CN206541198U - The combined navigation device of vision guided navigation and inertial navigation based on aircraft - Google Patents
The combined navigation device of vision guided navigation and inertial navigation based on aircraft Download PDFInfo
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- CN206541198U CN206541198U CN201720271827.5U CN201720271827U CN206541198U CN 206541198 U CN206541198 U CN 206541198U CN 201720271827 U CN201720271827 U CN 201720271827U CN 206541198 U CN206541198 U CN 206541198U
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- aircraft
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- processor
- inertial
- vision guided
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Abstract
The utility model discloses a kind of vision guided navigation based on aircraft and the combined navigation device of inertial navigation, including aircraft, flying vehicles control unit installed in the probe unit of aircraft bottom and at the top of aircraft, and the ground monitoring center for Remote aircraft, aircraft is four-axle aircraft, four-axle aircraft includes the wing for the hollow out that the fuselage of rectangle hollow out and four outwards install along the four of fuselage right angle directions respectively, the one end of wing away from fuselage is provided with propeller, probe unit includes high-definition camera, sonar sensor and barometer, flying vehicles control unit includes processor, battery, memory, timer and the wireless communication module for being transmitted with ground monitoring centre data, the input of processor is terminated with avoidance module and inertial sensor, the output of processor is terminated with motor.The utility model can complete aircraft navigation work by way of vision guided navigation and inertial navigation, and from heavy and light, precision is high.
Description
Technical field
The utility model belongs to flight navigation technical field, and in particular to a kind of vision guided navigation and inertia based on aircraft
The combined navigation device of navigation.
Background technology
Flying instrument has the advantages that machinery is simple in construction, motion is flexible, posture is various, scalability is good and easy care, because
And exploring, the field such as survey and draw, rescue, taking photo by plane and play the part of more and more important role.And these fields none do not require at a relatively high
Accuracy, reliability and independence, existing aircraft navigation device navigation mode is single, and control is complicated, gathers aircraft
Flight parameter error is big, and data processing is cumbersome, and aircraft itself deadweight is larger, and serious consumption aircraft carries electric energy, shortens
Flight time, therefore, nowadays lack it is a kind of it is simple in construction, from heavy and light, the high vision based on aircraft of accuracy of data acquisition
Navigation and the combined navigation device of inertial navigation, reduce fuselage by engraved structure and conduct oneself with dignity, using four-axle type Flight Vehicle Structure, control
System is simple, has a smooth flight, and passes through sonar sensor and the collection of barometrical binding time aircraft altitude, it is to avoid wing ground effect
The interference caused to aircraft, improves the precision of data acquisition control.
Utility model content
Technical problem to be solved in the utility model is to be based on there is provided one kind for above-mentioned deficiency of the prior art
The vision guided navigation of aircraft and the combined navigation device of inertial navigation, can complete to fly by way of vision guided navigation and inertial navigation
Row device navigation work, from heavy and light, precision is high, is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted in the utility model is：Vision guided navigation based on aircraft with
The combined navigation device of inertial navigation, it is characterised in that：Probe unit including aircraft, installed in the aircraft bottom and
It is used for the flying vehicles control unit for driving the aircraft operation at the top of the aircraft, and for Remote institute
The ground monitoring center of aircraft is stated, the aircraft is four-axle aircraft, and the four-axle aircraft includes the machine of rectangle hollow out
The wing for the hollow out that body and four outwards install along the four of fuselage right angle directions respectively, one end peace of the wing away from fuselage
Equipped with propeller, the probe unit includes high-definition camera and is used to gather the aircraft with respect to ground flying height
Sonar sensor and barometer, flying vehicles control unit includes processor and battery, and depositing of connecting with processor
Reservoir, timer and the wireless communication module for being transmitted with ground monitoring centre data, the input of processor are terminated with avoidance
Module and the inertial sensor for gathering the aircraft flight posture, the output of processor are terminated with being used to drive propeller
The motor of rotation.
The combined navigation device of above-mentioned vision guided navigation and inertial navigation based on aircraft, it is characterised in that：The place
Device is managed to rotate using motor driver motor.
The combined navigation device of above-mentioned vision guided navigation and inertial navigation based on aircraft, it is characterised in that：The spiral shell
Lighting pilot lamp for indicating the position of aircraft is installed on rotation oar, the input of lighting pilot lamp and processor it is defeated
Go out end to connect.
The combined navigation device of above-mentioned vision guided navigation and inertial navigation based on aircraft, it is characterised in that：Describedly
The output of face monitoring center is terminated with the display for showing the aircraft flight path, and ground monitoring center is computer.
The combined navigation device of above-mentioned vision guided navigation and inertial navigation based on aircraft, it is characterised in that：It is described used
Property sensor be inertial sensor MPU6050.
The utility model has advantages below compared with prior art：
1st, the utility model uses high-definition camera and inertial sensor, and combination sonar sensor and barometer collection fly
Row device real-time flight height, realizes that the mode that aircraft visual navigation is combined with inertial navigation completes aircraft navigation work, gas
Pressure meter is applied to the measurement of remote ground level, and sonar sensor is applied to near-earth elevation carrection, the use of sonar sensor avoid by
The problem of aircraft altitude DATA REASONING is inaccurate caused by effect with flying the wing that produces for aircraft near-earth, it is easy to popularization to make
With.
2nd, the utility model aircraft uses four-axle aircraft, has a smooth flight, and control is simple, is designed by the fuselage of hollow out
Fuselage deadweight is reduced, and then reduces the consumption of battery electric energy, aircraft flight time, reliable and stable, using effect is extended
It is good.
3rd, the utility model is novel in design rationally, small volume, and flight is hidden by avoidance module during aircraft flight
The barrier that device flies in the air, it is to avoid in aircraft flight with resistance and cause damage, it is practical, be easy to promote the use of.
In summary, the utility model is novel in design rationally, can complete to fly by way of vision guided navigation and inertial navigation
Row device navigation work, from heavy and light, precision is high, is easy to promote the use of.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is schematic block circuit diagram of the present utility model.
Description of reference numerals:
1-fuselage；2-wing；3-propeller；
4-flying vehicles control unit；4-1-processor；4-2-battery；
4-3-motor driver；4-4-motor；4-5-timer；
4-6-memory；4-7-wireless communication module；5-high-definition camera；
6-sonar sensor；7-barometer；8-inertial sensor；
9-avoidance module；10-lighting pilot lamp；11-ground monitoring center；
12-display.
Embodiment
As depicted in figs. 1 and 2, the utility model include aircraft, the probe unit installed in the aircraft bottom and
It is used for the flying vehicles control unit 4 for driving the aircraft operation at the top of the aircraft, and for Remote
The ground monitoring center 11 of the aircraft, the aircraft is four-axle aircraft, and the four-axle aircraft includes rectangle hollow out
Fuselage 1 and four wings 2 of hollow out outwards installed along the four of fuselage 1 right angle directions respectively, wing 2 is away from fuselage
1 one end is provided with propeller 3, and the probe unit includes high-definition camera 5 and is used to gather the aircraft relative
The sonar sensor 6 and barometer 7 of ground flying height, flying vehicles control unit 4 include processor 4-1 and battery 4-2, with
And the memory 4-6, the timer 4-5 that connect with processor 4-1 and for wireless with the data transfer of ground monitoring center 11
Communication module 4-7, processor 4-1 input are terminated with avoidance module 9 and the inertia for gathering the aircraft flight posture
Sensor 8, processor 4-1 output is terminated with the motor 4-4 for driving propeller 3 to rotate.
It is in order to gather terrestrial information, to be easy to the reference of pickup aircraft bottom that probe unit, which is arranged on the aircraft bottom,
Thing, realizes navigation data reference pair ratio, and the aircraft is that control aircraft flight is balanced for convenience using four-axle aircraft,
Easily controllable, the fuselage 1 of four-axle aircraft uses rectangle engraved structure, and the wing 2 of four-axle aircraft also uses engraved structure, is
In order to realize reduction that four-axle aircraft is integrally conducted oneself with dignity, the resistance that propeller takes off is reduced, while reducing motor 4-4 power consumptions, is entered
And the consumption of battery 4-2 electric energy is reduced, extend aircraft flight cruising time, four wings 2 are straight along four of fuselage 1 respectively
Angle direction is outwards installed, and is the face in order to be preferably connected using the effective area of cuboid body 1, increase wing 2 with fuselage 1
Product, increases aircraft fastness, and fuselage 1 preferably uses square structure, realizes that aircraft arranges symmetrical configuration, makes letter
It is single.
The view data on ground during the collection aircraft flight of high-definition camera 5, and it is remote by wireless communication module 4-7
Journey is transmitted back to ground monitoring center 11, and it is high with respect to ground flying to gather the aircraft using sonar sensor 6 and barometer 7
Degree, wherein, the collection near-earth height-precision of sonar sensor 6 is high, and barometer 7 gathers remote ground level precision height, because aircraft is near
During ground flight, effect causes the aircraft altitude number that barometer 7 is gathered to the air-flow that propeller is produced with producing the wing with ground effects
Larger according to deviation, sonar sensor 6 is the height in order to coordinate barometer 7 to gather the flight of aircraft near-earth.
The setting of avoidance module 9 is, in order to avoid aircraft is in high-altitude flight, to run into barrier and damage, inertia sensing
The setting of device 8 is that, in order to gather the flight attitude of aircraft, the datagraphic information gathered with high-definition camera 5 is implemented in combination with regarding
Feel navigation and the integrated navigation of inertial navigation.
In the present embodiment, the processor 4-1 is rotated using motor driver 4-3 motors 4-4.
Motor driver 4-3 setting is rotated to be accurately controlled motor 4-4, and then drives propeller 3 to rotate production
Raw upward climbing power.
In the present embodiment, the lighting pilot lamp 10 for indicating the position of aircraft is installed on the propeller 3, shone
The input of bright indicator lamp 10 connects with processor 4-1 output end.
The setting one of lighting pilot lamp 10 is in order to which aircraft provides effective light in night flight for high-definition camera 5
According to being easy to the clear collection of image information；Two be the position for being easy to operator's observation flight device in night flight for aircraft
Put, the motion track of lighting pilot lamp 10 determines the motion track of aircraft.
In the present embodiment, the ground monitoring center 11, which is exported, to be terminated with for showing the aobvious of the aircraft flight path
Show device 12, ground monitoring center 11 is computer.
In the present embodiment, the inertial sensor 8 is inertial sensor MPU6050.
Inertial sensor MPU6050 setting incorporates 6 axle motion process components, compared to multicompartment scheme, eliminates
The problem of between centers when combining gyroscope with accelerator is poor, reduces substantial amounts of encapsulated space.
The utility model gathers threshold value in use, storing the altitude information of sonar sensor 6 in memory 4-6 in advance, adopts
It is each electricity consumption module for power supply of aircraft with battery 4-2, processor 4-1 controlled motor driver 4-3 motors 4-4 turns
It is dynamic, drive propeller 3 to rotate, make aircraft takeoff, gather the image information on ground in real time using high-definition camera 5 and lead in real time
Cross wireless communication module 4-7 to transmit to ground monitoring center 11, the height of aircraft is gathered using sonar sensor 6 and barometer 7
Degree, when the aircraft altitude that sonar sensor 6 is gathered is less than the altitude information collection threshold value stored in memory 4-6, is used
Sonar sensor 6 gather altitude information as aircraft altitude information, when sonar sensor 6 gather aircraft altitude it is big
Stored in memory 4-6 altitude information collection threshold value when, using barometer 7 gather altitude information as aircraft height
Degrees of data, while the attitude data of aircraft flight is gathered by inertial sensor 8, during timer 4-5 record-setting flight device flights
Data acquisition corresponding time, the data that probe unit is gathered are transmitted into ground monitoring by wireless communication module 4-7
The heart 11, ground monitoring center 11 shows aircraft flight positional information in real time by external-connection displayer 12, is when the time of navigation
During night, can by lighting pilot lamp 10 be the light filling of high-definition camera 5, also can ground monitoring personnel naked eyes check aircraft flight
Position, realizes the integrated navigation of vision guided navigation and inertial navigation, and effect is good.
It is described above, only it is preferred embodiment of the present utility model, not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change made according to the utility model technical spirit to above example, still
Belong in the protection domain of technical solutions of the utility model.
Claims (5)
1. the combined navigation device of vision guided navigation and inertial navigation based on aircraft, it is characterised in that：Including aircraft, install
In the probe unit of the aircraft bottom and the flight at the top of the aircraft for driving the aircraft to run
Device control unit (4), and the ground monitoring center (11) for aircraft described in Remote, the aircraft fly for four axles
Row device, fuselage (1) and four of the four-axle aircraft including rectangle hollow out are respectively along four right angle directions of fuselage (1)
The wing (2) for the hollow out outwards installed, the one end of wing (2) away from fuselage (1) is provided with propeller (3), the probe unit
It is gentle including high-definition camera (5) and the sonar sensor (6) for being used to gather the relative ground flying height of the aircraft
Pressure meter (7), flying vehicles control unit (4) includes processor (4-1) and battery (4-2), and connects with processor (4-1)
Memory (4-6), timer (4-5) and for the wireless communication module (4-7) with ground monitoring center (11) data transfer,
The input of processor (4-1) is terminated with avoidance module (9) and the inertial sensor for gathering the aircraft flight posture
(8), the output of processor (4-1) is terminated with the motor (4-4) for being used to drive propeller (3) to rotate.
2. according to vision guided navigation and the combined navigation device of inertial navigation described in claim 1 based on aircraft, its feature
It is：The processor (4-1) is rotated using motor driver (4-3) motor (4-4).
3. according to vision guided navigation and the combined navigation device of inertial navigation described in claim 1 based on aircraft, its feature
It is：Lighting pilot lamp (10) for indicating the position of aircraft, lighting pilot lamp are installed on the propeller (3)
(10) input connects with the output end of processor (4-1).
4. according to vision guided navigation and the combined navigation device of inertial navigation described in claim 1 based on aircraft, its feature
It is：Ground monitoring center (11) output is terminated with the display (12) for showing the aircraft flight path, ground
Face monitoring center (11) is computer.
5. according to vision guided navigation and the combined navigation device of inertial navigation described in claim 1 based on aircraft, its feature
It is：The inertial sensor (8) is inertial sensor MPU6050.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720271827.5U CN206541198U (en) | 2017-03-20 | 2017-03-20 | The combined navigation device of vision guided navigation and inertial navigation based on aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720271827.5U CN206541198U (en) | 2017-03-20 | 2017-03-20 | The combined navigation device of vision guided navigation and inertial navigation based on aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206541198U true CN206541198U (en) | 2017-10-03 |
Family
ID=59943129
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720271827.5U Expired - Fee Related CN206541198U (en) | 2017-03-20 | 2017-03-20 | The combined navigation device of vision guided navigation and inertial navigation based on aircraft |
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| Country | Link |
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| CN (1) | CN206541198U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112212881A (en) * | 2020-12-14 | 2021-01-12 | 成都飞航智云科技有限公司 | Flight navigator based on big dipper is used |
| CN112641382A (en) * | 2019-10-12 | 2021-04-13 | 尚科宁家(中国)科技有限公司 | Light supplement control method for sweeping robot and sweeping robot |
-
2017
- 2017-03-20 CN CN201720271827.5U patent/CN206541198U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112641382A (en) * | 2019-10-12 | 2021-04-13 | 尚科宁家(中国)科技有限公司 | Light supplement control method for sweeping robot and sweeping robot |
| CN112641382B (en) * | 2019-10-12 | 2022-05-06 | 尚科宁家(中国)科技有限公司 | Light supplement control method for sweeping robot and sweeping robot |
| CN112212881A (en) * | 2020-12-14 | 2021-01-12 | 成都飞航智云科技有限公司 | Flight navigator based on big dipper is used |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171003 Termination date: 20180320 |