CN203773605U - Flight data recorder of medium/small-sized unmanned aerial vehicle (UAV) - Google Patents
Flight data recorder of medium/small-sized unmanned aerial vehicle (UAV) Download PDFInfo
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- CN203773605U CN203773605U CN201420172845.4U CN201420172845U CN203773605U CN 203773605 U CN203773605 U CN 203773605U CN 201420172845 U CN201420172845 U CN 201420172845U CN 203773605 U CN203773605 U CN 203773605U
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Abstract
The utility model discloses a flight data recorder of a medium/small-sized unmanned aerial vehicle (UAV). The flight data recorder comprises a shell (12) and is characterized in that a power supply (11), a gyroscope (6), an acceleration sensor (5), a geomagnetic sensor (4) and an atmospheric pressure and temperature sensor (3) are arranged in the shell; the gyroscope, the acceleration sensor, the geomagnetic sensor and the atmospheric pressure and temperature sensor are respectively connected with a master control chip (1); the shell is provided with a control signal input port (9) and a GPS (Global Positioning System) interface (10); the control signal input port is connected with the master control chip through a converter (8); the GPS interface is directly connected with the master control chip; the master control chip is connected with a storage element (7) and a wireless signal transmitting chip (2). According to the flight data recorder of the medium/small-sized UAV, no influence on the structure of the existing UAV autopilot system can be caused, so that flight control performance can not be affected; system hardware is low in circuit cost and small in volume, and a complete UAV black box system is formed after the protective shell is additionally mounted, so that installed operation is facilitated, the applicability is good, and the use value is relatively high.
Description
Technical field
the utility model relates to a kind of middle-size and small-size unmanned plane during flying data recorder, belongs to flight data recording technical field.
Background technology
the flight data recorder that has a standard on present generation aircraft, is called black box.Can parse the flying quality of aircraft in whole flight course by black box people, can get rid of in advance aircraft hidden danger according to the flying quality of black box record, avoid accident to occur, once have an accident, the flying quality that also can record by black box is analyzed culprit.
existing black box is mostly man-machine for having, although some can be used for unmanned plane, because existing black box volume and weight is larger, and takies the resource of aircraft automated driving system, is not suitable for middle-size and small-size unmanned plane and uses.
Summary of the invention
the purpose of this utility model is, provides a kind of volume little lightweight, does not take the middle-size and small-size unmanned plane during flying data recorder of aircraft automated driving system resource.
the technical solution of the utility model:
a kind of middle-size and small-size unmanned plane during flying data recorder, comprises shell, is provided with power supply, gyroscope, acceleration transducer, geomagnetic sensor and air pressure temperature sensor in shell; Gyroscope, acceleration transducer, geomagnetic sensor and air pressure temperature sensor are connected with main control chip respectively; Shell is provided with control signal input port and GPS interface; Control signal input port is connected with main control chip through converter; GPS interface is directly connected with main control chip; Main control chip is connected with memory element and wireless signal transmission chip.
in aforementioned flight data recorder, described power supply is lithium battery.
in aforementioned flight data recorder, in described converter, be provided with the single-chip microcomputer that parallel signal is transferred to serial signal; The model of single-chip microcomputer is ATmage16.
in aforementioned flight data recorder, described main control chip is that model is 32 8-digit microcontrollers of STM32F103VET6.
in aforementioned flight data recorder, described gyroscope, acceleration transducer, geomagnetic sensor are respectively ADXL345B three-axis gyroscope, L3G4200D 3-axis acceleration sensor and HMC5833L tri-axle geomagnetic sensors.
in aforementioned flight data recorder, described othermohygrometer sensor is BMP085 othermohygrometer sensor.
in aforementioned flight data recorder, described memory element is Micro SD storage card.
in aforementioned flight data recorder, described wireless signal transmission chip is NRF24L01 2.4G radio receiving transmitting module
in aforementioned flight data recorder, described control signal input port is common 10 passage contact pins.
in aforementioned flight data recorder, described GPS interface is common 4 needle serial ports.
compared with prior art, the utility model forms a set of complete Circuits System, be independent of unmanned plane self-driving system, carry out attitude algorithm by the sensor device data that carry, do not take the computational resource of self-driving instrument, do not relate to the problem such as data output interface agreement of the intrinsic sensing data bus of unmanned plane, can not form impact to the structure of existing unmanned plane self-driving system, therefore can not affect flight control performance yet yet.System hardware circuit is small and exquisite, installs the unmanned plane black box subsystem of complete after protecting sheathing additional, is convenient to installation operation, has good applicability and higher use value.
Brief description of the drawings
fig. 1 is structural representation of the present utility model.
being labeled as in figure: 1-main control chip, 2-wireless signal transmission chip, 3-othermohygrometer sensor, 4-geomagnetic sensor, 5-acceleration transducer, 6-gyroscope, 7-memory element, 8-converter, 9-control signal input port, 10-GPS interface, 11-power supply, 12-shell.
Embodiment
below in conjunction with drawings and Examples, the utility model is described in further detail, but not as to any restriction of the present utility model.
a kind of middle-size and small-size unmanned plane during flying data recorder, as shown in Figure 1, comprises shell 12, and shell is made with engineering plastics.In shell 12, be provided with power supply 11, power acquisition lithium battery power supply.In shell 12, be also provided with gyroscope 6, acceleration transducer 5, geomagnetic sensor 4 and air pressure temperature sensor 3; Gyroscope 6, acceleration transducer 5, geomagnetic sensor 4 are respectively ADXL345B three-axis gyroscope, L3G4200D 3-axis acceleration sensor and HMC5833L tri-axle geomagnetic sensors.Othermohygrometer sensor 3 is BMP085 othermohygrometer sensor.Gyroscope 6, acceleration transducer 5, geomagnetic sensor 4 and air pressure temperature sensor 3 are connected with main control chip 1 respectively; Main control chip 1 is that model is 32 8-digit microcontrollers of STM32F103VET6.Shell 12 is provided with control signal input port 9 and GPS interface 10; Control signal input port 9 is common 10 passage contact pins.GPS interface 10 is common 4 needle serial ports.Control signal input port 9 is connected with main control chip 1 through converter 8; In converter 8, be provided with the single-chip microcomputer that parallel signal is transferred to serial signal; The model of single-chip microcomputer is ATmage16.GPS interface 10 is directly connected with main control chip 1; Main control chip 1 is connected with memory element 7 and wireless signal transmission chip 2.Memory element 7 is Micro SD storage card.Wireless signal transmission chip 2 is NRF24L01 2.4G radio receiving transmitting module.
the course of work of the present utility model and principle
the utility model adopts the less components and parts of power consumption to form the flight data recorder of independent completion, and provides power supply by rechargable power supplies independently for flight data recorder, to realize the object that does not take existing unmanned plane self-driving system resource; In the flight data recorder of independent completion, carry induction installation, main control chip, storage and emitter, to realize the object of the data output interface agreement that does not affect the intrinsic sensing data bus of unmanned plane.The flight data recorder of independent completion, by three dimensional angular rate signal and the three-dimensional acceleration signal of three-axis gyroscope and 3-axis acceleration sensor induction unmanned plane, calculates the 3 d pose information of unmanned plane by inertial navigation algorithm by main control chip; Main control chip revises to the no-manned plane three-dimensional attitude information calculating the 3 d pose information with high confidence level that obtains according to the geography of three axle earth inductors, gps satellite locating device and air pressure temperature sensor senses unmanned plane and positional information; Meanwhile, main control chip writes Micro SD memory card by read control signal from unmanned plane self-driving instrument one to one according to corresponding time relationship and the 3 d pose information with high confidence level.Geographical and positional information refers to latitude and longitude information and the elevation information of unmanned plane present position.Main control chip has state of flight arbitration functions, relatively judge that by the normal flight program and the unmanned plane practical flight attitude that embed in main control chip whether unmanned plane is in normal flight state, in the time detecting improper state of flight, trigger the emergency search signal of wireless transmit chip transmitting fixed frequency.
Embodiment
when concrete enforcement, the utility model is implemented according to the following steps:
a. select sensor: adopt three-axis gyroscope, induction is installed the unmanned plane of recording unit at the angular velocity signal of three dimensions of solid space, and gives main control chip 1; Adopt 3-axis acceleration sensor, induction is installed the unmanned plane of recording unit at the acceleration signal of three dimensions of solid space, and gives main control chip; Adopt three axle geomagnetic sensors, induction is installed the unmanned plane of recording unit at the Geomagnetic signal of three dimensions of solid space, and gives main control chip; Adopt othermohygrometer sensor 3, induction is installed the unmanned plane of recording unit at atmospheric pressure signal and the temperature signal of solid space, and gives main control chip; Adopt gps satellite locating device, respond to the unmanned plane of recording unit in the latitude and longitude information of solid space, and give main control chip;
b. select microcontroller: select 32 single-chip microcomputers as main control chip 1, the attitude of flight vehicle completing based on information that sensor provides resolves, and reads control signal, last continuous recording control information and attitude information and carry out improper state of flight judgement;
c. select Micro SD memory card: select that volume is small and exquisite, cheap, the Micro SD(TF of technology maturation) card is as flying quality memory card;
d. resolve attitude information: main control chip can obtain the sensed data that the sensing equipments such as three axle gyros, 3-axis acceleration, three axle earth magnetism, othermohygrometer and GPS are sent, adopt inertial navigation algorithm can calculate aircraft at three-dimensional attitude information, with the absolute geography information of the acceptance such as three axle geomagnetic sensors and GPS, the attitude of inertial reference calculation is revised, obtain an attitude information with high confidence level simultaneously;
e. read control signal: the control signal that unmanned plane self-driving instrument is issued topworks will be parallel to control signal input terminal, then by parallel series signal conversion module, parallel control signal will be converted to serial signal, and send to main control chip;
f. record: main control chip by the 3 d pose information calculating and GPS positional information, barometer altitude information, the control information of self-driving instrument with the mode of time unifying one by one write Micro SD card;
g. improper state of flight judgement: main control chip judges by attitude information and positional information whether unmanned plane has stopped flight or entered improper state of flight;
h. select wireless signal transmission chip: enter after improper state of flight when main control chip detects unmanned plane, think and occur air crash or fault, to wireless signal transmission chip 2 input control signals, the emergency search signal that starts transmitting fixed frequency, is beneficial to surface work personnel and searches flight recorder;
i. reappear flying quality: computing machine is read the flying quality information being write by registering instrument in Micro SD card, and the displaying with mode image in display of time unifying by flying quality.
Claims (10)
1. a middle-size and small-size unmanned plane during flying data recorder, comprises shell (12), it is characterized in that: in shell (12), be provided with power supply (11), gyroscope (6), acceleration transducer (5), geomagnetic sensor (4) and air pressure temperature sensor (3); Gyroscope (6), acceleration transducer (5), geomagnetic sensor (4) and air pressure temperature sensor (3) are connected with main control chip (1) respectively; Shell (12) is provided with control signal input port (9) and GPS interface (10); Control signal input port (9) is connected with main control chip (1) through converter (8); GPS interface (10) is directly connected with main control chip (1); Main control chip (1) is connected with memory element (7) and wireless signal transmission chip (2).
2. flight data recorder according to claim 1, is characterized in that: described power supply (11) is lithium battery.
3. flight data recorder according to claim 1, is characterized in that: described converter is provided with the single-chip microcomputer that parallel signal is transferred to serial signal in (8); The model of single-chip microcomputer is ATmage16.
4. flight data recorder according to claim 1, is characterized in that: described main control chip (1) is that model is 32 8-digit microcontrollers of STM32F103VET6.
5. flight data recorder according to claim 1, is characterized in that: described gyroscope (6), acceleration transducer (5), geomagnetic sensor (4) are respectively ADXL345B three-axis gyroscope, L3G4200D 3-axis acceleration sensor and HMC5833L tri-axle geomagnetic sensors.
6. flight data recorder according to claim 1, is characterized in that: described othermohygrometer sensor (3) is BMP085 othermohygrometer sensor.
7. flight data recorder according to claim 1, is characterized in that: described memory element (7) is Micro SD storage card.
8. flight data recorder according to claim 1, is characterized in that: described wireless signal transmission chip (2) is NRF24L01 2.4G radio receiving transmitting module.
9. flight data recorder according to claim 1, is characterized in that: described control signal input port (9) is common 10 passage contact pins.
10. flight data recorder according to claim 1, is characterized in that: described GPS interface (10) is common 4 needle serial ports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420172845.4U CN203773605U (en) | 2014-04-11 | 2014-04-11 | Flight data recorder of medium/small-sized unmanned aerial vehicle (UAV) |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420172845.4U CN203773605U (en) | 2014-04-11 | 2014-04-11 | Flight data recorder of medium/small-sized unmanned aerial vehicle (UAV) |
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| Publication Number | Publication Date |
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| CN203773605U true CN203773605U (en) | 2014-08-13 |
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| CN201420172845.4U Expired - Fee Related CN203773605U (en) | 2014-04-11 | 2014-04-11 | Flight data recorder of medium/small-sized unmanned aerial vehicle (UAV) |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105551115A (en) * | 2016-01-28 | 2016-05-04 | 广州极飞电子科技有限公司 | Flight data recorder opening and closing control method and device |
| CN106296873A (en) * | 2016-08-08 | 2017-01-04 | 桂林信通科技有限公司 | A kind of unmanned plane hedging flight data recorder and method |
-
2014
- 2014-04-11 CN CN201420172845.4U patent/CN203773605U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105551115A (en) * | 2016-01-28 | 2016-05-04 | 广州极飞电子科技有限公司 | Flight data recorder opening and closing control method and device |
| CN105551115B (en) * | 2016-01-28 | 2019-09-27 | 广州极飞科技有限公司 | Flight data recorder unlatching, the control method closed and device |
| CN106296873A (en) * | 2016-08-08 | 2017-01-04 | 桂林信通科技有限公司 | A kind of unmanned plane hedging flight data recorder and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140813 Termination date: 20200411 |