CN205246884U - Unmanned aerial vehicle aircraft navigation and unmanned aerial vehicle aircraft - Google Patents
Unmanned aerial vehicle aircraft navigation and unmanned aerial vehicle aircraft Download PDFInfo
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- CN205246884U CN205246884U CN201520921512.1U CN201520921512U CN205246884U CN 205246884 U CN205246884 U CN 205246884U CN 201520921512 U CN201520921512 U CN 201520921512U CN 205246884 U CN205246884 U CN 205246884U
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Abstract
The utility model provides an unmanned aerial vehicle aircraft navigation, the utility model provides an utilize redundant topological structure to realize the technical idea of redundant navigation, proposed to utilize the measured module of redundancy structure to realize redundant navigation on this technical idea's basis, the navigation of this kind of structure is at the during operation, the measured module who utilizes the redundancy structure can guarantee measured data's reliability, and then provide the valuable data of navigating for the controller, final controller utilizes the data of the measured module conveying of redundancy structure to navigate, just can guarantee the navigation accuracy. Additionally, the utility model discloses still provide the unmanned aerial vehicle aircraft, this unmanned aerial vehicle aircraft includes the navigation of above -mentioned redundancy structure.
Description
Technical field
The utility model relates to unmanned plane technical field, particularly a kind of unmanned plane during flying device navigation system andA kind of unmanned plane during flying device.
Background technology
Unmanned plane during flying device refers to that the presetting apparatus that utilizes radio robot and provide for oneself manipulates notManned vehicle. Due to unmanned plane during flying utensil has can be handling good, low cost, the advantage such as easy to use,Therefore, unmanned plane during flying device has been applied to many industries, as taking photo by plane, agricultural plant protection, mapping etc. be manyBe used widely in individual field. Unmanned plane during flying device constantly development improves the stage, will in futureCan play a significant role in more field. At present, unmanned plane during flying device exists interactivity poor, and user cannotUnderstand intuitively unmanned plane during flying device duty, cause poor user experience.
Utility model content
For solving the problems of the technologies described above, the utility model proposes a kind of unmanned plane during flying device navigation system, shouldNavigation system has redundant topology structure, and it utilizes redundant topology structure to realize the control of unmanned plane during flying device redundancyMaking mechanism, to improve navigation accuracy, and then improves flight reliability.
In addition, the utility model also provides a kind of unmanned plane during flying device, and this unmanned plane during flying device utilizes above-mentionedNavigation system is navigated, to improve flight reliability and security.
The utility model first aspect provides a kind of unmanned plane during flying device navigation system, and described system comprises:
A controller and at least one measurement module;
Described controller comprises at least one processor, and communicates to connect with each measurement module;
Wherein, described at least one measurement module comprises the sensor of redundancy, for measuring unmanned plane during flying shapeState, and the data of sensor measurement are sent to controller, described controller utilizes described at least one processingThe data that device processes sensor is measured are to control unmanned plane during flying.
Optionally, to carry out data by serial communication bus and controller logical for described at least one measurement moduleLetter.
Optionally, to carry out data by CAN communication bus and controller logical for described at least one measurement moduleLetter.
Optionally, having a measurement module at least is inertia measuring module.
Optionally, described inertia measuring module comprises acceleration transducer and/or gyro sensor.
Optionally, described inertia measuring module is embedded in described controller.
Optionally, described inertia measuring module carries out data communication by serial line interface and controller.
Optionally, described inertia measuring module enters by other measurement modules in serial communication bus and systemRow data communication.
Optionally, described inertia measuring module is by other measurement modules in CAN communication bus and systemCarry out data communication.
Optionally, described at least one measurement module is locating module, and this locating module is used for calculating unmanned planeThe geographical position of aircraft.
Optionally, described locating module comprises alignment sensor.
Optionally, described alignment sensor comprises following any one or polytype combination:
GPS sensor or Big Dipper alignment sensor.
Optionally, described at least one measurement module is magnetic induction module, and this magnetic induction module is used for inductivelyMagnetic is to judge direction.
Optionally, described magnetic induction module comprises compass detector.
Optionally, described system also comprises:
Vision module; Described visual unit is connected with described controller.
Optionally, described vision module is monocular module or binocular module.
Optionally, described system also comprises:
Carrier signal difference block; Described carrier signal difference block is connected with described controller.
Optionally, in the time that described system comprises at least two measurement modules,
Each self-contained at least one sensor of described at least two measurement modules, described at least two measurement modulesThe sensor comprising provides mutually redundancy support.
The utility model second aspect provides another kind of unmanned plane during flying device navigation system, described system bagDraw together:
Main navigation elements, from navigation elements and controller; Described controller comprises at least one processor, andCommunicate to connect with main navigation elements with from navigation elements;
Described main navigation elements comprises: at least one measurement module;
Describedly comprise from navigation elements: at least one measurement module; Described at least one from navigation elementsMeasurement module provides redundancy support at least one measurement module in described main navigation elements;
Described controller utilizes described at least one processor to process described main navigation elements and described from navigationThe data that in unit, measurement module is measured are to control unmanned plane during flying.
Optionally, described main navigation elements and described measurement module from navigation elements are total by serial communicationLine and controller carry out data communication.
Optionally, described main navigation elements is communicated by letter by CAN with described measurement module from navigation elementsBus and controller carry out data communication.
Optionally, described main navigation elements comprises: inertia measuring module, locating module, oneMagnetic induction module or its combination;
Describedly comprise from navigation elements: at least one inertia measuring module, at least one locating module, extremelyA few magnetic induction module or its combination.
Optionally, described main navigation elements comprises: inertia measuring module, locating module and oneMagnetic induction module;
Describedly comprise from navigation elements: two inertia measuring modules, two locating modules and two magnetic induction mouldsPiece.
Optionally, described main navigation elements comprises inertia measuring module, and described inertia measuring module is embedded in controlIn device processed.
Optionally, describedly comprise at least one inertia measuring module from navigation elements, described from navigation elementsAny one inertia measuring module be embedded in controller.
Optionally, described inertia measuring module carries out data communication by serial line interface and controller.
Optionally, described main navigation elements comprises locating module and magnetic induction module, described locating module and instituteStating magnetic induction module is integrated in same module.
Optionally, describedly comprise N locating module and N magnetic induction module from navigation elements, described fromLocating module in navigation elements and magnetic induction module are integrated in respectively in N module in paired mode,Described N is more than or equal to 1 integer.
Optionally, described system also comprises:
Vision module, described vision module is connected with described controller.
Optionally, described vision module is monocular module or binocular module.
Optionally, described system also comprises:
Carrier signal difference block; Described carrier signal difference block is connected with described controller.
The utility model third aspect provides a kind of unmanned plane during flying device, comprising: above-mentioned the utility modelThe unmanned plane during flying device navigation system providing on the one hand.
The utility model fourth aspect provides a kind of unmanned plane during flying device, comprising: above-mentioned the utility modelThe unmanned plane during flying device navigation system that two aspects provide.
Compared with prior art, the technical scheme that the utility model provides has following beneficial effect:
The utility model proposes the technical thought of utilizing redundant topology structure to realize redundancy navigation, in this technologyThe technical scheme that has proposed above-mentioned several aspects on the basis of thinking, its technological core is exactly based on redundancy structureMeasurement module, the data that controller provides according to the measuring unit of this redundancy structure are navigated, fromIn the data of redundancy, can select more reliable data to navigate, thereby can improve navigation accuracy; AndUnmanned plane during flying device utilizes this navigation system can improve the safety and reliability of flight.
And existing unmanned plane during flying device navigation system is all generally to adopt independently measurement module to leadBoat, and the measurement module that it adopts majority is micro electro mechanical device, micro electro mechanical device is owing to being subject to himself materialWith the restriction of operation principle, its level of security is not high, also easily break down, in navigation system any oneMeasurement module sends fault, all can directly affect navigation accuracy, when serious, can cause unmanned plane problem out of control.
Therefore, compared with prior art, this navigation system with redundancy structure the utility model proposes,Can break down at a certain measurement module, adopt alternative its of measurement module of its redundancy feature to carry out work,Thereby ensure the normal work of navigation system, avoid occurring that navigation fault causes the problem that unmanned plane is out of control, fromAnd improved security and the navigation accuracy of navigation system, for unmanned plane during flying device provides navigation letter more reliablyBreath.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme of the utility model embodiment, in describing embodiment belowThe accompanying drawing of required use is briefly described, apparently, and for those of ordinary skills,Do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structure chart of the unmanned plane during flying device navigation system embodiment 1 of the utility model first aspect;
Fig. 2 is the structure chart of the unmanned plane during flying device navigation system embodiment 2 of the utility model first aspect;
Fig. 3 is the structure chart of the unmanned plane during flying device navigation system embodiment 3 of the utility model first aspect;
Fig. 4 is the structure chart of the unmanned plane during flying device navigation system embodiment 4 of the utility model first aspect;
Fig. 5 is the structure chart of the unmanned plane during flying device navigation system embodiment 5 of the utility model first aspect;
Fig. 6 is the structure chart of the unmanned plane during flying device navigation system embodiment 6 of the utility model first aspect;
Fig. 7 is the structure chart of the unmanned plane during flying device navigation system embodiment 1 of the utility model second aspect;
Fig. 8 is the structure chart of the unmanned plane during flying device navigation system embodiment 2 of the utility model second aspect;
Fig. 9 is the structure chart of the unmanned plane during flying device navigation system embodiment 3 of the utility model second aspect;
Figure 10 is the structure chart of the unmanned plane during flying device navigation system embodiment 4 of the utility model second aspect;
Figure 11 is the structure chart of the unmanned plane during flying device that provides of the utility model third aspect;
Figure 12 is the structure chart of the unmanned plane during flying device that provides of the utility model fourth aspect.
Detailed description of the invention
In order to make those skilled in the art can understand better and implement the technical side that the utility model providesCase, and the above-mentioned purpose of the utility model embodiment, feature and advantage can be become apparent more, belowBy reference to the accompanying drawings technical scheme in the utility model embodiment is described in further detail.
Structure and the work of the unmanned plane during flying device navigation system first the utility model first aspect being provided belowExplain as principle.
Refer to Fig. 1, Fig. 1 is the unmanned plane during flying device navigation system reality that the utility model first aspect providesExecute the structure chart of example 1, as shown in Figure 1, this unmanned plane during flying device navigation system 100 comprises:
A controller 101 and at least one measurement module are (as measurement module 1, measurement module in Fig. 12 ..., measurement module N, N is greater than or equal to 1 integer);
Described controller comprises at least one processor, and communicates to connect with each measurement module;
Wherein, described at least one measurement module comprises the sensor of redundancy, for measuring unmanned plane during flying shapeState, and the data of sensor measurement are sent to controller, described controller utilizes described at least one processingThe data that device processes sensor is measured are to control unmanned plane during flying.
Here it should be noted that, in the time that described system comprises a controller and a measurement module, this surveyAmount module comprises the sensor of redundancy, and the sensor of these redundancies can provide redundancy support each other.
In the time that described system comprises a controller and at least two measurement modules, can be to have at least one surveyAmount module comprises the sensor of redundancy, and as shown in Figure 1, this measurement module 1 comprises the biography of two same typesSensor 1 and sensor 2, these two sensors provide redundancy support each other. Can also there is following a kind of situation,, each self-contained at least one sensor of described at least two measurement modules, described at least two measurement modulesThe sensor comprising provides mutually redundancy support. , described at least two measurement modules are each self-contained at least oneIndividual sensor, the each other sensor of redundancy. As shown in Figure 1, sensor 1, the sensing in measurement module 1Device 2 is sensors of same type with the sensor 3 in measurement module 2, the biography in these two measurement modulesSensor is the sensor of redundancy each other.
To the system shown in Fig. 1, also it should be noted that, Fig. 1 has only exemplarily provided two redundanciesSensor, but the number of the sensor to redundancy is not construed as limiting in the utility model, can be two orMultiple. For convenience of description, below all explain as an example of the sensor of two redundancies example.
In addition, in the system shown in Fig. 1, the type difference of each measurement module, that is, measurement module 1,Measurement module 2 ... measurement module N, the type of this N measurement module is not identical. So-called type differenceSpecifically refer to the function difference of measurement module, the physical meaning difference of the data of measurement.
The sensor that the system that the utility model provides comprises redundancy, the sensor of redundancy can provide redundancy meritCan support, when one of them fault or measurement data are when inaccurate, can be by another sensor of redundancySubstitute it and carry out work; Also can be to provide mutually redundancy support between two measurement modules, so just can keep awayExempt to occur that navigation fault causes the problem that unmanned plane is out of control, thereby improve security and the navigation essence of navigation systemDegree, for unmanned plane during flying device provides more reliable navigation information.
Based on the structure of system shown in Figure 1, the utility model also provides following optional implementation:
Optionally, in this system, described at least one measurement module is by serial communication bus and controllerCarry out data communication.
Further, optional, described at least one measurement module is by CAN communication bus and controlDevice carries out data communication. Because CAN (ControllerAreaNetwork, controller local area network) communication is totalLine has advantages of the expansion of being easy to, good, the independent CANID of distribution of anti-interference, makes whole navigation systemExtensibility high, anti-interference good, intrasystem modules utilizes CANID conveniently to switch.
Based on the structure of system shown in Figure 1, inventor has further proposed leading based on inertial navigation principleBoat system, describes below in conjunction with Fig. 2.
Refer to Fig. 2, Fig. 2 is the unmanned plane during flying device navigation system reality that the utility model first aspect providesExecute the structure chart of example 2, as shown in Figure 2, this system comprises:
A controller 101 and at least one measurement module;
Described controller comprises at least one processor, and communicates to connect with each measurement module;
Wherein, described in, having a measurement module at least is inertia measuring module.
Optionally, described inertia measuring module comprises: acceleration transducer and/or gyro sensor.
Optionally, described inertia measuring module comprises: the sensor of redundancy.
Optionally, described inertia measuring module comprises: the acceleration transducer of redundancy and/or the gyro of redundancyInstrument sensor.
As shown in Figure 2, measurement module 1 is inertia measuring module, and it comprises the acceleration of two redundanciesSensor, as acceleration transducer 1 and acceleration transducer 2.
But the structure of the inertia measuring module in Fig. 2 is only a kind of example arrangement, this inertia measuring moduleStructure can also have following two kinds of forms:
The first structure is that described inertia measuring module comprises: the gyro sensor of redundancy.
The second structure is that described inertia measuring module comprises: the acceleration transducer of redundancy and the top of redundancySpiral shell instrument sensor.
In the time of specific implementation, above-mentioned acceleration transducer can refer to three axis accelerometer; Also can refer to threeThe accelerometer of individual single shaft; Accelerometer is the acceleration at vertical three axles of carrier coordinate system unification and independence for detection of objectSignal. Above-mentioned gyro sensor can refer to three-axis gyroscope; Also can refer to the gyroscope of three single shafts.Gyroscope is the angular velocity signal with respect to navigation coordinate system for detection of carrier.
Inventor consider inertia measuring module of the prior art generally comprise an acceleration transducer andA gyro sensor; And the utility model has been done improvement for the structure of inertia measuring module, proposeThe new construction of redundant sensor; In conjunction with the structure of existing inertia measuring module, if according to above-mentioned the first knotStructure, the inertia measuring module in the utility model can comprise: the top of acceleration transducer and redundancySpiral shell instrument sensor. If according to above-mentioned the second structure, the inertia measuring module in the utility model can wrapDraw together: the acceleration transducer of redundancy and a gyro sensor.
Optionally, described inertia measuring module is embedded in described controller.
Optionally, described inertia measuring module carries out data communication by serial line interface and controller.
Optionally, described inertia measuring module enters by other measurement modules in serial communication bus and systemRow data communication.
Optionally, described inertia measuring module is by other measurement modules in CAN communication bus and systemCarry out data communication.
As shown in Figure 2, this system that the utility model provides is to carry out work based on inertial navigation principle, itsAt least comprise inertial navigation module, the acceleration transducer that this inertial navigation module comprises redundancy and/or redundancyGyro sensor, this redundancy structure can further improve the service behaviour of inertial navigation module, keeps awayExempt to occur that navigation fault causes the problem that unmanned plane is out of control, thereby improve security and the navigation essence of navigation systemDegree, for unmanned plane during flying device provides more reliable navigation information.
Based on the structure of system shown in Figure 1, inventor has further proposed based on position location satellite navigation principleNavigation system, describe below in conjunction with Fig. 3.
Refer to Fig. 3, Fig. 3 is the unmanned plane during flying device navigation system reality that the utility model first aspect providesExecute the structure chart of example 3, as shown in Figure 3, this system comprises:
A controller 101 and at least one measurement module;
Described controller comprises at least one processor, and communicates to connect with each measurement module;
Described at least one measurement module is locating module, and this locating module is for calculating unmanned plane during flying deviceGeographical position;
Optionally, described locating module comprises alignment sensor.
Optionally, described locating module comprises the alignment sensor of redundancy.
Here it should be noted that, locating module refers to the mould that can utilize navigation system to realize positioning functionPiece, concrete, can utilize GPS (GlobalPositionSystem, global positioning system), also canUtilize Chinese dipper system, can also utilize Galileo system etc. For example, locating module is GPS mouldPiece, it utilizes GPS sensor to carry out measurement data, and GPS sensor refers to and utilizes gps system to survey in real timeThe position of loading gage body and the sensor of speed, GPS sensor is also referred to as GPS receiver, passes through antennaReceive the signal of gps satellite transmitting, export current longitude, dimension and elevation information.
Optionally, described alignment sensor comprises following any one or polytype combination:
GPS sensor, Big Dipper alignment sensor, Ge Lanasi alignment sensor.
As shown in Figure 3, measurement module 2 is locating modules, and it comprises the GPS sensing of two redundanciesDevice, as GPS sensor 1 and GPS sensor 2. As shown in Figure 3, the utility model provide this beSystem is based on position location satellite navigation principle, and it at least comprises locating module, and this locating module comprises determining of redundancyLevel sensor, this redundancy structure can further improve the service behaviour of locating module, avoids occurring navigationFault causes the problem that unmanned plane is out of control, thereby improves security and the navigation accuracy of navigation system, for unmannedMachine aircraft provides more reliable navigation information.
Based on the structure of system shown in Figure 1, inventor has further proposed based on Doppler navigation principleNavigation system, describes below in conjunction with Fig. 4.
Refer to Fig. 4, Fig. 4 is the unmanned plane during flying device navigation system reality that the utility model first aspect providesExecute the structure chart of example 4, as shown in Figure 4, this system comprises:
A controller and at least one measurement module;
Described controller comprises at least one processor, and communicates to connect with each measurement module;
Described at least one measurement module is magnetic induction module, and this magnetic induction module is used for responding to earth magnetism with judgementDirection;
Optionally, described magnetic induction module comprises compass detector.
Optionally, described magnetic induction module comprises the compass detector of redundancy.
As shown in Figure 4, measurement module 3 is magnetic induction module, and it comprises the compass sensing of two redundanciesDevice, as compass detector 1 and compass detector 2.
As shown in Figure 4, this system that the utility model provides is that it at least wraps based on Doppler navigation principleContaining magnetic induction module, this magnetic induction module comprises the compass detector of redundancy, and this redundancy structure can enter oneStep improves the service behaviour of magnetic induction module, avoids occurring that navigation fault causes the problem that unmanned plane is out of control, fromAnd security and the navigation accuracy of raising navigation system, for unmanned plane during flying device provides navigation letter more reliablyBreath.
Here it should be noted that, in above-mentioned Fig. 2, Fig. 3, Fig. 4, defining respectively measurement module 1 is to be used toProperty measurement module, measurement module 2 are that locating module, measurement module 3 are magnetic induction module, its be only forConvenience the difference of each embodiment is described, in the time of specific implementation, any one mould in can restriction systemPiece is inertia measuring module, locating module or magnetic induction module.
The system that above Fig. 2, Fig. 3, Fig. 4 provide all realizes navigation based on single airmanship,Based on the structure of system shown in Figure 1, inventor has further proposed to adopt the navigation system of integrated navigation modeSystem, describes below in conjunction with Fig. 5.
Refer to Fig. 5, Fig. 5 is the unmanned plane during flying device navigation system reality that the utility model first aspect providesExecute the structure chart of example 5, as shown in Figure 5, this system comprises:
A controller 101 and at least two measurement modules;
Described controller comprises at least one processor, and communicates to connect with each measurement module;
Wherein, described at least two measurement modules comprise: inertia measuring module, locating module, magnetic induction mouldAny two kinds or three's combination in piece;
In described at least two measurement modules, have at least a module to comprise the sensor of redundancy, for surveyingAmount unmanned plane during flying state, and the data of sensor measurement are sent to controller, described controller utilizes instituteState the data of at least one processor processes sensor measurement to control unmanned plane during flying.
For example: described inertia measuring module comprises acceleration transducer and/or gyro sensor,, be used toProperty measurement module is embedded in described controller; And/or,
Described locating module comprises the alignment sensor of redundancy; Described alignment sensor comprise following any oneOr polytype combination: GPS sensor or Big Dipper alignment sensor; And/or,
Described magnetic induction module comprises the compass detector of redundancy.
Optionally, described system also comprises:
Vision module; Described visual unit is connected with described controller. Described vision module be monocular module orBinocular module.
Here it should be noted that, vision module can be regarded as the redundant module of inertia measuring module, when being used toWhen property measurement module fault, vision module can substitute inertia measuring module and carry out work, and controller utilizes visionThe data that module is measured are navigated, and normally navigate with guarantee system.
Optionally, described system also comprises:
Carrier signal difference block; Described carrier signal difference block is connected with described controller.
Here it should be noted that, carrier signal difference block can be regarded as the redundant module of locating module,In the time of locating module fault, carrier signal difference block can substitute locating module and carry out work, controller utilizationThe data that carrier signal difference block is measured are navigated, and normally navigate with guarantee system.
The navigation system based on integrated navigation technology that the utility model provides, utilizes the excellent of every kind of airmanshipGesture, makes complementation in its performance, can obtain the navigation performance higher than single airmanship, in addition, and theseIn measurement module, have at least a kind of measurement module to adopt redundancy structure, to strengthen the service behaviour of measurement module,For whole navigation system provides more reliable data, improve navigation accuracy.
Angle below in conjunction with Fig. 6 from the topological structure of system, what the utility model first aspect was provided isSystem is done example explanation explanation. Refer to Fig. 6, Fig. 6 is the unmanned plane that the utility model first aspect providesThe structure chart of aircraft guidance system embodiment 6, as shown in Figure 6, this system comprises:
101,3 GPS of a controller, 3 compass and 3 IMU (InertialMeasurementUnit, Inertial Measurement Unit);
Wherein, an IMU is embedded in controller, and two other IMU can independently be present in different measuringIn module. GPS module and compass module are integrated in same module in paired mode.
Here it should be noted that, Fig. 6 is only a kind of example arrangement, and it does not limit in system measuresThe concrete structure of module. When specific implementation, IMU can not be embedded in controller, but independent existenceIn a certain measurement module; Certainly, each IMU can independently be present in different measurement modules, alsoCan be integrated in same measurement module with other one or more IMU.
In the time that single IMU is independently present in different measurement modules, between these measurement modules, carry each otherFor redundancy support. In the time that multiple IMU are integrated in a measurement module, this measurement module inside is manyIndividual IMU provides mutually redundancy support.
Similarly, 3 integrated GPS/ compass can independently be present in different measurement modules, also can collectBecome in same measurement module. In addition, GPS and compass also can independently be present in different measurement modules,Needn't be integrated in same module.
Below the content of the unmanned plane during flying device navigation system that the utility model second aspect is provided is carried outExplain.
Refer to Fig. 7, Fig. 7 is the unmanned plane during flying device navigation system reality that the utility model second aspect providesExecute the structure chart of example 1, as shown in Figure 7, this unmanned plane during flying device navigation system 200 comprises:
Main navigation elements 201, from navigation elements 202 and controller 203; Described controller comprises at least oneIndividual processor, and communicate to connect with main navigation elements with from navigation elements;
Described main navigation elements comprises: at least one measurement module; (measurement module 1 as shown in Figure 7, surveyAmount module 2 ... measurement module N, wherein N is more than or equal to 1);
Describedly comprise from navigation elements: at least one measurement module; (measurement module 1 as shown in Figure 7, surveyAmount module 2 ... measurement module M, wherein M is more than or equal to 1); Described from navigation elements extremelyA few measurement module provides redundancy support at least one measurement module in described main navigation elements; ,Describedly comprise that from navigation elements at least one measurement module is identical with certain measurement module in main navigation elements, withRedundancy support is provided.
Described in described controller utilization, at least one processor is processed main navigation elements and described from the list that navigatesThe data that in unit, measurement module is measured are to control unmanned plane during flying.
Here it should be noted that, depend primarily on the inside of main navigation elements from the internal structure of navigation elementsStructure, it is mainly that in navigation elements, to have a measurement module at least be the survey being necessary in main navigation elementsAmount module provides redundancy support; The type of the measurement module comprising from navigation elements inside should be navigated with leadingUnit inner comprise at least one measurement module type identical. But, comprise from navigation elements insideThe quantity of measurement module can arrange according to demand, is not limited to the structure of main navigation elements. ,Number of modules in above-mentioned main navigation elements and the number of modules in navigation elements do not have incidence relation, that is,Between numerical value of N and numerical value M, without any relation, do not limit mutually each other.
Optionally, described main navigation elements and described measurement module from navigation elements are total by serial communicationLine and controller carry out data communication.
Optionally, described main navigation elements is communicated by letter by CAN with described measurement module from navigation elementsBus and controller carry out data communication.
On the basis of above-mentioned system shown in Figure 7, inventor has further analyzed single navigation and integrated navigationAirmanship, optional technical scheme is provided, concrete, referring to Fig. 8, Fig. 8 is the utility modelThe structure chart of the unmanned plane during flying device navigation system embodiment 2 that second aspect provides, as shown in Figure 8, this isTurnkey is drawn together:
Main navigation elements, from navigation elements and controller; Described controller comprises at least one processor, andCommunicate to connect with main navigation elements with from navigation elements;
Described main navigation elements comprises: an inertia measuring module, a locating module, a magnetic induction mouldPiece or its combination;
Describedly comprise from navigation elements: at least one inertia measuring module, at least one locating module, extremelyA few magnetic induction module or its combination.
Described in described controller utilization, at least one processor is processed main navigation elements and described from the list that navigatesThe data that in unit, measurement module is measured are to control unmanned plane during flying.
The locating module here refers to the module that can utilize navigation system to realize positioning function, concrete, canTo utilize GPS (GlobalPositionSystem, global positioning system), also can utilize the Chinese Big DipperSystem, can also utilize Galileo system etc. For example, locating module is GPS module specifically, GPSModule refers to utilizes gps system to measure in real time the position of carrier and the module of speed, GPS module also byBe called GPS receiver, the signal of launching by antenna reception gps satellite, exports current longitude, dimensionAnd elevation information.
The magnetic induction module here can be compass module.
Wherein, in the time that main navigation elements comprises single measurement module, from navigation elements and main navigation elementsModule is identical, and the measurement module of taking as the leading factor in boat unit provides redundancy support. Such system is exactly based on listThe navigation system of one airmanship, in the advantage of the single airmanship of performance, also passes through master-slave unitRedundancy structure strengthen the reliability of system, to improve navigation performance.
On the basis of above-mentioned system shown in Figure 7, inventor further provides the navigation based on integrated navigationTechnology, provides optional technical scheme, concrete, and referring to Fig. 8, Fig. 8 is the utility model second partyThe structure chart of the unmanned plane during flying device navigation system embodiment 3 that face provides, as shown in Figure 8, this system comprises:
Main navigation elements, from navigation elements and controller; Described controller comprises at least one processor, andCommunicate to connect with main navigation elements with from navigation elements;
Described main navigation elements comprises: an inertia measuring module, a locating module and a magnetic induction mouldPiece;
Describedly comprise from navigation elements: two inertia measuring modules, two locating modules and two magnetic induction mouldsPiece.
Described in described controller utilization, at least one processor is processed main navigation elements and described from the list that navigatesThe data that in unit, measurement module is measured are to control unmanned plane during flying.
Can find out from the system shown in Fig. 9, form by main navigation elements with from the redundancy structure of navigation elementsThree cover redundancies navigation module, like this, can either improve the navigation system of navigation system, can simplify againIts structure, is easy to realize.
Based on the system shown in Fig. 9, in the time of specific implementation, for simplied system structure, reduce system cost,The utility model also provides following several optional version. Lead referring to the one shown in Figure 10The redundant topology structural representation of boat system, explains this several optional version. At figureIn 10, be only respectively used to represent locating module and magnetic induction module as an example of GPS module and compass module example,In the time of concrete application, also can adopt other modules.
In Figure 10, icon 1 refers to GPS module; Icon 2 refers to compass module; Icon 3 refers to CANBus; Icon 4 refers to IMU (InertialMeasurementUnit, Inertial Measurement Unit); Icon 5 isRefer to VO (monocular) module; Icon 6 refers to RTK (carrier signal difference block) module. As Fig. 9 instituteShow:
Described main navigation elements comprises inertia measuring module, and described inertia measuring module is embedded in controller.Main navigation elements adopts such structure, on the one hand the core in compatible existing navigation system wellSheet, makes the production cost of navigation system of the present utility model low, production efficiency is high, can save on the other handIntegrated space, simplifies navigation system structure.
Optionally, describedly comprise at least one inertia measuring module from navigation elements, described from navigation elementsAny one inertia measuring module be embedded in controller.
Certainly, consider and from navigation elements, also may comprise inertia measuring module, no matter be leading boatThe inertia measuring module of unit, or from the inertia measuring module of navigation elements, by any one inertia measurementModule-embedding is in controller, and the chip of this structure in can both compatible existing navigation system, makes this realityLow with the production cost of novel navigation system, production efficiency is high, can save again integrated space, simplification is ledBoat system architecture.
Optionally, described inertia measuring module carries out data communication by serial line interface and controller. Above-mentionedIn system, the GPS module in described main navigation elements and compass module can be with the form cloth of standalone moduleOffice; But, in order to rationalize the structure of layout navigation system, the GPS module in described main navigation elements andCompass module can be integrated in a module. Certainly, if from navigation elements also comprise GPS module andWhen compass module, also the GPS module from navigation elements and compass module can be integrated in to a moduleIn.
In the time of specific implementation, in the time that described main navigation elements comprises GPS module and compass module, described inGPS module and described compass module are integrated in a module. GPS in main navigation elements as shown in Figure 10Module and compass module are integrated in same module.
In the time of specific implementation, when described while comprising N GPS module and N compass module from navigation elements,Described GPS module and compass module from navigation elements is integrated in respectively N module in paired modeIn, described N is more than or equal to 1 integer. GPS module from navigation elements as shown in Figure 10Be integrated in same module in paired mode with compass module.
Optionally, described system also comprises:
Vision module, described vision module is connected with described controller.
Optionally, described vision module is monocular module or binocular module.
Optionally, described system also comprises:
Carrier signal difference block; Described carrier signal difference block is connected with described controller.
The navigation system of utilizing the utility model second aspect to provide, receives principal and subordinate in navigation system by controllerThe data that navigation elements transmits separately; Because measurement module in navigation elements is to take as the leading factor in boat unit to measureModule provides redundancy to support, therefore, even measurement module breaks down or its measurement number in main navigation elementsAccording to inaccurate, also can ensure data normal transmission from navigation elements, for controller provides valid data, withJust controller navigates according to the data that receive, and can provide reliable navigation letter for unmanned plane during flying deviceBreath.
Further, on the basis of the navigation system providing in above-mentioned the utility model first aspect, inventorFurther proposed a kind of unmanned plane during flying device, this unmanned plane during flying device is mounted with above-mentioned the utility modelThe navigation system providing on the one hand. Concrete, the structure of unmanned plane during flying device shown in Figure 11.
As shown in figure 11, this unmanned plane during flying device 1, comprising:
The navigation that flying platform, power set, electrical system, task device and above-mentioned fourth aspect provideSystem. Wherein, the structure of navigation system can be referring to above-mentioned Fig. 1 to Fig. 6 and above-described content,This repeats no more.
The unmanned plane during flying device that the utility model third aspect provides, utilizes the controller in navigation system to receiveThe data that each measurement module of navigation system transmits, utilize the data that receive to navigate, due at least oneThe sensor that individual measurement module comprises redundancy, and the sensor of redundancy can provide accurately for controller, reliableData, like this, controller just can provide reliable navigation information for unmanned plane during flying device.
In addition, on the basis of the navigation system providing in above-mentioned the utility model first aspect, inventor enters oneStep proposition a kind of unmanned plane during flying device, this unmanned plane during flying device is mounted with above-mentioned the utility model second partyThe navigation system that face provides. Concrete, the structure of unmanned plane during flying device shown in Figure 12.
As shown in figure 12, this unmanned plane during flying device 2, comprising:
The navigation that flying platform, power set, electrical system, task device and above-mentioned second aspect provideSystem. Wherein, the structure of navigation system can be referring to above-mentioned Fig. 7 to Figure 10 and above-described content,This repeats no more.
The unmanned plane during flying device that the utility model fourth aspect provides, utilizes controller to receive in navigation system mainThe data that transmit separately from navigation elements; Because measurement module in navigation elements is to take as the leading factor in boat unit to surveyAmount module provides redundancy to support, therefore, even measurement module breaks down or its measurement in main navigation elementsData are inaccurate, also can ensure data normal transmission from navigation elements, for controller provides valid data,So that controller navigates according to the data that receive, can provide reliable navigation for unmanned plane during flying deviceInformation.
As seen through the above description of the embodiments, those skilled in the art can be well understood toState the mode that all or part of step in embodiment method can add by software essential general hardware platformRealize. Based on such understanding, the technical solution of the utility model is done prior art in essence in other wordsThe part that goes out contribution can embody with the form of software product, and this computer software product can be stored inIn storage medium, as ROM/RAM, magnetic disc, CD etc., comprise that some instructions are in order to make a meterCalculation machine equipment (can be personal computer, server, or network communication equipments such as WMG,Etc.) carry out the method described in some part of each embodiment of the utility model or embodiment.
It should be noted that, each embodiment in this description all adopts the mode of going forward one by one to describe, and each is realExecute between example identical similar part mutually referring to, what each embodiment stressed is and other are realExecute routine difference. Especially, for equipment and system embodiment, because it is substantially similar in appearance to methodEmbodiment, so describe fairly simplely, relevant part is referring to the part explanation of embodiment of the method. WithUpper described equipment and system embodiment is only schematically, the unit wherein illustrating as separating componentCan or can not be also physically to separate, the parts that show as unit can be or be also passableNot physical location, can be positioned at a place, or can be distributed on multiple NEs yet. CanTo select according to the actual needs some or all of module wherein to realize the object of the present embodiment scheme.Those of ordinary skill in the art, in the situation that not paying creative work, are appreciated that and implement.
The foregoing is only preferred embodiment of the present utility model, be not intended to limit of the present utility modelProtection domain. All any amendments of doing within spirit of the present utility model and principle, be equal to replacement, changeEnter etc., be all included in protection domain of the present utility model.
Claims (33)
1. a unmanned plane during flying device navigation system, is characterized in that, described system comprises:
A controller and at least one measurement module;
Described controller comprises at least one processor, and communicates to connect with each measurement module;
Wherein, described at least one measurement module comprises the sensor of redundancy, for measuring unmanned plane during flying shapeState, and the data of sensor measurement are sent to controller, described controller utilizes described at least one processingThe data that device processes sensor is measured are to control unmanned plane during flying.
2. system according to claim 1, is characterized in that,
Described at least one measurement module carries out data communication by serial communication bus and controller.
3. system according to claim 2, is characterized in that,
Described at least one measurement module carries out data communication by CAN communication bus and controller.
4. system according to claim 1, is characterized in that,
Having a measurement module at least is inertia measuring module.
5. system according to claim 4, is characterized in that,
Described inertia measuring module comprises acceleration transducer and/or gyro sensor.
6. system according to claim 4, is characterized in that,
Described inertia measuring module is embedded in described controller.
7. system according to claim 4, is characterized in that,
Described inertia measuring module carries out data communication by serial line interface and controller.
8. system according to claim 4, is characterized in that,
Described inertia measuring module carries out data by other measurement modules in serial communication bus and systemCommunication.
9. system according to claim 8, is characterized in that,
Described inertia measuring module carries out data by other measurement modules in CAN communication bus and systemCommunication.
10. system according to claim 1, is characterized in that,
Described at least one measurement module is locating module, and this locating module is for calculating unmanned plane during flying deviceGeographical position.
11. systems according to claim 10, is characterized in that,
Described locating module comprises alignment sensor.
12. systems according to claim 11, is characterized in that,
Described alignment sensor comprises following any one or polytype combination:
GPS sensor or Big Dipper alignment sensor.
13. systems according to claim 1, is characterized in that,
Described at least one measurement module is magnetic induction module, and this magnetic induction module is used for responding to earth magnetism with judgementDirection.
14. systems according to claim 13, is characterized in that,
Described magnetic induction module comprises compass detector.
15. systems according to claim 1, is characterized in that, described system also comprises:
Vision module; Described visual unit is connected with described controller.
16. systems according to claim 1, is characterized in that,
Described vision module is monocular module or binocular module.
17. systems according to claim 1, is characterized in that, described system also comprises:
Carrier signal difference block; Described carrier signal difference block is connected with described controller.
18. systems according to claim 1, is characterized in that, when described system comprises at least twoWhen measurement module,
Each self-contained at least one sensor of described at least two measurement modules, described at least two measurement modulesThe sensor comprising provides mutually redundancy support.
19. 1 kinds of unmanned plane during flying device navigation system, is characterized in that, described system comprises:
Main navigation elements, from navigation elements and controller; Described controller comprises at least one processor, andCommunicate to connect with main navigation elements with from navigation elements;
Described main navigation elements comprises: at least one measurement module;
Describedly comprise from navigation elements: at least one measurement module; Described at least one from navigation elementsMeasurement module provides redundancy support at least one measurement module in described main navigation elements;
Described controller utilizes described at least one processor to process described main navigation elements and described from navigationThe data that in unit, measurement module is measured are to control unmanned plane during flying.
20. systems according to claim 19, is characterized in that,
Described main navigation elements and described measurement module from navigation elements are by serial communication bus and controlDevice processed carries out data communication.
21. systems according to claim 19, is characterized in that,
Described main navigation elements and described measurement module from navigation elements are by CAN communication bus and controlDevice processed carries out data communication.
22. systems according to claim 19, is characterized in that,
Described main navigation elements comprises: an inertia measuring module, a locating module, a magnetic induction mouldPiece or its combination;
Describedly comprise from navigation elements: at least one inertia measuring module, at least one locating module, extremelyA few magnetic induction module or its combination.
23. systems according to claim 22, is characterized in that,
Described main navigation elements comprises: an inertia measuring module, a locating module and a magnetic induction mouldPiece;
Describedly comprise from navigation elements: two inertia measuring modules, two locating modules and two magnetic induction mouldsPiece.
24. systems according to claim 19, is characterized in that,
Described main navigation elements comprises inertia measuring module, and described inertia measuring module is embedded in controller.
25. systems according to claim 19, is characterized in that,
Describedly comprise at least one inertia measuring module from navigation elements, described from navigation elements any oneIndividual inertia measuring module is embedded in controller.
26. according to the system described in claim 24 or 25, it is characterized in that,
Described inertia measuring module carries out data communication by serial line interface and controller.
27. systems according to claim 19, is characterized in that,
Described main navigation elements comprises locating module and magnetic induction module, described locating module and described magnetic inductionModule integration is in same module.
28. systems according to claim 19, is characterized in that,
Describedly comprise N locating module and N magnetic induction module from navigation elements, described from navigation elementsIn locating module and magnetic induction module be integrated in respectively in N module in paired mode, described N isBe more than or equal to 1 integer.
29. systems according to claim 19, is characterized in that, described system also comprises:
Vision module, described vision module is connected with described controller.
30. systems according to claim 29, is characterized in that,
Described vision module is monocular module or binocular module.
31. systems according to claim 19, is characterized in that, described system also comprises:
Carrier signal difference block; Described carrier signal difference block is connected with described controller.
32. 1 kinds of unmanned plane during flying devices, is characterized in that, comprising: claim 1 to 18 any one instituteThe unmanned plane during flying device navigation system of stating.
33. 1 kinds of unmanned plane during flying devices, is characterized in that, comprising: claim 19 to 31 any one instituteThe unmanned plane during flying device navigation system of stating.
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