CN211403244U - Four rotor unmanned aerial vehicle based on multisource information fusion - Google Patents
Four rotor unmanned aerial vehicle based on multisource information fusion Download PDFInfo
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- CN211403244U CN211403244U CN201921459312.3U CN201921459312U CN211403244U CN 211403244 U CN211403244 U CN 211403244U CN 201921459312 U CN201921459312 U CN 201921459312U CN 211403244 U CN211403244 U CN 211403244U
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Abstract
The utility model discloses a four-rotor unmanned aerial vehicle based on multi-source information fusion, which comprises a GPS module circuit, a baroceptor module circuit, an attitude sensor module circuit, a UWB module circuit and a singlechip module circuit; the utility model discloses a by GPS module circuit, baroceptor module circuit, attitude sensor module circuit, UWB module circuit, the space orientation control system that singlechip module circuit combination formed, through the mode of multiple sensor information fusion, both realized the outdoor high accuracy space orientation to four rotor unmanned aerial vehicle, make even four rotor unmanned aerial vehicle be in the air environment of being harsher such as wind in the flight process, also can realize that four rotor unmanned aerial vehicle hovers at aerial high accuracy fixed point, realized the location to four rotor unmanned aerial vehicle indoor, tunnel and the high building city street high accuracy of standing in the forest, and the location accuracy can reach 0.2 meters; this unmanned aerial vehicle's control system operation is stable, and the reliability is high, has higher using value.
Description
Technical Field
The utility model relates to a four rotor unmanned aerial vehicle especially relates to a four rotor unmanned aerial vehicle based on multisource information fusion, is particularly related to a four rotor unmanned aerial vehicle based on multisource information fusion that miniature can realize high accuracy space orientation.
Background
At present, what four rotor unmanned aerial vehicle majority adopted in the market is GPS location, and operating personnel passes through remote controller manual regulation control four rotor unmanned aerial vehicle's spatial position, and spatial position keeps well in the environment of no wind. When four rotor unmanned aerial vehicle fly in windy environment, can receive the interference of wind, lead to four rotor unmanned aerial vehicle skew original spatial position. When wind speed is great, the quad-rotor unmanned aerial vehicle may deviate from an original position to be larger, and even fixed-point hovering cannot be realized.
When four rotor unmanned aerial vehicle are located indoor, tunnel and the upright city block of high building mansion, can not receive effectual GPS signal, lead to four rotor unmanned aerial vehicle spatial localization inaccurate, four rotor unmanned aerial vehicle can't realize the fixed point and hover, perhaps space position error is great when hovering. In addition, adopt the mode of GPS location, space positioning's precision is at the meter level, and in complicated building environment or indoor environment, the positioning accuracy of meter level is not enough, needs centimeter level's positioning accuracy in order to ensure that four rotor unmanned aerial vehicle fly with the orbit of high accuracy in narrow and small space.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem be, overcome prior art's defect, provide an adopt by GPS module circuit, baroceptor module circuit, attitude sensor module circuit, UWB module circuit, singlechip module circuit, the space orientation control system that electronic governor module circuit combination formed realize high accuracy space orientation's four rotor unmanned aerial vehicle based on multisource information fusion.
In order to solve the technical problem, the utility model discloses a following technical scheme can solve:
a quadrotor unmanned aerial vehicle based on multi-source information fusion comprises a GPS module circuit for collecting GPS position information of the quadrotor unmanned aerial vehicle, a pressure sensor module circuit for collecting pressure information of the environment where the quadrotor unmanned aerial vehicle is located, an attitude sensor module circuit for collecting triaxial acceleration information, triaxial angular velocity information and triaxial magnetic field information of the quadrotor unmanned aerial vehicle, a UWB module circuit for collecting centimeter-level space positioning information of the quadrotor unmanned aerial vehicle within 100 meters, a singlechip module circuit for processing the received information and controlling a brushless direct current motor through an electronic speed regulator module circuit, and a power supply module circuit for supplying power to the quadrotor unmanned aerial vehicle, wherein the GPS module circuit, the pressure sensor module circuit, the attitude sensor module circuit, the UWB module circuit and the power supply module circuit are respectively connected with the singlechip module circuit, the singlechip module circuit, the electronic speed regulator module circuit and the brushless direct current motor are sequentially connected by circuits; GPS module circuit collects GPS position information of the quad-rotor unmanned aerial vehicle and transmits the collected GPS position information to the single chip microcomputer module circuit, the air pressure sensor module circuit collects air pressure information of the environment where the quad-rotor unmanned aerial vehicle is located and transmits the collected air pressure information to the single chip microcomputer module circuit, the attitude sensor module circuit collects triaxial acceleration information of the quad-rotor unmanned aerial vehicle, triaxial angular velocity information, triaxial magnetic field information and transmits the collected triaxial acceleration information, triaxial angular velocity information and triaxial magnetic field information to the single chip microcomputer module circuit, the UWB module circuit collects centimeter-level spatial positioning information of the quad-rotor unmanned aerial vehicle within 100 meters and transmits the centimeter-level spatial positioning information of the quad-rotor unmanned aerial vehicle within 100 meters to the single chip microcomputer module circuit, and the single chip microcomputer module circuit respectively transmits the GPS position information, the acquired GPS position information, the air pressure information of the quad-rotor unmanned aerial, Atmospheric pressure information, triaxial acceleration information, triaxial angular velocity information, triaxial magnetic field information, the spatial localization information of centimetre level carries out data processing and obtains four rotor unmanned aerial vehicle's current position information in the 100 meters within range, four rotor unmanned aerial vehicle's flight orbit is confirmed according to four rotor unmanned aerial vehicle's current position information, target position information to singlechip module circuit controls four brushless DC motor respectively through electronic governor module circuit to control four rotor unmanned aerial vehicle and fly to the target location. The pressure sensor module circuit collects air pressure information of the environment where the quad-rotor unmanned aerial vehicle is located and transmits the collected air pressure information to the single chip microcomputer module circuit, and the single chip microcomputer module circuit performs data processing on the air pressure information to obtain altitude information of the position where the quad-rotor unmanned aerial vehicle is located; the UWB module circuit is communicated with a plurality of anchor nodes within a range of 100 meters, centimeter-level space positioning information within the range of 100 meters of the quad-rotor unmanned aerial vehicle is obtained through a positioning algorithm, then the centimeter-level space positioning information within the range of 100 meters is transmitted to the single chip microcomputer module circuit, and the single chip microcomputer module circuit carries out data processing on the centimeter-level space positioning information; a GPS module circuit, an air pressure sensor module circuit, an attitude sensor module circuit, a UWB module circuit, a power supply module circuit, a singlechip module circuit, an electronic speed regulator module circuit and a brushless direct current motor are all arranged on the quad-rotor unmanned aerial vehicle; the basic longitude, latitude and altitude information of the quad-rotor unmanned aerial vehicle in the flying process is obtained through a GPS module, the altitude information of the quad-rotor unmanned aerial vehicle in the flying process is obtained through an air pressure sensor, the three-axis acceleration, the three-axis angular velocity and the three-axis magnetic field information of the quad-rotor unmanned aerial vehicle in the flying process are obtained through an attitude sensor, centimeter-level space positioning information of the quad-rotor unmanned aerial vehicle in the 100-meter range in the flying process is obtained through a UWB module, and the information is calculated through a single chip microcomputer by adopting an information fusion algorithm, so that high-precision space position information of the quad-rotor unmanned aerial vehicle in the indoor and outdoor flying processes can be obtained; adopt by GPS modular circuit, baroceptor modular circuit, attitude sensor modular circuit, UWB modular circuit, single chip module circuit, the space orientation control system that electronic governor modular circuit combination formed, mode through multiple space orientation and information fusion, both realized the outdoor high accuracy space orientation to four rotor unmanned aerial vehicle, make even four rotor unmanned aerial vehicle be in among the harsher air environment such as windy at the flight in-process, also can realize four rotor unmanned aerial vehicle hover at the fixed point aloft, realized again that four rotor unmanned aerial vehicle is indoor, tunnel and the high building mansion upright city block high accuracy location, and positioning accuracy can reach 0.2 meters.
Preferably, the four-rotor unmanned aerial vehicle further comprises an NRF24L01 module circuit connected with the single chip microcomputer module circuit, and the four-rotor unmanned aerial vehicle is in wireless communication with the control center through the NRF24L01 module circuit. Wherein, the control center is arranged on the ground; the NRF24L01 module is for installing the wireless communication module on four rotor unmanned aerial vehicle, and four rotor unmanned aerial vehicle passes through NRF24L01 module and establishes wireless communication with ground control center and is connected, has realized that ground control center can real time monitoring four rotor unmanned aerial vehicle's flight state.
Preferably, the single chip microcomputer module circuit comprises a single chip microcomputer U1 and a debugging interface socket P5 serving as a single chip microcomputer U1, a 17 th pin, a 39 th pin, a 52 th pin, a 62 th pin, a 72 th pin, an 84 th pin, a 95 th pin, a 108 th pin, a 121 th pin, a 131 th pin and a 144 th pin of the single chip microcomputer U1 are respectively connected to +3.3V of a power supply, and a 16 th pin, a 38 th pin, a 51 th pin, a 61 th pin, a 71 th pin, an 83 th pin, a 94 th pin, a 107 th pin, a 120 th pin, a 130 th pin and a 143 th pin of the single chip microcomputer U1 are respectively connected to a power supply ground; a 34 th pin of the singlechip U1 is connected with the cathode of the light-emitting diode D3 through a resistor R5, and the anode of the light-emitting diode D3 is connected with a power supply of + 3.3V; a 35 th pin of the singlechip U1 is connected with the cathode of the light-emitting diode D4 through a resistor R8, and the anode of the light-emitting diode D4 is connected with a power supply of + 3.3V; the 105 th pin of the singlechip U1 is connected with the 2 nd pin of the debugging interface socket P5, the 109 th pin of the singlechip U1 is connected with the 3 rd pin of the debugging interface socket P5, the 1 st pin of the debugging interface socket P5 is connected to +3.3V of a power supply, and the 4 th pin of the debugging interface socket P5 is grounded; the 48 th pin of the singlechip U1 is grounded after passing through the resistor R9; the 138 th pin of the singlechip U1 is grounded after passing through the resistor R7; one end of the capacitor C6 and the capacitor C7 after being connected in parallel is connected with a 30 th pin of the singlechip U1, the other end of the capacitor C6 and the capacitor C7 after being connected in parallel is connected with a 33 th pin of the singlechip U1, the 30 th pin of the singlechip U1 is connected to a VSSA (voltage source simulator), and the 33 th pin of the singlechip U1 is connected to a +3.3V analog power supply; a 31 st pin of the singlechip U1 is connected to a VSSA (voltage source simulator); a 32 nd pin of the singlechip U1 is connected to a +3.3V analog power supply; the resistor R3 and the capacitor C5 are connected with a 25 th pin of the singlechip U1, the other end of the resistor R3 is connected to +3.3V of a power supply, and the other end of the capacitor C5 is grounded; one end of the key S5 is connected with the 25 th pin of the singlechip U1, and the other end of the key S5 is grounded; a crystal oscillator Y1 is connected between a 23 rd pin and a 24 th pin of the singlechip U1 in a bridging manner, the 23 th pin of the singlechip U1 is grounded through a capacitor C3, and the 24 th pin of the singlechip U1 is grounded through a capacitor C4; one end of the key S1 is connected with the 1 st pin of the singlechip U1, and the other end is grounded; one end of the key S2 is connected with the No. 2 pin of the singlechip U1, and the other end is grounded; one end of the key S3 is connected with the 3 rd pin of the singlechip U1, and the other end of the key S3 is grounded; one end of the key S4 is connected with the 4 th pin of the singlechip U1, and the other end of the key S4 is grounded; a resistor R4 is connected between the power supply +3.3V and the analog power supply + 3.3V; resistor R6 has one end connected to digital ground GND and the other end connected to analog ground VSSA.
Preferably, the GPS module circuit comprises an interface socket P3, a 1 st pin of the interface socket P3 is connected to +3.3V of a power supply, a 2 nd pin of the interface socket P3 is connected with a 36 th pin of the singlechip U1, a 3 rd pin of the interface socket P3 is connected with a 37 th pin of the singlechip U1, and a 6 th pin of the interface socket P3 is connected to a power ground. Wherein neither pin 4 nor pin 5 of the interface socket P3 is used.
Preferably, the air pressure sensor module circuit comprises a chip U4, a 1 st pin of the chip U4 is connected with a 10 th pin and then connected with a power supply +3.3V, a 3 rd pin, an 8 th pin and a 9 th pin of the chip U4 are connected and then connected with the ground, a 2 nd pin of the chip U4 is connected with a 74 th pin of a singlechip U1, a 4 th pin of the chip U4 is connected with a 76 th pin of a singlechip U1, a 5 th pin of the chip U4 is connected with a 75 th pin of the singlechip U1, a 6 th pin of the chip U4 is connected with a 73 th pin of the singlechip U1, and a 7 th pin of the chip U4 is connected with a 77 th pin of the singlechip U1; a capacitor C2 is connected between the 1 st pin and the 3 rd pin of the chip U4, one end of the capacitor C2 is connected with the power supply +3.3V, and the other end of the capacitor C2 is grounded.
Preferably, the attitude sensor module circuit comprises an interface socket J2, a 1 st pin of the interface socket J2 is connected with +3.3V of a power supply, a 2 nd pin of the interface socket J2 is connected with a 101 th pin of the single chip microcomputer U1, a 3 rd pin of the interface socket J2 is connected with a 102 th pin of the single chip microcomputer U1, a 4 th pin of the interface socket J2 is grounded, a 5 th pin of the interface socket J2 is connected with +3.3V of the power supply, and an 8 th pin of the interface socket J2 is grounded. Both pin 6 and pin 7 of the interface socket J2 are unused.
Preferably, the UWB module circuit comprises a socket P2 and a socket P6, the socket P2 is used as a signal interface socket of the UWB module circuit, and the socket P6 is used as a power socket of the UWB module circuit; the 1 st pin of the socket P2 is connected with the 40 th pin of the singlechip U1, the 2 nd pin of the socket P2 is connected with the 43 th pin of the singlechip U1, the 3 rd pin of the socket P2 is connected with the 42 th pin of the singlechip U1, the 4 th pin of the socket P2 is connected with the 41 th pin of the singlechip U1, the 5 th pin of the socket P2 is connected with the 44 th pin of the singlechip U1, the 6 th pin of the socket P2 is connected with the 27 th pin of the singlechip U1, and the 7 th pin of the socket P2 is connected with the 45 th pin of the singlechip U1; pin 1 of socket P6 is connected to +3.3V, and pin 2 of socket P6 is connected to ground.
Preferably, the NRF24L01 module circuit includes an interface socket J1, a 1 st pin of the interface socket J1 is connected to a 128 th pin of the single chip microcomputer U1, a 2 nd pin of the interface socket J1 is connected to a 134 th pin of the single chip microcomputer U1, a 3 rd pin of the interface socket J1 is connected to a 135 th pin of the single chip microcomputer U1, a 4 th pin of the interface socket J1 is connected to a 133 th pin of the single chip microcomputer U1, a 5 th pin of the interface socket J1 is connected to a 129 th pin of the single chip microcomputer U1, a 6 th pin of the interface socket J1 is connected to a 132 th pin of the single chip microcomputer U1, a 7 th pin of the interface socket J1 is connected to +3.3V, and an 8 th pin of the interface socket J1 is grounded.
Preferably, the power module circuit comprises a power socket P4, a chip U2, a chip U3 and a peripheral circuit, wherein the power socket P4 is connected with the anode and the cathode of the lithium battery, the 2 nd pin of the power socket P4 is grounded, the 1 st pin of the power socket P4 is connected with one end of a power switch S6, and the other end of the power switch S6 is connected with the anode of the lithium battery and + 11.1V; a capacitor C14 and a capacitor C15 are connected in parallel between the 1 st pin and the 2 nd pin of the power socket P4, one end of the capacitor C14, which is connected in parallel with the capacitor C15, is connected with the positive electrode +11.1V of the lithium battery, and the other end of the capacitor C14 is grounded; the 1 st pin of the chip U2 is connected to the positive electrode of the lithium battery, namely +11.1V, the 3 rd pin and the 5 th pin of the chip U2 are respectively grounded, the 2 nd pin of the chip U2 is connected with the cathode of the diode D6, and the anode of the diode D6 is grounded; one end of an inductor L1 is connected with the No. 2 pin of the chip U2, and the other end of the inductor L1 is connected with the +5V output voltage; a capacitor C16 and a capacitor C17 are connected in parallel between the 4 th pin of the chip U2 and a power ground, one end of the capacitor C16, which is connected with the capacitor C17 in parallel, is connected with the +5V output voltage, and the other end of the capacitor C16 is grounded; the 3 rd pin of the chip U3 is connected with the output voltage +5V of the chip U2, one end of the capacitor C18 connected with the capacitor C19 in parallel is connected with the 3 rd pin of the chip U3, and the other end is grounded; the 1 st pin of the chip U3 is grounded, the 2 nd pin of the chip U3 outputs +3.3V voltage, one end of the capacitor C20, which is connected with the capacitor C21 in parallel, is connected with the 2 nd pin of the chip U3, and the other end of the capacitor C20 is grounded; the anode of the diode D5 is connected to +3.3V of the power supply, and the cathode of the diode D5 is grounded after passing through the resistor R10; one end of the resistor R1 is connected to the positive electrode +11.1V of the lithium battery, the other end of the resistor R1 is connected with the resistor R2 in series, the other end of the resistor R2 is grounded, and the connection point of the resistor R1 and the resistor R2 is connected with the 26 th pin of the single chip microcomputer U1 to form a power type lithium battery voltage acquisition circuit; the capacitor C1 is connected with the resistor R2 in parallel, the anode of the diode D1 is connected with the cathode of the diode D2, the cathode of the diode D1 is connected to +3.3V of a power supply, and the anode of the diode D2 is grounded, so that a power lithium battery voltage acquisition protection circuit is formed.
Preferably, the electronic governor module circuit comprises an interface socket DT1, an interface socket DT2, an interface socket DT3 and an interface socket DT4, wherein the 1 st pin of the interface socket DT1 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT1 is connected with the 136 nd pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT1 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT2 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT2 is connected with the 137 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT2 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT3 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT3 is connected with the 139 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT3 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT4 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT4 is connected with the 140 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT4 is connected to the negative electrode of the lithium battery.
The utility model discloses owing to adopted above technical scheme, have apparent technological effect: the space positioning control system formed by combining the GPS module circuit, the air pressure sensor module circuit, the attitude sensor module circuit, the UWB module circuit and the singlechip module circuit is adopted, and a mode of information fusion of various sensors is adopted, so that the outdoor high-precision space positioning of the four-rotor unmanned aerial vehicle is realized, the high-precision fixed-point hovering of the four-rotor unmanned aerial vehicle in the air can be realized even if the four-rotor unmanned aerial vehicle is in a severe air environment such as wind and the like in the flying process, the high-precision positioning of the four-rotor unmanned aerial vehicle in the indoor environment, the tunnel environment and the urban street area erected by high-rise buildings and forests is realized, and the positioning precision can reach +/-0.2 m; this unmanned aerial vehicle's control system operation is stable, and the reliability is high, has higher using value.
Drawings
Fig. 1 is the utility model discloses a control system schematic block diagram of four rotor unmanned aerial vehicle embodiments based on multisource information fusion.
Fig. 2 is a schematic circuit diagram of an embodiment of the circuit of the single-chip microcomputer module of the present invention.
Fig. 3 is a schematic circuit diagram of an embodiment of the power module circuit of the present invention.
Fig. 4 is a schematic circuit diagram of an embodiment of the UWB module circuit of the present invention.
Fig. 5 is a schematic circuit diagram of an embodiment of the NRF24L01 module circuit of the present invention.
Fig. 6 is a schematic circuit diagram of an embodiment of the attitude sensor module circuit of the present invention.
Fig. 7 is a schematic circuit diagram of an embodiment of the barometric sensor module circuit according to the present invention.
Fig. 8 is a schematic circuit diagram of a circuit embodiment of the GPS module according to the present invention.
Fig. 9 is a circuit schematic of an embodiment of an electronic governor module circuit of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
A quad-rotor unmanned aerial vehicle based on multi-source information fusion, as shown in fig. 1-9, including a GPS module circuit 6 for collecting GPS position information of the quad-rotor unmanned aerial vehicle, a baroceptor module circuit 7 for collecting barometric pressure information of an environment where the quad-rotor unmanned aerial vehicle is located, an attitude sensor module circuit 8 for collecting triaxial acceleration information of the quad-rotor unmanned aerial vehicle, triaxial angular velocity information and triaxial magnetic field information, a UWB module circuit 1 for collecting centimeter-level spatial positioning information of the quad-rotor unmanned aerial vehicle within a 100 meter range, a single-chip microcomputer module circuit 3 for processing received information and controlling a brushless dc motor 4 through an electronic governor module circuit 5, a power module circuit 2 for supplying power to the quad-rotor unmanned aerial vehicle, the GPS module circuit 6, the baroceptor module circuit 7, the attitude sensor module circuit 8, the UWB module circuit 1, a controller, The power module circuit 2 is respectively connected with the singlechip module circuit 3, and the singlechip module circuit 3, the electronic speed regulator module circuit 5 and the brushless DC motor 4 are sequentially connected with a circuit; GPS module circuit collects GPS position information of the quad-rotor unmanned aerial vehicle and transmits the collected GPS position information to the single chip microcomputer module circuit, the air pressure sensor module circuit collects air pressure information of the environment where the quad-rotor unmanned aerial vehicle is located and transmits the collected air pressure information to the single chip microcomputer module circuit, the attitude sensor module circuit collects triaxial acceleration information of the quad-rotor unmanned aerial vehicle, triaxial angular velocity information, triaxial magnetic field information and transmits the collected triaxial acceleration information, triaxial angular velocity information and triaxial magnetic field information to the single chip microcomputer module circuit, the UWB module circuit collects centimeter-level spatial positioning information of the quad-rotor unmanned aerial vehicle within 100 meters and transmits the centimeter-level spatial positioning information of the quad-rotor unmanned aerial vehicle within 100 meters to the single chip microcomputer module circuit, and the single chip microcomputer module circuit respectively transmits the GPS position information, the acquired GPS position information, the air pressure information of the quad-rotor unmanned aerial, Atmospheric pressure information, triaxial acceleration information, triaxial angular velocity information, triaxial magnetic field information, 100 meters within range centimeter grade's space orientation information carries out data processing and obtains four rotor unmanned aerial vehicle's current position information, four rotor unmanned aerial vehicle's flight orbit is confirmed according to four rotor unmanned aerial vehicle's current position information, target position information to singlechip module circuit controls four brushless DC motor respectively through electronic governor module circuit to control four rotor unmanned aerial vehicle and fly to the target location. The pressure sensor module circuit collects air pressure information of the environment where the quad-rotor unmanned aerial vehicle is located and transmits the collected air pressure information to the single chip microcomputer module circuit, and the single chip microcomputer module circuit performs data processing on the air pressure information to obtain altitude information of the position where the quad-rotor unmanned aerial vehicle is located; the UWB module circuit is communicated with a plurality of anchor nodes within a range of 100 meters, centimeter-level space positioning information within the range of 100 meters of the quad-rotor unmanned aerial vehicle is obtained through a positioning algorithm, then the centimeter-level space positioning information within the range of 100 meters is transmitted to the single chip microcomputer module circuit, and the single chip microcomputer module circuit carries out data processing on the centimeter-level space positioning information; a GPS module circuit, an air pressure sensor module circuit, an attitude sensor module circuit, a UWB module circuit, a power supply module circuit, a singlechip module circuit, an electronic speed regulator module circuit and a brushless direct current motor are all arranged on the quad-rotor unmanned aerial vehicle; the basic longitude, latitude and altitude information of the quad-rotor unmanned aerial vehicle in the flying process is obtained through a GPS module, the altitude information of the quad-rotor unmanned aerial vehicle in the flying process is obtained through an air pressure sensor, the three-axis acceleration, the three-axis angular velocity and the three-axis magnetic field information of the quad-rotor unmanned aerial vehicle in the flying process are obtained through an attitude sensor, centimeter-level space positioning information of the quad-rotor unmanned aerial vehicle in the 100-meter range in the flying process is obtained through a UWB module, and the information is calculated through a single chip microcomputer by adopting an information fusion algorithm, so that high-precision space position information of the quad-rotor unmanned aerial vehicle in the indoor and outdoor flying processes can be obtained; adopt by GPS modular circuit, baroceptor modular circuit, attitude sensor modular circuit, UWB modular circuit, single chip module circuit, the space orientation control system that electronic governor modular circuit combination formed, mode through multiple space orientation and information fusion, both realized the outdoor high accuracy space orientation to four rotor unmanned aerial vehicle, make even four rotor unmanned aerial vehicle be in among the harsher air environment such as windy at the flight in-process, also can realize four rotor unmanned aerial vehicle hover at the fixed point aloft, realized again that four rotor unmanned aerial vehicle is indoor, tunnel and the high building mansion upright city block high accuracy location, and positioning accuracy can reach 0.2 meters.
In this embodiment, still include the NRF24L01 module circuit 9 who is connected with singlechip module circuit 3, four rotor unmanned aerial vehicle carry out wireless communication through NRF24L01 module circuit 9 and control center 10. Wherein, the control center 10 is arranged on the ground; the NRF24L01 module is for installing the wireless communication module on four rotor unmanned aerial vehicle, and four rotor unmanned aerial vehicle passes through NRF24L01 module and establishes wireless communication with ground control center and is connected, has realized that ground control center can real time monitoring four rotor unmanned aerial vehicle's flight state.
In this embodiment, the single chip microcomputer module circuit 3 includes a single chip microcomputer U1 and a debug interface socket P5 as a single chip microcomputer U1, a 17 th pin, a 39 th pin, a 52 th pin, a 62 th pin, a 72 th pin, an 84 th pin, a 95 th pin, a 108 th pin, a 121 th pin, a 131 th pin, and a 144 th pin of the single chip microcomputer U1 are respectively connected to +3.3V of a power supply, and a 16 th pin, a 38 th pin, a 51 th pin, a 61 th pin, a 71 th pin, an 83 th pin, a 94 th pin, a 107 th pin, a 120 th pin, a 130 th pin, and a 143 th pin of the single chip microcomputer U1 are respectively connected to a power supply ground; a 34 th pin of the singlechip U1 is connected with the cathode of the light-emitting diode D3 through a resistor R5, and the anode of the light-emitting diode D3 is connected with a power supply of + 3.3V; a 35 th pin of the singlechip U1 is connected with the cathode of the light-emitting diode D4 through a resistor R8, and the anode of the light-emitting diode D4 is connected with a power supply of + 3.3V; the 105 th pin of the singlechip U1 is connected with the 2 nd pin of the debugging interface socket P5, the 109 th pin of the singlechip U1 is connected with the 3 rd pin of the debugging interface socket P5, the 1 st pin of the debugging interface socket P5 is connected to +3.3V of a power supply, and the 4 th pin of the debugging interface socket P5 is grounded; the 48 th pin of the singlechip U1 is grounded after passing through the resistor R9; the 138 th pin of the singlechip U1 is grounded after passing through the resistor R7; one end of the capacitor C6 and the capacitor C7 after being connected in parallel is connected with a 30 th pin of the singlechip U1, the other end of the capacitor C6 and the capacitor C7 after being connected in parallel is connected with a 33 th pin of the singlechip U1, the 30 th pin of the singlechip U1 is connected to a VSSA (voltage source simulator), and the 33 th pin of the singlechip U1 is connected to a +3.3V analog power supply; a 31 st pin of the singlechip U1 is connected to a VSSA (voltage source simulator); a 32 nd pin of the singlechip U1 is connected to a +3.3V analog power supply; the resistor R3 and the capacitor C5 are connected with a 25 th pin of the singlechip U1, the other end of the resistor R3 is connected to +3.3V of a power supply, and the other end of the capacitor C5 is grounded; one end of the key S5 is connected with the 25 th pin of the singlechip U1, and the other end of the key S5 is grounded; a crystal oscillator Y1 is connected between a 23 rd pin and a 24 th pin of the singlechip U1 in a bridging manner, the 23 th pin of the singlechip U1 is grounded through a capacitor C3, and the 24 th pin of the singlechip U1 is grounded through a capacitor C4; one end of the key S1 is connected with the 1 st pin of the singlechip U1, and the other end is grounded; one end of the key S2 is connected with the No. 2 pin of the singlechip U1, and the other end is grounded; one end of the key S3 is connected with the 3 rd pin of the singlechip U1, and the other end of the key S3 is grounded; one end of the key S4 is connected with the 4 th pin of the singlechip U1, and the other end of the key S4 is grounded; a resistor R4 is connected between the power supply +3.3V and the analog power supply + 3.3V; resistor R6 has one end connected to digital ground GND and the other end connected to analog ground VSSA. In the integrated circuit, the resistor R5 plays a role of current limiting; the resistors R7 and R9 are used as pull-down resistors, so that the 48 th pin and the 138 th pin of the single chip microcomputer are both in a low level state, and the realized function is to select a main flash memory of the single chip microcomputer as a starting area; the capacitor C6 and the capacitor C7 are decoupling capacitors, so that a stable power supply can be provided, the noise of the element coupled to a power supply end can be reduced, and the influence of the noise of the element on other elements can be indirectly reduced; the resistor R3 and the capacitor C5 form a power-on reset circuit, the key S5 has the function of key reset, and when the key S5 is pressed, the 25 th pin (NRST pin) of the singlechip U1 is changed into low level, so that the singlechip U1 is reset; the crystal oscillator Y1, the capacitor C3 and the capacitor C4 are combined to form a crystal oscillation circuit, and an accurate main clock is provided for the singlechip U1; the keys S1, S2, S3 and S4 are functional keys of the quad-rotor unmanned aerial vehicle and mainly complete the functional test of the quad-rotor unmanned aerial vehicle; the resistor R4 and the resistor R6 are isolation resistors, the resistor R4 isolates the 3.3V digital power supply from the 3.3V analog power supply, and the resistor R6 isolates the digital ground from the analog ground.
In this embodiment, the GPS module circuit 6 includes an interface socket P3, a 1 st pin of the interface socket P3 is connected to +3.3V of a power supply, a 2 nd pin of the interface socket P3 is connected to a 36 th pin of the single chip microcomputer U1, a 3 rd pin of the interface socket P3 is connected to a 37 th pin of the single chip microcomputer U1, and a 6 th pin of the interface socket P3 is connected to a power ground. Wherein, the 4 th pin and the 5 th pin of the interface socket P3 are not used; in the integrated circuit, the 2 nd pin and the 3 rd pin of the interface socket P3 are respectively connected with the 36 th pin and the 37 th pin of the single chip microcomputer U1 to form a UART interface, and a UART interface is adopted between the GPS module and the single chip microcomputer U1 for data transmission.
In this embodiment, the air pressure sensor module circuit 7 includes a chip U4, the 1 st pin of the chip U4 is connected to the 10 th pin and then connected to +3.3V of the power supply, the 3 rd pin, the 8 th pin, and the 9 th pin of the chip U4 are connected to ground, the 2 nd pin of the chip U4 is connected to the 74 th pin of the single chip U1, the 4 th pin of the chip U4 is connected to the 76 th pin of the single chip U1, the 5 th pin of the chip U4 is connected to the 75 th pin of the single chip U1, the 6 th pin of the chip U4 is connected to the 73 th pin of the single chip U1, and the 7 th pin of the chip U4 is connected to the 77 th pin of the single chip U1; a capacitor C2 is connected between the 1 st pin and the 3 rd pin of the chip U4, one end of the capacitor C2 is connected with the power supply +3.3V, and the other end of the capacitor C2 is grounded. In the integrated circuit, the capacitor C2 is a decoupling capacitor, which can provide a stable power supply, and can reduce the noise of the component coupled to the power supply terminal, thereby indirectly reducing the influence of the noise of the component on other components.
In this embodiment, the attitude sensor module circuit 8 includes an interface socket J2, the 1 st pin of the interface socket J2 is connected with +3.3V of power supply, the 2 nd pin of the interface socket J2 is connected with the 101 th pin of the single chip microcomputer U1, the 3 rd pin of the interface socket J2 is connected with the 102 th pin of the single chip microcomputer U1, the 4 th pin of the interface socket J2 is grounded, the 5 th pin of the interface socket J2 is connected with +3.3V of power supply, and the 8 th pin of the interface socket J2 is grounded. In the integrated circuit, the 1 st pin and the 5 th pin of the interface socket J2 are connected to a +3.3V power supply, and the 4 th pin and the 8 th pin of the interface socket J2 are connected to a power ground; the 2 nd pin and the 3 rd pin of the interface socket J2 are respectively connected with the 101 th pin and the 102 th pin of the single chip microcomputer U1 to form a UART interface, and the UART interface is adopted between the attitude sensor module and the single chip microcomputer to carry out data transmission. Both pin 6 and pin 7 of the interface socket J2 are unused.
In the present embodiment, the UWB module circuit 1 includes a socket P2 and a socket P6, the socket P2 serves as a signal interface socket of the UWB module circuit 1, and the socket P6 serves as a power socket of the UWB module circuit 1; the 1 st pin of the socket P2 is connected with the 40 th pin of the singlechip U1, the 2 nd pin of the socket P2 is connected with the 43 th pin of the singlechip U1, the 3 rd pin of the socket P2 is connected with the 42 th pin of the singlechip U1, the 4 th pin of the socket P2 is connected with the 41 th pin of the singlechip U1, the 5 th pin of the socket P2 is connected with the 44 th pin of the singlechip U1, the 6 th pin of the socket P2 is connected with the 27 th pin of the singlechip U1, and the 7 th pin of the socket P2 is connected with the 45 th pin of the singlechip U1; pin 1 of socket P6 is connected to +3.3V, and pin 2 of socket P6 is connected to ground. In the integrated circuit, the socket P2 is a data transmission interface, the 1 st pin of the socket P2 is a chip selection end of the UWB module DWM1000, the 2 nd pin, the 3 rd pin and the 4 th pin of the socket P2 are respectively connected with the 43 rd pin, the 42 th pin and the 41 th pin of the single chip microcomputer U1 to form an SPI interface, and the single chip microcomputer U1 performs data transmission with the UWB module DWM1000 in an SPI bus manner; pin 5 of the socket P2 is the reset terminal of the UWB module DWM1000, and pin 6 of the socket P2 is the interrupt signal output terminal of the UWB module DWM 1000; the 7 th pin of the socket P2 is a low-power consumption awakening control end of the UWB module, and the 8 th pin of the socket P2 is suspended; socket P6 is a power outlet and provides operating power for the UWB module.
In this embodiment, the NRF24L01 module circuit includes an interface socket J1, a 1 st pin of the interface socket J1 is connected to a 128 th pin of the single chip microcomputer U1, a 2 nd pin of the interface socket J1 is connected to a 134 th pin of the single chip microcomputer U1, a 3 rd pin of the interface socket J1 is connected to a 135 th pin of the single chip microcomputer U1, a 4 th pin of the interface socket J1 is connected to a 133 th pin of the single chip microcomputer U1, a 5 th pin of the interface socket J1 is connected to a 129 th pin of the single chip microcomputer U1, a 6 th pin of the interface socket J1 is connected to a 132 th pin of the single chip microcomputer U1, a 7 th pin of the interface socket J1 is connected to +3.3V, and an 8 th pin of the interface socket J1 is grounded. A pin 1 of the socket J1 is an interrupt output end of the NRF24L01 module, pins 2, 3 and 4 of the socket J1 are connected with pins 133, 134 and 135 of the single chip microcomputer to form an SPI interface, and an SPI bus is adopted between the NRF24L01 module and the single chip microcomputer to carry out data transmission. In the integrated circuit, the 5 th pin of the socket J1 is a chip select signal of the NRF24L01 module, the 6 th pin of the socket J1 is a transmit or receive mode selection, the 7 th pin of the socket J1 is connected to a +3.3V power supply, and the 8 th pin of the socket J1 is connected to a power ground.
In this embodiment, the power module circuit 2 includes a power socket P4, a chip U2, a chip U3 and a peripheral circuit, the power socket P4 is connected to the positive electrode and the negative electrode of the lithium battery, the 2 nd pin of the power socket P4 is grounded, the 1 st pin of the power socket P4 is connected to one end of a power switch S6, and the other end of the power switch S6 is connected to +11.1V of the positive electrode of the lithium battery; a capacitor C14 and a capacitor C15 are connected in parallel between the 1 st pin and the 2 nd pin of the power socket P4, one end of the capacitor C14, which is connected in parallel with the capacitor C15, is connected with the positive electrode +11.1V of the lithium battery, and the other end of the capacitor C14 is grounded; the 1 st pin of the chip U2 is connected to the positive electrode of the lithium battery, namely +11.1V, the 3 rd pin and the 5 th pin of the chip U2 are respectively grounded, the 2 nd pin of the chip U2 is connected with the cathode of the diode D6, and the anode of the diode D6 is grounded; one end of an inductor L1 is connected with the No. 2 pin of the chip U2, and the other end of the inductor L1 is connected with the +5V output voltage; a capacitor C16 and a capacitor C17 are connected in parallel between the 4 th pin of the chip U2 and a power ground, one end of the capacitor C16, which is connected with the capacitor C17 in parallel, is connected with the +5V output voltage, and the other end of the capacitor C16 is grounded; the 3 rd pin of the chip U3 is connected with the output voltage +5V of the chip U2, one end of the capacitor C18 connected with the capacitor C19 in parallel is connected with the 3 rd pin of the chip U3, and the other end is grounded; the 1 st pin of the chip U3 is grounded, the 2 nd pin of the chip U3 outputs +3.3V voltage, one end of the capacitor C20, which is connected with the capacitor C21 in parallel, is connected with the 2 nd pin of the chip U3, and the other end of the capacitor C20 is grounded; the anode of the diode D5 is connected to +3.3V of the power supply, and the cathode of the diode D5 is grounded after passing through the resistor R10; one end of the resistor R1 is connected to the positive electrode +11.1V of the lithium battery, the other end of the resistor R1 is connected with the resistor R2 in series, the other end of the resistor R2 is grounded, and the connection point of the resistor R1 and the resistor R2 is connected with the 26 th pin of the single chip microcomputer U1 to form a power type lithium battery voltage acquisition circuit; the capacitor C1 is connected with the resistor R2 in parallel, the anode of the diode D1 is connected with the cathode of the diode D2, the cathode of the diode D1 is connected to +3.3V of a power supply, and the anode of the diode D2 is grounded, so that a power lithium battery voltage acquisition protection circuit is formed. In the integrated circuit, the power switch S6 is a main power switch of the quad-rotor unmanned aerial vehicle, and when the switch S6 is closed, the quad-rotor unmanned aerial vehicle is powered on integrally; the capacitor C14 is a filter capacitor, and the capacitor C15 is used for bypassing high-frequency interference and improving ripple; the diode D6 forms a BUCK circuit and plays the roles of unidirectional conduction and free flow in the circuit; the capacitor C16 is a filter capacitor, and the capacitor C17 is used for bypassing high-frequency interference and improving ripple; the capacitor C18 is a filter capacitor, and the capacitor C19 is used for bypassing high-frequency interference and improving ripple; the capacitor C20 is a filter capacitor, and the capacitor C21 is used for bypassing high-frequency interference and improving ripple; the diode D5 is a light emitting diode and functions as a power indicator, and when the power management chip U3 outputs +3.3V voltage, the diode D5 emits light; the resistor R10 is a current-limiting resistor, so that the light-emitting diode D5 works in a rated current range; the resistor R1 and the resistor R2 form a voltage division circuit together to realize sampling of the output voltage of the lithium battery, the output voltage of the lithium battery is input to the 26 th pin of the single chip microcomputer U1 after the voltage division circuit is formed by the resistor R1 and the resistor R2, and the single chip microcomputer U1 carries out AD conversion on the output voltage, so that the voltage state of the lithium battery is monitored; the capacitor C1 is used for bypassing high-frequency interference; the diode D1 and the diode D2 form an input protection circuit, and the situation that the IO port (namely the 26 th pin) of the singlechip U1 is damaged due to overhigh or overlow sampling voltage of the voltage division circuit is prevented.
In the embodiment, the electronic speed regulator module circuit comprises an interface socket DT1, an interface socket DT2, an interface socket DT3 and an interface socket DT4, wherein the 1 st pin of the interface socket DT1 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT1 is connected with the 136 nd pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT1 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT2 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT2 is connected with the 137 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT2 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT3 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT3 is connected with the 139 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT3 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT4 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT4 is connected with the 140 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT4 is connected to the negative electrode of the lithium battery. In the integrated circuit, the 136 th pin, the 137 th pin, the 139 th pin and the 140 th pin of the singlechip U1 respectively output PWM signals, the electronic governor module adjusts the rotating speed of the brushless direct current motor according to the duty ratio of the PWM signals after receiving the PWM signals, the duty ratio of the PWM signals is in direct proportion to the rotating speed of the brushless direct current motor, and the brushless direct current motor is closely connected with the propeller on a mechanical structure, so that the rotating speed of the propeller is adjusted by the brushless direct current motor.
In short, the above description is only a preferred embodiment of the present invention, and all the equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the scope of the present invention.
Claims (1)
1. Four rotor unmanned aerial vehicle based on multisource information fusion, its characterized in that: including GPS module circuit (6) that is used for gathering four rotor unmanned aerial vehicle's GPS positional information, a baroceptor module circuit (7) for gathering the baroceptor information of four rotor unmanned aerial vehicle's environment, a triaxial acceleration information for gathering four rotor unmanned aerial vehicle, attitude sensor module circuit (8) of triaxial angular velocity information and triaxial magnetic field information, a UWB module circuit (1) for gathering the 100 meters within range centimetre level spatial localization information of four rotor unmanned aerial vehicle, a singlechip module circuit (3) for carrying out information processing and controlling brushless DC motor (4) through electron speed regulator module circuit (5) to the information that receives, power module circuit (2) for four rotor unmanned aerial vehicle power supply, GPS module circuit (6), baroceptor module circuit (7), attitude sensor module circuit (8), UWB module circuit (1), The power module circuit (2) is respectively connected with the singlechip module circuit (3), and the singlechip module circuit (3), the electronic speed regulator module circuit (5) and the brushless direct current motor (4) are sequentially connected by circuits; the four-rotor unmanned aerial vehicle further comprises an NRF24L01 module circuit (9) connected with the singlechip module circuit (3), and the four-rotor unmanned aerial vehicle is in wireless communication with the control center (10) through the NRF24L01 module circuit (9); the singlechip module circuit (3) comprises a singlechip (U1) and a debugging interface socket (P5) serving as the singlechip (U1), wherein a 17 th pin, a 39 th pin, a 52 th pin, a 62 th pin, a 72 th pin, an 84 th pin, a 95 th pin, a 108 th pin, a 121 th pin, a 131 th pin and a 144 th pin of the singlechip (U1) are respectively connected to +3.3V of a power supply, and a 16 th pin, a 38 th pin, a 51 th pin, a 61 st pin, a 71 th pin, an 83 th pin, a 94 th pin, a 107 th pin, a 120 th pin, a 130 th pin and a 143 th pin of the singlechip (U1) are respectively connected to a power supply ground; a 34 th pin of the singlechip (U1) is connected with the cathode of the light-emitting diode (D3) through a resistor (R5), and the anode of the light-emitting diode (D3) is connected with the power supply at + 3.3V; a 35 th pin of the singlechip (U1) is connected with the cathode of the light-emitting diode (D4) through a resistor (R8), and the anode of the light-emitting diode (D4) is connected with a power supply of + 3.3V; the 105 th pin of the singlechip (U1) is connected with the 2 nd pin of the debugging interface socket (P5), the 109 th pin of the singlechip (U1) is connected with the 3 rd pin of the debugging interface socket (P5), the 1 st pin of the debugging interface socket (P5) is connected to +3.3V of a power supply, and the 4 th pin of the debugging interface socket (P5) is grounded; the 48 th pin of the singlechip (U1) is grounded after passing through the resistor (R9); the 138 th pin of the singlechip (U1) is grounded after passing through the resistor (R7); one end of the capacitor (C6) and one end of the capacitor (C7) after being connected in parallel are connected with a 30 th pin of the singlechip (U1), the other end of the capacitor (C6) and the other end of the capacitor (C7) after being connected in parallel are connected with a 33 th pin of the singlechip (U1), the 30 th pin of the singlechip (U1) is connected to a VSSA (voltage-voltage divider array) of an analog ground, and the 33 th pin of the singlechip (U1) is connected to +3.3V of the analog power supply; a 31 st pin of the singlechip (U1) is connected to a VSSA (voltage source simulator); a 32 nd pin of the singlechip (U1) is connected to a +3.3V analog power supply; the resistor (R3) and the capacitor (C5) are connected with the 25 th pin of the singlechip (U1), the other end of the resistor (R3) is connected to +3.3V of a power supply, and the other end of the capacitor (C5) is grounded; one end of the key (S5) is connected with the 25 th pin of the singlechip (U1), and the other end is grounded; a crystal oscillator (Y1) is connected between the 23 rd pin and the 24 th pin of the single chip microcomputer (U1), the 23 th pin of the single chip microcomputer (U1) is grounded through a capacitor (C3), and the 24 th pin of the single chip microcomputer (U1) is grounded through a capacitor (C4); one end of the key (S1) is connected with the 1 st pin of the singlechip (U1), and the other end is grounded; one end of the key (S2) is connected with the No. 2 pin of the singlechip (U1), and the other end is grounded; one end of the key (S3) is connected with the 3 rd pin of the singlechip (U1), and the other end is grounded; one end of the key (S4) is connected with the 4 th pin of the singlechip (U1), and the other end is grounded; a resistor (R4) is connected between the power supply +3.3V and the analog power supply + 3.3V; one end of the resistor (R6) is connected to the digital ground GND, and the other end is connected to the analog ground VSSA; the GPS module circuit (6) comprises an interface socket (P3), the 1 st pin of the interface socket (P3) is connected to +3.3V of a power supply, the 2 nd pin of the interface socket (P3) is connected with the 36 th pin of the single chip microcomputer (U1), the 3 rd pin of the interface socket (P3) is connected with the 37 th pin of the single chip microcomputer (U1), and the 6 th pin of the interface socket (P3) is connected to a power ground; the air pressure sensor module circuit (7) comprises a chip (U4), a 1 st pin of the chip (U4) is connected with a 10 th pin and then connected with a power supply +3.3V, a 3 rd pin, an 8 th pin and a 9 th pin of the chip (U4) are connected and then connected with the ground, a 2 nd pin of the chip (U4) is connected with a 74 th pin of the singlechip (U1), a 4 th pin of the chip (U4) is connected with a 76 th pin of the singlechip (U1), a 5 th pin of the chip (U4) is connected with a 75 th pin of the singlechip (U1), a 6 th pin of the chip (U4) is connected with a 73 th pin of the singlechip (U1), and a 7 th pin of the chip (U4) is connected with a 77 th pin of the singlechip (U1); a capacitor (C2) is connected between the 1 st pin and the 3 rd pin of the chip (U4), one end of the capacitor (C2) is connected with a power supply +3.3V, and the other end of the capacitor (C2) is grounded; the attitude sensor module circuit (8) comprises an interface socket (J2), wherein a 1 st pin of the interface socket (J2) is connected with +3.3V of a power supply, a 2 nd pin of the interface socket (J2) is connected with a 101 th pin of a single chip microcomputer (U1), a 3 rd pin of the interface socket (J2) is connected with a 102 th pin of the single chip microcomputer (U1), a 4 th pin of the interface socket (J2) is grounded, a 5 th pin of the interface socket (J2) is connected with +3.3V of the power supply, and an 8 th pin of the interface socket (J2) is grounded; the UWB module circuit (1) comprises a socket (P2) and a socket (P6), wherein the socket (P2) is used as a signal interface socket of the UWB module circuit (1), and the socket (P6) is used as a power socket of the UWB module circuit (1); the 1 st pin of the socket (P2) is connected with the 40 th pin of the singlechip (U1), the 2 nd pin of the socket (P2) is connected with the 43 th pin of the singlechip (U1), the 3 rd pin of the socket (P2) is connected with the 42 th pin of the singlechip (U1), the 4 th pin of the socket (P2) is connected with the 41 th pin of the singlechip (U1), the 5 th pin of the socket (P2) is connected with the 44 th pin of the singlechip (U1), the 6 th pin of the socket (P2) is connected with the 27 th pin of the singlechip (U1), and the 7 th pin of the socket (P2) is connected with the 45 th pin of the singlechip (U1); pin 1 of the socket (P6) is connected to +3.3V of a power supply, and pin 2 of the socket (P6) is connected to the power ground; the NRF24L01 module circuit comprises an interface socket (J1), wherein a 1 st pin of the interface socket (J1) is connected with a 128 th pin of a single chip microcomputer (U1), a 2 nd pin of the interface socket (J1) is connected with a 134 th pin of the single chip microcomputer (U1), a 3 rd pin of the interface socket (J1) is connected with a 135 th pin of the single chip microcomputer (U1), a 4 th pin of the interface socket (J1) is connected with a 133 th pin of the single chip microcomputer (U1), a 5 th pin of the interface socket (J1) is connected with a 129 th pin of the single chip microcomputer (U1), a 6 th pin of the interface socket (J1) is connected with a 132 th pin of the single chip microcomputer (U1), a 7 th pin of the interface socket (J1) is connected with a power supply +3.3V, and an 8 th pin of the interface socket (J1) is grounded; the power module circuit (2) comprises a power socket (P4), a chip (U2), a chip (U3) and a peripheral circuit, wherein the power socket (P4) is connected with the anode and the cathode of the lithium battery, the 2 nd pin of the power socket (P4) is grounded, the 1 st pin of the power socket (P4) is connected with one end of a power switch (S6), and the other end of the power switch (S6) is connected with the anode of the lithium battery and + 11.1V; a capacitor (C14) and a capacitor (C15) are connected in parallel between the 1 st pin and the 2 nd pin of the power socket (P4), one end of the capacitor (C14) which is connected with the capacitor (C15) in parallel is connected with the positive electrode +11.1V of the lithium battery, and the other end of the capacitor (C14) is grounded; the 1 st pin of the chip (U2) is connected to the positive electrode of the lithium battery, namely +11.1V, the 3 rd pin and the 5 th pin of the chip (U2) are respectively grounded, the 2 nd pin of the chip (U2) is connected with the cathode of the diode (D6), and the anode of the diode (D6) is grounded; one end of an inductor (L1) is connected with the No. 2 pin of the chip (U2), and the other end of the inductor (L1) is connected with the +5V output voltage; a capacitor (C16) and a capacitor (C17) are connected in parallel between the 4 th pin of the chip (U2) and the power ground, one end of the capacitor (C16) which is connected with the capacitor (C17) in parallel is connected with the +5V output voltage, and the other end of the capacitor (C16) is grounded; the 3 rd pin of the chip (U3) is connected with the output voltage +5V of the chip (U2), one end of the capacitor (C18) which is connected with the capacitor (C19) in parallel is connected with the 3 rd pin of the chip (U3), and the other end of the capacitor (C18) is grounded; the 1 st pin of the chip (U3) is grounded, the 2 nd pin of the chip (U3) outputs +3.3V voltage, one end of the capacitor (C20) which is connected with the capacitor (C21) in parallel is connected with the 2 nd pin of the chip (U3), and the other end of the capacitor (C20) is grounded; the anode of the diode (D5) is connected to +3.3V of the power supply, and the cathode of the diode (D5) is grounded after passing through the resistor (R10); one end of the resistor (R1) is connected to the positive electrode +11.1V of the lithium battery, the other end of the resistor (R1) is connected with the resistor (R2) in series, the other end of the resistor (R2) is grounded, and the connection point of the resistor (R1) and the resistor (R2) is simultaneously connected with the 26 th pin of the singlechip (U1); the capacitor (C1) is connected with the resistor (R2) in parallel, the anode of the diode (D1) is connected with the cathode of the diode (D2), the cathode of the diode (D1) is connected with +3.3V of a power supply, and the anode of the diode (D2) is grounded; the electronic governor module circuit comprises an interface socket (DT1), an interface socket (DT2), an interface socket (DT3) and an interface socket (DT4), wherein the 1 st pin of the interface socket (DT1) is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket (DT1) is connected with the 136 nd pin of the single chip microcomputer (U1), and the 3 rd pin of the interface socket (DT1) is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket (DT2) is connected to the positive electrode of the lithium battery and is +11.1V, the 2 nd pin of the interface socket (DT2) is connected with the 137 th pin of the single chip microcomputer (U1), and the 3 rd pin of the interface socket (DT2) is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket (DT3) is connected to the positive electrode of the lithium battery and is +11.1V, the 2 nd pin of the interface socket (DT3) is connected with the 139 th pin of the single chip microcomputer (U1), and the 3 rd pin of the interface socket (DT3) is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket (DT4) is connected to the positive electrode of the lithium battery and is +11.1V, the 2 nd pin of the interface socket (DT4) is connected with the 140 th pin of the single chip microcomputer (U1), and the 3 rd pin of the interface socket (DT4) is connected to the negative electrode of the lithium battery.
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| CN110568853A (en) * | 2019-09-04 | 2019-12-13 | 浙江树人学院（浙江树人大学） | Four rotor unmanned aerial vehicle based on multisource information fusion |
| CN110568853B (en) * | 2019-09-04 | 2024-04-26 | 浙江树人学院（浙江树人大学） | Four rotor unmanned aerial vehicle based on multisource information fusion |
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