CN207799469U - A kind of UAV Flight Control System based on ARM-M3 core chips - Google Patents
A kind of UAV Flight Control System based on ARM-M3 core chips Download PDFInfo
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- CN207799469U CN207799469U CN201820226162.0U CN201820226162U CN207799469U CN 207799469 U CN207799469 U CN 207799469U CN 201820226162 U CN201820226162 U CN 201820226162U CN 207799469 U CN207799469 U CN 207799469U
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Abstract
The utility model discloses a kind of UAV Flight Control Systems based on ARM M3 core chips, it is characterised in that：Include the main control chip of ARM M3 kernels, and is connected to 2.4G wireless communication modules, figure transmission module, light stream module, GPS positioning module, barometer, magnetometer, gyroscope and the accelerometer of the main control chip；Wherein, gyroscope, accelerometer, barometer and magnetometer transmit signal by I2C buses to the main control chip, and figure transmission module, light stream module and GPS positioning module are respectively connected to three UART interfaces of the main control chip.Compared to currently existing scheme, the cost of the hardware controls scheme of the utility model substantially reduces.
Description
Technical field
The utility model is related to unmanned plane fields, more particularly, to a kind of unmanned plane during flying based on ARM-M3 core chips
Control system.
Background technology
With the development of unmanned air vehicle technique, the market of toy unmanned plane and consumer level unmanned plane is increasing.Existing object for appreciation
Tool unmanned plane and consumer level unmanned plane mostly use greatly the master chip of ARM-M0 kernels and ARM-M4 kernels.Due to ARM-M0 cores
The computing capability of piece is very weak, can be only done simple height-lock control using the unmanned plane of such chip.Complete determining for GPS auxiliary
Point flight, track flight, destination flight etc., current scheme mostly uses greatly the chip of ARM-M4 kernels, but based in ARM-M4
The chip cost of core is all relatively high.
In addition, the wireless communication module in existing most variations uses multiway (20 feet or more) wireless communication chips
PA (power amplifier) is added to realize, there is also the higher problems of cost.
Utility model content
The main purpose of the utility model is that proposing a kind of low-cost unmanned machine flight based on ARM-M3 core chips
Control system reduces hardware plan by using the STM32F103RCT6 chips based on ARM-M3 kernels as main control chip
On the other hand cost by using the 2.4G wireless communication chips that SOP is encapsulated, greatly reduces hardware cost.
The technical solution that the utility model is proposed for the above-mentioned purpose is as follows：
A kind of UAV Flight Control System based on ARM-M3 core chips, includes the main control chip of ARM-M3 kernels,
And it is connected to the 2.4G wireless communication modules of the main control chip, figure transmission module, light stream module, GPS positioning module, air pressure
Meter, magnetometer, gyroscope and accelerometer；
Wherein, gyroscope, accelerometer, barometer and magnetometer are transmitted to the main control chip by I2C buses and are believed
Number, figure transmission module, light stream module and GPS positioning module are respectively connected to three UART interfaces of the main control chip.
Further, the main control chip is STM32F103RCT6 chips or GD32F103RCT6 chips.
Further, the 2.4G wireless communication modules based on the 2.4G wireless communication chips that a SOP8 is encapsulated shape
At.
Further, the main control chip passes through to coming from gyroscope, accelerometer, barometer, magnetometer, GPS
The data of locating module and light stream module carry out data fusion and analyzing processing, estimate the current posture of unmanned plane and position,
And posture based on estimation and position control unmanned plane.
The hardware plan of the UAV Flight Control System of the above-mentioned offer of the utility model, using in inexpensive ARM-M3
Core piece also ensures complicated operation and control function while cost is reduced as main control chip；SOP8 is used simultaneously
The 2.4G wireless communication chips of encapsulation, and can choose whether to need power amplification according to the distance of actual transmissions distance
Device can not have to power amplifier when transmission range is closer, and can further save cost.So that entire unmanned plane is hard
The cost of part control circuit substantially reduces.
Description of the drawings
Fig. 1 be the utility model proposes a kind of UAV Flight Control System based on STM32F103RCT6 chips
Functional block diagram；
Fig. 2 is the circuit diagram of the main control module based on STM32F103RCT6 chips of the utility model；
Fig. 3 is the circuit diagram of the 2.4G wireless communication modules of the utility model.
Specific implementation mode
Below against attached drawing and in conjunction with preferred embodiment, the utility model is described in further detail.
Specific embodiment of the present utility model provides a kind of UAV Flight Control system based on ARM-M3 core chips
System, with reference to figure 1, which includes the main control chip (such as STM32F103RCT6 chips shown in Fig. 1) of ARM-M3 kernels,
And it is connected to the 2.4G wireless communication modules of the main control chip, figure transmission module, light stream module, GPS positioning module, air pressure
Meter, magnetometer, gyroscope and accelerometer；Wherein, gyroscope, accelerometer, barometer and magnetometer by I2C buses to
The main control chip transmits signal, and figure transmission module, light stream module and GPS positioning module are respectively connected to the three of the main control chip
A UART interface.
Equipped with the unmanned plane of above-mentioned control system provided by the utility model, can realize wireless remote control, height-lock control,
Fixed point flight, destination flight, tracking flight etc. functions, specifically, be by the main control chip to come from gyroscope, plus
The data of speedometer, barometer, magnetometer, GPS positioning module and light stream module etc. carry out data fusion and analyzing processing, estimation
Go out the current posture of unmanned plane and position, and the posture based on estimation and position control unmanned plane accordingly, to real
Existing above-mentioned multiple functions.The method that main control chip carries out received various data the data fusion and analyzing processing can
It is realized using existing method, need not be described in detail herein.
In further embodiments, the main control chip can also use the GD32F103RCT6 chips of ARM-M3 kernels,
Its pin assignment and STM32F103RCT6 chips are essentially identical.
In a preferred embodiment, as shown in figure 3, the 2.4G that is encapsulated based on a SOP8 of the 2.4G wireless communication modules without
Line communication chip U2 and formed, when transmission range is closer, power amplifier can not be configured；When transmission range relatively far away from
When, use power amplifier.
In the control program that a kind of main control chip U1 is STM32F103RCT6 chips, pin assignment such as Fig. 2 of chip
It is shown, wherein gyroscope, accelerometer, barometer and magnetometer respectively get after corresponding data by I2C buses from
Pin 29 and 30 inputs the main control chip and is handled, and WiFi figures transmission module therein is connected to STM32F103RCT6 cores
The UART4 interfaces (pin 51,52) of piece, light stream module be connected to STM32F103RCT6 chips UART1 interfaces (pin 42,
43) the UART2 interfaces (pin 16,17) of STM32F103RCT6 chips are connected respectively to GPS positioning module.
In short, aforementioned UAV Flight Control System provided by the utility model, by using the main core of ARM-M3 kernels
Piece and SOP8 encapsulation type 2.4G wireless communication chips, can greatly reduce the cost of entire hardware system.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is confined to these explanations.For those skilled in the art of the present invention
For, without departing from the concept of the premise utility, several equivalent substitute or obvious modifications, and performance can also be made
Or purposes is identical, all shall be regarded as belonging to the scope of protection of the utility model.
Claims (4)
1. a kind of UAV Flight Control System based on ARM-M3 core chips, it is characterised in that：Including ARM-M3 kernels
Main control chip, and it is connected to 2.4G wireless communication modules, figure transmission module, light stream module, the GPS positioning mould of the main control chip
Block, barometer, magnetometer, gyroscope and accelerometer；
Wherein, gyroscope, accelerometer, barometer and magnetometer transmit signal, figure by I2C buses to the main control chip
Transmission module, light stream module and GPS positioning module are respectively connected to three UART interfaces of the main control chip.
2. UAV Flight Control System as described in claim 1, it is characterised in that：The main control chip is
STM32F103RCT6 chips or GD32F103RCT6 chips.
3. UAV Flight Control System as described in claim 1, it is characterised in that：The 2.4G wireless communication modules are based on
One SOP8 encapsulation 2.4G wireless communication chips and formed.
4. UAV Flight Control System as described in claim 1, it is characterised in that：The main control chip passes through to coming from
Gyroscope, accelerometer, barometer, magnetometer, GPS positioning module and light stream module data carry out at data fusion and analysis
Reason, estimates the current posture of unmanned plane and position, and the posture based on estimation and position control unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820226162.0U CN207799469U (en) | 2018-02-08 | 2018-02-08 | A kind of UAV Flight Control System based on ARM-M3 core chips |
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| CN201820226162.0U CN207799469U (en) | 2018-02-08 | 2018-02-08 | A kind of UAV Flight Control System based on ARM-M3 core chips |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272175A (en) * | 2020-03-05 | 2020-06-12 | 北京航空航天大学 | Micro-mechanical gyroscope POS data acquisition and processing system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111272175A (en) * | 2020-03-05 | 2020-06-12 | 北京航空航天大学 | Micro-mechanical gyroscope POS data acquisition and processing system |
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