CN204730847U - A kind of atmosphere data machine for subsonic flight device - Google Patents

Abstract

The utility model discloses a kind of atmosphere data machine for subsonic flight device, adopt the air static pressure P on IPT0020A33R measurement flying surface _h; Adopt the dynamic pressure P that IPT0020A33R measurement flying speed produces _d; Storer is used for store operational parameters, comprises filtering treating depth, output parameter, parameter communication baud rate and Refresh Data rate; Power supervisor is MC78M05 and MIC5207; Relay indicating light is pipe LED; The every 6ms of microprocessor obtains a P from IPT0020A33R and IPT0020A33R _hand P _d, every 100ms reads temperature value once, to the P recorded _hand P _dsmoothing filtering process, revises filtered pressure with temperature value, gathers vertical and forward acceleration computed altitude variable quantity and velocity variable respectively, for P _hand P _dcarry out limit filtration process; Then the P after filtering process is utilized _hand P _dcalculate barometer altitude and indicator air speed.This atmosphere data machine is applicable to subsonic flight device and carries out the collection of atmospheric pressure and height and the calculating of indicator air speed and output.

Description

A kind of atmosphere data machine for subsonic flight device

Technical field

The utility model belongs to technical field of aerospace, specifically, is a kind of atmosphere data machine being applied to stratosphere subsonic speed unmanned plane.

Background technology

Atmosphere data computer, be called for short atmospheric engine, it is the necessary a kind of avionic device of unmanned plane, it provides required atmosphere data information for flight control system and navigational system etc., the quality of its performance is not only directly connected to accurate detection to atmosphere data and instruction, but also affect the safety completing and fly of aerial mission, so the precision of raising atmospheric engine and reliability can improve aircraft overall performance.

Complete atmosphere data detection system generally comprises: input static pressure, stagnation pressure (dynamic pressure), air pressure corrected signal and static pressure source error corrected signal; Output pressure height, barometric-corrected altitude, pressure altitude change rate, height tolerance signal, indicator air speed, true air speed etc.Due to the restriction of self-condition, the flying speed of unmanned plane is lower (Ma is less than 1), generally flies (i.e. Hp≤11000 meter) in stratosphere, so only considered indicator air speed and barometer altitude at unmanned plane.

Summary of the invention

In view of this, the utility model provides a kind of atmosphere data machine for subsonic flight device, can be applicable to subsonic flight device and carry out the collection of atmospheric pressure and height and the calculating of indicator air speed and output.

In order to achieve the above object, the utility model is made up of the first pressure transducer, the second pressure transducer, vertical acceleration meter, forward acceleration meter, microprocessor, storer, relay indicating light and power supervisor; Microprocessor comprises 4 SPI mouths, 2 twin wire universal serial bus I ²c interface, 2 serial ports and multiple input and output I/O interface;

Microprocessor is STM32F103C8T6 chip;

First pressure transducer is IPT0020A33R, the air static pressure P on survey aircraft flying surface _h; Second pressure transducer is IPT0020A33R, the dynamic pressure P that survey aircraft speed per hour degree produces _d;

Storer is M24128, for store operational parameters, comprises filtering treating depth, output parameter, parameter communication baud rate and Refresh Data rate; Filtering treating depth is often export once to need quantity, the output parameter of sampling to comprise barometer altitude and indicator air speed, and parameter communication baud rate is the communication baud rate of delivery outlet, and Refresh Data rate is the number of times of output parameter p.s..

Power supervisor is that MC78M05 and MIC5207, MC78M05 realize turning 5V to the 28V of STM32F103C8T6 chip and powering, and MIC5207 realizes turning 3.3V to the 5V of STM32F103C8T6 chip and powers.

Relay indicating light is LED.

Wherein microprocessor is communicated with the carrying out of forward acceleration meter with IPT0020A33R, IPT0020A33R, vertical acceleration meter respectively by 4 SPI interfaces; Microprocessor passes through I ²c interface and M24128 communication, being glimmered by I/O mouth control LED, is optimum configurations mouth and result delivery outlet by 2 serial ports.

The every 6ms of microprocessor obtains a P from IPT0020A33R and IPT0020A33R _hand P _d, every 100ms reads the temperature value in IPT0020A33R and IPT0020A33R, to the P recorded _hand P _dsmoothing filtering process, collecting temperature value is revised filtered pressure, gathers vertical acceleration in vertical acceleration meter and forward acceleration meter and forward acceleration is respectively used to computed altitude variable quantity and velocity variable; With high variable quantity and velocity variable to P _hand P _dcarry out limit filtration process; Then the P after filtering process is utilized _hand P _d, calculate barometer altitude by following formula 1, calculate indicator air speed by following formula 2:

$H_P=\frac{T_0}{\mathrm{\τ}}[1-{\left(\frac{P_H}{P_0}\right)}^{\mathrm{\τR}}]---1$

T in formula ₀, τ, R, P ₀for gas law constant.

$V_0=A_0\sqrt{5{(1+\frac{P_D}{P_0})}^{\frac{1}{3.5}}-1}---2$

A in formula ₀, P ₀for gas law constant.

Calculate the barometer altitude H obtained _pand indicator air speed V ₀exported by result delivery outlet.

Further, collecting temperature value is modified to filtered pressure: the force value read by SPI is: P _hsampled value have 6 to be respectively: P _h1, P _h2, P _h3, P _h4, P _h5and P _h6; P _dsampled value have 6 to be respectively: P _d1, P _d2, P _d3, P _d4, P _d5and P _d6; The sampled value of temperature T also has 6, is respectively T ₁, T ₂, T ₃, T ₄and T ₅; Pressure so after temperature adjustmemt is P _h' and P _d':

P _H’＝A+(X ₁×P _H1)+(X ₂×P _H2)+(X ₃×P _H3)+(X ₄×P _H4)+(X ₅×P _H5)+(X ₆×P _H6)；

P _D’＝A+(X ₁×P _D1)+(X ₂×P _D2)+(X ₃×P _D3)+(X ₄×P _D4)+(X ₅×P _D5)+(X ₆×P _D6)；

In formula:

A＝-10.251645；

X ₁＝-1796.9403+(14889.769×T ₁)+(-46230.684×T ₂)+(20100.578×T ₃)+(-51952.816×T ₄)+(15124.948×T ₅)；

X ₂＝-4162.3979+(18248.301×T ₁)+(-28188.965×T ₂)+(20100.578×T ₃)+(-10252.898×T ₄)+(4531.3633×T ₅)；

X ₃＝6.8445935+(20223.174×T ₁)+(-83723.297×T ₂)+(107100.88×T ₃)+(-31521.736×T ₄)+(-13495.57×T ₅)；

X ₄＝-2651.1321+(-4042.4363×T ₁)+(20603.07×T ₂)+(45148.465×T ₃)+(-148898.56×T ₄)+(92770.586×T ₅)；

X ₅＝-5778.0547+(66986.164×T ₁)+(-216138.38×T ₂)+(268675.63×T ₃)+(-108588.63×T ₄)+(-7349.3057×T ₅)；

X ₆＝10801.397+(-93110.602×T ₁)+(295352.34×T ₂)+(-438418.22×T ₃)+(306424.84×T ₄)+(-80684.555×T ₅)。

Further, the parameter communication baud rate of parameter delivery outlet is 19200bps, and it is 9600bps that optimum configurations mouth arranges fixed telecommunication rate, and Refresh Data rate is 20Hz; MC78M05 and MIC5207 in power supervisor, the frequency acquisition of the two is 5.26ms,

Beneficial effect:

1, atmosphere data machine provided by the present invention, can be applicable to subsonic flight device and carry out the collection of atmospheric pressure and height and the calculating of indicator air speed and output.And equipment used in the present invention is with Digital Way work, the collection of whole atmospheric sensor data, conditioning and filtering calculate and all use the computing machine of device interior to complete.This equipment use digital interface connects external unit, and input and output numerical information, can avoid the loss of signal of simulated atmosphere machine in information exchanging process.

2, this programme adopts the mentality of designing based on COTS significantly to reduce costs, and economic benefit is obvious.

Accompanying drawing explanation

Fig. 1 atmospheric engine composition schematic diagram;

Fig. 2 atmospheric engine workflow diagram.

Embodiment

To develop simultaneously embodiment below in conjunction with accompanying drawing, the utility model is described in detail.

For an atmosphere data machine for subsonic flight device, be made up of the first pressure transducer, the second pressure transducer, vertical acceleration meter, forward acceleration meter, microprocessor, storer and power supervisor; Microprocessor comprises 4 SPI mouths, 2 twin wire universal serial bus I ²c interface, 2 serial ports and multiple input and output I/O interface.Concrete annexation as shown in Figure 1.

Microprocessor is STM32F103C8T6 chip.

First pressure transducer is IPT0020A33R, the air static pressure P on survey aircraft flying surface _h; Second pressure transducer is IPT0020A33R, the dynamic pressure P that survey aircraft speed per hour degree produces _d.

Storer is M24128, for store operational parameters, comprises filtering treating depth, output parameter, parameter communication baud rate and Refresh Data rate; Filtering treating depth is often export once to need quantity, the output parameter of sampling to comprise barometer altitude and indicator air speed, and parameter communication baud rate is 19200bps, delivery outlet, and Refresh Data rate is 20Hz, p.s. output parameter number of times.

Power supervisor is MC78M05 and MIC5207, and the frequency acquisition of the two is 5.26ms, and the 28V that MC78M05 realizes aviation turns 5V, and MIC5207 realizes 5V and turns 3.3V and power, and meets STM32F103C8T6 power requirement.

Wherein microprocessor is communicated with the carrying out of forward acceleration meter with IPT0020A33R, IPT0020A33R, vertical acceleration meter respectively by 4 SPI interfaces; Microprocessor passes through I ²c interface and M24128 communication, by I/O mouth control LED, are optimum configurations mouth and result delivery outlet by 2 serial ports.

About the explanation of optimum configurations, because UAS design is different, requires atmospheric engine also different with Refresh Data rate from the communication speed of UAV Flight Control computing machine, can arrange the communication speed of delivery outlet and Refresh Data rate by arranging mouth.And mouth employing fixed telecommunication speed 9600bps is set, agreement is arranged according to the rules.

About the explanation of pressure and temperature frequency acquisition, the every 5.26ms of IPT0020A33R and IPT0020G33R completes a pressure data collection and exports, and due to temperature variation, comparatively pressure change is slow, and the every 100ms of temperature data completes and once gathers output.

The workflow of microprocessor is as shown in Figure 2: every 6ms obtains a P from IPT0020A33R and IPT0020A33R _hand P _d, every 100ms reads the temperature value in IPT0020A33R and IPT0020A33R, to the P recorded _hand P _dsmoothing filtering process, collecting temperature value is revised filtered pressure, gathers vertical acceleration in vertical acceleration meter and forward acceleration meter and forward acceleration is respectively used to computed altitude variable quantity and velocity variable; With high variable quantity and velocity variable to P _hand P _dcarry out limit filtration process; Then the P after filtering process is utilized _hand P _d, calculate barometer altitude by following formula 1, calculate indicator air speed by following formula 2:

$H_P=\frac{T_0}{\mathrm{\τ}}[1-{\left(\frac{P_H}{P_0}\right)}^{\mathrm{\τR}}]---1$

T in formula ₀, τ, R, P ₀for gas law constant.

$V_0=A_0\sqrt{5{(1+\frac{P_D}{P_0})}^{\frac{1}{3.5}}-1}---2$

A in formula ₀, P ₀for gas law constant.

Calculate the barometer altitude H obtained _pand indicator air speed V ₀exported by result delivery outlet.。

Temperature correction algorithm in the present embodiment is: the force value read by SPI is: P _hsampled value have 6 to be respectively: P _h1, P _h2, P _h3, P _h4, P _h5and P _h6; P _dsampled value have 6 to be respectively: P _d1, P _d2, P _d3, P _d4, P _d5and P _d6; The sampled value of temperature T also has 6, is respectively T ₁, T ₂, T ₃, T ₄and T ₅; Pressure so after temperature adjustmemt is P _h' and P _d':

P _H’＝A+(X ₁×P _H1)+(X ₂×P _H2)+(X ₃×P _H3)+(X ₄×P _H4)+(X ₅×P _H5)+(X ₆×P _H6)；

P _D’＝A+(X ₁×P _D1)+(X ₂×P _D2)+(X ₃×P _D3)+(X ₄×P _D4)+(X ₅×P _D5)+(X ₆×P _D6)；

In formula:

A＝-10.251645；

X ₁＝-1796.9403+(14889.769×T ₁)+(-46230.684×T ₂)+(20100.578×T ₃)+(-51952.816×T ₄)+(15124.948×T ₅)；

X ₂＝-4162.3979+(18248.301×T ₁)+(-28188.965×T ₂)+(20100.578×T ₃)+(-10252.898×T ₄)+(4531.3633×T ₅)；

X ₃＝6.8445935+(20223.174×T ₁)+(-83723.297×T ₂)+(107100.88×T ₃)+(-31521.736×T ₄)+(-13495.57×T ₅)；

X ₄＝-2651.1321+(-4042.4363×T ₁)+(20603.07×T ₂)+(45148.465×T ₃)+(-148898.56×T ₄)+(92770.586×T ₅)；

X ₅＝-5778.0547+(66986.164×T ₁)+(-216138.38×T ₂)+(268675.63×T ₃)+(-108588.63×T ₄)+(-7349.3057×T ₅)；

X ₆＝10801.397+(-93110.602×T ₁)+(295352.34×T ₂)+(-438418.22×T ₃)+(306424.84×T ₄)+(-80684.555×T ₅)。

To sum up, these are only preferred embodiment of the present utility model, be not intended to limit protection domain of the present utility model.All within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.

Claims (3)

1. for an atmosphere data machine for subsonic flight device, it is characterized in that, be made up of the first pressure transducer, the second pressure transducer, vertical acceleration meter, forward acceleration meter, microprocessor, storer, relay indicating light and power supervisor; Described microprocessor comprises 4 SPI mouths, 2 twin wire universal serial bus I ²c interface, 2 serial ports and multiple input and output I/O interface;

Described microprocessor is STM32F103C8T6 chip;

Described first pressure transducer is IPT0020A33R, the air static pressure P on survey aircraft flying surface _h; Second pressure transducer is IPT0020A33R, the dynamic pressure P that survey aircraft speed per hour degree produces _d;

Described storer is M24128, for store operational parameters, comprises filtering treating depth, output parameter, parameter communication baud rate and Refresh Data rate; Described filtering treating depth is often export once to need quantity, the described output parameter of sampling to comprise barometer altitude and indicator air speed, the baud rate of described parameter communication baud rate parameter delivery outlet, and Refresh Data rate is the number of times of output parameter p.s.;

Described power supervisor is that MC78M05 and MIC5207, MC78M05 realize turning 5V to the 28V of STM32F103C8T6 chip and powering, and MIC5207 realizes turning 3.3V to the 5V of STM32F103C8T6 chip and powers;

Described relay indicating light is LED;

Wherein microprocessor is communicated with the carrying out of forward acceleration meter with IPT0020A33R, IPT0020A33R, vertical acceleration meter respectively by 4 SPI interfaces; Microprocessor passes through I ²c interface and M24128 communication, being glimmered by I/O mouth control LED, is optimum configurations mouth and result delivery outlet by 2 serial ports;

The every 6ms of described microprocessor obtains a P from IPT0020A33R and IPT0020A33R _hand P _d, every 100ms reads the temperature value in IPT0020A33R and IPT0020A33R, to the P recorded _hand P _dsmoothing filtering process, collecting temperature value is revised filtered pressure, gathers vertical acceleration in vertical acceleration meter and forward acceleration meter and forward acceleration is respectively used to computed altitude variable quantity and velocity variable; With high variable quantity and velocity variable to P _hand P _dcarry out limit filtration process; Then the P after filtering process is utilized _hand P _d, calculate barometer altitude by following formula 1, calculate indicator air speed by following formula 2:

T in formula ₀, τ, R, P ₀for gas law constant,

A in formula ₀, P ₀for gas law constant;

Calculate the barometer altitude H obtained _pand indicator air speed V ₀exported by described result delivery outlet.

2. a kind of atmosphere data machine for subsonic flight device as claimed in claim 1, it is characterized in that, described collecting temperature value is modified to filtered pressure: the force value read by SPI is: P _hsampled value have 6 to be respectively: P _h1, P _h2, P _h3, P _h4, P _h5and P _h6; P _dsampled value have 6 to be respectively: P _d1, P _d2, P _d3, P _d4, P _d5and P _d6; The sampled value of temperature T also has 6, is respectively T ₁, T ₂, T ₃, T ₄and T ₅; Pressure so after temperature adjustmemt is P _h' and P _d':

P _H’＝A+(X ₁×P _H1)+(X ₂×P _H2)+(X ₃×P _H3)+(X ₄×P _H4)+(X ₅×P _H5)+(X ₆×P _H6)；

P _D’＝A+(X ₁×P _D1)+(X ₂×P _D2)+(X ₃×P _D3)+(X ₄×P _D4)+(X ₅×P _D5)+(X ₆×P _D6)；

In formula:

A＝-10.251645；

X ₁＝-1796.9403+(14889.769×T ₁)+(-46230.684×T ₂)+(20100.578×T ₃)+(-51952.816×T ₄)+(15124.948×T ₅)；

X ₂＝-4162.3979+(18248.301×T ₁)+(-28188.965×T ₂)+(20100.578×T ₃)+(-10252.898×T ₄)+(4531.3633×T ₅)；

X ₃＝6.8445935+(20223.174×T ₁)+(-83723.297×T ₂)+(107100.88×T ₃)+(-31521.736×T ₄)+(-13495.57×T ₅)；

X ₄＝-2651.1321+(-4042.4363×T ₁)+(20603.07×T ₂)+(45148.465×T ₃)+(-148898. 56×T ₄)+(92770.586×T ₅)；

X ₅＝-5778.0547+(66986.164×T ₁)+(-216138.38×T ₂)+(268675.63×T ₃)+(-108588.63×T ₄)+(-7349.3057×T ₅)；

X ₆＝10801.397+(-93110.602×T ₁)+(295352.34×T ₂)+(-438418.22×T ₃)+(306424.84×T ₄)+(-80684.555×T ₅)。

3. a kind of atmosphere data machine for subsonic flight device as claimed in claim 1, it is characterized in that, the parameter communication baud rate of described parameter delivery outlet is 19200bps, and it is 9600bps that described optimum configurations mouth arranges fixed telecommunication rate, and described Refresh Data rate is 20Hz; MC78M05 and MIC5207 in power supervisor, the frequency acquisition of the two is 5.26ms.