CN202583877U - General autopilot of unmanned aerial vehicle - Google Patents
General autopilot of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN202583877U CN202583877U CN 201220133812 CN201220133812U CN202583877U CN 202583877 U CN202583877 U CN 202583877U CN 201220133812 CN201220133812 CN 201220133812 CN 201220133812 U CN201220133812 U CN 201220133812U CN 202583877 U CN202583877 U CN 202583877U
- Authority
- CN
- China
- Prior art keywords
- data
- data output
- processor
- output end
- control cpu
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The utility model discloses a general autopilot of an unmanned aerial vehicle and aims at providing a core sensor, wherein a three-axis gyroscope, a tri-axial accelerometer and a three-axis magnetic compass are integrated together so as to be served as an inertial navigation system. Therefore, control precision is increased and the autopilot has a small volume. The core sensor of the inertial navigation system comprises the three-axis gyroscope, the tri-axial accelerometer and the three-axis magnetic compass. Data output terminals of the three-axis gyroscope, the tri-axial accelerometer and the three-axis magnetic compass are connected with an input terminal of an A/D converter. The data output terminal of the A/D converter is connected with a data input terminal of an orthogonal correction and data preprocessor. The data output terminal of the orthogonal correction and data preprocessor is connected with the data input terminal of a Kalman filter. The data output terminal of the Kalman filter is connected with the input terminal of attitude data of an attitude position reference data processor through a data interface. By using the autopilot, the control precision is high; reliability is high; a volume is small and weight is light.
Description
Technical field
The utility model relates to the unmanned vehicle field, in particular, relates to the general robot pilot of a kind of high-precision unmanned vehicle.
Background technology
Unmanned vehicle is meant to have Remote or autonomous flight ability, can carry the unmanned aviation aircraft such as camera, communication apparatus and other mission payload, and it is playing the part of important role in exploration and scouting field.Robot pilot is the key subsystem of unmanned vehicle flight system, is made up of four modules: flight control CPU, attitude reference system, GPS module, steering wheel control module are formed.Along with the development of aeronautical technology and to unmanned vehicle demand more and more widely, robot pilot develops towards high precision, miniaturization, digitizing direction.
At present popular flight control system be basically with DSP, PowerPC etc. as flight control CPU, the periphery is equipped with 3 axis MEMS gyroscope, 3 axis MEMS accelerometer, three magnetic compasses, micro pressure altitude gauge, miniature airspeed sensor, miniature magnetic meter, miniature GPS receiver etc.Because three-axis gyroscope, three axis accelerometer, three magnetic compasses as inertial navigation system core sensor part are provided with separately respectively, wiring is complicated, influences control accuracy, reduced reliability, and volume is big.
The utility model content
The utility model is in order to overcome weak point of the prior art; Provide a kind of with three-axis gyroscope, three axis accelerometer, three integrated as a whole core sensors of magnetic compass as inertial navigation system; To improve control accuracy; Improve reliability, the general robot pilot of the unmanned vehicle that volume is little.
The utility model is realized through following technical proposals:
The general robot pilot of a kind of unmanned vehicle; Comprise flight control CPU, steering wheel control module, attitude reference system, GPS receiver; Said attitude reference system comprises posture position reference data processor and inertial navigation system; It is characterized in that; The core sensor of said inertial navigation system partly comprises three-axis gyroscope, three axis accelerometer, three magnetic compasses; The data output end of said three-axis gyroscope, three axis accelerometer, three magnetic compasses is connected with the input end of A/D converter respectively; The data output end of said A/D converter is connected with the data input pin of data pre-processor with quadrature alignment; Said quadrature alignment is connected with the data input pin of Kalman filter with the data output end of data pre-processor, and the data output end of said Kalman filter is connected with the input end of the attitude data of posture position reference data processor through data-interface, and the data output end of said GPS receiver is connected with the input end of the position data of posture position reference data processor; The data output end of said posture position reference data processor is connected with said flight control CPU, and said flight control CPU is connected with said steering wheel control module.
Said flight control CPU adopts the ARM11 processor.
Said GPS receiver adopts DGPS Receiver.
The data output end of temperature controller is connected with the temperature data input end of said A/D converter.
The utlity model has following technique effect:
1, the robot pilot of the utility model will be the core sensor by three-axis gyroscope, three axis accelerometer, three 9 integrated degree of freedom inertial navigation systems of magnetic compass, reduce wiring, and high-precision difference GPS simultaneously arranges in pairs or groups; Improved control accuracy; Can reach the control accuracy of sub-meter grade, and reliability is high; Volume is little, and is in light weight.
2, the robot pilot of the utility model is a core CPU with the ARM11 processor, has improved processing speed, and real-time is good.
3, the robot pilot of the utility model adopts high-precision difference GPS receiver, has improved control accuracy.
Description of drawings
Fig. 1 is the schematic diagram of the general robot pilot of the utility model unmanned vehicle;
Fig. 2 is the schematic diagram of 9 integrated degree of freedom inertial navigation systems of three-axis gyroscope, three axis accelerometer, three magnetic compasses.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the utility model is elaborated.
The schematic diagram of the general robot pilot of the utility model unmanned vehicle such as Fig. 1, shown in Figure 2; Comprise flight control CPU, steering wheel control module, attitude reference system, GPS receiver; Said attitude reference system comprises posture position reference data processor and inertial navigation system; The core sensor of said inertial navigation system partly comprises three-axis gyroscope, three axis accelerometer, three magnetic compasses; The data output end of said three-axis gyroscope, three axis accelerometer, three magnetic compasses is connected with the input end of A/D converter respectively; The data output end of said A/D converter is connected with the data input pin of data pre-processor with quadrature alignment; Said quadrature alignment is connected with the data input pin of Kalman filter with the data output end of data pre-processor; The data output end of said Kalman filter is connected with the input end of the attitude data of posture position reference data processor through data-interface, and the data output end of said GPS receiver is connected with the input end of the position data of posture position reference data processor; The data output end of said posture position reference data processor is connected with said flight control CPU, and said flight control CPU is connected with said steering wheel control module.Wherein, quadrature alignment and data pre-processor can adopt single-chip microcomputer.
Said flight control CPU adopts the ARM11 processor.
Said GPS receiver adopts DGPS Receiver.
The data output end of temperature controller is connected with the temperature data input end of said A/D converter.
Three-axis gyroscope, three axis accelerometer, three magnetic compasses, the detected data of temperature sensor obtain high performance attitude reference data after through processing such as A/D conversion, quadrature alignment, Kalman filterings; Deliver to posture position reference data processor through data output interface; The position data that the GPS receiver receives is delivered to posture position reference data processor; Merge through posture position reference data processor obtain low cost, the high-accuracy posture reference data offers flight control CPU; Through flight control CPU control steering wheel, thus the automatic flight of control unmanned vehicle.Because three-axis gyroscope, three axis accelerometer, three magnetic compasses are integrated as a whole, have reduced wiring, have improved control accuracy.
The unmanned plane robot pilot of the utility model can be directed against other unmanned vehicles such as fixed-wing and helicopter and dirigible, four rotors based on the processor design of ARM11.
Claims (4)
1. general robot pilot of unmanned vehicle; Comprise flight control CPU, steering wheel control module, attitude reference system, GPS receiver; Said attitude reference system comprises posture position reference data processor and inertial navigation system; It is characterized in that; The core sensor of said inertial navigation system partly comprises three-axis gyroscope, three axis accelerometer, three magnetic compasses; The data output end of said three-axis gyroscope, three axis accelerometer, three magnetic compasses is connected with the input end of A/D converter respectively; The data output end of said A/D converter is connected with the data input pin of data pre-processor with quadrature alignment; Said quadrature alignment is connected with the data input pin of Kalman filter with the data output end of data pre-processor, and the data output end of said Kalman filter is connected with the input end of the attitude data of posture position reference data processor through data-interface, and the data output end of said GPS receiver is connected with the input end of the position data of posture position reference data processor; The data output end of said posture position reference data processor is connected with said flight control CPU, and said flight control CPU is connected with said steering wheel control module.
2. the general robot pilot of unmanned vehicle according to claim 1 is characterized in that, said flight control CPU adopts the ARM11 processor.
3. the general robot pilot of unmanned vehicle according to claim 1 is characterized in that, said GPS receiver adopts DGPS Receiver.
4. the general robot pilot of unmanned vehicle according to claim 1 is characterized in that, the data output end of temperature controller is connected with the temperature data input end of said A/D converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220133812 CN202583877U (en) | 2012-03-27 | 2012-03-27 | General autopilot of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220133812 CN202583877U (en) | 2012-03-27 | 2012-03-27 | General autopilot of unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202583877U true CN202583877U (en) | 2012-12-05 |
Family
ID=47253269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220133812 Expired - Fee Related CN202583877U (en) | 2012-03-27 | 2012-03-27 | General autopilot of unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202583877U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102981509A (en) * | 2012-12-18 | 2013-03-20 | 哈尔滨伟方智能科技开发有限责任公司 | Autopilot for fixed-wing and four-rotor unmanned aerial vehicles |
| CN103353601A (en) * | 2013-07-01 | 2013-10-16 | 唐粮 | System and method for unmanned aerial vehicle accurate navigation based on GNSS real-time difference technology |
| CN105068552A (en) * | 2015-08-31 | 2015-11-18 | 致导科技（北京）有限公司 | Automatic pilot of unmanned plane |
| CN105334866A (en) * | 2015-11-27 | 2016-02-17 | 湖北三江航天红峰控制有限公司 | Automatic piloting control system used for aircraft |
| WO2018086087A1 (en) * | 2016-11-14 | 2018-05-17 | 钟玲珑 | Unmanned flight control system |
-
2012
- 2012-03-27 CN CN 201220133812 patent/CN202583877U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102981509A (en) * | 2012-12-18 | 2013-03-20 | 哈尔滨伟方智能科技开发有限责任公司 | Autopilot for fixed-wing and four-rotor unmanned aerial vehicles |
| CN103353601A (en) * | 2013-07-01 | 2013-10-16 | 唐粮 | System and method for unmanned aerial vehicle accurate navigation based on GNSS real-time difference technology |
| CN105068552A (en) * | 2015-08-31 | 2015-11-18 | 致导科技（北京）有限公司 | Automatic pilot of unmanned plane |
| CN105068552B (en) * | 2015-08-31 | 2018-12-11 | 致导科技（北京）有限公司 | A kind of UAV autopilot |
| CN105334866A (en) * | 2015-11-27 | 2016-02-17 | 湖北三江航天红峰控制有限公司 | Automatic piloting control system used for aircraft |
| WO2018086087A1 (en) * | 2016-11-14 | 2018-05-17 | 钟玲珑 | Unmanned flight control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102707725B (en) | Fixed-wing automatic navigation flight control system and using method thereof | |
| CN204229233U (en) | A kind of many rotor wing unmanned aerial vehicles automatic flight control system | |
| CN202583877U (en) | General autopilot of unmanned aerial vehicle | |
| CN100356281C (en) | Automatic pilot for aircraft | |
| CN202771262U (en) | Fixed-wing automatic navigation flight control system | |
| EP3754302A1 (en) | Flight control and navigation integrated machine | |
| CN102879793A (en) | Super-miniature GPS (global positioning system), INS (inertial navigation system), magnetometer and barometer integrated navigation system | |
| CN104180803A (en) | Non-similar dual-redundancy integrated navigation device applied to unmanned plane | |
| CN110989647B (en) | Multi-sensor fusion flight controller based on SoC | |
| CN105843249A (en) | Unmanned aerial vehicle automatic navigation system based on Pixhawk flight control and navigation method thereof | |
| CN102981509A (en) | Autopilot for fixed-wing and four-rotor unmanned aerial vehicles | |
| CN102431643A (en) | Automatic pilot of unmanned plane | |
| CN102968123A (en) | Automatic pilot of unmanned aerial vehicle | |
| CN106325289A (en) | Renesas R5F100LEA master control-based four-rotor flight controller and control method thereof | |
| CN105468010A (en) | Multi-degree of freedom inertial sensor four-axis unmanned aerial vehicle autonomous navigation flight controller | |
| CN103076013A (en) | Air data and gesture heading reference system for flight navigation | |
| CN2681997Y (en) | Aircraft autopilot with dual processors | |
| CN103712598A (en) | Attitude determination system and method of small unmanned aerial vehicle | |
| CN201004180Y (en) | Pose control system for unmanned plane | |
| CN202939490U (en) | Autopilot for unmanned aerial vehicles | |
| CN105382423B (en) | A kind of four rotor laser cutting devices | |
| CN205880667U (en) | Fixed wing uavs automatic flight control system of two remaining sensors | |
| CN208796112U (en) | Four-core unmanned helicopter flight control system | |
| CN204790578U (en) | General automatic pilot of unmanned vehicles | |
| CN103644914A (en) | High precision micro-electromechanical combined inertial navigation unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121205 Termination date: 20130327 |