CN206696708U - Vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA - Google Patents
Vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA Download PDFInfo
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- CN206696708U CN206696708U CN201720353036.7U CN201720353036U CN206696708U CN 206696708 U CN206696708 U CN 206696708U CN 201720353036 U CN201720353036 U CN 201720353036U CN 206696708 U CN206696708 U CN 206696708U
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Abstract
The utility model discloses the vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA, including ground control car, FPGA module, antenna steering controller, Antenna change direction device, tracking antenna, antenna GPS receiver, antenna magnetic compass, unmanned plane gps receiver and wireless communication module.FPGA module, antenna steering controller and wireless communication module are located on ground control car, tracking antenna is fixed on ground by elevating lever and controlled on car, Antenna change direction device, antenna GPS receiver and antenna magnetic compass are located at the base position of tracking antenna, and unmanned plane gps receiver is located on unmanned plane.Antenna steering controller, antenna GPS receiver, antenna magnetic compass and wireless communication module connect FPGA module respectively, and Antenna change direction device is connected with antenna steering controller, and FPGA module passes through wireless communication module and UAV Communication.The utility model is solved because control station and unmanned plane are in relative motion, causes antenna to be directed at unmanned plane, the problem of causing data inaccurate or even lose.
Description
Technical field
The utility model belongs to UAV TT ＆ C's technical field, relate to a kind of unmanned vehicle directional aerial tracing control
Device.
Background technology
Unmanned plane is a kind of dynamic and controllable push-button aircraft, is able to carry out multitask, while can take
Band multiple-task equipment can simultaneously be reused.The purposes of unmanned plane is quite varied, has in military, civilian and field of scientific study
Very big application and application potential.In military field, unmanned plane has been compared significantly excellent with the manned aircraft of in general
More property.For from fight capability, the fighting range of unmanned plane is wide, and maneuverability, attacking ability is stronger, to operational environment requirement
Relatively low, battlefield survival is stronger.Part unmanned plane also has stealthy function, greatly improves fight capability.Simultaneously as nobody
Drive, the injures and deaths probability of personnel is very low, embodies certain spirit of humanitarianism.For profile, the small volume of unmanned plane, machine
Dynamic flexible and efficient, easy to use and risk is small.For from financial cost, unmanned plane is small due to volume, its cost and
Maintenance cost is low.In view of the advantages of above, unmanned plane can complete SIGNT collection, the supervision of antiaircraft fire bait, target and move
State monitoring, real time intelligence of target positioning, Target indication, target dynamic monitoring and target Damage assessment etc. is provided for armament systems
Multinomial military mission, enjoy the favor of all armies in the world.On civil area, it can be carried takes the photograph outside high-resolution visible red
As TT＆C systems such as systems, can conveniently enter the mankind can not arrive at area progress aerial reconnaissance and aerophotography, and its oneself warp exists
Mapping, meteorological observation, disaster surveillance, urban environment detection, earth resource exploration etc. achieve great successes.It is long
Endurance unmanned plane can meet agricultural intensive cultivation needs, in, short-legged unmanned plane can be used in check transmission line of electricity and
Pipeline, it may also be used for marine environment is studied and state boundary patrol, search and rescue.
Telemetry System of UAV is one of key component for forming UAS, and its performance largely determines
The overall performance and scale of UAS.Telemetry System of UAV is made up of Data-Link and ground control station, and Data-Link is realized
Information exchange between ground control station and unmanned plane, it is by the airborne data terminal on unmanned plane and is arranged on ground
Ground data terminal composition in control station.The most important performance indications of Data-Link are message transmission rate, operating distance and resisted
Interference performance.It can be divided into short range, short distance, intermediate range, long-range unmanned aerial vehicle's Data-Link according to operating distance.Airborne data terminal and ground
Radio sighting condition must is fulfilled between data terminal, when unmanned plane exceeds the radio-optical range scope of ground control station,
Data-Link needs to use trunking scheme.Locus according to residing for trunking, divide terrestrial repetition, aerial relaying and satellite again
Relaying.If operating distance is farther out, and is inconvenient to use trunking scheme, then ground control station need using the higher orientation of gain with
Track antenna.Such as using the short range unmanned plane radius of action of RTTY transmission of data in several kms to tens kms, this kind of unmanned plane
Flying speed is small, and size is generally 2-4 rice, and weight is less than double centner, in order to improve communication quality, then need using orientation with
Track antenna.
During Telemetry System of UAV returns information in real time, the power of reception signal directly influences picture
Stability and readability, it can not closely be expired by way of improving ground or airborne transmitter power and receiver sensitivity
The requirement of sufficient telecommunication, and improve that ground observing and controlling antenna receives, transmitting gain is a kind of effective method, and will not
Increase the weight and size of airborne communication control.Be present the problems such as gain is low, interference is big, multipath effect in omnidirectional antenna, and orient
The telemetry communication of short range unmanned plane during communication antenna is widely used in because having high-gain in the range of Shu Bo, but by
In the directional transmissions reception signal the characteristics of, this kind of antenna, which must be equipped with a kind of tracking system, could obtain good communication quality.
Tracking system, i.e. powdered soil, its technological core are stabilization technique and tracking technique.Stabilization technique is main
Interference caused by being isolation carrier movement (including angular movement and line motion), refers to controlled device (such as antenna) relative inertness space
It is stable to holding.Tracking technique is after controlled device is stablized, because the position of the drift of stable element, tracking object is slowly moved
Etc. reason, point to controlled device and change, it is necessary to real-time tracking signal, correct its sensing.Powdered soil technology, also known as
" communication in moving ", i.e., communicated under motion state, it collects inertial navigation technology, micro-inertia sensor application technology, data and adopted
Collection and letter No.1 treatment technology, Precision Machinery Design technology, precision mechanism kinematics and Dynamic Modeling and emulation technology, it is open
The multinomial skills such as formula movement control technology, high torque motor Close loop servo control technology, satellite communication technology and system engineering technology
Art, is the product organically combined based on electromechanical integration, automatic control technology, multiple subjects, had very big
Application prospect and practice significance.
Short range Telemetry System of UAV directional aerial mainly uses single channel monopulse tracking system in domestic at present, passes through
Signal intensity and phase relation carry out orientation angles judgement, thus need a set of complicated servo feedback system, price,
Maintenance Difficulty, and poor anti jamming capability in actual applications.
The content of the invention
In order to solve the technical problem that above-mentioned background technology proposes, the utility model aims to provide the vehicular based on FPGA
Unmanned vehicle directional aerial follow-up control apparatus, solve because earth command station and unmanned plane are in continuous relative motion,
The directional aerial on director is caused to be directed at unmanned plane, the data for causing control station to be received from unmanned plane are inaccurate or even lose
The problem of mistake.
In order to realize above-mentioned technical purpose, the technical solution of the utility model is：
Vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA, including ground control car, FPGA moulds
Block, antenna steering controller, Antenna change direction device, tracking antenna, antenna GPS receiver, antenna magnetic compass, unmanned plane GPS receiver
Device and wireless communication module；The FPGA module, antenna steering controller and wireless communication module are arranged on ground control car,
Tracking antenna is fixed on ground by elevating lever and controlled on car, and Antenna change direction device, antenna GPS receiver and antenna magnetic compass are set
In the base position of tracking antenna, unmanned plane gps receiver is arranged on unmanned plane to be tracked；The antenna steering controller,
Antenna GPS receiver, antenna magnetic compass and wireless communication module are connected with FPGA module respectively, and Antenna change direction device turns to antenna
Controller connects, and FPGA module carries out radio communication by wireless communication module and unmanned plane to be tracked.
Preferred scheme based on above-mentioned technical proposal, the FPGA module include the CPU1 and CPU2, CPU1 run parallel
It is responsible for the collection of data, that is, gathers the data come from the transmission of wireless communication module, antenna GPS receiver and antenna magnetic compass, this
A little data are sent to CPU2 by the GPU1 and CPU2 RAM shared, and CPU2 is responsible for the resolving of data and the generation of control instruction, it
Send control instruction and give antenna steering controller, so as to control Antenna change direction device to rotate.
Preferred scheme based on above-mentioned technical proposal, the CPU1 and CPU2 use the processors of Nios II.
Preferred scheme based on above-mentioned technical proposal, the model GS-232A of the antenna steering controller.
Preferred scheme based on above-mentioned technical proposal, the model G-5500 of the Antenna change direction device.
Preferred scheme based on above-mentioned technical proposal, between the FPGA module and antenna GPS receiver by RS232 or
RS422 modules connect.
Preferred scheme based on above-mentioned technical proposal, between the FPGA module and antenna magnetic compass by RS422 or
RS232 modules connect.
Preferred scheme based on above-mentioned technical proposal, pass through between the antenna steering controller and Antenna change direction device
RS232 modules connect.
The beneficial effect brought using above-mentioned technical proposal：
(1) the utility model can pass through adjust automatically antenna alignment after the positional information of ground control station acquisition unmanned plane
Unmanned plane, real-time tracking of the antenna to unmanned plane is realized, changing communication equipment, the large-sized high-gain aerial of replacing, do not increasing
In the case of big communication system power, farthest increase communication distance and communication reliability, improve Telemetry System of UAV
Communication quality, obtain flying quality in real time.
(2) in hardware design, each sub-module can be independently operated, and be easy to design, and debugged and developed；Dismounting
Flexibly, efficient administration, is easily carried and fault diagnosis；Each hardware is all commodity line product, and fault rate is lower.
(3) core processor of the present utility model is FPGA, and its system is flexible, programmable resource enriches, and has uniqueness
Parallel processing capability and powerful hardware-accelerated and hardware computation function.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the block diagram of system of the present utility model；
Fig. 3 is FPGA cut-away views of the present utility model
Fig. 4 is workflow diagram of the present utility model；
Fig. 5 is fundamental diagram of the present utility model.
Embodiment
Below with reference to accompanying drawing, the technical solution of the utility model is described in detail.
Vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA, as shown in figure 1, being controlled including ground
Car, FPGA module, antenna steering controller, Antenna change direction device, tracking antenna, antenna GPS receiver, antenna magnetic compass, nobody
Machine gps receiver and wireless communication module；The FPGA module, antenna steering controller and wireless communication module are arranged on ground
Control on car, tracking antenna is fixed on ground by elevating lever and controlled on car, Antenna change direction device, antenna GPS receiver and antenna
Magnetic compass is arranged on the base position of tracking antenna, and unmanned plane gps receiver is arranged on unmanned plane to be tracked.
As shown in Fig. 2 the present invention uses FPGA module as core processor, power module is connected with FPGA gives its confession
Electricity, antenna GPS receiver, antenna magnetic compass are connected through serial ports with FPGA module respectively, and the data of collection are passed by serial ports
Give FPGA module.FPGA module carries out radio communication by wireless communication module and unmanned plane to be tracked, and unmanned plane GPS connects
Receive device and the data collected are wirelessly sent to FPGA module.Antenna change direction device passes through serial ports and antenna course changing control
Device is connected, and FPGA module is first decoded the GPS received, magnetic sieve data, then calculates the side of control over-car antenna
Position, pitch attitude, and the orientation of Aircraft Targets, pitch attitude, closed-loop control rule is then designed, produce servo target angle, and
Controlled quentity controlled variable is produced, then controlled quentity controlled variable is exported by serial ports and gives antenna steering controller, last antenna steering controller is further
Control Antenna change direction device.
In the present embodiment, the present invention takes Dinuclear Systems, i.e., at one piece of fpga chip internal build, two Nios II
Manage device, respectively CPU1 and CPU2.The two processors are run parallel, can be independently operated, and are each responsible for different work(
Can, realize the separation of data acquisition and control rate system.Improve the FPGA speed of service and stability.CPU1 is responsible for data
Collection, that is, gather the data sent from various kinds of sensors such as external communication module, antenna GPS receiver, magnetic compasses.These
Data are sent to CPU2 by the GPU1 and CPU2 RAM shared.CPU2 is responsible for the resolving of control law, sends control instruction to antenna
Steering controller, so as to control Antenna change direction device to be operated.As shown in figure 3, specific composition is as follows inside FPGA module：
Two processors of Nios II carry chip external memory (SRAM, SDRAM, Flash, EPCS) and the control of each memory
Device IP kernel and FPGA function IP kernels constitute FPGA on-chip systems.Data acquisition unit is by CPU1, SDRAM, Flash, timer, string
Mouth receives the composition such as IP kernel.SDRAM1 makes SDRAM outside piece be connected to always by the sdram controller IP kernel integrated in SOPC systems
On line, establish and connect with NiosII processors.Flash passes through the integrated FLASH controller IP kernel and tri-state bridge in SOPC systems
Establish and connect with NiosII processors.3 serial ports reception IP kernels are respectively used to receive and connect from external communication module, antenna GPS
The data of receipts machine and magnetic compass.Master controller sends the composition such as IP kernel by CPU2, SDRAM, EPCS, timer, serial ports.SDRAM2
SDRAM outside piece is connected in bus by the sdram controller IP kernel integrated in SOPC systems, established with NiosII processors
Connection.EPCS is established by the EPCS Serial Flash controllers IP kernels in SOPC systems and NiosII processors and connected.1
Individual serial ports sends IP kernel and is used to send data to antenna steering controller.Data acquisition unit and master controller are entered by SRAM outside piece
Row data sharing.Data acquisition unit and master controller both can each work independently, and can carry out data interaction, while both again
CPU frequency it is identical, the requirement of high real-time high-performance high reliability can be met.
In the present embodiment, the model GS-232A of antenna steering controller.The model G-5500 of Antenna change direction device.
In the present embodiment, connected between FPGA module and antenna GPS receiver by RS232/RS422 modules.FPGA
Connected between module and antenna magnetic compass by RS422/RS232 modules.Lead between antenna steering controller and Antenna change direction device
Cross the connection of RS232 modules.
Working-flow of the present utility model, principle are as shown in Figure 4,5.
First, the longitude and latitude and altitude information for the antenna GPS receiver collection antenna being arranged on tracking antenna, antenna magnetic
Compass gathers course angle, roll angle and the pitch angle data of antenna, the unmanned plane gps receiver collection nothing being arranged on unmanned plane
There are the data that magnetic compass collects and input FPGA through serial ports in man-machine longitude and latitude and altitude information, antenna GPS receiver and day
Module, unmanned plane gps receiver enter data into FPGA module by radio communication.
Then, FPGA module carries out orientation according to the data received and pitch attitude resolves, and obtains tracking antenna and nothing
Azimuth deviation angle and pitch deviation angle between man-machine, i.e. antenna servo target angle.
Then, antenna steering controller is worked as to the current anglec of rotation of FPGA module feedback and tracking antenna, i.e. antenna servo
Anterior angle, with antenna servo when the difference of anterior angle is the control variable of antenna steering controller, antenna turns antenna servo target angle
Control instruction is produced according to default control rate to controller and sends Antenna change direction device to, Antenna change direction device enters according to control instruction
Row rotates, and completes directed tracing of the antenna to unmanned plane.
Above example is only to illustrate technological thought of the present utility model, it is impossible to limits protection model of the present utility model with this
Enclose, it is every according to the utility model proposes technological thought, any change done on the basis of technical scheme, each fall within this reality
Within the scope of novel protected.
Claims (8)
1. the vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA, it is characterised in that：Controlled including ground
Car, FPGA module, antenna steering controller, Antenna change direction device, tracking antenna, antenna GPS receiver, antenna magnetic compass, nobody
Machine gps receiver and wireless communication module；The FPGA module, antenna steering controller and wireless communication module are arranged on ground
Control on car, tracking antenna is fixed on ground by elevating lever and controlled on car, Antenna change direction device, antenna GPS receiver and antenna
Magnetic compass is arranged on the base position of tracking antenna, and unmanned plane gps receiver is arranged on unmanned plane to be tracked；The antenna turns
It is connected respectively with FPGA module to controller, antenna GPS receiver, antenna magnetic compass and wireless communication module, Antenna change direction device
It is connected with antenna steering controller, FPGA module carries out radio communication by wireless communication module and unmanned plane to be tracked.
2. the vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA according to claim 1, its feature
It is：The FPGA module includes the CPU1 run parallel and CPU2, CPU1 are responsible for the collection of data, that is, gathers from radio communication
The data that module, antenna GPS receiver and the transmission of antenna magnetic compass come, the RAM that these data are shared by GPU1 and CPU2 are passed
CPU2 is sent to, CPU2 sends control instruction and gives antenna steering controller.
3. the vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA according to claim 2, its feature
It is：The CPU1 and CPU2 use the processors of Nios II.
4. the vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA according to claim 1, its feature
It is：The model GS-232A of the antenna steering controller.
5. the vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA according to claim 1, its feature
It is：The model G-5500 of the Antenna change direction device.
6. the vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA according to claim 1, its feature
It is：Connected between the FPGA module and antenna GPS receiver by RS232 or RS422 modules.
7. the vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA according to claim 1, its feature
It is：Connected between the FPGA module and antenna magnetic compass by RS422 or RS232 modules.
8. the vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA according to claim 1, its feature
It is：Connected between the antenna steering controller and Antenna change direction device by RS232 modules.
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| CN201720353036.7U CN206696708U (en) | 2017-04-06 | 2017-04-06 | Vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA |
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| CN201720353036.7U CN206696708U (en) | 2017-04-06 | 2017-04-06 | Vehicular unmanned vehicle directional aerial follow-up control apparatus based on FPGA |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946717A (en) * | 2019-02-28 | 2019-06-28 | 西安思丹德信息技术有限公司 | A kind of wireless tracking system and tracking |
| CN109991993A (en) * | 2019-04-19 | 2019-07-09 | 江苏荣耀天翃航空科技有限公司 | The double flight control systems in the world based on RTK Differential positioning and winged control |
| CN111137453A (en) * | 2019-11-05 | 2020-05-12 | 西安羚控电子科技有限公司 | Measurement and control tracking system and method for carrier-based vertical take-off and landing detection unmanned aerial vehicle |
| CN111930151A (en) * | 2020-07-14 | 2020-11-13 | 西安爱生无人机技术有限公司 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
-
2017
- 2017-04-06 CN CN201720353036.7U patent/CN206696708U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946717A (en) * | 2019-02-28 | 2019-06-28 | 西安思丹德信息技术有限公司 | A kind of wireless tracking system and tracking |
| CN109991993A (en) * | 2019-04-19 | 2019-07-09 | 江苏荣耀天翃航空科技有限公司 | The double flight control systems in the world based on RTK Differential positioning and winged control |
| CN111137453A (en) * | 2019-11-05 | 2020-05-12 | 西安羚控电子科技有限公司 | Measurement and control tracking system and method for carrier-based vertical take-off and landing detection unmanned aerial vehicle |
| CN111930151A (en) * | 2020-07-14 | 2020-11-13 | 西安爱生无人机技术有限公司 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
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