CN205750549U - Unmanned plane Terrain Following System based on laser radar - Google Patents
Unmanned plane Terrain Following System based on laser radar Download PDFInfo
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- CN205750549U CN205750549U CN201620425989.5U CN201620425989U CN205750549U CN 205750549 U CN205750549 U CN 205750549U CN 201620425989 U CN201620425989 U CN 201620425989U CN 205750549 U CN205750549 U CN 205750549U
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Abstract
This utility model is unmanned plane Terrain Following System based on laser radar, and system includes relative altitude measurement module, other sensor assemblies, flight control system；Described relative altitude measurement module, including laser radar and radar acquisition process unit, described laser radar obtains the relative altitude information of flight environment of vehicle, described radar acquisition process unit, including an ARM master chip, collection and the pretreatment of being responsible for radar data calculate, and the result of process is transferred to flight control system.This utility model solves the measurement of unmanned plane relative altitude, height-lock control and the problem of landing of independently taking off.
Description
Technical field
This utility model relates to unmanned aerial vehicle control system field, particularly relates to unmanned plane landform based on laser radar
System for tracking.
Background technology
Unmanned plane i.e. unmanned vehicle, unmanned plane uses satellite fix, remote sensing, geographical space, aviation boat
My god, automatically control, the new and high technology such as computer-assisted analysis, can serve territory, mapping, forestry, traffic,
Multiple field such as water conservancy and military affairs.
Recently as the fast development of unmanned vehicle technology, people's machine technology is also made to be applied to every field.
Wherein played important function in agricultural aviation field, typical case protects operation for agriculture and forestry plant
UAV (is called for short plant protection unmanned vehicle), and the impact on agricultural of being born of plant protection unmanned vehicle is huge
Greatly, but with regard to current Industry from the point of view of, the style of plant protection unmanned vehicle on the market is a lot, but these
The unified feature of machine is exactly to need to rely on the skilled operation flying to control hands just can go operation, however plant protection nobody fly
The working environment of row device is complicated, and physical features is uneven, and has higher requirement to plant protection unmanned vehicle operation.
The height of unmanned vehicle keeps mostly using increases the fixed high module of air pressure, GPS etc. to flight control controller
Deng, but for farmland rugged for physical features, air pressure is fixed the highest just cannot meet demand, needs artificial
Adjustment throttle controls unmanned vehicle and keeps consistent with the height of crops, and then it is uniform to reach herbal sprinkling
Requirement.So the fixed height of existing plant protection unmanned vehicle air pressure does not the most adapt to the operation of intricately shape.
In addition unmanned vehicle is in the middle of take-off and landing process, especially the take-off and landing in autonomous flight
In, altitude information is had high-precision requirement.The currently used altimeter of unmanned vehicle mainly has pressure altitude
Meter, radio altimeter, GPS altimeter, ultrasonic height meter etc..Wide ranges measured by barometertic altimeter, but
Error is bigger；Radio altimeter is measured accurately, but is easily subject to the interference of radio signal；GPS altimeter
The problem that there is jitter；Ultrasonic height measurement weight range is the least, and easily by ambient temperature and air stream
Dynamic impact.Measurement highly, when low altitude flight, is especially had the highest when take-off and landing by unmanned vehicle
Requirement, hence it is imperative that solve unmanned vehicle flight time elevation carrection problem.
Summary of the invention
This utility model is for achieving the above object, it is provided that unmanned plane Terrain Following System based on laser radar, bag
Include relative altitude measurement module, other sensor assemblies, flight control system；
Described relative altitude measurement module, including laser radar and radar acquisition process unit, described laser radar
The relative altitude information of acquisition flight environment of vehicle, described radar acquisition process unit, including an ARM master chip,
Collection and the pretreatment of being responsible for radar data calculate, and the result of process is transferred to flight control system；
Other sensor assemblies described, including IMU, three axle magnetic compasses, GPS and barometer, in order to obtain nothing
Man-machine state of flight information；
Described flight control system, including Data Fusion of Sensor module based on extended Kalman filter, flies
Line control unit and data transmission module；The output of Data Fusion of Sensor module based on extended Kalman filter
End is connected with the input of flight controller, the input phase of the outfan of flight controller and data transmission module
Even；Data Fusion of Sensor module based on extended Kalman filter is used for receiving measures mould from relative altitude
The relative altitude data message of block and the state of flight information from other sensor assemblies, by based on expansion card
The Data Fusion of Sensor module of Thalmann filter carries out fusion treatment, generates flight directive, is transmitted by data
Module send flight directive, with control the steering wheel group of unmanned plane realize various landform follow flight and independently rise
Fall；
Described unmanned plane, including steering wheel group, described steering wheel group is flown according to the flight directive of flight controller,
Realize terrain following and autonomous landing flight function.
Further, described unmanned plane Terrain Following System based on laser radar, it is provided with state of flight indicating module,
For indicating the state of flight of unmanned vehicle, to realize display and the early warning of state of flight.
Further, described unmanned plane Terrain Following System based on laser radar, also include remote controller and ground
Standing, between the steering wheel group of described remote controller and unmanned plane, between remote controller and data transmission module, data are transmitted
Between module and earth station, all communicate in the way of wireless link；
Further, described laser radar, it is made up of emission system, reception system, information processing system；
Described emission system is made up of with optical beam-expanding unit laser instrument, using laser instrument as launching light source, uses
Detecting technique carries out optical emitting；
Described reception system includes telescope and photodetector.
Further, described laser instrument is the solid of carbon dioxide laser, semiconductor laser or tunable wave length
One in laser instrument.
Further, described photodetector is photomultiplier tube, semiconductor photo diode, avalanche optoelectronic two pole
Pipe, infrared and one or more combinations of visible ray multiunit detector part.
The beneficial effects of the utility model are: unmanned plane landform based on laser radar described in the utility model with
With system, system structure is simple, and volume is little, easy to use, and has relative altitude measurement, height-lock control
And the function of landing of independently taking off, efficiently solve unmanned vehicle flight control problem, have stronger can
By performance；Existing fixed high defect can be overcome, it is possible to holding is highly consistent with crops so that farming
The herbal sprinkling of thing is uniform, thus can effectively preventing pest and disease damage controlled based on plant protection unmanned vehicle ultrasound wave
Fixed high operating system.
Accompanying drawing explanation
Fig. 1 is the system block diagram of unmanned plane Terrain Following System based on laser radar described in the utility model；
Fig. 2 is Data Fusion of Sensor module based on extended Kalman filter described in the utility model
Schematic diagram.
Detailed description of the invention
It is described in detail referring to the drawings below with reference to embodiment of the present utility model.
Unmanned plane Terrain Following System based on laser radar, including relative altitude measurement module, other sensors
Module, flight control system；
Described relative altitude measurement module, including laser radar and radar acquisition process unit, described laser radar
The relative altitude information of acquisition flight environment of vehicle, described radar acquisition process unit, including an ARM master chip,
Collection and the pretreatment of being responsible for radar data calculate, and the result of process is transferred to flight control system；
Other sensor assemblies described, including IMU, three axle magnetic compasses, GPS and barometer, in order to obtain nothing
Man-machine state of flight information；
Described flight control system, including Data Fusion of Sensor module based on extended Kalman filter, flies
Line control unit and data transmission module；The output of Data Fusion of Sensor module based on extended Kalman filter
End is connected with the input of flight controller, the input phase of the outfan of flight controller and data transmission module
Even；Data Fusion of Sensor module based on extended Kalman filter is used for receiving measures mould from relative altitude
The relative altitude data message of block and the state of flight information from other sensor assemblies, by based on expansion card
The Data Fusion of Sensor module of Thalmann filter carries out fusion treatment, generates flight directive, is transmitted by data
Module send flight directive, with control the steering wheel group of unmanned plane realize various landform follow flight and independently rise
Fall；
Described unmanned plane, including steering wheel group, described steering wheel group is flown according to the flight directive of flight controller,
Realize terrain following and autonomous landing flight function.
Further, described unmanned plane Terrain Following System based on laser radar, it is provided with state of flight indicating module,
For indicating the state of flight of unmanned vehicle, to realize display and the early warning of state of flight；
Further, described unmanned plane Terrain Following System based on laser radar, also include remote controller and ground
Standing, between the steering wheel group of described remote controller and unmanned plane, between remote controller and data transmission module, data are transmitted
Between module and earth station, all communicate in the way of wireless link；
Further, described laser radar, it is made up of emission system, reception system, information processing system.
Described emission system is made up of with optical beam-expanding unit laser instrument, using laser instrument as launching light source, uses
Detecting technique carries out optical emitting；
Described reception system includes telescope and photodetector.
Further, described laser instrument is the solid of carbon dioxide laser, semiconductor laser or tunable wave length
One in laser instrument.
Further, described photodetector is photomultiplier tube, semiconductor photo diode, avalanche optoelectronic two pole
Pipe, infrared and one or more combinations of visible ray multiunit detector part.
Unmanned plane terrain following method based on laser radar, comprises the steps:
The first step, laser radar obtains the relative altitude information of flight environment of vehicle, and radar acquisition process unit carries out thunder
The collection and the pretreatment that reach data calculate, and the result of process is transferred to flight control system；
Second step, Data Fusion of Sensor module based on extended Kalman filter receives to be surveyed from relative altitude
The relative altitude data message of amount module and from the state of flight information of other sensor assemblies, by based on expansion
The Data Fusion of Sensor module of exhibition Kalman filter carries out fusion treatment, generates flight directive；
3rd step, flight directive controls through flight, sends out flight directive to unmanned plane through data transmission module
Steering wheel group；
4th step, the steering wheel group of unmanned plane realizes following flight and independently rising of various landform according to flight directive
Fall；
5th step, flight control system can control the steering wheel group of unmanned plane by wireless link through remote controller；
6th step, obtains ground surface end personnel and the control command of computer generation by earth station, simultaneously will order
It is sent to unmanned plane, to realize controls based on ground surface end data flight by wireless link.
Based on the system call that unmanned aerial vehicle control system provides based on μ C/OS-II, according to unmanned flight
Device helicopter flight control operation principle, by gather sensor information, storage correlation behavior sum according to this
And the up remote control that sends of radio measurement and control terminal or the instruction of earth station's planning and data, through judging, computing
After processing, output order to servo actuator i.e. steering gear system, control to handle unmanned vehicle rudder face,
The throttle of electromotor, to control the flight of depopulated helicopter.
The above is only preferred implementation of the present utility model, it is noted that general for the art
For logical technical staff, on the premise of without departing from this utility model principle, it is also possible to make some improvement and profit
Decorations, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (6)
1. unmanned plane Terrain Following System based on laser radar, it is characterised in that include that relative altitude measures mould
Block, other sensor assemblies, flight control system；
Described relative altitude measurement module, including laser radar and radar acquisition process unit, described laser radar
The relative altitude information of acquisition flight environment of vehicle, described radar acquisition process unit, including an ARM master chip,
Collection and the pretreatment of being responsible for radar data calculate, and the result of process is transferred to flight control system；
Other sensor assemblies described, including IMU, three axle magnetic compasses, GPS and barometer, in order to obtain nothing
Man-machine state of flight information；
Described flight control system, including Data Fusion of Sensor module based on extended Kalman filter, flies
Line control unit and data transmission module；The output of Data Fusion of Sensor module based on extended Kalman filter
End is connected with the input of flight controller, the input phase of the outfan of flight controller and data transmission module
Even；Data Fusion of Sensor module based on extended Kalman filter is used for receiving measures mould from relative altitude
The relative altitude data message of block and the state of flight information from other sensor assemblies, by based on expansion card
The Data Fusion of Sensor module of Thalmann filter carries out fusion treatment, generates flight directive, is transmitted by data
Module send flight directive, with control the steering wheel group of unmanned plane realize various landform follow flight and independently rise
Fall；
Described unmanned plane, including steering wheel group, described steering wheel group is flown according to the flight directive of flight controller,
Realize terrain following and autonomous landing flight function.
Unmanned plane Terrain Following System based on laser radar the most according to claim 1, it is characterised in that
Described unmanned plane Terrain Following System based on laser radar, is provided with state of flight indicating module, is used for indicating nothing
The state of flight of people's aircraft, to realize display and the early warning of state of flight.
Unmanned plane Terrain Following System based on laser radar the most according to claim 1 and 2, its feature
It is that described unmanned plane Terrain Following System based on laser radar also includes remote controller and earth station, institute
State between the steering wheel group of remote controller and unmanned plane, between remote controller and data transmission module, data transmission module with
Between earth station, all communicate in the way of wireless link.
Unmanned plane Terrain Following System based on laser radar the most according to claim 1 and 2, its feature
Being, described laser radar is made up of emission system, reception system, information processing system；
Described emission system is made up of with optical beam-expanding unit laser instrument, using laser instrument as launching light source, uses
Detecting technique carries out optical emitting；
Described reception system includes telescope and photodetector.
Unmanned plane Terrain Following System based on laser radar the most according to claim 4, it is characterised in that
Described laser instrument is in the solid state laser of carbon dioxide laser, semiconductor laser or tunable wave length
Kind.
Unmanned plane Terrain Following System based on laser radar the most according to claim 4, it is characterised in that
Described photodetector is photomultiplier tube, semiconductor photo diode, avalanche photodide, infrared and can
See one or more combinations of light multiunit detector part.
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| CN201620425989.5U CN205750549U (en) | 2016-05-11 | 2016-05-11 | Unmanned plane Terrain Following System based on laser radar |
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| CN201620425989.5U CN205750549U (en) | 2016-05-11 | 2016-05-11 | Unmanned plane Terrain Following System based on laser radar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824322A (en) * | 2016-05-11 | 2016-08-03 | 飞智控（天津）科技有限公司 | Unmanned plane terrain following system and method based on laser radar |
| CN106950987A (en) * | 2017-03-27 | 2017-07-14 | 西南科技大学 | A kind of sugar-cane cutting machine Terrain Following System and implementation method based on UWB radar |
| CN109154831A (en) * | 2017-12-18 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Flight control method, radar system and the agriculture unmanned plane of agriculture unmanned plane |
| CN113917948A (en) * | 2021-12-15 | 2022-01-11 | 北京航空航天大学 | Low-visual-environment unmanned aerial vehicle foundation auxiliary landing method |
-
2016
- 2016-05-11 CN CN201620425989.5U patent/CN205750549U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824322A (en) * | 2016-05-11 | 2016-08-03 | 飞智控（天津）科技有限公司 | Unmanned plane terrain following system and method based on laser radar |
| CN106950987A (en) * | 2017-03-27 | 2017-07-14 | 西南科技大学 | A kind of sugar-cane cutting machine Terrain Following System and implementation method based on UWB radar |
| CN109154831A (en) * | 2017-12-18 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Flight control method, radar system and the agriculture unmanned plane of agriculture unmanned plane |
| CN109154831B (en) * | 2017-12-18 | 2023-08-29 | 深圳市大疆创新科技有限公司 | Flight control method of agricultural unmanned aerial vehicle, radar system and agricultural unmanned aerial vehicle |
| CN113917948A (en) * | 2021-12-15 | 2022-01-11 | 北京航空航天大学 | Low-visual-environment unmanned aerial vehicle foundation auxiliary landing method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Unmanned plane terrain following system and method based on laser radar Effective date of registration: 20190102 Granted publication date: 20161130 Pledgee: Credit Guarantee Center of small and medium enterprises in Tianjin Pledgor: EFY (TIANJIN) TECHNOLOGY CO., LTD. Registration number: 2018120000046 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200318 Granted publication date: 20161130 Pledgee: Credit Guarantee Center of small and medium enterprises in Tianjin Pledgor: EFY INTELLIGENT CONTROL (TIANJIN) TECH Co.,Ltd. Registration number: 2018120000046 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |