coordinate projection coefficient.

Fig. 4 is the operation early warning mechanism principle coordinate diagram of the utility model system.

Embodiment

Below in conjunction with drawings and Examples the utility model is further described.As Fig. 1, a kind of agricultural aircraft operation navigational system based on the Embedded GPS technology, mainly by central processing unit 1, GPS module 2, ethernet module 3, voice cue module 4, touch-screen 5 and storer 6 are formed, the output of GPS module 2 links to each other with the RS232 serial ports 7 of central processing unit 1, GPS module 2 is delivered to central processing unit 1 with the latitude and longitude information that receives and is handled, the 1 built-in lcd controller output of the display part of touch-screen 5 and central processing unit links to each other, the touch layer control section of touch-screen 5 links to each other with central processing unit 1 touch screen interface, latitude and longitude information after central processing unit 1 will be handled is delivered to touch screen 5 and is shown in real time, touch screen 5 also shows the automatic planning information in navigation channel simultaneously, voice module 4 is by linking to each other with the corresponding I/O mouth of central processing unit 1, when aircraft crosses the border, central processing unit 1 is delivered to the voice module 4 and the voice suggestion of crossing the border with early warning information, storer 6 is connected on the data line and address wire of central processing unit 1, central processing unit 1 links to each other with safe digital card 9 by serial data input bus SDI, the sheet choosing end of ethernet module 3 links to each other with the sheet choosing end (nGCS3 pin) of central processing unit 1, and the external jtag interface 8 of central processing unit 1 is as the programming interface of operating system nucleus and boot.

Central processing unit 1 can adopt the S3C2410 of Samsung, is 32 ARM9 microprocessors of a high-performance, as the core CPU of agricultural aircraft operation navigational system.

GPS module 2 can adopt the RCB-4H of Switzerland UBLOX company, and the output of GPS module 2 links to each other with the RS232 serial ports of central processing unit 1, and the latitude and longitude information that receives is delivered to central processing unit 1 carry out data processing.

8 cun touch-screens of Sharp that touch-screen 5 can adopt the safe company of the upright space in Hangzhou to produce, it is 8 cun liquid crystal displays of Sharp of LQ080V3DG01 that its display part LCD can adopt model, and it links to each other with the built-in lcd controller output of central processing unit 1, and it is backlight to have a highlighted CCFL.The touch layer control section of touch-screen 5 links to each other with the touch screen interface of central processing unit 1.

Storer 6 is by SDRAM, NOR FLASH, and NAND FLASH constitutes, wherein, the SDRAM model can be HY57V561620C, is used for setting program storehouse and deposit purposes such as various variablees, NOR FLASH model can be Am29LV800B, and NAND FLASH model can be K9F1208UOM.

Central processing unit 1 also is connected to RS232 interface 7, as program debug.

Ethernet module 3 is used as program debug and file system programming, the most time of performance history, program is not the plank debugging of downloading, but sets up by intersecting twisted-pair feeder and main frame that network file system(NFS) debugs, and can avoid so repeatedly writing with a brush dipped in Chinese ink FLASH and causes the FLASH life-span to be reduced.The main control chip of ethernet module is CS8900A, and the nGCS3 pin of central processing unit 1 is adopted in the sheet choosing, and interrupt request adopts the EINT9 pin.

Jtag interface 8 is as operating system nucleus and boot (bootloader) programming interface, described JTAG (Joint Text Action Group: be the monitoring PCB of formulation in 1985 and a kind of standard of IC chip joint test group), nineteen ninety is modified to standard, i.e. an IEEE1149.1-1990 who becomes IEEE.By this standard, can carry out boundary scan and fault detect to the hardware circuit of chip with jtag interface.

Safe digital card SD9 is used for preserving data as movable storage device, is connected with central processing unit 1 by serial data input bus SDI.

It is the integrated circuit of ZR-YY800 that voice module 4 can adopt model, and it is connected with the corresponding I/O mouth of central processing unit 1.

Fig. 2 is for extracting the process flow diagram of serial data, the latitude and longitude information that the GPS module receives in the utility model be to link to each other with central processing unit by the RS232 serial ports, begin to retrieve the data that begin with the $ character after successfully opening serial ports, after successfully retrieving data, whether closely follow the GPRMC character string after beginning to judge $, if be judged as otherwise continue the data that retrieval begins with the $ character,,, GPS originates for providing accurate data if judge it is sure then to extract the longitude and latitude data by coded sequence.

Fig. 3 is for obtaining the process flow diagram of coordinate projection coefficient, the farmland profile to be presented on the LCD, the rectangular coordinate system that must calculate the place, farmland projects to the projection coefficient of the rectangular coordinate system at screen place, at first gather the apex coordinate on the border in farmland by the hand-held navigational system of operating personnel, draw the profile diagram in farmland, for being presented on the LCD of guaranteeing that the farmland shape can be similar, adopt x coordinate and y coordinate respectively the mode of projection carry out coordinate Mapping.After measuring the latitude and longitude coordinates of field boundary fixed point, the fixed point coordinate that records is carried out Gauss projection, convert thereof into plane x-y rectangular coordinate, choose x minimum in the summit and minimum coordinate points of y formation, maximum x and maximum y constitute more in addition, with the smallest point is that initial point is set up relative coordinate system, as these 2 is the outsourcing rectangle on summit, adopt the projection coefficient of the parallel coordinate axis coordinate in the long limit of the effective viewing area of rectangle length/screen length=rectangle at last, the projection coefficient of the coordinate axis coordinate that the long limit of the effective viewing area of rectangle width/screen width=rectangle is parallel.

Fig. 4 is the synoptic diagram of the utility model waterway planning algorithm and operation early warning mechanism principle, wherein the waterway planning algorithm principle is: establishing the polygon that ABCDE surrounds is that LCD goes up the farmland profile that shows, at first aircraft actual job width is folded to LCD and goes up the channel span that shows according to the planimetric coordinates projection coefficient that obtains among Fig. 3, from the AB limit, make the straight line equate with AB limit slope along x axle positive dirction 1/2 channel span of being separated by, outside polygon, the operation navigation channel that these equidistant straight lines promptly are aircrafts.Operation early warning mechanism principle is: relatively face movement speed is very fast owing to aircraft, so should when the certain distance of plane distance boundary line, the voice reminder pilot note, prevent that dispenser from crossing the boundary, concrete technology path is: be similar polygon A1B1C1D1E1 and A2B2C2D2E2 respectively inside and outside polygon ABCDE, inside and outside polygon equates with the distance of polygon ABCDE, this distance should be determined according to the practical flight speed of aircraft, when aircraft flies to the farmland from the outside, when touching the outsourcing polygon, voice module prompting pilot is about to begin dispenser, when the aircraft farmland that flies out internally, when touching inner polygon, remind the pilot to note in time stopping dispenser.

Claims

1. agricultural aircraft operation navigational system based on the Embedded GPS technology, it is characterized in that, it is mainly by central processing unit (1), GPS module (2), ethernet module (3), voice cue module (4), touch-screen (5) and storer (6) are formed, the output of GPS module (2) links to each other with the RS232 serial ports of central processing unit (1), the built-in lcd controller output of the display part of touch-screen (5) and central processing unit (1) links to each other, the touch layer control section of touch-screen (5) links to each other with the touch screen interface of central processing unit (1), voice module (4) links to each other with the corresponding I/O mouth of central processing unit (1), storer (6) is connected on the data line and address wire of central processing unit (1), central processing unit (1) links to each other with safe digital card SD (9) by serial data input bus SDI, the sheet choosing end of ethernet module (3) links to each other with the sheet choosing end of central processing unit (1), and the external jtag interface (8) of central processing unit (1) is as the programming interface of operating system nucleus and boot.

2. the agricultural aircraft operation navigational system based on the Embedded GPS technology according to claim 1 is characterized in that described central processing unit (1) is connected to and is used for the RS232 interface (7) that program debug is used.