CN205450780U - Low -cost extension boat appearance sensor module - Google Patents
Low -cost extension boat appearance sensor module Download PDFInfo
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- CN205450780U CN205450780U CN201620153712.1U CN201620153712U CN205450780U CN 205450780 U CN205450780 U CN 205450780U CN 201620153712 U CN201620153712 U CN 201620153712U CN 205450780 U CN205450780 U CN 205450780U
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Abstract
The utility model discloses a low -cost extension boat appearance sensor module, including data processing unit, electron compass, six attitude sensor, barometer and data output interfaces, electron compass, six attitude sensor, barometer and data output interfaces respectively with the data processing unit connection, this module still includes GPS unit interface, ultrasonic ranging unit interface and remote controller receiver interface to reach GPS unit, ultrasonic ranging module and remote controller receiver with above -mentioned interface difference one -to -one. The utility model discloses a boat appearance sensor module, expand on traditional boat appearance sensor module basis makes it export and flies to control the required sensor information of main control unit, alleviates the amount of calculation that flies to control main control unit, and this module can satisfy many heligyro of remote control and the required sensor data of fixed wing aircraft basically to little, the simple to operate of size has fine practical value to flight control system's development.
Description
Technical field
This utility model relates to a kind of low cost extension navigation attitude sensor assembly, particularly to a kind of navigation attitude sensor assembly being applied to remote control multirotor helicopter, Fixed Wing AirVehicle, belongs to navigation attitude sensor technical field.
Background technology
Many rotor unmanned helicopters are a kind of simple in construction, be easily manipulated, can the stable unmanned vehicle of VTOL, floating state.Many rotor unmanned helicopters substantially can be divided into according to support arm number difference: three axles, four axles, six axles and eight axles, and in addition to three-axis structure, each support arm of other structures can use monolayer rotor-hub configuration or double-deck rotor-hub configuration.Support arm number that multi-rotor aerocraft is different and rotor quantity, it is possible to achieve different load capacity.Many rotor unmanned helicopters have high controllability, mobility and stability, and have the features such as low noise, pollution-free, easy to carry, safety hazard is little, are very suitable for performing the aerial mission of short-distance and medium-distance.Fixed-wing unmanned plane is fast relative to many rotor wing unmanned aerial vehicles flight speed, and flying distance is remote, but motility does not has multirotor helicopter good.Unmanned plane in military and civilian field both types is respectively provided with wide application prospect, such as reconnaissance and surveillance, communication relay, searching rescue, target following, electric power overhaul, imaging etc. of taking photo by plane.
Along with the intelligence degree of unmanned plane is more and more higher, the control master controller data to be dealt with that fly of remotely-piloted vehicle also get more and more, on the one hand, add the amount of calculation flying to control master controller, so that its resource processing other information becomes fewer and feweri；On the other hand, the intelligence degree of unmanned plane is reduced.
Utility model content
Technical problem to be solved in the utility model is: provide a kind of low cost extension navigation attitude sensor assembly, it is extended on the basis of traditional navigation attitude sensor assembly, can export and fly to control the sensor information required for master controller, alleviate the amount of calculation flying to control master controller.
This utility model is for solving above-mentioned technical problem by the following technical solutions:
A kind of low cost extension navigation attitude sensor assembly, including data processing unit, electronic compass, six axle attitude transducers, barometer and data output interface, described electronic compass, six axle attitude transducers, barometer and data output interface are connected with data processing unit respectively；This module also includes GPS unit interface, ultrasonic ranging unit interface and remote control receiver interface, and distinguish GPS unit, ultrasonic ranging unit and remote control receiver the most one to one with above-mentioned interface, described GPS unit is connected with data processing unit by GPS unit interface, ultrasonic ranging unit is connected with data processing unit by ultrasonic ranging unit interface, and remote control receiver is connected with data processing unit by remote control receiver interface.
As a preferred version of the present utility model, described electronic compass, six axle attitude transducers, barometer are connected with data processing unit by iic bus respectively.
As a preferred version of the present utility model, the chip model that described data processing unit uses is STM32F103C8T6.
As a preferred version of the present utility model, the chip model that described electronic compass uses is HMC5883L.
As a preferred version of the present utility model, the chip model that described six axle attitude transducers use is MPU6050.
As a preferred version of the present utility model, the chip model that described barometer uses is BMP180.
As a preferred version of the present utility model, the serial port baud rate value of described data output interface is 115200.
This utility model uses above technical scheme compared with prior art, has following technical effect that
1, this utility model low cost extension navigation attitude sensor assembly, can export simultaneously fly to control the multiple sensors data required for master controller, alleviate the work load of flight control system master controller, simplify the design of flight control system.
2, this utility model low cost extension navigation attitude sensor assembly, not only can be with output pressure altitude information but also can be with output ultrasonic wave altitude information, and aircraft, when the flying height low altitude flight less than 4 meters, uses ultrasonic height to be conducive to improving flight quality.
3, this utility model low cost extension navigation attitude sensor assembly, the data recorded export after treatment, improve the anti-interference of module.
Accompanying drawing explanation
Fig. 1 is the hardware block diagram of this utility model low cost extension navigation attitude sensor assembly.
Fig. 2 is the schematic diagram of this utility model low cost extension navigation attitude sensor assembly.
Detailed description of the invention
Of the present utility model embodiment is described below in detail, and the example of described embodiment is shown in the drawings.The embodiment described below with reference to accompanying drawing is exemplary, is only used for explaining this utility model, and can not be construed to restriction of the present utility model.
As shown in Figure 1 and Figure 2, a kind of low cost extension navigation attitude sensor assembly mainly comprises data processing unit, electronic compass, six axle attitude transducers, barometer, GPS unit interface and corresponding GPS unit, remote control receiver interface and corresponding remote control receiver, ultrasonic ranging unit interface and corresponding ultrasonic ranging unit, data output interface.
Wherein, electronic compass, six axle attitude transducers are connected with data processing unit by iic bus with barometer；GPS unit and data output interface are coupled by the UART pin of data processing unit；Remote control receiver and ultrasonic ranging unit are coupled by the TIMER pin of data processing unit.Concrete chip selects and module interface function is described as follows.
Data processing unit: this navigation attitude sensor assembly uses STM32F103C8T6 chip as data processing unit, STM32F103C8T6 is 32 the Cortex-M3 core processors produced by STMicroelectronics company, having 48 pins, maximum operating frequency is 72MHz.This chip has 36 railway digital input/output interfaces, 4 16 bit timing devices, 3 UART communication interfaces, and packaged type is LQFP48.For navigation attitude sensor assembly described in the utility model, STM32F103C8T6 has enough resources and performance.
Electronic compass: select the HMC5883L electronic compass that Honeywell Corp. USA produces, it is a kind of surface-pasted highly integrated module, and with the weak magnetic sensor chip of digital interface, is applied to low cost compass and magnetic field detection field.Compass precision controlling can be made to exist12 analog-digital converters, with 16 pins, interface is easy IIC serial bus, a size of 3.0 × 3.0 × 0.9mm.Have in axial high sensitivity and linear high-precision feature, be the sensor that sensitivity is the highest and reliability is best.
Six axle attitude transducers: select the MPU-6050 six axle attitude transducer that American I nvensense company produces, it incorporates 3 axle gyroscopes, 3 axle accelerators, for the first conformability 6 axle motion process assembly in the whole world.MPU-6050 exports 6 axles or the spin matrix of 9 axles, quaternary number, the fusion calculation data of Eulerian angles form with numeral.Compared to multicompartment scheme, MPU-6050 eliminates the problem of combination gyroscope and between centers difference during accelerator, decreases substantial amounts of packaging space, has low-power consumption, low cost, high performance feature.The sensing range of angular velocity is ± 250o, ± 500o, ± 1000o and ± 2000o/sec (dsp), can accurately follow the trail of quickly with action at a slow speed；The sensing range of the most programmable accelerometer is ± 2g, ± 4g, ± 8g and ± 16g.The measurement data of sensor finally can be exported by the iic bus of the highest 400kHz.
Digital altimeter: use the BMP180 chip that German Bosch company produces, BMP180 be a low cost, in high precision, the baroceptor of small size, super low energy consumption.Measurable altitude range is height above sea level-500m ~ 9000m, and under High Linear pattern, certainty of measurement is 0.25m.A size of 3.6mm × 3.8 × 0.93mm, supply voltage is 1.8V ~ 3.6V, exports containing temperature.Directly can be connected with data processing unit by iic bus and export data.
Ultrasonic ranging unit interface: can the ultrasonic ranging unit of compatible low cost, the ultrasound unit that model is HC-SR04 that such as company limited of Shenzhen's victory Shenzhen Science and Technology produces.The ultrasound unit of this type can provide the contactless distance measurement function of 2cm-400cm, and range accuracy is 3mm.This module triggers range finding by I/O port Trig, Echo pin becomes high level simultaneously, after receiving echo-signal, Echo pin becomes low level, and the Echo i.e. ultrasound wave of pin duration is from the time being transmitted into used by return, distance=(the high level time * velocity of sound)/2.
GPS unit interface: compatible UBLOXGPS module, is connected with GPS module by the serial ports of data processing unit STM32F103C8T6, serial port baud rate 9600.
Remote control receiver interface: this receiver interface compatible Futaba, the world model airplane remote control receiver such as can fly, read the high level length of remote control receiver output PWM ripple by the timer capture function of data processing unit STM32F103C8T6, unit is us.This module at most can read the remote-controller data of 6 passages.
Data output interface: this interface passes through serial ports output transducer data, and serial port baud rate is 115200.And increasing income of data format compatible anonymity offer flies to control host computer v4.06 version, can show all data that this module exports on host computer.
(1) data processing unit STM32F103C8T6 reads electronic compass chip, six axle attitude transducer chip and the sensing datas of barometer chip by iic bus, and carry out Kalman filtering process, then Quaternion Method is utilized to calculate the angle of pitch, roll angle and yaw angle, and pressure altitude.
(2) data processing unit STM32F103C8T6 reads GPS unit data (serial port baud rate 9600) by UART serial ports, and calculates positioning states, number of satellite, longitude and latitude, GPS height, GPS velocity and speed orientation information.
(3) data processing unit STM32F103C8T6 reads remote control receiver channel signal output pin and the high level length of ultrasonic ranging elementary echo state Echo pin by TIMER pin.The high level length of the remote control receiver data wherein read is directly as the controlled quentity controlled variable of remote controller；The ultrasonic ranging unit Echo pin high level length read calculates ultrasonic height through formula " distance=(the high level time * velocity of sound)/2 ".
null(4) each sensing data (serial port baud rate default value is 115200) that data processing unit STM32F103C8T6 was processed by UART serial ports output，The data of output include: three-axis attitude angle (angle of pitch PIT、Roll angle ROL、Course angle YAW)，3-axis acceleration value (ACC-X、ACC-Y、ACC-Z)，Three axis angular rate value (GYR-X、GYR-Y、GYR-Z)，Three axle magnetic strength angle value (MAG-X、MAG-XY、MAG-Z)，Pressure altitude、Ultrasonic level、GPS information (precision、Latitude、Positioning states、Number of satellite、GPS height、GPS velocity、Speed towards)，6 passage remote-control data (throttle commands THR、Driftage instruction YAW、Rolling instruction ROL、Pitch demand PIT、House-keeping instruction AUX1、House-keeping instruction AUX2).
A kind of low cost extension navigation attitude sensor assembly, by with lower interface: power interface P6, remote control receiver interface P1, ultrasonic ranging unit interface P3, GPS unit interface P2, external power source, remote control receiver, ultrasonic ranging unit, GPS unit being coupled together with data processing unit, data output interface is P4.
Outside 5V DC source powers to whole navigation attitude sensor assembly by power interface, be converted to 3.3V through voltage stabilizing chip AMS1117-3.3 power to STM32F103C8T6, LED and the interface containing 3.3V power supply, 3.3V power supply is powered to sensor chip HMC5883L, MPU6050, BMP180 through MIC3219-3.3BM5 chip voltage stabilizing and Filtering Processing again, can also power to respectively by the 5V pin in remote control receiver interface, ultrasonic ranging unit interface, GPS unit interface remote control receiver, ultrasonic ranging unit, GPS unit simultaneously.
This navigation attitude sensor assembly also includes power supply indicator D1 and module status display lamp D2, power supply indicator D1 Chang Liang after powering on, and during navigation attitude sensor assembly normal operation, module status display lamp D2 flicker, runs abnormal the brightest or do not work.
Above example only illustrates technological thought of the present utility model; protection domain of the present utility model can not be limited with this; every according to the technological thought that the utility model proposes, any change done on the basis of technical scheme, within each falling within this utility model protection domain.
Claims (7)
1. a low cost extension navigation attitude sensor assembly, including data processing unit, electronic compass, six axle attitude transducers, barometer and data output interface, described electronic compass, six axle attitude transducers, barometer and data output interface are connected with data processing unit respectively；It is characterized in that, this module also includes GPS unit interface, ultrasonic ranging unit interface and remote control receiver interface, and distinguish GPS unit, ultrasonic ranging unit and remote control receiver the most one to one with above-mentioned interface, described GPS unit is connected with data processing unit by GPS unit interface, ultrasonic ranging unit is connected with data processing unit by ultrasonic ranging unit interface, and remote control receiver is connected with data processing unit by remote control receiver interface.
2. low cost extends navigation attitude sensor assembly as claimed in claim 1, it is characterised in that described electronic compass, six axle attitude transducers, barometer are connected with data processing unit by iic bus respectively.
3. low cost extends navigation attitude sensor assembly as claimed in claim 1, it is characterised in that the chip model that described data processing unit uses is STM32F103C8T6.
4. low cost extends navigation attitude sensor assembly as claimed in claim 1, it is characterised in that the chip model that described electronic compass uses is HMC5883L.
5. low cost extends navigation attitude sensor assembly as claimed in claim 1, it is characterised in that the chip model that described six axle attitude transducers use is MPU6050.
6. low cost extends navigation attitude sensor assembly as claimed in claim 1, it is characterised in that the chip model that described barometer uses is BMP180.
7. low cost extends navigation attitude sensor assembly as claimed in claim 1, it is characterised in that the serial port baud rate value of described data output interface is 115200.
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| CN201620153712.1U CN205450780U (en) | 2016-02-29 | 2016-02-29 | Low -cost extension boat appearance sensor module |
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| CN201620153712.1U CN205450780U (en) | 2016-02-29 | 2016-02-29 | Low -cost extension boat appearance sensor module |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105589467A (en) * | 2016-02-29 | 2016-05-18 | 南京航空航天大学 | Low-cost expansion flight attitude sensor module |
| CN115352395A (en) * | 2022-09-27 | 2022-11-18 | 南京大学 | Safety belt state recognition device and method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105589467A (en) * | 2016-02-29 | 2016-05-18 | 南京航空航天大学 | Low-cost expansion flight attitude sensor module |
| CN115352395A (en) * | 2022-09-27 | 2022-11-18 | 南京大学 | Safety belt state recognition device and method |
| CN115352395B (en) * | 2022-09-27 | 2024-02-09 | 南京大学 | Safety belt state identification device and method |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20160810 Termination date: 20190228 |