CN203894636U - STM32-based flight control system for agricultural unmanned airplane - Google Patents
STM32-based flight control system for agricultural unmanned airplane Download PDFInfo
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- CN203894636U CN203894636U CN201420190626.9U CN201420190626U CN203894636U CN 203894636 U CN203894636 U CN 203894636U CN 201420190626 U CN201420190626 U CN 201420190626U CN 203894636 U CN203894636 U CN 203894636U
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- aerial vehicle
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 3
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Abstract
The utility model discloses an STM32-based flight control system for an agricultural unmanned airplane and belongs to the field of unmanned airplane control. The STM32-based flight control system comprises an STM32 processor, a state sensor, a wireless module and control ends. The state sensor comprises a six-axis gyroscope MPU6050, a high-precision digital air pressure sensor MS5611, a three-axis digital magnetic resistance sensor HMC5883L, and a differential global positioning system DGPS. The wireless module adopts an NRF24L01+PA+LNA one. The control ends fall into two categories, one is a miniature remote controller and the other is a PC host computer control end. The STM32 processor processes information collected by the state sensor, and the control ends control flight of the airplane. The STM32-based flight control system is advantaged in that in the unmanned control condition, the agricultural unmanned airplane can achieve operations of automatic taking off, landing, navigation, task planning flight and the like, and the popularization rate and the working efficiency of an unmanned airplane are improved.
Description
Technical field
The design relates to unmanned aerial vehicle (UAV) control field, specifically designs a kind of agricultural unmanned aerial vehicle flight control system based on STM32.
Background technology
Unmanned aerial vehicle is the aircraft flying voluntarily in the situation that nobody drives.At present, agricultural unmanned aerial vehicle is roughly divided into fixed wing aircraft, helicopter and multiaxis aircraft etc., control aspect adopts general telepilot to carry out remote control constantly to Airplane Flight Control System ', it is very high that thereby the corresponding operative technique with personnel requires, precisely the difficulty of manipulation is very large, and peasant uses agricultural unmanned aerial vehicle to carry out operation, need to enter flight training for a long time, and high-intensity operation easily makes operating personnel's fatigue, easily there is the problems such as accident.
Summary of the invention
Problem to be solved in the utility model is that design is a can be in the situation that nobody controls constantly, realizes the flight control system of the action such as automatic takeoff, landing, self-navigation, task scheduling flight of agricultural unmanned aerial vehicle.
For the technical matters existing in prior art, technical solution adopted in the utility model is: design provides a kind of agricultural unmanned aerial vehicle flight control system based on STM32 processor.
Specifically have, STM32 processor, this processor aims at the Embedded Application specialized designs that requires high-performance, low cost, low-power consumption, and clock frequency reaches 72MHz, and internal resource is abundant, is applicable to the control of unmanned aerial vehicle automatic steady.
Further, the design's state sensor adopts six axle gyroscope MPU6050, high accuracy number baroceptor MS5611, three number of axle word magnetoresistive transducer HMC5883L, differential Global Positioning System DGPS.Six axle gyroscope MPU6050 gather 3 dimension acceleration, 3 dimension angular velocity, and 3 dimension attitude angle, and send data to STM32 processor and process; High accuracy number baroceptor MS5611 gathers the air pressure difference of differing heights, atmospheric pressure value is converted to height value and obtains the height of aircraft; Three number of axle word magnetoresistive transducer HMC5883L gather magnetic direction; Differential Global Positioning System DGPS gathers the residing longitude and latitude of aircraft and height.
Further, the design's wireless module adopts NRF24L01+PA+LNA.This money wireless module transmission range is long, and transmission frequency is high, and handled easily is used for receiving user and transmits to obtain signal by telepilot, and can be to user terminal to transmit data.
Further, the design's control end is divided into two kinds, a kind of is portable Miniature remote control device, the operating key of telepilot mainly contains startup, takes off, model selection, direction control, landing, locking etc., only need press start key just can carry out remote de-locking by aircraft to user in use, press the key that takes off and just can carry out take off control, mode selecting key is mainly used for the data processing that different aircrafts flies to control plate and selects, be included as fixed wing aircraft and multiaxis aircraft, multiaxis aircraft is divided into three axles, four axles, six axles, eight axles, 12 axles etc.Landing key is pressed, aircraft stable landing, and locking key is by aircraft control locking, prevents the damage that maloperation causes.It is steady that aircraft flies without remote control control constantly in flight course.
Another kind of control end is PC PC control end, and user only need to link remote control module with PC, uses PC host computer to send and orders the operation acts that just can control aircraft, comprises independent navigation, task scheduling flight etc.
Brief description of the drawings
Fig. 1 is that agricultural unmanned aerial vehicle control end flies to control plate figure.
Fig. 2 is that agricultural unmanned aerial vehicle control end flies to control intralamellar part processing figure.
Fig. 3 is PC control terminal circuit plate figure.
In figure: the 1st, control end flies to control plate STM32 processor, and 2 is six axle gyroscope MPU6050, the 3rd, high accuracy number baroceptor MS5611,4 is three number of axle word magnetoresistive transducer HMC5883L, the 5th, antenna, the 6th, motor electricity transfer line terminals, the 7th, fixed orifice, the 8th, PCB base plate, the 9th, differential Global Positioning System DGPS, the 10th, wireless module NRF24L01+PA+LNA, the 11st, serial ports joint, the 12nd, PC control plate antenna, the 13rd, PC control end STM32 processor.
Embodiment
The design's state sensor adopts six axle gyroscope MPU6050(2), high accuracy number baroceptor MS5611(3), three number of axle word magnetoresistive transducer HMC5883L(4), differential Global Positioning System DGPS(9).Six axle gyroscope MPU6050(2) gather three-dimensional acceleration, three dimensional angular speed, three-dimension altitude angle, and send data to control end and fly to control plate STM32 processor (1) and process; High accuracy number baroceptor MS5611(3) gather the air pressure difference of differing heights, atmospheric pressure value is converted to height value and obtains the height of aircraft; Three number of axle word magnetoresistive transducer HMC5883L(4) collection magnetic direction; Differential Global Positioning System DGPS(9) the collection residing longitude and latitude of aircraft and height.Antenna (5) is positioned on PCB base plate (8), PCB base plate other end edge is equipped with motor electricity transfer line terminals (6), four jiaos of PCB base plates have fixed orifice (7), control end flies to control plate STM32 processor (1) writing by program, the rotating speed of pid regulator parameters control brushless electric machine, thereby the balance of control aircraft.
PCB base plate is provided with PC control plate antenna (12) on one side, the serial ports joint (11) of the design's PC control end is connected with PC, PC communicates by letter with PC control end STM32 processor (13), and by the data of host computer after the processing of PC control end STM32 processor (13) by wireless module NRF24L01+PA+LNA(10) send.
Above content is only to the utility model structure example and explanation; affiliated those skilled in the art make various amendments to described specific embodiment or supplement or adopt similar mode to substitute; only otherwise depart from the structure of utility model or surmount this scope as defined in the claims, all should belong to protection domain of the present utility model.
Claims (6)
1. the agricultural unmanned aerial vehicle flight control system based on STM32, comprise: STM32 processor, state sensor, wireless module, control end, it is characterized in that, described state sensor comprises six axle gyroscope MPU6050, high accuracy number baroceptor MS5611, three number of axle word magnetoresistive transducer HMC5883L, differential Global Positioning System DGPS, described wireless module adopts NRF24L01+PA+LNA, and described control end is divided into two kinds, Miniature remote control device, PC PC control end.
2. a kind of agricultural unmanned aerial vehicle flight control system based on STM32 according to claim 1, is characterized in that, described STM32 processor is installed on and flies to control on plate.
3. according to a kind of agricultural unmanned aerial vehicle flight control system based on STM32 described in claim 1 or 2, it is characterized in that, the STM32 that described state sensor six axle gyroscope MPU6050, high accuracy number baroceptor MS5611, three number of axle word magnetoresistive transducer HMC5883L, differential Global Positioning System DGPS all fly to control on plate is connected.
4. a kind of agricultural unmanned aerial vehicle flight control system based on STM32 according to claim 1, is characterized in that,
The serial ports joint of described PC control end is connected with PC, PC and PC control end STM32 processor communication.
5. a kind of agricultural unmanned aerial vehicle flight control system based on STM32 according to claim 1, is characterized in that,
Described PC control end STM32 processor is connected with wireless module NRF24L01+PA+LNA.
6. a kind of agricultural unmanned aerial vehicle flight control system based on STM32 according to claim 1, is characterized in that,
Described control end STM32 processor is connected with brushless electric machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420190626.9U CN203894636U (en) | 2014-04-19 | 2014-04-19 | STM32-based flight control system for agricultural unmanned airplane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420190626.9U CN203894636U (en) | 2014-04-19 | 2014-04-19 | STM32-based flight control system for agricultural unmanned airplane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203894636U true CN203894636U (en) | 2014-10-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420190626.9U Expired - Lifetime CN203894636U (en) | 2014-04-19 | 2014-04-19 | STM32-based flight control system for agricultural unmanned airplane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105549609A (en) * | 2016-03-03 | 2016-05-04 | 四川理工学院 | Miniature six-shaft aircraft, air fleet control system composed of same and air fleet control method |
| CN114355965A (en) * | 2022-03-21 | 2022-04-15 | 华中科技大学 | Control system of fixed-wing unmanned aerial vehicle and fixed-wing unmanned aerial vehicle equipment |
-
2014
- 2014-04-19 CN CN201420190626.9U patent/CN203894636U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105549609A (en) * | 2016-03-03 | 2016-05-04 | 四川理工学院 | Miniature six-shaft aircraft, air fleet control system composed of same and air fleet control method |
| CN114355965A (en) * | 2022-03-21 | 2022-04-15 | 华中科技大学 | Control system of fixed-wing unmanned aerial vehicle and fixed-wing unmanned aerial vehicle equipment |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20141022 |