CN204790577U - Many rotor unmanned aerial vehicle automatic tracking system based on GPS - Google Patents
Many rotor unmanned aerial vehicle automatic tracking system based on GPS Download PDFInfo
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- CN204790577U CN204790577U CN201520520603.4U CN201520520603U CN204790577U CN 204790577 U CN204790577 U CN 204790577U CN 201520520603 U CN201520520603 U CN 201520520603U CN 204790577 U CN204790577 U CN 204790577U
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Abstract
The utility model provides a many rotor unmanned aerial vehicle automatic tracking system based on GPS, characterized by: including many rotors flight controller and the GPS orientation module, the wireless transmission module that are connected with this controller respectively, many rotors flight controller's output and many rotor unmanned aerial vehicle input are connected, and wireless transmission module still is connected with GPS beacon module. The utility model discloses a directional moving target of heading when controlling the flight of many rotor unmanned aerial vehicle, may not need the people to operate the automatic tracking of accomplishing the moving target, not only can guarantee the removal that many rotor unmanned aerial vehicle keep the uniformity to the target of trailing, also can guarantee the distance of many rotor unmanned aerial vehicle and tracking target, the operation of moving target the walking process middleman to many rotor unmanned aerial vehicle has significantly reduced, make and control more safely with simple and convenient nimble, the security of flight has also improved, make many rotor unmanned aerial vehicle's operation more intelligent, greatly reduced the emergence probability of aircraft accident.
Description
Technical field
The utility model relates to model plane unmanned plane field, specifically a kind of automatic tracking system of many rotor wing unmanned aerial vehicles based on GPS.
Background technology
Many rotor wing unmanned aerial vehicles are also multiaxis unmanned plane, are characterized in that structure is simple, with low cost, lower to the technical requirement of operator, enjoy great popularity in recent years in personal user.Along with the development of sensor and Intelligent hardware technology, many enterprises are just trying hard to the original product for specialty and model fan field to promote to individual general marketplace.Along with many rotor wing unmanned aerial vehicles progress into movies-making field, increasing people starts to pay close attention to and injects the spreading speed that capital more accelerates this product.
Many rotor wing unmanned aerial vehicles are simple and easy to use, stable performance is the most basic requirement to individual market.In the hardware configuration of many rotor wing unmanned aerial vehicles, many rotor controllers directly decide the flight effect of many rotor wing unmanned aerial vehicles.Many rotor flyings controller is in the market various, automatic takeoff, automatically land, automatically make a return voyage, spot hover function has the product of many producers to realize.Can from the Target self-determination flight function of motion tracking movement but not yet there is product can realize controlling many rotor wing unmanned aerial vehicles.
Utility model content
In order to make many rotor wing unmanned aerial vehicles intelligent, improve the manipulation security of many rotor wing unmanned aerial vehicles and easy dirigibility, the utility model provides a kind of many rotor wing unmanned aerial vehicles based on GPS automatic tracking system, this system architecture is simple, design ingenious, cost-effective, adds the competitiveness of product in market largely.
The technical scheme realizing the utility model object is:
A kind of automatic tracking system of many rotor wing unmanned aerial vehicles based on GPS, comprise many rotor flyings controller and the GPS locating module, the wireless transport module that are connected with this controller respectively, the output terminal of many rotor flyings controller is connected with many rotor wing unmanned aerial vehicles input end, and wireless transport module is also connected with GPS beacon module.
Be provided with remote-control receiver, be connected with many rotor flyings controller, control the spacing distance between many rotor wing unmanned aerial vehicles and tracked moving target by telepilot.
Described many rotor flyings controller is connected with many rotor wing unmanned aerial vehicles motor control assembly.
Described many rotor flyings controller includes gesture stability algorithm, controls the moving target that the target pointing of many rotor wing unmanned aerial vehicles is tracked, and moves heel with target along with target, and when keeping change-over switch to start, the distance of locking carries out following target flight.Wherein: gesture stability algorithm is prior art.
Described wireless transport module is two, wherein:
First wireless transport module is arranged on many rotor wing unmanned aerial vehicles, is connected with many rotor flyings controller;
Second wireless transport module is arranged on tracked moving target, is connected with GPS beacon module, and GPS beacon module by the positional information calculation of moving target out, forms data, is transferred to many rotor flyings controller processes by wireless transport module.
Described GPS beacon module is built-in with LED, includes GPS locating module, is prior art.
The utility model has the advantages that: the utility model achieves heading when controlling the flight of many rotor wing unmanned aerial vehicles and points to moving target, people can not be needed to operate the tracking automatically completed moving target, not only can ensure the movement that many rotor wing unmanned aerial vehicles keep consistency to the target of following the tracks of, also the distance of many rotor wing unmanned aerial vehicles and tracking target can be ensured, to greatly reduce in moving target walking process people to the operation of many rotor wing unmanned aerial vehicles, make manipulation more safe and flexibly easy, also improve the security of flight, make the operation of many rotor wing unmanned aerial vehicles more intelligent, greatly reduce the probability of happening of aircraft accident.
Accompanying drawing explanation
Fig. 1 is the connection block diagram of the utility model system;
Fig. 2 is the theory diagram of the utility model system;
Fig. 3 is the schematic flow sheet of aerial control section;
Fig. 4 is the schematic flow sheet of moving target part.
Embodiment
As shown in Figure 1, a kind of automatic tracking system of many rotor wing unmanned aerial vehicles based on GPS of the utility model, comprises aerial tracking section and tracked target part automatically, wherein:
Aerial tracking section is automatically by the many rotor flyings controller be arranged in many rotor wing unmanned aerial vehicles and the GPS locating module be connected with this controller respectively, remote-control receiver, wireless transport module A is formed, and the output terminal of many rotor flyings controller is connected with many rotor wing unmanned aerial vehicles input end;
Tracked target part comprises the GPS beacon module being arranged on wireless transport module B on tracked moving target and built-in LED, CPU and GPS locating module;
Many rotor wing unmanned aerial vehicles controller: the positional information that many rotor wing unmanned aerial vehicles controller receives is from GPS beacon, GPS module, the attitude data of many rotor flyings controller connecting inner, the positional information of the positional information that GPS beacon sends over and GPS module realizes the locking position of many rotors and the automatic tracking location to moving target, and realized the target pointing target of many rotor wing unmanned aerial vehicles by gesture stability, and carry out following target flight along with target moves the distance of locking when heel keeps change-over switch to start with target.After target travel direction changes, many rotor flyings controller can control unmanned plane and automatically fly to the side setting the moving target of following, following target in real time moves until the distance kept is fixed tracking range, changes heading by target pointing impact point in the process of following simultaneously.Its state can be shown on moving target by wireless module by the information of many rotor flyings controller.
Remote controller: when the switch of telepilot has been cut after motion tracking, user can change many rotor wing unmanned aerial vehicles and the distance of following target by telepilot, after telepilot unclamps distant bar, the distance of many rotor wing unmanned aerial vehicles current point and target is confirmed as the spacing distance of new tracked mobile target.
As shown in Figure 2, the principle of work of native system is: many rotor wing unmanned aerial vehicles controller receives the positional information at the positional information about moving target place and many rotor wing unmanned aerial vehicles place of collecting from GPS beacon module, GPS locating module, calculates the position relationship of many rotor wing unmanned aerial vehicles and moving target; And the data of integrated each sensor of connecting inner, the attitude of many rotor wing unmanned aerial vehicles is calculated by Attitude Algorithm; Many rotor flyings controller calculates in conjunction with its positional information and attitude information the corresponding change that many rotor wing unmanned aerial vehicles should make, and provides steering order and control many rotor wing unmanned aerial vehicles and fly as requested; Its work state information is sent to wireless transport module B, and its status information can be sent to GPS beacon module and show by wireless transport module B; User sets safeguard protection distance by land station's software by many rotor flyings controller; tracking flight is carried out more than making many rotor wing unmanned aerial vehicles can remain on the safe distance being more than or equal to setting in the process of following; the tracing positional that land station's software can arrange many rotor wing unmanned aerial vehicles is on the front of moving target, rear, the left side or the right side, and relevant information is write many rotor flyings controller.
After many rotor controllers receive the automatic trace command of telepilot by remote-control receiver, then according to the positional information of GPS locating module and GPS beacon module, judge that the position that many rotor wing unmanned aerial vehicles need to fly to and head need the direction pointed to, then control many rotor wing unmanned aerial vehicles and fly to the position of specifying and the target choosing target pointing tracked.Many rotor controllers can the position of Real-Time Monitoring moving target and direction of motion, after moving target position changes, then controls many rotor wing unmanned aerial vehicles and follow target and make corresponding movement.Thus complete from motion tracking.
Embodiment:
As shown in Figure 3, the workflow of the aerial control section of native system is:
S301: start, by many rotor flyings controller according to the requirement of many rotor wing unmanned aerial vehicles correct be arranged on unmanned plane;
S302: to system electrification, waits for that GPS locating module and GPS beacon module are located successfully, and many rotor flyings controller reads remote command, the inner parameter of Flash of flight controller and the positional information of GPS locating module and GPS beacon;
S303: signals collecting and filtering, detect many rotor controllers working properly after, take off many rotor wing unmanned aerial vehicles.Many rotor flyings controller, according to the output characteristics of micro mechanical sensor data, adopts Kalman Filter Technology to carry out filtering; And be entrained with high frequency noise in the output data of high precision baroceptor, adopt differential mode to carry out filtering process to baroceptor;
S304: data fusion, to three axle micro-mechanical gyroscopes, triaxial accelerometer sensor, triaxial magnetic field sensor adopts Quaternion method to solve attitude orientation angle;
S305: whether Distance geometry direction meets, many rotor flyings controller CPU judges whether current flight device distance and heading meet remote command requirement, if do not met, continue attitude, position Navigation Control, otherwise get back to 3 signals collecting and filtering continuation acquisition signal.
S306: attitude, position Navigation Control, requires if the Distance geometry heading of current flight device does not meet remote command, and the flight attitude adjusting aircraft in real time according to the command request of user reaches the control effects of setting.
S307: Electric Machine Control amount exports, according to the control overflow that 6 draw, actual converted becomes to control the controlled quentity controlled variable of each motor of aircraft, gets back to 3 signals collecting and filtering continuation acquisition signal after execution.
As shown in Figure 4, the workflow of native system moving target part is:
S401: start, by GPS beacon and battery according to requiring accordingly correct to be arranged on moving target;
S402: switch on power, the CPU of the GPS beacon on moving target read the information of current flight controller and the current positional information of moving target;
S403: signals collecting and filtering, detects many rotor controllers duty, carries out filtering process to the locator data of GPS beacon and the data message of aerial GPS that receives;
S404: many rotor flyings controller state judges, judges that the duty of many rotor flyings controller is normal or abnormal.
The CPU of S405:GPS beacon indicates the duty of many rotor flyings controller by different modes by instruction control LED;
S406:LED lamp identification steering order shows different modes, gets back to signals collecting and filtering after execution.
Claims (4)
1. the many rotor wing unmanned aerial vehicles automatic tracking system based on GPS, it is characterized in that: comprise many rotor flyings controller and the GPS locating module, the wireless transport module that are connected with this controller respectively, the output terminal of many rotor flyings controller is connected with many rotor wing unmanned aerial vehicles input end, and wireless transport module is also connected with GPS beacon module.
2. many rotor wing unmanned aerial vehicles automatic tracking system according to claim 1, is characterized in that: be provided with receiver of remote-control sytem and the supporting receiver of telepilot, the receiver of telepilot is connected with many rotor flyings controller.
3. many rotor wing unmanned aerial vehicles automatic tracking system according to claim 1, is characterized in that: described many rotor flyings controller is connected with many rotor wing unmanned aerial vehicles motor control assembly.
4. many rotor wing unmanned aerial vehicles automatic tracking system according to claim 1, is characterized in that: described wireless transport module is two, wherein:
First wireless transport module is arranged on many rotor wing unmanned aerial vehicles, is connected with many rotor flyings controller;
Second wireless transport module is arranged on tracked moving target, is connected with GPS beacon module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520520603.4U CN204790577U (en) | 2015-07-17 | 2015-07-17 | Many rotor unmanned aerial vehicle automatic tracking system based on GPS |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520520603.4U CN204790577U (en) | 2015-07-17 | 2015-07-17 | Many rotor unmanned aerial vehicle automatic tracking system based on GPS |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965522A (en) * | 2015-07-17 | 2015-10-07 | 深圳市浩瀚卓越科技有限公司 | GPS-based automatic multi-rotor unmanned aerial vehicle tracking system |
| CN105759839A (en) * | 2016-03-01 | 2016-07-13 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle (UAV) visual tracking method, apparatus, and UAV |
| CN113885553A (en) * | 2021-09-07 | 2022-01-04 | 四川一电航空技术有限公司 | Unmanned aerial vehicle shooting method and device, unmanned aerial vehicle and storage medium |
-
2015
- 2015-07-17 CN CN201520520603.4U patent/CN204790577U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104965522A (en) * | 2015-07-17 | 2015-10-07 | 深圳市浩瀚卓越科技有限公司 | GPS-based automatic multi-rotor unmanned aerial vehicle tracking system |
| CN105759839A (en) * | 2016-03-01 | 2016-07-13 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle (UAV) visual tracking method, apparatus, and UAV |
| CN113885553A (en) * | 2021-09-07 | 2022-01-04 | 四川一电航空技术有限公司 | Unmanned aerial vehicle shooting method and device, unmanned aerial vehicle and storage medium |
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