JP2007106269A - Unmanned helicopter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an unmanned helicopter provided with a GPS device capable of obtaining stable GPS data by eliminating the contamination of the GPS data from the antenna with noise, while reducing the dimension and weight of an automatic control box in the case of housing automatic flight control equipment in the automatic control box. <P>SOLUTION: An antenna integrated GPS receiver 81 formed by integrally providing the antenna for receiving GPS information with a GPS receiver for computing the received GPS information and transmitting it is provided in the top surface of a tail body. Preferably, main GPS devices 21 and 29 and a sub-GPS device lower in order of priority than the main GPS devices 21 and 29 are provided, and the sub-GPS device is structured of the antenna integrated GPS receiver 81. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an unmanned helicopter that performs a program flight by autonomous control, and more particularly to a GPS device that detects the position and the like of an unmanned helicopter.

  A helicopter is equipped with a movie camera and a still camera to take pictures of the sky. In recent years, these cameras are mounted on unmanned helicopters (for example, Patent Document 1) that are remotely operated from the ground by radio control or the like, or fly in a preprogrammed route (program flight), for example. Photography is taking place.

  One of the most important sensors for performing program flight by autonomous control is GPS. This is also clear from the fact that it is important to accurately detect the current position of the aircraft in order to fly accurately along the set route.

  The GPS (Global Positioning System) has become familiar with the recent spread of car navigation systems, but GPS is a GPS orbit with 24 GPS satellites (6 orbits). This is a system for obtaining a user's current location (latitude, longitude, altitude), speed, and time using information transmitted from each of the four.

However, since the radio wave used is a high frequency (1.5 GHz), it has properties almost similar to light, and there are metals, buildings, mountains, equipment, people, birds, etc. in the space from the GPS antenna to the satellite. In some cases, the position accuracy may deteriorate or radio waves may not be received. Also, because GPS satellites are operated by the US Department of Defense, their use may be restricted in the event of an emergency.

As shown in FIG. 9, a positioning system using GPS includes a single GPS 101 based on a single positioning 100 using only signals from GPS satellites, and a base station that receives GPS satellites on land and transmits the information wirelessly. There is a relative positioning 110 that receives a signal from a GPS satellite on the side of a moving body such as a car, a ship, an aircraft, and improves the positioning accuracy by receiving and calculating wireless data from the base station.

As a relative positioning method, a differential GPS (DGPS) 111 that can be used even at a distance from the base station, and a higher-precision real-time kinema are also available. Tech GPS (Real Time Kinematic GPS, hereinafter referred to as RTK-GPS) 112.

The single GPS 101 is composed of one GPS receiver and an antenna.
A GPS receiver measures the propagation time of a code carried on a radio wave (carrier wave) from a satellite and calculates a position. It is inexpensive and has a simple structure, so it can perform high-speed calculations for control. This is an advantage. However, since it depends on its own reception accuracy, the positioning accuracy includes an error of about 15 m to 100 m.

  The DGPS 111 is composed of a base station installed at a point where the land position is accurately measured and a mobile station installed in a moving body such as an automobile, a ship, and an aircraft. The base station measures the propagation time of the code carried on the radio wave (carrier wave) from the satellite, calculates the position, compares the existing position data with the position data obtained by the calculation, and calculates the GPS signal. The error rate and other correction data is transmitted to the mobile station on radio waves (FM broadcast waves are used in general car navigation systems, but there are various radio wave frequencies and formats), and the mobile stations receive from the satellite. Since the current position is determined by performing correction calculation using the correction data on the data determined by the single signal, the position can be detected with higher accuracy than the single GPS with a relatively inexpensive and simple configuration.

  The RTK-GPS 112 is not based on the measurement of the propagation time of the code carried on the carrier wave like the above-mentioned single GPS 101 or DGPS 111, but enables high-precision positioning at the cm level by measuring the phase of the radio wave (carrier wave). Technology.

The RTK-GPS 112 further includes a reference station in the configuration of the DGPS 111. The reference station receives data from the base station and simultaneously observes radio waves (carrier waves) from the satellite, measures the carrier phase integrated value, and transmits the phase data to the mobile station. In the mobile station, the phase data is calculated by continuously observing the radio wave (carrier wave) from the satellite, and the double phase difference is obtained based on the data transmitted from the reference station. As a result, the wavelength (19 cm) is used to identify the correct mobile station position from the group of lattice points for each wavelength distributed three-dimensionally after removing the error factor and to know the absolute distance to the satellite. Initialization is performed to determine the uncertainty of each. It is necessary to always receive 5 or more satellites for initialization, and if a signal is lost even for a moment, it is necessary to initialize again. In addition, once initialization is completed, the obtained position accuracy is always maintained as long as four or more GPS satellites are received. It becomes continuous and needs to be initialized again. There is no problem as long as the data from the base station cannot be received from time to time.

  Such a GPS device includes an antenna and a receiver that calculates the position, speed, and the like by performing arithmetic processing on GPS data received by the antenna, and transmits the result as a digital data signal. The GPS position data from this receiver is used for autonomous flight control.

  Conventionally, the antenna is provided on the upper surface of the tail body, and the receiver is housed inside the body together with other autonomous flight control devices, or housed in the autonomous control box and mounted on the side surface or the lower part of the body.

  However, if the GPS receiver is housed inside the airframe or the autonomous control box, space restrictions in the airframe or the autonomous control box become large, and the layout becomes complicated. In addition, the shape of the autonomous control box increases and the weight also increases.

  In general, noise is likely to be mixed in the cable from the antenna to the GPS receiver, and radio waves received by the antenna may be disturbed between the receiver and the receiver, and good GPS data may not be obtained stably. Therefore, conventionally, in consideration of such points, it has been necessary to tighten the shield for the cable and handle it carefully.

JP 2002-166893 A

  The present invention is based on the above prior art, and when the autonomous flight control device is housed in the autonomous control box, the autonomous control box is reduced in size and weight, and noise is mixed into the GPS reception data from the antenna. An object is to provide an unmanned helicopter equipped with a GPS device that can obtain stable GPS data without it.

  According to the first aspect of the present invention, an antenna-integrated GPS receiver in which an antenna that receives GPS information and a GPS receiver that performs arithmetic processing on the received GPS information and transmits a digital data signal is integrated on the upper surface of the tail body. An unmanned helicopter is provided.

  The invention of claim 2 is characterized in that, in the invention of claim 1, a main GPS device and a sub-GPS device having a lower priority than the main GPS device are provided, and the sub-GPS device is constituted by the antenna-integrated GPS receiver. To do.

  According to a third aspect of the invention, in the second aspect of the invention, the sub GPS device is provided closer to the main rotor shaft on the tail body than the main GPS device.

  According to a fourth aspect of the present invention, in the first aspect of the invention, the stay is fixed on the tail body, and the antenna integrated GPS receiver is provided on the stay via the seismic isolation damper, and the antenna integrated receiver is waterproofed. It is characterized by being covered with a case.

  According to the first aspect of the present invention, since the antenna-integrated GPS receiver is provided on the upper surface of the tail body, it is not necessary to provide a GPS receiver separately from the antenna in the fuselage or in the autonomous control box. The space inside the box can be afforded, and the degree of freedom in component layout is increased. In addition, when the autonomous control box is used, the autonomous control box can be reduced in size and weight.

  In addition, the use of an antenna-integrated GPS receiver eliminates the need for an antenna cable between the antenna and the GPS receiver that is likely to contain noise and requires careful handling. Up to the inside of the box, a digital data signal cable that is easy to handle and less affected by noise may be provided. This facilitates handling and shielding of the cable, and GPS data such as position and speed is always obtained in a stable state.

  According to the second aspect of the present invention, in order to prevent the GPS antenna from receiving poorly depending on the attitude and orientation of the airframe, the main GPS device having the main GPS antenna and a lower priority than this (for example, the performance is somewhat lower). When a sub-GPS device having a (low) sub-GPS antenna is provided, a sub-GPS device using a relatively small receiver with low priority can be formed as an antenna integrated receiver. Thus, in addition to the effect of the first aspect described above, highly reliable autonomous control using the GPS can always be performed reliably without decreasing the reliability of the GPS due to radio interference or the like.

  According to the invention of claim 3, since the GPS antenna of the main GPS device which is mainly used with high priority is provided at a position away from the main rotor shaft on the tail body, it is difficult to receive the electromagnetic shielding action by the main rotor shaft. Thus, the GPS function is stabilized.

  According to the fourth aspect of the present invention, the antenna-integrated GPS receiver can be stably supported via the seismic isolation damper on the tail body having a larger vibration than that in the seismic isolation autonomous control box, and the waterproof case Therefore, it is possible to prevent the influence of rainwater and suppress deterioration and deterioration of the device.

1 to 3 are a side view, a top view, and a front view, respectively, of an unmanned helicopter according to the present invention.
The unmanned helicopter 1 includes an airframe 4 including a main body 2 and a tail body 3. The main rotor 5 is connected to the upper part of the main body 2 via a rotor support portion 5b to a main shaft 5a that rotates by receiving rotational force from an engine (not shown). A tail rotor 6 is provided at the rear of the tail body 3. A radiator 7 is provided at the front portion of the main body 2, and skids 9 are provided at the left and right lower portions of the main body 2 in the substantially central portion of the airframe 4 via support legs 8.

  A muffler 61 provided in an exhaust pipe 60 connected to an engine (not shown) in the fuselage is disposed at the lower part of the fuselage above the front end of the skid 9.

  A control panel 10 is provided on the rear upper side of the main body 2, and an indicator lamp 11 is provided on the lower side. The control panel 10 displays check points before flight, self-check results, and the like. The display on the control panel 10 can also be confirmed at the ground station. The indicator lamp 11 displays a GPS control state, an abnormality warning of the aircraft, and the like.

  A camera device 12 containing an infrared camera (or a CCD camera) is attached via a camera head 13 below the front part of the main body 2. The camera attached to the camera pan 13 rotates about the pan axis (vertical axis) and can rotate about the tilt axis (horizontal axis). Thereby, the camera can photograph all directions on the ground from the sky through the front window 14.

  An autonomous control box 15 is mounted on the left side of the main body 2. The autonomous control box 15 accommodates a GPS control device necessary for autonomous control, a data communication device and an image communication device communicating with the ground, a control board incorporating a control program, and the like. Autonomous control is based on flight data such as the position and speed of the aircraft, aircraft data such as the attitude and orientation of the aircraft, and operating state data such as engine speed and throttle opening, etc. Is selected automatically or according to a command from the ground station, and optimal steering control is performed according to the driving state.

  The unmanned helicopter 1 can fly by such autonomous control and can be manually operated by a radio pilot based on the flight state and various operation state data transmitted from the aircraft while visually confirming the flight state. It is.

  An antenna support frame 16 is attached to the lower surface side of the main body 2. An inclined stay 17 is attached to the antenna support frame 16. A steering data antenna 18 is attached to the stay 17 in order to transmit and receive steering data (digital data) such as driving state data and flight command data necessary for the autonomous control described above to and from the ground station. The stay 17 is further provided with an image data antenna 19 for transmitting image data (analog data) captured by the camera device 12 to the ground station.

  An azimuth sensor 20 based on geomagnetism or the like is provided on the lower surface side of the tail body 3. The azimuth sensor 20 detects the orientation of the aircraft (east, west, south, and north). The main body 2 is further provided with a posture angle sensor (not shown) composed of a gyro device.

  A main GPS antenna 21 and an antenna-integrated GPS receiver 81 are provided on the upper surface side of the tail body 3. A radio steering receiving antenna 26 for receiving a command signal from the radio pilot is provided at the rear end of the tail body 3.

FIG. 4 is a block diagram of an unmanned helicopter according to a reference example of the present invention.
The camera device 12 includes an infrared camera (or CCD camera) 24 mounted on the camera head 13.

  In the autonomous control box 15, an image control device 25 that receives video data from the camera 24, an image transmitter 26 that transmits image data to the ground station, and data necessary for autonomous control are transmitted and received between the ground station. A data communication device 27, a control board 28 including a microcomputer storing an autonomous control program, a main GPS receiver 29 connected to the main GPS antenna 21, and a sub-GPS connected to the sub-GPS antenna 22. The receiver 30 is accommodated.

  The airframe 4 includes an image data antenna 19 for sending analog image data to the ground station and control data for transmitting and receiving digital control data to and from the ground station from the image transmitter 26 and the data communication device 27 in the autonomous control box 15, respectively. The antenna 18 is provided on the lower surface side of the main body 2 (FIG. 1) as described above. The direction sensor 20 is connected to the control board 28 in the autonomous control box 15. In the body 4, an attitude sensor 31 composed of a gyro device or the like is provided and connected to a control box 32. The control box 32 drives the five servo motors 33 in data communication with the control board 28 in the autonomous control box 15. The three servo motors 33 control the main rotor to control the movement of the airframe in the front-rear, left-right, and vertical directions together with the servo motor for engine control, and the servo motor for tail rotor control controls the rotation of the airframe.

  The main GPS antenna 21 is connected to the main GPS receiver 29 via the antenna cable 21b. The main GPS receiver 29 calculates the position and speed of the airframe based on the GPS information received by the main GPS antenna 21, and sends this data as a digital signal to the control board 28 via the signal cable 21c.

  Similarly, the sub GPS antenna 22 is connected to the sub GPS receiver 30 via the antenna cable 22b. The sub GPS receiver 30 calculates the position and speed of the airframe based on the GPS information received by the sub GPS antenna 22, and sends this data as a digital signal to the control board 28 via the signal cable 22c.

FIG. 5 is a block diagram of an unmanned helicopter according to an embodiment of the present invention compared with the reference example of FIG.
In the embodiment of the present invention, the sub GPS antenna 22 and the sub GPS receiver 30 are integrated, and the antenna integrated GPS receiver 81 is provided. This antenna-integrated GPS receiver 81 itself receives GPS information, calculates the position and speed of the aircraft based on the received GPS information, and controls this data as a digital signal via the signal cable 81b. Delivered to the substrate 28. Other configurations are the same as those of the reference example of FIG.

  In this embodiment, the main GPS device (the main GPS antenna 21 and the main GPS receiver 29) having high priority and excellent performance sends the reception data at the antenna 21 to the receiver 29 using the antenna cable 21b. . On the other hand, the low-priority sub GPS device (antenna integrated GPS receiver 81) connects the integrated antenna to the control board 28 in the autonomous control box 15 via the digital signal cable 81b without using an antenna cable. is doing. That is, there is no need for an antenna cable (cable 22b in FIG. 4) between the antenna and the GPS receiver that is easily mixed with noise and requires careful handling. From the antenna-integrated GPS receiver 81 to the inside of the autonomous control box 15, A digital signal cable 81b that is easy to handle and less affected by noise may be provided. This facilitates handling and shielding of the cable, and GPS data such as position and speed is always obtained in a stable state.

FIG. 6 is a block diagram of the ground station.
The ground station 53 that communicates with the unmanned helicopter 1 includes a GPS antenna 34 that receives signals from GPS satellites, a communication antenna 35 that performs data communication with the unmanned helicopter 1, and image data from the unmanned helicopter 1. The three image receiving antennas 36 are installed on the ground.

  The ground station 53 includes a data processing unit 37, a monitoring operation unit 38, and a power supply unit 39.

The data processing unit 37 includes a GPS receiver 40, a data communication device 41, an image receiver 42, and a communication board 43 connected to the receiver 40, the communication device 41, and the receiver 42.

The monitoring operation unit 38 includes a manual controller (wireless control unit) 44, a base controller 45 that performs camera operation and aircraft operation adjustment, a backup power source 46, a personal computer 47 connected to the base controller 45, and a personal computer. Monitor 48 and an image monitor 49 connected to the base controller 45 for displaying image data.

  The power supply unit 39 includes a generator 50 and a backup battery 52 connected to the generator 50 via a battery booster 51. The backup battery 52 is connected to the fuselage and supplies a voltage of 12 V when the generator 50 is not operating, such as during a check before flight. During the flight, a voltage of 100 V is supplied from the generator 50 to the data processing unit 37 and the monitoring operation unit 38.

  As described above, the main GPS antenna 21 and the antenna-integrated GPS receiver 81 are provided on the upper surface of the tail body 3 of the unmanned helicopter 1. A skid 9 is provided on the lower part of the machine body via support legs 8. In this example, an autonomous control box 15 is provided below the tail body 3 at the rear of the main body 2. By arranging the autonomous control box 15 at substantially the center of the rear part of the main body 2, the weight balance is stabilized.

FIG. 7 is a configuration diagram of an unmanned helicopter according to a reference example of the present invention. This reference example corresponds to the reference example of FIG.
A stay 21a is fixed on the upper surface of the tail body 3, and the main GPS antenna 21 is fixed thereon. As shown in FIG. 4, the main GPS antenna 21 is connected to the main GPS receiver 29 in the autonomous control box 15 via the antenna cable 21b.

  A stay 22a is fixed on the tail body 3 in front of the main GPS antenna 21, and the sub GPS antenna 22 is fixed thereon. The sub GPS antenna 22 is connected to the sub GPS receiver 30 in the autonomous control box 15 through the connector 80 by the antenna cable 22b.

FIG. 8 is a configuration diagram of the unmanned helicopter according to the embodiment of the present invention.
A stay 21a is fixed on the upper surface of the tail body 3, and the main GPS antenna 21 is fixed thereon. As shown in FIG. 5, the main GPS antenna 21 is connected to the main GPS receiver 29 in the autonomous control box 15 via the antenna cable 21b.

  A stay 81a is fixed on the tail body 3 in front of the main GPS antenna 21, and an antenna-integrated GPS receiver 81 is provided on the stay 81a via a seismic isolation damper 82 made of a wire spring or the like. The stay 81a is composed of, for example, two parallel metal plates or FRP plates. The antenna-integrated GPS receiver 81 is connected to a control board in the autonomous control box 15 mounted on the rear portion of the main body 2 through a connector 80 by a digital signal cable 81b. This antenna-integrated GPS receiver 81 is covered with a waterproof case 83 made of a non-conductive material.

  The present invention is applicable not only to unmanned helicopters but also to unmanned airplanes having wings.

The side view of the unmanned helicopter concerning the present invention. The top view of the unmanned helicopter of FIG. The front view of the unmanned helicopter of FIG. The block block diagram of the unmanned helicopter which concerns on the reference example of this invention. The block block diagram of the unmanned helicopter based on the Example of this invention. The block block diagram of a ground station. The block diagram of the unmanned helicopter which concerns on the reference example of this invention. The block diagram of the unmanned helicopter based on the Example of this invention. The explanatory view of GPS.

Explanation of symbols

1: Unmanned helicopter, 2: Main body, 3: Tail body, 4: Airframe, 5: Main rotor, 5a: Main shaft, 5b: Rotor support, 6: Tail rotor, 7: Radiator, 8: Support leg, 9 : Skid, 10: control panel, 11: indicator lamp, 12: camera device, 13: pan head, 14: window, 15: autonomous control box, 16: antenna support frame, 17: stay, 18: steering data antenna, 19 : Image data antenna, 20: Direction sensor, 21: Main GPS antenna, 21a: Stay, 21b: Antenna cable, 21c: Digital signal cable, 22: Sub GPS antenna, 22a: Stay, 22b: Antenna cable, 22c: Digital signal Cable, 23: Radio control receiving antenna, 24: Camera, 25: Image control device, 26: Image Transmitter 27: Data communication device 28: Control board 29: Main GPS receiver 30: Sub GPS receiver 31: Attitude sensor 32: Control box 33: Servo motor 34: GPS antenna 35: Communication antenna 36: Image receiving antenna 37: Data processing unit 38: Monitoring operation unit 39: Power supply unit 40: GPS receiver 41: Data communication unit 42: Image receiver 43: Communication board 44 : Radio controller, 45: Base controller, 46: Backup power supply, 47: Personal computer, 48: Monitor, 49: Image monitor, 50: Generator, 51: Battery booster, 52: Backup battery, 53: Ground station, 56: Stay support frame, 57: cushion material, 58, 59: bracket, 60: exhaust pipe, 61: muffler, 80: connector, 81: Antenna integrated GPS receiver, 81a: Stay, 81b: digital signal cables.

Claims (4)

  An antenna-integrated GPS receiver in which an antenna that receives GPS information and a GPS receiver that performs arithmetic processing on the received GPS information and transmits a digital data signal is provided on the upper surface of the tail body. Unmanned helicopter.   The unmanned helicopter according to claim 1, further comprising a main GPS device and a sub-GPS device having a lower priority than the main GPS device, wherein the sub-GPS device includes the antenna-integrated GPS receiver.   The unmanned helicopter according to claim 2, wherein the sub-GPS device is provided closer to the main rotor shaft on the tail body than the main GPS device. The stay is fixed on the tail body, an antenna integrated GPS receiver is provided on the stay via a seismic isolation damper, and the antenna integrated receiver is covered with a waterproof case. Unmanned helicopter.

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