CN216647176U - STM 32-based quad-rotor unmanned aerial vehicle platform for teaching experiment - Google Patents
STM 32-based quad-rotor unmanned aerial vehicle platform for teaching experiment Download PDFInfo
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- CN216647176U CN216647176U CN202123093689.1U CN202123093689U CN216647176U CN 216647176 U CN216647176 U CN 216647176U CN 202123093689 U CN202123093689 U CN 202123093689U CN 216647176 U CN216647176 U CN 216647176U
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Abstract
The utility model discloses a STM 32-based quad-rotor unmanned aerial vehicle platform for teaching experiments, which comprises a main control module, a sensor module, an air pressure detection module, a wireless communication module, a data storage module and an upper computer, wherein the main control module is connected with the sensor module; the sensor module is used for acquiring the attitude angle data of the unmanned aerial vehicle, and the air pressure detection module is used for acquiring air pressure data; the wireless communication module is communicated with the handheld end or the ground end so as to acquire flight command data; the main control module receives flight command data, air pressure data and unmanned aerial vehicle attitude angle data to obtain inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data, the control data is transmitted to the motor module and used for controlling the flight state of the unmanned aerial vehicle, and the data storage module is used for corresponding data of the flight state; and the upper computer identifies the data in the data storage module. Unmanned aerial vehicle teaching experiment platform global design frame structure is simple, convenient to use.
Description
Technical Field
The utility model relates to the field of teaching equipment, in particular to a STM 32-based quad-rotor unmanned aerial vehicle platform for teaching experiments.
Background
Quad-rotor unmanned aerial vehicle has the advantages of small size, flexible flight, capability of taking off and landing vertically, hovering at a fixed point, convenience in carrying and the like as a new member of a family of small unmanned aerial vehicles, has wide application in the fields of military monitoring, disaster prediction, agricultural surveying and mapping, civil life and the like, and gradually becomes a hot topic of researchers and scholars. But unmanned aerial vehicle's cost is higher, the design preparation is complicated, and does not have relevant unmanned aerial vehicle teaching experiment platform to supply the student to design and experiment, and a lot of students to unmanned aerial vehicle interest all can be detained. More in the market are some unmanned aerial vehicle teaching platforms for in-service use, and do not have the unmanned aerial vehicle teaching platform for teaching experiment.
Disclosure of Invention
The utility model provides a STM 32-based quad-rotor unmanned aerial vehicle platform for teaching experiments, which aims to solve the technical problems that no relevant unmanned aerial vehicle teaching experiment platform is available and the like.
In order to achieve the purpose, the technical scheme of the utility model is as follows:
a four rotor unmanned aerial vehicle platforms based on STM32 for teaching experiments, includes: the device comprises a main control module, a sensor module, an air pressure detection module, a wireless communication module, a data storage module and an upper computer;
the sensor module is connected with the main control module and used for acquiring attitude angle data of the unmanned aerial vehicle and transmitting the attitude angle data to the main control module;
the air pressure detection module is connected with the main control module and used for collecting air pressure data and transmitting the air pressure data to the main control module;
the wireless communication module is connected with the main control module and is used for communicating with a handheld end or a ground end so as to acquire flight command data;
the main control module receives flight command data, air pressure data and unmanned aerial vehicle attitude angle data to obtain inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data, and the control data is transmitted to the motor module and used for controlling the flight state of the unmanned aerial vehicle;
the data storage module is used for storing inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data;
the upper computer identifies inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data in the data storage module and is used for communicating with the data storage module.
The system further comprises a wireless local area network optimization module used for returning flight data to the ground station in real time, wherein the flight data comprises inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data.
Further, still include the communication network module for establish unmanned aerial vehicle controller communication network.
The system further comprises a power management module for providing power for the main control module, the sensor module, the air pressure detection module, the wireless local area network optimization module, the communication network module and the wireless communication module.
Further, the power supply management system also comprises a topology module, wherein the topology module is used for ensuring the voltage stabilization of the power supply management module;
the topology module comprises a first capacitor CC1, a second capacitor CC2, a third capacitor CCf, a first resistor RR1, a second resistor RR2, an inductor LL, a diode DD1 and a voltage stabilizing module;
the first resistor RR1, the second resistor RR2 and the second capacitor CC2 are connected in series and then are connected with the third capacitor CCf, and the third capacitor CCf is connected with a pin of the voltage stabilizing module 3; the second resistor RR2 is connected to the pin of the regulator module 2, the diode DD1 is connected to the pin of the regulator module 1, and the first capacitor CC1 and the inductor LL are connected to the pins 4 and 5 of the regulator module.
Has the advantages that:
(1) four rotor unmanned aerial vehicle teaching experiment platform global design frame structure is simple, convenient to use.
(2) Interfaces such as SPI, IIC in the main control module are led out through pins, relevant teaching and use can be carried out by combining peripherals such as a sensor module, an air pressure detection module and a wireless communication module, and the device can be adapted to various vision-related peripheral interfaces such as OpenMV.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of a quad-rotor unmanned aerial vehicle teaching experiment platform of the utility model;
FIG. 2 is a comparison graph of teaching experiments using a quad-rotor unmanned aerial vehicle;
fig. 3 is a schematic diagram of a topology module.
Wherein, 1 is the unmanned aerial vehicle acceleration data of reality, and 2 are the unmanned aerial vehicle acceleration data that use this teaching experiment platform to obtain.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides a STM 32-based quad-rotor unmanned aerial vehicle platform for teaching experiments, which is semi-modularized and semi-integrated, as shown in FIG. 1, and is characterized by comprising a main control module, a sensor module, an air pressure detection module, a wireless communication module, a data storage module and an upper computer;
the sensor module is connected with the main control module and used for acquiring attitude angle data of the unmanned aerial vehicle and transmitting the attitude angle data to the main control module;
the air pressure detection module is connected with the main control module and used for collecting air pressure data and transmitting the air pressure data to the main control module;
the wireless communication module is connected with the main control module and is used for communicating with a handheld end or a ground end so as to acquire flight command data;
the main control module receives flight command data, air pressure data and unmanned aerial vehicle attitude angle data to obtain inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data, and the control data is transmitted to the motor module and used for controlling the flight state of the unmanned aerial vehicle, so that the reading and processing of measured data, the operation of attitude calculation and control algorithm, the control of an actuating mechanism and the like are realized;
the data storage module is used for storing inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data;
the upper computer identifies inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data in the data storage module, and is used for communicating with the data storage module so as to simulate the flight state of the unmanned aerial vehicle;
specifically, the data storage module is an SD card, the SD card is movably inserted into the unmanned aerial vehicle and the upper computer to store and read data, and the read inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data are subjected to matlab simulation in the upper computer to obtain a simulation diagram corresponding to the flight state of the unmanned aerial vehicle.
The operation of the attitude calculation and control algorithm of the main control module and the control program or function of the actuating mechanism are not innovated, and the common functions are only borrowed, so the embodiment is not further explained;
interfaces such as SPI, IIC and the like in the main control module are led out through pins, and relevant teaching and use are carried out by combining peripheral devices such as a sensor module, an air pressure detection module, a wireless communication module and the like, so that the main control module can be adapted to various vision-related peripheral device interfaces such as OpenMV and the like;
in a specific embodiment, an MCU model of STM32F405RGT6 of ST company is selected as a core of the main control module. The MCU of the Cortex-M4 kernel has 1M byte Flash memory, 192K byte SRAM memory, 168MHz main frequency, FPU arithmetic unit and DSP library support.
In a specific embodiment, the sensor module is an MPU9250 model IMU of Invensense corporation; the sensor module is an indispensable component of any aircraft and is responsible for measuring the current air attitude of the aircraft. The IMU device of the MPU9250 chip provides necessary triaxial angular velocity and triaxial acceleration data for the attitude calculation algorithm of the control unit, the accuracy and the stability after simulation can be improved by smaller measurement noise, the burden of the main control module can be reduced by shorter data reading time, and the data delay of the calculation result can be reduced to a certain extent, so that the control difficulty is reduced.
The experiment platform selects MPU9250 model IMU of Invensense as the core of the inertial sensing unit. The 3 mm square volume is convenient for high-density hardware design, the 20MHz SPI communication interface only needs about 30us for reading all measured data at one time, which is far less than about 700us needed by the IIC interface of 400kHz, and the communication burden is greatly reduced.
In a specific embodiment, the system further comprises a wireless local area network optimization module, which is an ESP8266 chip, and is configured to transmit a large amount of flight data, including but not limited to inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data, controller output data, and the like, back to the ground station in real time, so as to provide a data basis for parameter tuning.
In a specific embodiment, the unmanned aerial vehicle system further comprises a communication network module, wherein the communication network module is a CC2530 chip and is used for establishing an unmanned aerial vehicle controller communication network, and a plurality of unmanned aerial vehicles are used as routers or terminals to join in the network, so that centralized management of the plurality of unmanned aerial vehicles by the remote control terminal is realized.
In a specific embodiment, the system further comprises a power management module for providing power to the main control module, the sensor module, the air pressure detection module, the wireless local area network optimization module, the communication network module and the wireless communication module.
The wireless communication structure at the initial stage of testing is only used for debugging, and the data volume is small, so the NRF24L01 wireless IC of Nordic company is selected to build the wireless communication structure. In the middle period, the requirement of wireless backhaul of batch data makes wlan become the best solution, so ESP8266 wlan IC optimized wireless communication architecture from Ai-Thinker company is added. In the later period, the control coefficient of the wireless communication network is set, wireless data return is not needed any more, and only a small amount of command data is issued at low speed in a network form, so that the CC2530(Zigbee) wireless IC of TI company is used for establishing an Ad hoc Ad hoc network communication architecture.
In consideration of various influencing factors, the power management system further comprises a topology module, as shown in fig. 3, wherein the topology module is used for ensuring the voltage stabilization of the power management module;
the topology module comprises a first capacitor CC1, a second capacitor CC2, a third capacitor CCf, a first resistor RR1, a second resistor RR2, an inductor LL, a diode DD1 and a voltage stabilizing module;
the first resistor RR1, the second resistor RR2 and the second capacitor CC2 are connected in series and then are connected with the third capacitor CCf, and the third capacitor CCf is connected with a pin of the voltage stabilizing module 3; the second resistor RR2 is connected to the pin of the regulator module 2, the diode DD1 is connected to the pin of the regulator module 1, and the first capacitor CC1 and the inductor LL are connected to the pins 4 and 5 of the regulator module. The specific voltage stabilizing module selects an LMR62014S model Boost voltage stabilizer of TI company to provide a 5V power supply, and a topological module of a lithium battery pointing to an OpenMV module is established; a TPS63000-Q1 model Buck-Boost Buck-Boost voltage regulator of TI company is selected to provide a 3.3V power supply.
Fig. 2 is a comparison graph of the simulated acceleration data oscillogram of the unmanned aerial vehicle obtained by applying the utility model and the actual acceleration, 1 is an actual acceleration data oscillogram of the unmanned aerial vehicle, and 2 is an acceleration data oscillogram of the unmanned aerial vehicle obtained by applying the utility model, and the coincidence degree of the two data oscillograms is very high as can be seen from fig. 2, so that the quadrotor unmanned aerial vehicle teaching experiment platform is proved to be in line with the reality and can be used for teaching experiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A four rotor unmanned aerial vehicle platform for teaching experiment based on STM32, its characterized in that includes: the device comprises a main control module, a sensor module, an air pressure detection module, a wireless communication module, a data storage module and an upper computer;
the sensor module is connected with the main control module and used for acquiring attitude angle data of the unmanned aerial vehicle and transmitting the attitude angle data to the main control module;
the air pressure detection module is connected with the main control module and used for collecting air pressure data and transmitting the air pressure data to the main control module;
the wireless communication module is connected with the main control module and is used for communicating with a handheld end or a ground end so as to acquire flight command data;
the main control module receives flight command data, air pressure data and unmanned aerial vehicle attitude angle data to obtain inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data, and the controller output data is transmitted to the motor module and used for controlling the flight state of the unmanned aerial vehicle;
the data storage module is used for storing inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data;
the upper computer identifies inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data in the data storage module and is used for communicating with the data storage module.
2. A STM 32-based quad-rotor drone platform for teaching experiments according to claim 1, wherein: the system also comprises a wireless local area network optimization module which is used for returning flight data to the ground station in real time, wherein the flight data comprises inertial sensing unit data, auxiliary sensing unit data, attitude and inertial navigation data, system state quantity data and controller output data.
3. A STM 32-based quad-rotor drone platform for teaching experiments according to claim 2, wherein: the unmanned aerial vehicle controller communication network system further comprises a communication network module used for establishing the unmanned aerial vehicle controller communication network.
4. A STM 32-based quad-rotor drone platform for teaching experiments according to claim 3, wherein: the wireless local area network optimizing module is used for optimizing the wireless local area network, and the wireless local area network optimizing module is used for optimizing the wireless local area network and providing power for the main control module, the sensor module, the air pressure detecting module, the wireless local area network optimizing module, the communication network module and the wireless communication module.
5. A STM 32-based quad-rotor drone platform for teaching experiments according to claim 4, wherein: the power supply management module also comprises a topology module, wherein the topology module is used for ensuring the voltage stabilization of the power supply management module;
the topology module comprises a first capacitor CC1, a second capacitor CC2, a third capacitor CCf, a first resistor RR1, a second resistor RR2, an inductor LL, a diode DD1 and a voltage stabilizing module;
the first resistor RR1, the second resistor RR2 and the second capacitor CC2 are connected in series and then are connected with the third capacitor CCf, and the third capacitor CCf is connected with a pin 3 of the voltage stabilizing module; the second resistor RR2 is connected to the pin of the regulator module 2, the diode DD1 is connected to the pin of the regulator module 1, and the first capacitor CC1 and the inductor LL are connected to the pins 4 and 5 of the regulator module.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115035771A (en) * | 2022-06-27 | 2022-09-09 | 中国人民解放军国防科技大学 | Group control unmanned aerial vehicle communication experiment teaching system |
| CN115035771B (en) * | 2022-06-27 | 2024-05-17 | 中国人民解放军国防科技大学 | Group control unmanned aerial vehicle communication experiment teaching system |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115035771A (en) * | 2022-06-27 | 2022-09-09 | 中国人民解放军国防科技大学 | Group control unmanned aerial vehicle communication experiment teaching system |
| CN115035771B (en) * | 2022-06-27 | 2024-05-17 | 中国人民解放军国防科技大学 | Group control unmanned aerial vehicle communication experiment teaching system |
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