CN201262709Y - Control system of minitype depopulated helicopter - Google Patents
Control system of minitype depopulated helicopter Download PDFInfo
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- CN201262709Y CN201262709Y CNU2008200519757U CN200820051975U CN201262709Y CN 201262709 Y CN201262709 Y CN 201262709Y CN U2008200519757 U CNU2008200519757 U CN U2008200519757U CN 200820051975 U CN200820051975 U CN 200820051975U CN 201262709 Y CN201262709 Y CN 201262709Y
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Abstract
The utility model discloses a small unmanned helicopter control system; a flying control computer is provided with a measurement and calculation device and a control device; a sensor is connected with the flying control computer; a manual control signal receiving and sending unit receives control signals sent by a remote controller and transmits the control signals to the flying control computer; for one hand, a ground station receiving and sending unit receives various flying data and parameters transmitted downwards by an aircraft and probes the information; for the other hand, the ground station receiving and sending unit transits control instructions of the ground station working personnel upwards to the flying control computer by a ground signal receiving and sending unit. The small unmanned helicopter control system can still exactly output various navigation parameters with high updating rate under the situation that high-mobility or GPS signals are intermitted in short time, ensures the flying reliability of the aircraft and leads the aircraft to complete the tasks such as reconnaissance, monitoring, and the like exactly.
Description
Technical field
The present invention relates to unmanned vehicle control field, relate in particular to a kind of control system of unmanned rotary-wing aircraft autonomous flight.
Background technology
Over the past decade, depopulated helicopter is being played the part of crucial effect in the monitoring application.Though some aircrafts are stable, can all be based on unskillful fixed-wing platform, the empty on the ground image of collecting is analyzed these data back.In recent years, the investigation of enemy's environment is become very urgent, for the small-sized rotary wing aircraft flexibly with enough automatic function safety remote controls also needs very.So depopulated helicopter can be used in the military and civilian field.Its advantage is: the first, can security implementation on abominable, narrow and complicated landform maneuvering flight, just investigating, in the difficult task environment such as rescue, having more application advantage than fixed wing aircraft; The second, autonomous helicopter is a good platform for various cross discipline researchs (as artificial intelligence, Flame Image Process, wireless conversion, Advanced Control theory and manufacturing, Multi-sensor Fusion etc.).In brief, depopulated helicopter has wide application potential.
At present, control the boundary automatically, have many researchers that focus is concentrated in the automatic flight of model copter in the world.The researchist of country variant is to its great interest, attracts and challenging us.Some famous talented research institutions such as MIT, the Georgia Institute of Technology of Georgia technical college, the CMU of Carnegie Mellon University, Zhejiang University etc. all classify this as important research field.Simultaneously, also has the annual contest IARC of international airline robot of the ardent participation of many mechanisms and university.
The development depopulated helicopter has two kinds of approach, and the one, adopt Inertial Measurement Unit IMU (InertiaMeasurement Unit), perhaps inertial navigation system INS (Inertia Navigation System), and image processing techniques; Another kind is to adopt Global Positioning System (GPS) GPS (Global PositioningSystem) and IMU to carry out local location identification.The utility model adopts a kind of scheme in back.
The utility model content
The purpose of this utility model provides a kind of miniature self-service helicopter control system, and it can be at height under motor-driven or the situation that the gps signal short time interrupts, still exports various navigational parameters with the Gao Gengxin rate exactly, has guaranteed the reliability of aircraft flight.
In order to achieve the above object, the technical solution adopted in the utility model is:
A kind of miniature self-service helicopter control system, hardware system structure comprises flight-control computer, the IMU Inertial Measurement Unit, magnetometer, gps receiver, altitude gauge, the manual control signal Transmit-Receive Unit, the ground signal Transmit-Receive Unit, land station's Transmit-Receive Unit, land station's computing machine and telepilot is characterized in that: flight-control computer is provided with attitude measuring and calculating device, linear acceleration measuring and calculating device, speed of a ship or plane measuring and calculating means for correcting, flight position measuring and calculating means for correcting, attitude-control device, speed of a ship or plane control device, flight position control device and steering engine control device;
Attitude-control device, speed of a ship or plane control device, flight position control device link to each other with attitude measuring and calculating device, speed of a ship or plane measuring and calculating means for correcting, flight position measuring and calculating means for correcting respectively; Steering engine control device links to each other with attitude-control device, speed of a ship or plane control device, flight position control device;
Three axis accelerometer is connected with attitude measuring and calculating device, linear acceleration measuring and calculating device respectively; Three axis angular rate meters, magnetometer link to each other with attitude measuring and calculating device; Pitot meter links to each other with speed of a ship or plane measuring and calculating means for correcting; Longitude and latitude meter, altitude gauge link to each other with flight position measuring and calculating means for correcting;
The input port of flight-control computer is connected with IMU Inertial Measurement Unit, magnetometer, gps receiver, altitude gauge.
The utility model according to above structure is characterized in that: this control system can also connect manual control signal Transmit-Receive Unit and ground signal Transmit-Receive Unit.
The beneficial effects of the utility model are:
1, the utility model adopts the two MCU multitask structures of DSP+ARM, has guaranteed the accuracy and the real-time of computing and control, the error that system produces in the time of can revising hang and flight automatically.
2, the GPS receiver of built-in one 16 passage of control system provides superior bearing accuracy, can independently hover accurately entirely.
3, under automatic floating state, the flying height of aircraft and position can be locked, the flying speed of the bar amount correspondence aircraft on the telepilot, and the user can carry out foolproof control flight (user is each only need to control a bar amount).
4, three gyros of built-in high reliability MEMS, accelerometer in lock height flight, can be controlled aircraft and carry out the cooperative type turning.
5, system can make aircraft enter automatic floating state in receiver lossing signal (entering Fail Safe pattern).
6, the utility model and be based on the key distinction of ccd sensor flight stability augmentation system: system is not subjected to the restriction of height, face of land texture, almost can fly to any height in the remote control distance, flight is smooth more level and smooth, need be between numerous control models switch continually, the control of flying speed be can be as accurate as in the 0.1m/s.
7, adopt special-purpose CPLD to the operation independent that steering wheel PWM carries out encoding and decoding, guaranteed accuracy and reliability, and can compatible most of brand telepilots.
Description of drawings
Fig. 1 is the utility model flight-control computer theory diagram.
Fig. 2 is the utility model hardware control system connection layout.
Fig. 3 is the utility model control flow synoptic diagram.
Embodiment
Below in conjunction with drawings and Examples the utility model is described in further details.
Be the utility model flight-control computer theory diagram as shown in Figure 1.Flight-control computer is provided with measuring and calculating device and control device two parts, and sensor is connected on the flight-control computer.Sensor section comprises three axis accelerometer, three axis angular rate meters, magnetometer, pitot meter, longitude and latitude meter, altitude gauge; The measuring and calculating device partly comprises attitude measuring and calculating device, linear acceleration measuring and calculating device, speed of a ship or plane measuring and calculating means for correcting, flight position measuring and calculating means for correcting; Control device partly comprises attitude-control device, speed of a ship or plane control device, flight position control device and steering engine control device.
The said apparatus annexation is: attitude-control device, speed of a ship or plane control device, flight position control device link to each other with attitude measuring and calculating device, speed of a ship or plane measuring and calculating means for correcting, flight position measuring and calculating means for correcting respectively; Steering engine control device links to each other with attitude-control device, speed of a ship or plane control device, flight position control device; Three axis accelerometer is connected with attitude measuring and calculating device, linear acceleration measuring and calculating device respectively; Three axis angular rate meters, magnetometer link to each other with attitude measuring and calculating device; Pitot meter links to each other with speed of a ship or plane measuring and calculating means for correcting; Longitude and latitude meter, altitude gauge link to each other with flight position measuring and calculating means for correcting.
Accompanying drawing 2 is the utility model hardware control system connection layout.Flight-control computer is connected with IMU Inertial Measurement Unit, magnetometer, gps receiver, altitude gauge, and each installs principle of work and is:
1, the course data M3 that records of flight-control computer three-dimensional acceleration data M 1, three axis angular rate data M 2 and magnetometer that the IMU Inertial Measurement Unit is recorded carries out Treatment Analysis, carries out flight attitude and calculates A1, produces attitude data D1; Carry out attitude control and treatment A2; Calculate attitude controlled variable C1;
2, after flight-control computer carries out linear acceleration calculating A3 to three-dimensional acceleration data M 1, attitude data, produce linear acceleration data D2;
3, flight-control computer carries out integral operation to linear acceleration data D2, and quotes the speed data M4 that records from gps receiver, proofreaies and correct A4, produces speed of a ship or plane data D3; Carry out speed of a ship or plane control and treatment A5; Calculate speed of a ship or plane controlled variable C2;
4, flight-control computer is quoted longitude and latitude, the altitude information M5 that gps receiver records, the altitude data M6 that quotes altitude gauge, and speed of a ship or plane data D3, carries out flight position and calculates and proofread and correct A6; Handle A7 through position control, calculate position control parameters C 3;
5, flight-control computer output port links to each other with steering engine control device, sees Fig. 1;
6, flight-control computer is quoted attitude controlled variable C1, speed of a ship or plane controlled variable C2, position control parameters C 3, carries out steering wheel control and calculates A8, produces steering wheel control output C4, transfers to steering engine control device 42, and the control steering wheel is referring to Fig. 1, Fig. 2.
For in practical flight, reach better flight effect, it is that manual control signal Transmit-Receive Unit and airborne wireless R-T unit are the ground signal Transmit-Receive Unit that the technical program also can be added manual control receiving trap, be connected with flight-control computer respectively, as shown in Figure 2.The manual control signal Transmit-Receive Unit receives the control signal of sending from telepilot, passes to flight-control computer; Land station's Transmit-Receive Unit receives various flying qualities and the parameter that passes under the aircraft on the one hand, and detection information; The staff's of land station steering order can be uploaded to flight-control computer by the ground signal Transmit-Receive Unit on the other hand.
Accompanying drawing 3 is the utility model control flow synoptic diagram.By flight-control computer is write navigation control program, the control helicopter moves, and this control flow comprises the steps:
1, airborne three-dimensional acceleration parameter Sa ccl, three axis angular rate parameter Sa ngspd, course parameter S hedg calculate A1 through flight attitude, calculate the attitude data Dattd of aircraft;
2, airborne three-dimensional acceleration parameter Sa ccl, attitude data Dattd calculate A3 through linear accelerometer, calculate the acceleration degrees of data Daccl of aircraft;
3, with airborne velograph parameter S spd, quote linear acceleration data Daccl through speed of a ship or plane measuring and calculating and correction A4, obtain speed of a ship or plane data Dspd;
4, with the flying height parameter S heigt of the longitude and latitude of airborne orientator, height parameter Sgps, airplane-altimeter, quote speed of a ship or plane data Dspd, calculate A6, measuring and calculating position data D post through flight position;
5, attitude data Dattd through attitude control and treatment A2, obtains attitude control variable Cattd;
6,,, obtain speed of a ship or plane control variable Cspd through speed of a ship or plane control and treatment A5 with speed of a ship or plane data Dspd;
7,,, obtain flight position control variable Cpst through flight position control and treatment A7 with flight position data Dpst;
8, attitude control variable Cattd, speed of a ship or plane control variable Cspd, position control variable Cpst are as input, through steering wheel control and treatment A8, obtain steering wheel control output Cservo,, realize the autonomous flight of rotary-wing aircraft with the corresponding actions of control servo control mechanism and steering wheel.
Land station's computing machine carries out analyzing and processing with the data that land station's Transmit-Receive Unit collects, the flight of the various navigational parameter control aircrafts that draw.The depopulated helicopter Navigation Control generally has INS and GPS dual mode, but dual mode all has certain drawback:
INS produces the angular velocity and the acceleration of carrier coordinate system, and the high accuracy data of short-term is provided, and contains noise but measure.When calculating location, need do integral operation to the data that contain noise.If do not proofreaied and correct, its systematic error, especially offset error can unrestrictedly become big., do not require that again outside measurement signal proofreaies and correct.GPS is with limited error, is described in the geocentric coordinate residing rheme and puts, and its deficiency is that output speed is slow, and the intermittent dropout that causes owing to reasons such as weather, positions.So GPS self is difficult to guarantee that the information as navigation provides quality.
The utility model adopts the expression Kalman filtering algorithm, and promptly KF combines these two kinds of sensors, can respectively get the chief, makes up for shortcomings or defects.Specific practice: one, INS data computation carrier positions, the temporary transient gps signal that substitutes because of hysteresis or variation; Two, with the difference between GPS and the INS data, the error size of estimation INS data; Three,, proofread and correct INS data and integration thereof according to the error of being calculated.Therefore, can effectively guarantee the accuracy and the real-time of the utility model computing and control, finish tasks such as scouting, monitoring accurately.
Claims (2)
1, a kind of miniature self-service helicopter control system, hardware system structure comprises flight-control computer, the IMU Inertial Measurement Unit, magnetometer, gps receiver, altitude gauge, the manual control signal Transmit-Receive Unit, the ground signal Transmit-Receive Unit, land station's Transmit-Receive Unit, land station's computing machine and telepilot is characterized in that: flight-control computer is provided with attitude measuring and calculating device, linear acceleration measuring and calculating device, speed of a ship or plane measuring and calculating means for correcting, flight position measuring and calculating means for correcting, attitude-control device, speed of a ship or plane control device, flight position control device and steering engine control device;
Attitude-control device, speed of a ship or plane control device, flight position control device link to each other with attitude measuring and calculating device, speed of a ship or plane measuring and calculating means for correcting, flight position measuring and calculating means for correcting respectively; Steering engine control device links to each other with attitude-control device, speed of a ship or plane control device, flight position control device;
Three axis accelerometer is connected with attitude measuring and calculating device, linear acceleration measuring and calculating device respectively; Three axis angular rate meters, magnetometer link to each other with attitude measuring and calculating device; Pitot meter links to each other with speed of a ship or plane measuring and calculating means for correcting; Longitude and latitude meter, altitude gauge link to each other with flight position measuring and calculating means for correcting;
The input port of flight-control computer is connected with IMU Inertial Measurement Unit, magnetometer, gps receiver, altitude gauge.
2, miniature self-service helicopter control system according to claim 1, it is characterized in that: this control system can also connect manual control signal Transmit-Receive Unit and ground signal Transmit-Receive Unit.
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| CNU2008200519757U CN201262709Y (en) | 2008-08-11 | 2008-08-11 | Control system of minitype depopulated helicopter |
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| CNU2008200519757U CN201262709Y (en) | 2008-08-11 | 2008-08-11 | Control system of minitype depopulated helicopter |
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| CN101866180A (en) * | 2010-06-23 | 2010-10-20 | 清华大学 | Flight control system |
| CN101958010A (en) * | 2010-09-03 | 2011-01-26 | 清华大学 | Correlation function test method for arranged effect of aircraft movement measuring sensor |
| CN102023000A (en) * | 2010-09-30 | 2011-04-20 | 清华大学 | Method for measuring height by fusing unmanned helicopter barometric altimeter and GPS (global positioning system) |
| CN102289230A (en) * | 2010-06-18 | 2011-12-21 | Nes&Tec有限公司 | Flight altitude control system of pilotless aircraft |
| CN102401658A (en) * | 2010-08-27 | 2012-04-04 | 崔宝导航有限公司 | Systems and methods for computing vertical position |
| CN102506875A (en) * | 2011-11-30 | 2012-06-20 | 中国南方航空工业(集团)有限公司 | Method and device for navigating unmanned aerial vehicle |
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| CN103543752A (en) * | 2013-10-09 | 2014-01-29 | 深圳市大疆创新科技有限公司 | telecontrol method and telecontrol system |
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| CN102902276A (en) * | 2012-10-12 | 2013-01-30 | 大连理工大学 | Flying control system based on polarized light sensor |
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| CN104750111B (en) * | 2015-03-09 | 2019-02-22 | 王琪杰 | A kind of unmanned plane during flying monitoring system |
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Granted publication date: 20090624 |