WO2017084045A1 - 一种无人机飞行器、导航方法及系统。 - Google Patents

一种无人机飞行器、导航方法及系统。 Download PDF

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Publication number
WO2017084045A1
WO2017084045A1 PCT/CN2015/094914 CN2015094914W WO2017084045A1 WO 2017084045 A1 WO2017084045 A1 WO 2017084045A1 CN 2015094914 W CN2015094914 W CN 2015094914W WO 2017084045 A1 WO2017084045 A1 WO 2017084045A1
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WIPO (PCT)
Prior art keywords
module
controller
measurement module
data
navigation
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PCT/CN2015/094914
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English (en)
French (fr)
Inventor
于云
宋健宇
潘国秀
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201580065133.XA priority Critical patent/CN107110977A/zh
Priority to PCT/CN2015/094914 priority patent/WO2017084045A1/zh
Publication of WO2017084045A1 publication Critical patent/WO2017084045A1/zh
Priority to US15/979,919 priority patent/US10825347B2/en
Priority to US17/061,121 priority patent/US20210035456A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems

Definitions

  • the invention relates to the technical field of drones, in particular to a UAV aircraft, a UAV aircraft navigation method and system.
  • UAV Unmanned Aerial Vehicle
  • a non-manned aircraft that is controlled by radio remote control equipment and its own program control device. Because drones have many advantages such as low cost, good maneuverability, and ease of use, UAVs have been widely used in military and civilian applications.
  • the UAV aircraft has high requirements on the accuracy of navigation information.
  • the research on the UAV aircraft navigation system is a technical difficulty in the field of UAV technology.
  • the invention realizes the redundancy control mechanism of the UAV aircraft by using the redundant topology structure, so as to improve the navigation precision and thereby improve the flight reliability.
  • a UAV aircraft navigation system comprising:
  • the controller is connected to each measurement module;
  • the at least one measurement module includes redundant sensors and transmits data measured by the sensor to the controller.
  • the at least one measurement module performs data communication with the controller through a serial communication bus.
  • the at least one measurement module performs data communication with the controller through a CAN communication bus.
  • At least one of the measurement modules is an inertial measurement module.
  • the inertial measurement module comprises an acceleration sensor and/or a gyro sensor.
  • the inertial measurement module is embedded in the controller.
  • the inertial measurement module communicates with the controller through a serial interface.
  • the inertial measurement module communicates with other measurement modules in the system through a serial communication bus.
  • the inertial measurement module performs data communication with other measurement modules in the system through a CAN communication bus.
  • the at least one measurement module is a positioning module, and the positioning module is configured to calculate a geographic location of the unmanned aerial vehicle.
  • the positioning module comprises a positioning sensor.
  • the positioning sensor comprises any one or more of the following types of combinations:
  • GPS sensor or Beidou positioning sensor.
  • the at least one measurement module is a magnetic induction module, and the magnetic induction module is configured to sense geomagnetism to determine a direction.
  • the magnetic induction module comprises a compass sensor.
  • system further includes:
  • the vision unit is coupled to the controller.
  • the vision module is a monocular module or a binocular module.
  • system further includes:
  • the carrier signal difference module is coupled to the controller.
  • a UAV aircraft comprising:
  • the UAV aircraft navigation system provided by the first aspect of the present invention.
  • a method for navigating a UAV aircraft comprising:
  • the controller receives data transmitted by each measurement module; wherein the at least one measurement module includes a redundant sensor, and the data transmitted by the measurement module includes: data measured by each sensor or data measured by one of the sensors;
  • the controller navigates based on the received data.
  • the controller performs navigation according to the received data, including:
  • the controller selects data of the sensor with the best running state from the data transmitted by the at least one measuring module, and uses the selected data and the data transmitted by the other measuring module to navigate.
  • the controller performs navigation according to the received data, including:
  • the controller selects the data of the sensor with stable state of operation from the data transmitted by the measurement module containing the redundant sensor, and uses the selected data and the data transmitted by other measurement modules for navigation.
  • the data transmitted by the at least one measurement module includes: data of a sensor with an optimal running state, or data of a sensor with a most stable running state; and the step of the controller for navigating according to the received data is specifically:
  • the controller navigates directly based on the data transmitted by each module.
  • the controller performs data communication with the measurement module through a serial communication bus.
  • the controller performs data communication with the measurement module through a CAN communication bus.
  • the controller receives data transmitted by the inertial measurement module; the controller navigates according to data transmitted by the inertial measurement module.
  • the inertial measurement module comprises an acceleration sensor and/or a gyro sensor.
  • the controller performs data communication with the inertial measurement module through a serial interface.
  • the controller receives data transmitted by the positioning module; and the controller performs navigation according to data transmitted by the positioning module.
  • the positioning module comprises a positioning sensor.
  • the positioning sensor comprises any one or more of the following types of combinations:
  • GPS sensor or Beidou positioning sensor.
  • the controller receives data transmitted by the magnetic induction module
  • the controller navigates based on data transmitted by the magnetic sensing module.
  • the magnetic induction module comprises a compass sensor.
  • the controller receives data transmitted by the visual module
  • the controller navigates based on data transmitted by the vision module.
  • the vision module comprises a monocular module or a binocular module.
  • the controller receives data transmitted by the carrier signal difference module
  • the controller navigates according to data transmitted by the carrier signal differential module.
  • a UAV aircraft navigation system comprising:
  • Main navigation unit slave navigation unit and controller
  • the primary navigation unit includes: at least one measurement module;
  • the slave navigation unit includes: at least one measurement module; at least one measurement module of the slave navigation unit provides redundancy support for at least one of the master navigation units;
  • the controller is configured to navigate using a measurement module within the primary navigation unit and a measurement module within the navigation unit that provides redundancy support thereto.
  • the primary navigation unit and the measurement module in the slave navigation unit perform data communication with the controller through a serial communication bus.
  • the primary navigation unit and the measurement module in the slave navigation unit perform data communication through a CAN communication bus and a controller.
  • the controller is configured to select, from the primary navigation unit and the secondary navigation unit, a measurement module for each type of measurement module for navigation.
  • the controller is configured to select, from the main navigation unit and the slave navigation unit, a measurement module with an optimal running state for each type of measurement module for navigation.
  • the controller is configured to select, from the main navigation unit and the slave navigation unit, a measurement module with the most stable running state for each type of measurement module for navigation.
  • the main navigation unit comprises: an inertial measurement module, a positioning module, a magnetic induction module or a combination thereof;
  • the slave navigation unit then includes at least one inertial measurement module, at least one positioning module, at least one magnetic induction module, or a combination thereof.
  • the main navigation unit comprises: an inertial measurement module, a positioning module and a magnetic induction module;
  • the slave navigation unit includes two inertial measurement modules, two positioning modules, and two magnetic induction modules.
  • the main navigation unit comprises an inertial measurement module, and the inertial measurement module is embedded in the controller.
  • the slave navigation unit includes at least one inertial measurement module, and any one of the slave navigation units is embedded in the controller.
  • the inertial measurement module communicates with the controller through a serial interface.
  • the primary navigation unit includes a positioning module and a magnetic sensing module, and the positioning module and the magnetic sensing module are integrated in the same module.
  • the slave navigation unit includes N positioning modules and N magnetic sensing modules, and the positioning module and the magnetic sensing module in the slave navigation unit are respectively integrated in N modules in a pairwise manner, where the N is greater than Or an integer equal to 1.
  • system further includes:
  • the vision module being coupled to the controller.
  • the vision module is a monocular module or a binocular module.
  • system further includes:
  • the carrier signal difference module is coupled to the controller.
  • the system includes at least two measurement modules
  • the at least two measurement modules each comprise at least one sensor, the at least two measurement modules comprising sensors providing redundant support to each other.
  • a UAV aircraft comprising:
  • the UAV aircraft navigation system provided by the fourth aspect of the present invention.
  • a method for navigating a UAV aircraft comprising:
  • the controller receives the primary navigation unit and data measured by each measurement module transmitted from the navigation unit;
  • the controller uses the data of each measurement module received to navigate.
  • the step of the controller using the received data of each measurement module to navigate includes:
  • the controller analyzes the respective operating states of the same type of measurement modules according to the data of each measurement module
  • the controller selects a measurement module with the best running state for the same type of measurement module, and uses the data of the selected measurement module to navigate.
  • the step of the controller using the received data of each measurement module to navigate includes:
  • the controller analyzes the respective operating states of the same type of measurement modules according to the data of each measurement module
  • the controller selects one of the most stable measurement modules for the same type of measurement module and uses the data of the selected measurement module for navigation.
  • the method further includes:
  • the controller determines whether the measurement module is faulty according to the data measured by the same type of measurement module;
  • the controller determines that the measurement module has failed, it sends an alarm message.
  • the step of determining, by the controller, whether the measurement module is faulty according to the data measured by the measurement module of the same type includes:
  • the controller compares whether the difference between the data of one measurement module of the same type and the data of the other measurement module is greater than a preset threshold, and if so, determines that one measurement module of the same type has failed.
  • the controller performs data communication with the main navigation unit and the slave navigation unit via a serial communication bus.
  • the controller performs data communication with the main navigation unit and the slave navigation unit via a CAN communication bus.
  • the step of receiving, by the controller, the primary navigation unit and the data measured by each measurement module transmitted from the navigation unit comprises:
  • the controller receives data measured by an inertial measurement module, a positioning module and a magnetic induction module in the main navigation unit, and receives two inertial measurement modules, two positioning modules and two magnetic induction modules in the navigation unit. Measured data.
  • the controller performs data communication with the inertial measurement module through a serial interface.
  • the invention proposes a technical idea of implementing redundant navigation by using a redundant topology structure.
  • a technical solution of the above several aspects is proposed, and the technical core thereof is based on a redundant structure measurement module, and the controller according to the
  • the data provided by the measurement unit of the redundant structure is used for navigation, and more reliable data can be selected from the redundant data for navigation, thereby improving the navigation accuracy; and the UAV aircraft can improve the flight by using the navigation system.
  • Safety and reliability are used for navigation, and more reliable data can be selected from the redundant data for navigation, thereby improving the navigation accuracy; and the UAV aircraft can improve the flight by using the navigation system.
  • the existing UAV aircraft navigation systems generally use independent measurement modules for navigation, and most of the measurement modules used are microelectromechanical devices.
  • the microelectromechanical devices are safe due to their own materials and working principles. The level is not high, and it is easy to malfunction. Any measurement module in the navigation system sends a fault, which will directly affect the navigation accuracy. In severe cases, the drone will be out of control.
  • the navigation system with redundant structure proposed by the present invention can replace a measurement module with a redundant function to perform a fault, thereby ensuring the navigation system. Normal work, to avoid the problem of navigation failure causing the drone to get out of control, thereby improving the safety and navigation accuracy of the navigation system, and providing more reliable navigation information for the UAV aircraft.
  • Embodiment 1 is a structural diagram of Embodiment 1 of a UAV aircraft navigation system according to a first aspect of the present invention
  • Embodiment 2 is a structural diagram of Embodiment 2 of a UAV aircraft navigation system according to a first aspect of the present invention
  • Embodiment 3 is a structural diagram of Embodiment 3 of a UAV aircraft navigation system according to a first aspect of the present invention
  • Embodiment 4 is a structural diagram of Embodiment 4 of a UAV aircraft navigation system according to a first aspect of the present invention
  • Embodiment 5 is a structural diagram of Embodiment 5 of a UAV aircraft navigation system according to a first aspect of the present invention
  • Embodiment 6 is a structural diagram of Embodiment 6 of a UAV aircraft navigation system according to a first aspect of the present invention
  • Figure 7 is a structural view of a drone aircraft provided by a second aspect of the present invention.
  • FIG. 8 is a flow chart of a method for navigating a UAV aircraft according to a third aspect of the present invention.
  • Embodiment 9 is a structural diagram of Embodiment 1 of a UAV aircraft navigation system according to a fourth aspect of the present invention.
  • Embodiment 10 is a structural diagram of Embodiment 2 of a UAV aircraft navigation system according to a fourth aspect of the present invention.
  • Embodiment 3 of a UAV aircraft navigation system according to a fourth aspect of the present invention.
  • Embodiment 4 of a UAV aircraft navigation system according to a fourth aspect of the present invention.
  • Figure 13 is a structural view of a drone aircraft provided by a fifth aspect of the present invention.
  • FIG. 14 is a flow chart of a method for navigating a UAV aircraft according to a sixth aspect of the present invention.
  • FIG. 1 is a structural diagram of Embodiment 1 of a UAV navigation system provided by a first aspect of the present invention.
  • the UAV navigation system 100 includes:
  • a controller 101 and at least one measurement module (such as the measurement module 1, the measurement module 2, ..., the measurement module N, N is an integer greater than or equal to 1);
  • the controller is connected to each measurement module;
  • the at least one measurement module includes redundant sensors and transmits data measured by the sensor to the controller.
  • the measurement module includes redundant sensors and uses at least one serial communication interface to perform data communication with the controller to transmit data measured by the sensor. To the controller.
  • the measurement module 1 comprises two sensors 1 and 2 of the same type These two sensors provide redundant support to each other.
  • the at least two measurement modules each comprise at least one sensor, the at least two measurement modules comprising sensors providing redundant support to each other. That is, the at least two measurement modules each comprise at least one sensor, which are redundant sensors.
  • the sensor 1 in the measuring module 1 and the sensor 3 in the measuring module 2 are the same type of sensors, and the sensors in the two measuring modules are mutually redundant sensors.
  • the measurement module 1 comprises two sensors 1 and 2 of the same type, which provide redundant support to each other.
  • FIG. 1 only exemplarily shows two redundant sensors, but in the present invention, the number of redundant sensors is not limited, and may be two. Or multiple. For ease of description, the following two redundant sensors are taken as an example for explanation.
  • each type of measurement module is different, that is, the measurement module 1, the measurement module 2, the measurement module N, and the types of the N measurement modules are different.
  • the so-called different types refer to the different functions of the measurement module, and the physical meaning of the measured data is different.
  • the system provided by the invention comprises redundant sensors, and the redundant sensors can provide redundancy function support. When one fault or measurement data is inaccurate, it can be replaced by another redundant sensor, or two The measurement modules provide redundancy support between each other, so that the problem that the navigation failure causes the drone to run out of control can be avoided, thereby improving the safety and navigation accuracy of the navigation system, and providing more reliable navigation information for the UAV aircraft.
  • the present invention also provides the following alternative implementations:
  • the at least one measurement module performs data communication with the controller through a serial communication bus.
  • the at least one measurement module performs data communication with the controller through a CAN communication bus.
  • CAN Controller Area Network
  • the CAN (Controller Area Network) communication bus has the advantages of easy expansion, good anti-interference, and independent assignment of CAN ID, the entire navigation system has high scalability, good anti-interference, and various modules in the system. It is easy to switch with CAN ID.
  • Fig. 1 Based on the structure of the system shown in Fig. 1, the inventor further proposes a navigation system based on the principle of inertial navigation, which will be described below in conjunction with Fig. 2.
  • FIG. 2 is a structural diagram of Embodiment 2 of the UAV navigation system provided by the first aspect of the present invention. As shown in FIG. 2, the system includes:
  • controller 101 and at least one measurement module
  • the controller is connected to each measurement module;
  • the at least one measurement module is an inertial measurement module.
  • the inertial measurement module comprises an acceleration sensor and/or a redundant gyro sensor.
  • the inertial measurement module comprises a redundant acceleration sensor and/or a redundant gyro sensor.
  • the measurement module 1 is an inertial measurement module comprising two redundant acceleration sensors, such as an acceleration sensor 1 and an acceleration sensor 2.
  • the structure of the inertial measurement module in FIG. 2 is only an exemplary structure, and the structure of the inertial measurement module can also have the following two forms:
  • the inertial measurement module includes: a redundant gyro sensor.
  • the inertial measurement module includes: a redundant acceleration sensor and a redundant gyro sensor.
  • the acceleration sensor may be referred to as a three-axis accelerometer; or may be referred to as three single-axis accelerometers; the accelerometer is used to detect an acceleration signal of an object independent of three axes in the carrier coordinate system.
  • the above gyro sensor may be a three-axis gyroscope or three single-axis gyroscopes. The gyroscope is used to detect the angular velocity signal of the carrier relative to the navigation coordinate system.
  • the inertial measurement module in the prior art generally includes an acceleration sensor and a gyro sensor; and the present invention improves the structure of the inertial measurement module, proposes a new structure of the redundant sensor; combined with the existing inertia
  • the structure of the measuring module according to the first structure described above, the inertial measurement module of the present invention may include: an acceleration sensor and a redundant gyro sensor.
  • the inertial measurement module of the present invention may include: a redundant acceleration sensor and a gyro sensor.
  • the inertial measurement module is embedded in the controller.
  • the inertial measurement module communicates with the controller through a serial interface.
  • the inertial measurement module communicates with other measurement modules in the system through a serial communication bus.
  • the inertial measurement module performs data communication with other measurement modules in the system through a CAN communication bus.
  • the system provided by the present invention operates based on the principle of inertial navigation, and includes at least an inertial navigation module including redundant acceleration sensors and/or redundant gyro sensors.
  • the residual structure can further improve the working performance of the inertial navigation module, avoiding the problem that the navigation fault causes the drone to run out of control, thereby improving the safety and navigation accuracy of the navigation system, and providing more reliable navigation information for the UAV aircraft.
  • the inventor further proposes a navigation system based on the principle of positioning satellite navigation, which will be described below in conjunction with FIG.
  • FIG. 3 is a structural diagram of Embodiment 3 of the UAV navigation system provided by the first aspect of the present invention. As shown in FIG. 3, the system includes:
  • controller 101 and at least one measurement module
  • the controller is connected to each measurement module;
  • the at least one measurement module is a positioning module, and the positioning module is configured to calculate a geographic location of the unmanned aerial vehicle;
  • the positioning module comprises a positioning sensor.
  • the positioning module includes a redundant positioning sensor.
  • the positioning module refers to a module that can realize the positioning function by using the positioning system.
  • the GPS Global Position System
  • the Chinese Beidou system can also be utilized
  • the Galileo system can be utilized.
  • the positioning module is a GPS module that uses GPS sensors to measure data.
  • a GPS sensor refers to a sensor that measures the position and speed of a carrier in real time using a GPS system.
  • the GPS sensor is also called a GPS receiver, and receives GPS satellite transmission through an antenna. Signal, output current longitude, dimension and height information.
  • the positioning sensor comprises any one or more of the following types of combinations:
  • GPS sensor Beidou positioning sensor
  • Granus positioning sensor
  • the measurement module 2 is a positioning module that includes two redundant GPS sensors, such as a GPS sensor 1 and a GPS sensor 2.
  • the system provided by the present invention is based on the principle of positioning satellite navigation, and at least includes a positioning module, which can include redundant positioning sensors, and the redundant structure can further improve the working performance of the positioning module. Avoid the problem that the navigation fault causes the drone to get out of control, thereby improving the safety and navigation accuracy of the navigation system and providing more reliable navigation information for the UAV aircraft.
  • FIG. 4 is a structural diagram of Embodiment 4 of the UAV navigation system provided by the first aspect of the present invention. As shown in FIG. 4, the system includes:
  • the controller is connected to each measurement module;
  • the at least one measurement module is a magnetic induction module for sensing geomagnetism to determine a direction.
  • the magnetic induction module comprises a compass sensor.
  • the magnetic induction module comprises a redundant compass sensor.
  • the measurement module 3 is a magnetic induction module that includes two redundant compass transmissions. Sensors such as compass sensor 1 and compass sensor 2.
  • the system provided by the present invention is based on the Doppler navigation principle, and includes at least a magnetic induction module including a redundant compass sensor.
  • the redundant structure can further improve the performance of the magnetic induction module. Avoid the problem that the navigation fault causes the drone to get out of control, thereby improving the safety and navigation accuracy of the navigation system and providing more reliable navigation information for the UAV aircraft.
  • the measurement module 1 is an inertial measurement module
  • the measurement module 2 is a positioning module
  • the measurement module 3 is a magnetic induction module, which is merely for convenience of describing various embodiments.
  • the difference, in the specific implementation, can limit any one of the modules in the system as an inertial measurement module, a positioning module or a magnetic induction module.
  • FIG. 5 is a structural diagram of Embodiment 5 of the UAV navigation system provided by the first aspect of the present invention. As shown in FIG. 5, the system includes:
  • controller 101 and at least two measurement modules
  • the controller is connected to each measurement module;
  • the at least two measurement modules include: any two or three combinations of an inertial measurement module, a positioning module, and a magnetic induction module;
  • At least one of the at least two measurement modules includes a redundant sensor and transmits data measured by the sensor to the controller.
  • the inertial measurement module includes an acceleration sensor and/or a gyro sensor, the inertial measurement module is embedded in the controller; and/or,
  • the positioning module includes a redundant positioning sensor; the positioning sensor includes any one or more of the following types: a GPS sensor or a Beidou positioning sensor; and/or,
  • the magnetic induction module includes a redundant compass sensor.
  • system further includes:
  • the vision module is a monocular module or a binocular module.
  • the vision module can be regarded as a redundancy module of the inertial measurement module.
  • the vision module can work instead of the inertial measurement module, and the controller uses the data measured by the vision module to navigate, Ensure that the system navigates properly.
  • system further includes:
  • the carrier signal difference module is coupled to the controller.
  • the carrier signal differential module can be regarded as a redundancy module of the positioning module.
  • the carrier signal differential module can work instead of the positioning module, and the controller uses the data measured by the carrier signal differential module to perform Navigation to ensure proper navigation of the system.
  • the navigation system based on the integrated navigation technology provided by the invention utilizes the advantages of each navigation technology to complement its performance, and can obtain higher navigation performance than the single navigation technology.
  • at least one of the measurement modules adopts the measurement module. Redundant structure to enhance the performance of the measurement module, provide more reliable data for the entire navigation system, and improve navigation accuracy.
  • FIG. 6 is a structural diagram of Embodiment 6 of the UAV navigation system provided by the first aspect of the present invention. As shown in FIG. 6, the system includes:
  • One controller 101 three GPSs, three compasses, and three IMUs (Inertial Measurement Units);
  • one IMU is embedded in the controller, and the other two IMUs exist independently in different measurement modules.
  • the GPS module and the compass module are integrated in the same module in pairs.
  • FIG. 6 is merely an exemplary structure, which does not limit the specific structure of the measurement module in the system.
  • the IMU may not be embedded in the controller, but exist independently in a certain measurement module; of course, each IMU may exist independently in different measurement modules, or may be integrated with one or more other IMUs. In the same measurement module.
  • these measurement modules provide redundancy support between each other.
  • multiple IMUs are integrated into one measurement module, multiple IMUs within the measurement module provide redundancy support to each other.
  • GPS and compass can also exist independently in different measurement modules and do not have to be integrated in the same module.
  • the inventors further propose an unmanned aerial vehicle equipped with the above-described navigation system provided by the first aspect of the present invention.
  • an unmanned aerial vehicle equipped with the above-described navigation system provided by the first aspect of the present invention.
  • the UAV aircraft includes:
  • a flight platform, a power unit, an electrical system, a mission device, and a navigation device provided by the fourth aspect above.
  • a navigation device For the structure of the navigation system, refer to FIG. 1 to FIG. 6 above and the content described above, and details are not described herein again.
  • FIG. 8 is a flowchart of a method for navigating a UAV aircraft according to a third aspect of the present invention, the method comprising:
  • Step 801 The controller receives data transmitted by each measurement module.
  • the at least one measurement module includes a redundant sensor, and the data transmitted by the measurement module includes: data measured by each sensor or data measured by one of the sensors;
  • Step 802 The controller performs navigation according to the received data.
  • step 802 when the data transmitted by the at least one measurement module includes data measured by each sensor, step 802 has the following two alternative implementations:
  • the controller selects data of the sensor with the best running state from the data transmitted by the at least one measurement module, and uses the selected data and the data transmitted by other measurement modules to navigate.
  • the controller selects data of the sensor with stable state of operation from the data transmitted by the measurement module including the redundant sensor, and uses the selected data and data transmitted by other measurement modules to navigate.
  • the data transmitted by the at least one measurement module includes: data of a sensor with an optimal running state, or data of a sensor with the most stable operating state; and step 702 is specifically:
  • the controller navigates directly based on the data transmitted by each module.
  • the controller performs data communication with the measurement module through a serial communication bus.
  • the controller performs the CAN communication bus and the measurement module. data communication.
  • the controller receives data transmitted by the inertial measurement module; the controller navigates according to data transmitted by the inertial measurement module.
  • the inertial measurement module includes an acceleration sensor and/or a gyro sensor.
  • the controller performs data communication with the inertial measurement module through a serial interface.
  • the controller receives data transmitted by the positioning module
  • the controller navigates according to data transmitted by the positioning module.
  • the positioning module includes a positioning sensor.
  • the positioning sensor includes any one or more of the following types of combinations:
  • GPS sensor or Beidou positioning sensor.
  • the controller receives data transmitted by the magnetic induction module
  • the controller navigates based on data transmitted by the magnetic sensing module.
  • the magnetic induction module comprises a compass sensor.
  • the controller receives data transmitted by the visual module
  • the controller navigates based on data transmitted by the vision module.
  • the visual module includes a monocular module or a binocular module.
  • the controller receives data transmitted by the carrier signal difference module
  • the controller navigates according to data transmitted by the carrier signal differential module.
  • the controller receives data transmitted by each measurement module of the navigation system, and uses the received data for navigation, since at least one measurement module includes redundant sensors, and redundant sensors can provide accurate controllers. Reliable data so that the controller can provide reliable navigation information for the UAV.
  • FIG. 9 is a schematic diagram of a UAV aircraft navigation system according to a fourth aspect of the present invention.
  • 1 is a structural diagram, as shown in FIG. 9, the UAV navigation system 200 includes:
  • Main navigation unit 201 Main navigation unit 201, slave navigation unit 202 and controller 203;
  • the main navigation unit includes: at least one measurement module; (such as the measurement module 1, the measurement module 2, ... the measurement module N, wherein N is greater than or equal to 1);
  • the slave navigation unit includes: at least one measurement module; (such as the measurement module 1, the measurement module 2, ... the measurement module M shown in FIG. 9 , where M is greater than or equal to 1); at least one of the slave navigation units
  • the measurement module provides redundancy support for at least one of the primary navigation units;
  • the controller is configured to navigate using a measurement module within the primary navigation unit and a measurement module within the navigation unit that provides redundancy support thereto.
  • the internal structure of the navigation unit depends on the internal structure of the main navigation unit, which mainly provides redundancy support for the measurement module in the main navigation unit; the type of measurement module included in the navigation unit should be The type of at least one measurement module included in the main navigation unit is the same.
  • the number of measurement modules included from the inside of the navigation unit can be set according to requirements, and is not limited to the structure of the main navigation unit. That is, there is no relationship between the number of modules in the main navigation unit and the number of modules in the navigation unit, that is, there is no relationship between the value N and the value M, and there is no restriction on each other.
  • the primary navigation unit and the measurement module in the slave navigation unit perform data communication with the controller through a serial communication bus.
  • the primary navigation unit and the measurement module in the slave navigation unit perform data communication through a CAN communication bus and a controller.
  • the controller is configured to select, from the primary navigation unit and the secondary navigation unit, a measurement module for each type of measurement module for navigation.
  • the controller is configured to select, from the main navigation unit and the slave navigation unit, a measurement module with an optimal running state for each type of measurement module for navigation.
  • the controller is configured to select, from the main navigation unit and the slave navigation unit, a measurement module with the most stable running state for each type of measurement module for navigation.
  • FIG. 10 is a fourth aspect of the present invention.
  • Main navigation unit slave navigation unit and controller
  • the main navigation unit comprises: an inertial measurement module, a positioning module, a magnetic induction module or a combination thereof;
  • the slave navigation unit then includes at least one inertial measurement module, at least one positioning module, at least one magnetic induction module, or a combination thereof.
  • the positioning module here refers to a module capable of realizing a positioning function by using a positioning system.
  • a GPS Global Position System
  • a Beijing Beidou system a Galileo system, or the like
  • the positioning module may be specifically a GPS module.
  • the GPS module refers to a module that measures the position and speed of the carrier in real time by using a GPS system.
  • the GPS module is also called a GPS receiver, and receives signals transmitted by GPS satellites through an antenna to output current longitude. , dimension and height information.
  • the magnetic induction module here can be a compass module.
  • the slave navigation unit when the main navigation unit includes a single measurement module, the slave navigation unit is the same as the module of the main navigation unit, and provides redundancy support for the measurement module in the main navigation unit.
  • Such a system is a navigation system based on a single navigation technology. While taking advantage of the single navigation technology, it also enhances the reliability of the system through the redundant structure of the master-slave unit to improve navigation performance.
  • FIG. 11 is an unmanned object provided by the fourth aspect of the present invention.
  • the structural diagram of Embodiment 3 of the aircraft navigation system, as shown in FIG. 11, the system includes:
  • Main navigation unit slave navigation unit and controller
  • the main navigation unit comprises: an inertial measurement module, a positioning module and a magnetic induction module;
  • the slave navigation unit includes two inertial measurement modules, two positioning modules, and two magnetic induction modules.
  • the present invention also provides the following optional structures.
  • FIG. 12 a redundant topology diagram of a navigation system is illustrated, and these optional structural forms are explained.
  • the GPS module and the compass module are used as an example to represent the positioning module and the magnetic induction module, and other modules may be used in specific applications.
  • icon 1 refers to a GPS module
  • icon 2 refers to a compass module
  • icon 3 refers to a CAN bus
  • icon 4 refers to an IMU (Inertial Measurement Unit)
  • icon 5 refers to a VO (monocular) Module
  • icon 6 refers to the RTK (Carrier Signal Differential Module) module.
  • Figure 11 shows that
  • the primary navigation unit includes an inertial measurement module that is embedded in the controller.
  • the main navigation unit adopts such a structure, on the one hand, it can be well compatible with the chips in the existing navigation system, so that the navigation system of the invention has low production cost and high production efficiency, on the other hand, the integration space can be saved, and the navigation system can be simplified. structure.
  • the slave navigation unit includes at least one inertial measurement module, and any one of the slave navigation units is embedded in the controller.
  • the inertial measurement module may also be included in the navigation unit, either the inertial measurement module of the main navigation unit or the inertial measurement module of the navigation unit embeds any inertial measurement module in the controller.
  • the structure can be compatible with the chips in the existing navigation system, so that the navigation system of the invention has low production cost and high production efficiency, and can save integration space and simplify the structure of the navigation system.
  • the inertial measurement module communicates with the controller through a serial interface.
  • the GPS module and the compass module in the main navigation unit may be arranged in the form of independent modules; however, in order to rationalize the structure of the layout navigation system, the GPS module and the compass module in the main navigation unit may be integrated in In a module.
  • the slave navigation unit also includes the GPS module and the compass module, the GPS module and the compass module in the navigation unit can also be integrated into one module.
  • the main navigation unit includes a GPS module and a compass module
  • the GPS module and the compass module are integrated in one module.
  • the GPS module and the compass module in the main navigation unit shown in FIG. 12 are integrated in the same module.
  • the slave navigation unit when the slave navigation unit includes N GPS modules and N compass modules, the GPS module and the compass module in the slave navigation unit are respectively integrated into N modules in a pairwise manner, N is an integer greater than or equal to 1.
  • the GPS module and the compass module in the slave navigation unit shown in FIG. 12 are integrated in the same module in a pairwise manner.
  • system further includes:
  • the vision module being coupled to the controller.
  • the vision module is a monocular module or a binocular module.
  • system further includes:
  • the carrier signal difference module is coupled to the controller.
  • the inventors further propose an unmanned aerial vehicle equipped with the above-described navigation system provided by the fourth aspect of the present invention.
  • an unmanned aerial vehicle equipped with the above-described navigation system provided by the fourth aspect of the present invention.
  • the UAV aircraft includes:
  • a flight platform, a power unit, an electrical system, a mission device, and a navigation device provided by the fourth aspect above.
  • a navigation device For the structure of the navigation system, refer to FIG. 9 to FIG. 12 above and the content described above, and details are not described herein again.
  • FIG. 14 is a flowchart of a method for navigating a UAV aircraft according to a sixth aspect of the present invention, the method comprising:
  • Step 1401 The controller receives the primary navigation unit and data measured by each measurement module transmitted from the navigation unit;
  • Step 1402 The controller uses the received data of each measurement module for navigation.
  • the step of the controller using the received data of each measurement module to navigate includes:
  • the controller analyzes the respective operating states of the same type of measurement modules according to the data of each measurement module
  • the controller selects a measurement module with the best running state for the same type of measurement module, and uses the data of the selected measurement module to navigate.
  • the step of the controller using the received data of each measurement module to navigate includes:
  • the controller analyzes the respective operating states of the same type of measurement modules according to the data of each measurement module
  • the controller selects one of the most stable measurement modules for the same type of measurement module and uses the data of the selected measurement module for navigation.
  • the method further includes:
  • the controller determines whether the measurement module is faulty according to the data measured by the same type of measurement module;
  • the controller determines that the measurement module has failed, it sends an alarm message.
  • the step of determining, by the controller, whether the measurement module is faulty according to the data measured by the measurement module of the same type includes:
  • the controller compares whether the difference between the data of one measurement module of the same type and the data of the other measurement module is greater than a preset threshold, and if so, determines that one measurement module of the same type has failed.
  • the controller performs data communication with the main navigation unit and the slave navigation unit via a serial communication bus.
  • the controller performs data communication with the main navigation unit and the slave navigation unit via a CAN communication bus.
  • the step of receiving, by the controller, the primary navigation unit and the data measured by each measurement module transmitted from the navigation unit comprises:
  • the controller receives data measured by an inertial measurement module, a positioning module and a magnetic induction module in the main navigation unit, and receives two inertial measurement modules, two positioning modules and two magnetic induction modules in the navigation unit. Measured data.
  • the controller performs data communication with the inertial measurement module through a serial interface.
  • the controller receives the data transmitted by the master-slave navigation unit in the navigation system; since the measurement module in the navigation unit provides redundancy support for the measurement module in the navigation unit, even the main navigation unit The internal measurement module is faulty or its measurement data is inaccurate.
  • the navigation unit can also ensure the normal transmission of data and provide valid data for the controller. Navigation based on received data provides reliable navigation information for drone aircraft.

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Abstract

一种无人机飞行器、导航方法及系统，其利用冗余拓扑结构实现冗余导航的技术思路，在该技术思路的基础上提出了利用冗余结构的测量模块实现冗余导航，这种结构的导航系统在工作时，利用冗余结构的测量模块能够保证测量数据的可靠性，进而为控制器提供对导航有价值的数据，最终控制器利用冗余结构的测量模块传送的数据进行导航，就能够保证导航精度；另外，无人机飞行器利用这种的导航系统能够提高飞行的安全性和可靠性。

Description

一种无人机飞行器、导航方法及系统。 技术领域
本发明涉及无人机技术领域，具体涉及一种无人机飞行器、一种无人机飞行器导航方法及系统。
背景技术
无人驾驶飞机(Unmanned Aerial Vehicle，UAV)，简称无人机，其是利用无线电遥控设备和自备的程序控制装置操控的不载人飞机。由于无人机具有成本低、机动性能好、使用方便等众多优点，因此，无人机在军用、民用等多个领域已经被广泛使用。
无人机飞行器对导航信息的精准性要求较高，目前关于无人机飞行器导航系统的研究是无人机技术领域的技术难点。
发明内容
本发明利用冗余拓扑结构实现了无人机飞行器冗余控制机制，以提高导航精度，进而提高飞行可靠性。
在本发明第一方面，提供了一种无人机飞行器导航系统，该系统包括：
一个控制器和至少一个测量模块；
所述控制器与每个测量模块连接；
其中，所述至少一个测量模块包括冗余的传感器，并将传感器测量的数据传送至控制器。
可选的，所述至少一个测量模块通过串行通信总线与控制器进行数据通信。
可选的，所述至少一个测量模块通过CAN通信总线与控制器进行数据通信。
可选的，至少有一个测量模块是惯性测量模块。
可选的，所述惯性测量模块包括加速度传感器和/或陀螺仪传感器。
可选的，所述惯性测量模块嵌入在所述控制器中。
可选的，所述惯性测量模块通过串行接口与控制器进行数据通信。
可选的，所述惯性测量模块通过串行通信总线与系统中的其他测量模块进行数据通信。
可选的，所述惯性测量模块通过CAN通信总线与系统中的其他测量模块进行数据通信。
可选的，所述至少一个测量模块是定位模块，该定位模块用于计算无人机飞行器的地理位置。
可选的，所述定位模块包括定位传感器。
可选的，所述定位传感器包括以下任意一种或者多种类型组合：
GPS传感器或北斗定位传感器。
可选的，所述至少一个测量模块是磁感应模块，该磁感应模块用于感应地磁以判断方向。
可选的，所述磁感应模块包括罗盘传感器。
可选的，所述系统还包括：
视觉模块；所述视觉单元与所述控制器连接。
可选的，所述视觉模块是单目模块或双目模块。
可选的，所述系统还包括：
载波信号差分模块；所述载波信号差分模块与所述控制器连接。
在本发明第二方面提供了一种无人机飞行器，所述无人机飞行器包括：
本发明第一方面提供的无人机飞行器导航系统。
在本发明第三方面提供了一种无人机飞行器导航方法，所述方法包括：
控制器接收每个测量模块传送的数据；其中，至少一个测量模块包括冗余的传感器，该测量模块传送的数据包括：每个传感器测量的数据或者其中一个传感器测量的数据；
控制器根据接收的数据进行导航。
可选的，当所述至少一个测量模块传送的数据包括每个传感器测量的数据时，则所述控制器根据接收的数据进行导航的步骤，包括：
控制器从所述至少一个测量模块传送的数据中，选择运行状态最优的传感器的数据，利用选择的数据和其他测量模块传送的数据进行导航。
可选的，当所述至少一个测量模块传送的数据包括每个传感器测量的数 据时，则所述控制器根据接收的数据进行导航的步骤，包括：
控制器从包含冗余的传感器的测量模块传送的数据中，选择运行状态稳定的传感器的数据，利用选择的数据和其他测量模块传送的数据进行导航。
可选的，所述至少一个测量模块传送的数据包括：运行状态最优的传感器的数据，或者运行状态最稳定的传感器的数据；则所述控制器根据接收的数据进行导航的步骤具体是：
所述控制器根据每个模块传送的数据直接进行导航。
可选的，所述控制器通过串行通信总线与测量模块进行数据通信。
可选的，所述控制器通过CAN通信总线与测量模块进行数据通信。
可选的，所述控制器接收惯性测量模块传送的数据；所述控制器根据惯性测量模块传送的数据进行导航。
可选的，所述惯性测量模块包括加速度传感器和/或陀螺仪传感器。
可选的，所述控制器通过串行接口与所述惯性测量模块进行数据通信。
可选的，所述控制器接收定位模块传送的数据；所述控制器根据定位模块传送的数据进行导航。
可选的，所述定位模块包括定位传感器。
可选的，所述定位传感器包括以下任意一种或者多种类型组合：
GPS传感器或北斗定位传感器。
可选的，所述控制器接收磁感应模块传送的数据；
所述控制器根据磁感应模块传送的数据进行导航。
可选的，所述磁感应模块包括罗盘传感器。
可选的，所述控制器接收视觉模块传送的数据；
所述控制器根据视觉模块传送的数据进行导航。
可选的，所述视觉模块包括单目模块或双目模块。
可选的，所述控制器接收载波信号差分模块传送的数据；
所述控制器根据载波信号差分模块传送的数据进行导航。
在本发明第四方面提供了一种无人机飞行器导航系统，所述系统包括：
主导航单元、从导航单元和控制器；
所述主导航单元包括：至少一个测量模块；
所述从导航单元包括：至少一个测量模块；所述从导航单元中的至少一个测量模块为所述主导航单元中的至少一个测量模块提供冗余支持；
所述控制器用于利用所述主导航单元内的测量模块和为其提供冗余支持的从导航单元内的测量模块进行导航。
可选的，所述主导航单元和所述从导航单元中的测量模块通过串行通信总线与控制器进行数据通信。
可选的，所述主导航单元和所述从导航单元中的测量模块通过CAN通信总线和控制器进行数据通信。
可选的，所述控制器用于从所述主导航单元和所述从导航单元中，针对每种类型的测量模块选择一个测量模块用以导航。
可选的，所述控制器用于从所述主导航单元和所述从导航单元中，针对每种类型的测量模块选择运行状态最优的测量模块用以导航。
可选的，所述控制器用于从所述主导航单元和所述从导航单元中，针对每种类型的测量模块选择运行状态最稳定的测量模块用以导航。
可选的，所述主导航单元包括：一个惯性测量模块、一个定位模块、一个磁感应模块或其组合；
则所述从导航单元包括：至少一个惯性测量模块、至少一个定位模块、至少一个磁感应模块或其组合。
可选的，所述主导航单元包括：一个惯性测量模块、一个定位模块和一个磁感应模块；
所述从导航单元包括：两个惯性测量模块、两个定位模块和两个磁感应模块。
可选的，所述主导航单元包括惯性测量模块，所述惯性测量模块嵌入在控制器中。
可选的，所述从导航单元包括至少一个惯性测量模块，所述从导航单元中的任意一个惯性测量模块嵌入在控制器中。
可选的，所述惯性测量模块通过串行接口与控制器进行数据通信。
可选的，所述主导航单元包括定位模块和磁感应模块，所述定位模块和所述磁感应模块集成在同一模块中。
可选的，所述从导航单元包括N个定位模块和N个磁感应模块，所述从导航单元中的定位模块和磁感应模块以成对的方式分别集成在N个模块中，所述N为大于或等于1的整数。
可选的，所述系统还包括：
视觉模块，所述视觉模块与所述控制器连接。
可选的，所述视觉模块是单目模块或双目模块。
可选的，所述系统还包括：
载波信号差分模块；所述载波信号差分模块与所述控制器连接。
可选的，当所述系统包括至少两个测量模块时，
所述至少两个测量模块各自包含至少一个传感器，所述至少两个测量模块包含的传感器互相提供冗余支持。
在本发明第五方面提供了一种无人机飞行器，所述无人机飞行器包括：
本发明第四方面提供的无人机飞行器导航系统。
在本发明第六方面提供了一种无人机飞行器导航方法，所述方法包括：
控制器接收主导航单元和从导航单元传送的每个测量模块测量的数据；
控制器利用接收到的每个测量模块的数据进行导航。
可选的，所述控制器利用接收到的每个测量模块的数据进行导航的步骤包括：
控制器根据每个测量模块的数据分析同一类型的测量模块各自的运行状态；
控制器针对同一类型的测量模块选择一个运行状态最优的测量模块，利用所选择的测量模块的数据进行导航。
可选的，所述控制器利用接收到的每个测量模块的数据进行导航的步骤包括：
控制器根据每个测量模块的数据分析同一类型的测量模块各自的运行状态；
控制器针对同一类型的测量模块选择一个运行状态最稳定的测量模块，利用所选择的测量模块的数据进行导航。
可选的，所述方法还包括：
控制器根据同一类型的测量模块测量的数据，判断测量模块是否发生故障；
当控制器判断测量模块发生故障时，则发出告警信息。
可选的，所述控制器根据同一类型的测量模块测量的数据，判断测量模块是否发生故障的步骤，包括：
控制器比较同一类型的一个测量模块的数据与其他测量模块的数据之间的差值是否大于预设阈值，如果是，判断出所述同一类型的一个测量模块发生故障。
可选的，所述控制器通过串行通信总线与所述主导航单元和所述从导航单元进行数据通信。
可选的，所述控制器通过CAN通信总线与所述主导航单元和所述从导航单元进行数据通信。
可选的，所述控制器接收主导航单元和从导航单元传送的每个测量模块测量的数据的步骤，包括：
所述控制器接收主导航单元内的一个惯性测量模块、一个定位模块和一个磁感应模块各自测量的数据，以及接收从导航单元内的两个惯性测量模块、两个定位模块和两个磁感应模块各自测量的数据。
可选的，所述控制器通过串行接口与惯性测量模块进行数据通信。
与现有技术相比，本发明提供的技术方案具有如下有益效果：
本发明提出了利用冗余拓扑结构实现冗余导航的技术思路，在该技术思路的基础上提出了上述几个方面的技术方案，其技术核心就是基于冗余结构测量模块，控制器根据这种冗余结构的测量单元提供的数据来进行导航，从冗余的数据中能够选择较可靠的数据来进行导航，从而能够提高导航精度；而无人机飞行器利用这种的导航系统能够提高飞行的安全性和可靠性。
而现有的无人机飞行器导航系统一般都是采用独立的测量模块来进行导航，而其采用的测量模块多数为微机电器件，微机电器件由于受到其自身材料和工作原理的限制，其安全级别不高，也容易发生故障，导航系统中任意一个测量模块发送故障，都会直接影响导航精度，严重时会引发无人机失控的问题。
因此，与现有技术相比，本发明提出的这种具有冗余结构的导航系统，能够在某一测量模块出现故障，采用其冗余功能的测量模块替代其进行工作，从而保证导航系统的正常工作，避免出现导航故障引起无人机失控的问题，从而提高了导航系统的安全性和导航精度，为无人机飞行器提供更可靠的导航信息。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明第一方面提供的无人机飞行器导航系统实施例1的结构图；
图2是本发明第一方面提供的无人机飞行器导航系统实施例2的结构图；
图3是本发明第一方面提供的无人机飞行器导航系统实施例3的结构图；
图4是本发明第一方面提供的无人机飞行器导航系统实施例4的结构图；
图5是本发明第一方面提供的无人机飞行器导航系统实施例5的结构图；
图6是本发明第一方面提供的无人机飞行器导航系统实施例6的结构图；
图7是本发明第二方面提供的无人机飞行器的结构图；
图8是本发明第三方面提供的无人机飞行器导航方法的流程图；
图9是本发明第四方面提供的无人机飞行器导航系统实施例1的结构图；
图10是本发明第四方面提供的无人机飞行器导航系统实施例2的结构图；
图11是本发明第四方面提供的无人机飞行器导航系统实施例3的结构图；
图12是本发明第四方面提供的无人机飞行器导航系统实施例4的结构图；
图13是本发明第五方面提供的无人机飞行器的结构图；
图14是本发明第六方面提供的无人机飞行器导航方法的流程图。
具体实施方式
为了使本技术领域的人员更好地理解本发明实施例的方案，下面结合附 图和实施方式对本发明实施例作进一步的详细说明。
下面先对本发明第一方面提供的无人机飞行器导航系统的结构和工作原理进行解释说明。
请参阅图1，图1是本发明第一方面提供的无人机飞行器导航系统实施例1的结构图，如图1所示，该无人机飞行器导航系统100包括：
一个控制器101和至少一个测量模块(如图1中的测量模块1、测量模块2……、测量模块N，N是大于或者等于1的整数)；
所述控制器与每个测量模块连接；
其中，所述至少一个测量模块包括冗余的传感器，并将传感器测量的数据传送至控制器。
这里需要说明的是，当所述系统包含一个控制器和一个测量模块时，该测量模块包括冗余的传感器，并使用至少一个串行通信接口与控制器进行数据通信以将传感器测量的数据传送至控制器。
当所述系统包含一个控制器和至少两个测量模块时，可以是有至少一个测量模块包括冗余的传感器，如图1所示，该测量模块1包括两个相同类型的传感器1和传感器2，这两个传感器彼此提供冗余支持。还可以有以下一种情况，即，所述至少两个测量模块各自包含至少一个传感器，所述至少两个测量模块包含的传感器互相提供冗余支持。即，所述至少两个测量模块各自包含至少一个传感器，互为冗余的传感器。如图1所示，测量模块1内的传感器1、传感器2与测量模块2内的传感器3是相同类型的传感器，这两个测量模块内的传感器互为冗余的传感器。
如图1所示，该测量模块1包括两个相同类型的传感器1和传感器2，这两个传感器彼此提供冗余支持。对图1所示的系统，还需要说明的是，图1仅示例性地给出了两个冗余的传感器，但在本发明中对冗余的传感器的个数不作限定，可以是两个或者多个。为了便于描述，下文均以两个冗余的传感器为例进行解释说明。
另外，图1所示的系统中，每个测量模块的类型不同，即，测量模块1、测量模块2……测量模块N，这N个测量模块的类型都不相同。所谓类型不同具体是指测量模块的功能不同，测量的数据的物理含义不同。
本发明提供的系统包含冗余的传感器，冗余的传感器可以提供冗余功能支持，当其中一个故障或者测量数据不准确时，可以由冗余的另一个传感器替代其进行工作，也可以是两个测量模块间互相提供冗余支持，这样就能够避免出现导航故障引起无人机失控的问题，从而提高导航系统的安全性和导航精度，为无人机飞行器提供更可靠的导航信息。
基于图1所示系统的结构，本发明还提供了以下可选的实现方案：
可选的，在该系统中，所述至少一个测量模块通过串行通信总线与控制器进行数据通信。
更进一步的，可选的，所述至少一个测量模块通过CAN通信总线与控制器进行数据通信。由于CAN(Controller Area Network,控制器局域网络)通信总线具有易于扩展、抗干扰性好、独立分配CAN ID的优点，使得整个导航系统的可扩展性高、抗干扰性好、系统内的各个模块利用CAN ID可以方便切换。
基于图1所示系统的结构，发明人进一步的提出了基于惯性导航原理的导航系统，下面结合图2进行说明。
请参阅图2，图2是本发明第一方面提供的无人机飞行器导航系统实施例2的结构图，如图2所示，该系统包括：
一个控制器101和至少一个测量模块；
所述控制器与每个测量模块连接；
其中，所述至少有一个测量模块是惯性测量模块。
可选的，所述惯性测量模块包括加速度传感器和/或冗余的陀螺仪传感器。
可选的，所述惯性测量模块包括冗余的加速度传感器和/或冗余的陀螺仪传感器。
如图2中示出的，测量模块1是惯性测量模块，其包括两个冗余的加速度传感器，如加速度传感器1和加速度传感器2。
但，图2中的惯性测量模块的结构仅为一种示例性结构，该惯性测量模块的结构还可以有以下两种形式：
第一种结构是，所述惯性测量模块包括：冗余的陀螺仪传感器。
第二种结构是，所述惯性测量模块包括：冗余的加速度传感器和冗余的陀螺仪传感器。
在具体实现时，上述加速度传感器可以是指三轴加速度计；也可以是指三个单轴的加速度计；加速度计用于检测物体在载体坐标系统独立三轴的加速度信号。上述陀螺仪传感器可以是指三轴陀螺仪；也可以是指三个单轴的陀螺仪。陀螺仪用于检测载体相对于导航坐标系的角速度信号。
发明人考虑到现有技术中的惯性测量模块一般包括一个加速度传感器和一个陀螺仪传感器；而本发明针对惯性测量模块的结构作了改进，提出了冗余传感器的新结构；结合现有的惯性测量模块的结构，若按照上述第一种结构，则本发明中的惯性测量模块可以包括：一个加速度传感器和冗余的陀螺仪传感器。若按照上述第二种结构，则本发明中的惯性测量模块可以包括：冗余的加速度传感器和一个陀螺仪传感器。
可选的，所述惯性测量模块嵌入在所述控制器中。
可选的，所述惯性测量模块通过串行接口与控制器进行数据通信。
可选的，所述惯性测量模块通过串行通信总线与系统中的其他测量模块进行数据通信。
可选的，所述惯性测量模块通过CAN通信总线与系统中的其他测量模块进行数据通信。
如图2所示，本发明提供的该系统是基于惯性导航原理进行工作，其至少包含惯性导航模块，该惯性导航模块包含冗余的加速度传感器和/或冗余的陀螺仪传感器，这种冗余结构能够进一步提高惯性导航模块的工作性能，避免出现导航故障引起无人机失控的问题，从而提高导航系统的安全性和导航精度，为无人机飞行器提供更可靠的导航信息。
基于图1所示系统的结构，发明人进一步的提出了基于定位卫星导航原理的导航系统，下面结合图3进行说明。
请参阅图3，图3是本发明第一方面提供的无人机飞行器导航系统实施例3的结构图，如图3所示，该系统包括：
一个控制器101和至少一个测量模块；
所述控制器与每个测量模块连接；
所述至少一个测量模块是定位模块，该定位模块用于计算无人机飞行器的地理位置；
可选的，所述定位模块包括定位传感器。
可选的，所述定位模块包括冗余的定位传感器。
这里需要说明的是，定位模块是指能够利用定位系统实现定位功能的模块，具体的，可以利用GPS(Global Position System，全球定位系统),也可以利用中国的北斗系统，还可以利用伽利略系统等。例如，定位模块是GPS模块，其利用GPS传感器来测量数据，GPS传感器是指利用GPS系统实时地测量载体的位置和速度的传感器，GPS传感器也被称为GPS接收机，通过天线接收GPS卫星发射的信号，输出当前经度、维度和高度信息。
可选的，所述定位传感器包括以下任意一种或者多种类型组合：
GPS传感器、北斗定位传感器、格拉纳斯定位传感器。
如图3中示出的，测量模块2是定位模块，其包括两个冗余的GPS传感器，如GPS传感器1和GPS传感器2。如图3所示，本发明提供的该系统是基于定位卫星导航原理，其至少包含定位模块，该定位模块可以包含冗余的定位传感器，这种冗余结构能够进一步提高定位模块的工作性能，避免出现导航故障引起无人机失控的问题，从而提高导航系统的安全性和导航精度，为无人机飞行器提供更可靠的导航信息。
基于图1所示系统的结构，发明人进一步的提出了基于多普勒导航原理的导航系统，下面结合图4进行说明。
请参阅图4，图4是本发明第一方面提供的无人机飞行器导航系统实施例4的结构图，如图4所示，该系统包括：
一个控制器和至少一个测量模块；
所述控制器与每个测量模块连接；
所述至少一个测量模块是磁感应模块，该磁感应模块用于感应地磁以判断方向。
可选的，所述磁感应模块包括罗盘传感器。
可选的，所述磁感应模块包括冗余的罗盘传感器。
如图4中示出的，测量模块3是磁感应模块，其包括两个冗余的罗盘传 感器，如罗盘传感器1和罗盘传感器2。
如图4所示，本发明提供的该系统是基于多普勒导航原理，其至少包含磁感应模块，该磁感应模块包括冗余的罗盘传感器，这种冗余结构能够进一步提高磁感应模块的工作性能，避免出现导航故障引起无人机失控的问题，从而提高导航系统的安全性和导航精度，为无人机飞行器提供更可靠的导航信息。
这里需要说明的是，上述图2、图3、图4中分别限定了测量模块1是惯性测量模块、测量模块2是定位模块、测量模块3是磁感应模块，其仅仅是为了方便描述各个实施例的区别，在具体实现时，可以限定系统中的任意一个模块为惯性测量模块、定位模块或者磁感应模块。
以上图2、图3、图4提供的系统都是基于单一导航技术来实现导航的，基于图1所示系统的结构，发明人进一步的提出了采用组合导航方式的导航系统，下面结合图5进行说明。
请参阅图5，图5是本发明第一方面提供的无人机飞行器导航系统实施例5的结构图，如图5所示，该系统包括：
一个控制器101和至少两个测量模块；
所述控制器与每个测量模块连接；
其中，所述至少两个测量模块包括：惯性测量模块、定位模块、磁感应模块中任意两种或者三者组合；
在所述至少两个测量模块中，至少有一个模块包括冗余的传感器，并将传感器测量的数据传送至控制器。
例如：所述惯性测量模块包括加速度传感器和/或陀螺仪传感器，所述惯性测量模块嵌入在所述控制器中；和/或，
所述定位模块包括冗余的定位传感器；所述定位传感器包括以下任意一种或者多种类型组合：GPS传感器或北斗定位传感器；和/或，
所述磁感应模块包括冗余的罗盘传感器。
可选的，所述系统还包括：
视觉模块；所述视觉单元与所述控制器连接。所述视觉模块是单目模块或双目模块。
这里需要说明的是，视觉模块可以看作是惯性测量模块的冗余模块，当惯性测量模块故障时，视觉模块可以替代惯性测量模块来工作，控制器利用视觉模块测量的数据来进行导航，以保证系统正常导航。
可选的，所述系统还包括：
载波信号差分模块；所述载波信号差分模块与所述控制器连接。
这里需要说明的是，载波信号差分模块可以看作是定位模块的冗余模块，当定位模块故障时，载波信号差分模块可以替代定位模块来工作，控制器利用载波信号差分模块测量的数据来进行导航，以保证系统正常导航。
本发明提供的基于组合导航技术的导航系统，利用每种导航技术的优势，使其性能上互补，可以获得比单一导航技术更高的导航性能，另外，这些测量模块中至少有一种测量模块采用冗余结构，以增强测量模块的工作性能，为整个导航系统提供更可靠的数据，提高导航精度。
下面结合图6从系统的拓扑结构的角度，对本发明第一方面提供的系统作示例性解释说明。请参阅图6，图6是本发明第一方面提供的无人机飞行器导航系统实施例6的结构图，如图6所示，该系统包括：
一个控制器101、3个GPS、3个罗盘以及3个IMU(Inertial Measurement Unit，惯性测量单元)；
其中,一个IMU嵌入在控制器中，另外两个IMU独立存在于不同测量模块中。GPS模块和罗盘模块以成对的方式集成在同一模块中。
这里需要说明的是，图6仅仅为一种示例性结构，其并不局限系统内测量模块的具体结构。具体实现时，IMU可以不嵌入在控制器中，而是独立存在于某一测量模块中；当然，每个IMU可以独立存在于不同的测量模块中，也可以与其他一个或者多个IMU集成在同一测量模块中。
当单个IMU独立存在于不同的测量模块中时，这几个测量模块间彼此提供冗余支持。当多个IMU集成于一个测量模块中时，则该测量模块内部的多个IMU互相提供冗余支持。
类似的，3个集成的GPS/罗盘可以独立存在于不同的测量模块中，也可以集成在同一测量模块中。另外，GPS和罗盘也可以独立存在于不同的测量模块中，不必集成在同一模块中。
在上述本发明第一方面提供的导航系统的基础上，发明人进一步的提出了一种无人机飞行器，该无人机飞行器装载有上述本发明第一方面提供的导航系统。具体的，请参见图7所示的无人机飞行器的结构。
如图7所示，该无人机飞行器包括：
飞行平台、动力装置、电气系统、任务设备以及上述第四方面提供的导航装置。其中，导航系统的结构可以参见上述图1至图6以及上文描述的内容，此次不再赘述。
在上述本发明第一方面提供的导航系统的基础上，发明人进一步的提出了导航方法。下面结合图8的流程图对该方法进行解释说明。
请参见图8，图8是本发明第三方面提供的无人机飞行器导航方法的流程图，该方法包括：
步骤801：控制器接收每个测量模块传送的数据；其中，至少一个测量模块包括冗余的传感器，该测量模块传送的数据包括：每个传感器测量的数据或者其中一个传感器测量的数据；
步骤802：控制器根据接收的数据进行导航。
在具体实现时，当所述至少一个测量模块传送的数据包括每个传感器测量的数据时，则步骤802有以下两种可选的实现方式：
一种实现方式是，控制器从所述至少一个测量模块传送的数据中，选择运行状态最优的传感器的数据，利用选择的数据和其他测量模块传送的数据进行导航。
另一种实现方式是，控制器从包含冗余的传感器的测量模块传送的数据中，选择运行状态稳定的传感器的数据，利用选择的数据和其他测量模块传送的数据进行导航。
在具体实现时，所述至少一个测量模块传送的数据包括：运行状态最优的传感器的数据，或者运行状态最稳定的传感器的数据；则步骤702具体是：
所述控制器根据每个模块传送的数据直接进行导航。
在具体实现时，可选的，所述控制器通过串行通信总线与测量模块进行数据通信。
在具体实现时，可选的，所述控制器通过CAN通信总线与测量模块进行 数据通信。
在具体实现时，可选的，所述控制器接收惯性测量模块传送的数据；所述控制器根据惯性测量模块传送的数据进行导航。
在具体实现时，可选的，所述惯性测量模块包括加速度传感器和/或陀螺仪传感器。
在具体实现时，可选的，所述控制器通过串行接口与所述惯性测量模块进行数据通信。
在具体实现时，可选的，所述控制器接收定位模块传送的数据；
所述控制器根据定位模块传送的数据进行导航。
在具体实现时，可选的，所述定位模块包括定位传感器。
在具体实现时，可选的，所述定位传感器包括以下任意一种或者多种类型组合：
GPS传感器或北斗定位传感器。
在具体实现时，可选的，所述控制器接收磁感应模块传送的数据；
所述控制器根据磁感应模块传送的数据进行导航。
在具体实现时，可选的，所述磁感应模块包括罗盘传感器。
在具体实现时，可选的，所述控制器接收视觉模块传送的数据；
所述控制器根据视觉模块传送的数据进行导航。
在具体实现时，可选的，所述视觉模块包括单目模块或双目模块。
在具体实现时，可选的，所述控制器接收载波信号差分模块传送的数据；
所述控制器根据载波信号差分模块传送的数据进行导航。
利用本发明提供的导航方法，控制器接收导航系统各个测量模块传送的数据，利用接收到的数据进行导航，由于至少一个测量模块包含冗余的传感器，而冗余的传感器能够为控制器提供准确、可靠的数据，这样，控制器就能够为无人机飞行器提供可靠的导航信息。
以上部分是本发明第一方面、第二方面以及第三方面的内容进行了解释说明。
下文将对本发明第四方面、第五方面以及第六方面的内容进行解释说明。
请参见图9，图9是本发明第四方面提供的无人机飞行器导航系统实施例 1的结构图，如图9所示，该无人机飞行器导航系统200包括：
主导航单元201、从导航单元202和控制器203；
所述主导航单元包括：至少一个测量模块；(如图9示出的测量模块1、测量模块2、……测量模块N，其中N大于或等于1)；
所述从导航单元包括：至少一个测量模块；(如图9示出的测量模块1、测量模块2、……测量模块M，其中M大于或等于1)；所述从导航单元中的至少一个测量模块为所述主导航单元中的至少一个测量模块提供冗余支持；
所述控制器用于利用所述主导航单元内的测量模块和为其提供冗余支持的从导航单元内的测量模块进行导航。
这里需要说明的是，从导航单元的内部结构取决于主导航单元的内部结构，其主要是为主导航单元内的测量模块提供冗余支持；从导航单元内部所包含的测量模块的类型应该与主导航单元内部所包含至少一种测量模块的类型相同。但，从导航单元内部所包含的测量模块的数量可以根据需求而设置，并不受限制于主导航单元的结构。即，上述主导航单元内的模块个数和从导航单元内的模块个数没有关联关系，即，数值N和数值M之间没有任何关系，彼此互不限制。
可选的，所述主导航单元和所述从导航单元中的测量模块通过串行通信总线与控制器进行数据通信。
可选的，所述主导航单元和所述从导航单元中的测量模块通过CAN通信总线和控制器进行数据通信。
可选的，所述控制器用于从所述主导航单元和所述从导航单元中，针对每种类型的测量模块选择一个测量模块用以导航。
可选的，所述控制器用于从所述主导航单元和所述从导航单元中，针对每种类型的测量模块选择运行状态最优的测量模块用以导航。
可选的，所述控制器用于从所述主导航单元和所述从导航单元中，针对每种类型的测量模块选择运行状态最稳定的测量模块用以导航。
在上述图9所示系统的基础上，发明人进一步分析了单一导航和组合导航的导航技术，提供了可选的技术方案，具体的，参见图10，图10是本发明第四方面提供的无人机飞行器导航系统实施例2的结构图，如图10所示，该 系统包括：
主导航单元、从导航单元和控制器；
所述主导航单元包括：一个惯性测量模块、一个定位模块、一个磁感应模块或其组合；
则所述从导航单元包括：至少一个惯性测量模块、至少一个定位模块、至少一个磁感应模块或其组合。
这里的定位模块是指能够利用定位系统实现定位功能的模块，具体的，可以利用GPS(Global Position System，全球定位系统),也可以利用中国的北斗系统，还可以利用伽利略系统等。例如，定位模块可以具体是GPS模块，GPS模块是指利用GPS系统实时地测量载体的位置和速度的模块，GPS模块也被称为GPS接收机，通过天线接收GPS卫星发射的信号，输出当前经度、维度和高度信息。
这里的磁感应模块可以是罗盘模块。
其中，当主导航单元包括单个测量模块时，则从导航单元与主导航单元的模块相同，为主导航单元内的测量模块提供冗余支持。这样的系统就是基于单一导航技术的导航系统，在发挥单一导航技术的优势的同时，还通过主从单元的冗余结构来增强系统的可靠性，以提高导航性能。
在上述图10所示系统的基础上，发明人进一步提供了基于组合导航的导航技术，提供了可选的技术方案，具体的，参见图11，图11是本发明第四方面提供的无人机飞行器导航系统实施例3的结构图，如图11所示，该系统包括：
主导航单元、从导航单元和控制器；
所述主导航单元包括：一个惯性测量模块、一个定位模块和一个磁感应模块；
所述从导航单元包括：两个惯性测量模块、两个定位模块和两个磁感应模块。
从图11所示的系统可以看出，由主导航单元和从导航单元的冗余结构组成了三套冗余的导航模块，这样，既能够提高导航系统的导航系统，又能够简化其结构，易于实现。
基于图11所示的系统，在具体实现时，为了简化系统结构，降低系统成本，本发明还提供了以下几种可选的结构形式。下面参见图12示出的一种导航系统的冗余拓扑结构示意图，对这几种可选的结构形式进行解释说明。在图12中，仅以GPS模块和罗盘模块为例分别用于表示定位模块和磁感应模块，在具体应用时，也可以采用其他模块。
在图12中，图标1是指GPS模块；图标2是指罗盘模块；图标3是指CAN总线；图标4是指IMU(Inertial Measurement Unit，惯性测量单元)；图标5是指VO(单目)模块；图标6是指RTK(载波信号差分模块)模块。如图11所示：
所述主导航单元包括惯性测量模块，所述惯性测量模块嵌入在控制器中。主导航单元采用这样的结构，一方面能够很好地兼容现有的导航系统中的芯片，使本发明的导航系统的生产成本低、生产效率高，另一方面能够节省集成空间，简化导航系统结构。
可选的，所述从导航单元包括至少一个惯性测量模块，所述从导航单元中的任意一个惯性测量模块嵌入在控制器中。
当然，考虑到从导航单元中也可能会包含惯性测量模块，则不论是主导航单元的惯性测量模块，还是从导航单元的惯性测量模块，将任意一个惯性测量模块嵌入在控制器中，这种结构都能够兼容现有的导航系统中的芯片，使本发明的导航系统的生产成本低、生产效率高，又能够节省集成空间，简化导航系统结构。
可选的，所述惯性测量模块通过串行接口与控制器进行数据通信。在上述系统中，所述主导航单元中的GPS模块和罗盘模块可以以独立模块的形式布局；但，为了合理化布局导航系统的结构，所述主导航单元中的GPS模块和罗盘模块可以集成在一个模块中。当然，如果从导航单元也包括GPS模块和罗盘模块时，也可以将从导航单元中的GPS模块和罗盘模块集成于一个模块中。
则在具体实现时，当所述主导航单元包括GPS模块和罗盘模块时，所述GPS模块和所述罗盘模块集成在一个模块中。如图12示出的主导航单元中GPS模块和罗盘模块集成在同一模块中。
在具体实现时，当所述从导航单元包括N个GPS模块和N个罗盘模块时，所述从导航单元中的GPS模块和罗盘模块以成对的方式分别集成在N个模块中，所述N为大于或等于1的整数。如图12示出的从导航单元中的GPS模块和罗盘模块以成对的方式集成在同一模块中。
可选的，所述系统还包括：
视觉模块，所述视觉模块与所述控制器连接。
可选的，所述视觉模块是单目模块或双目模块。
可选的，所述系统还包括：
载波信号差分模块；所述载波信号差分模块与所述控制器连接。
在上述本发明第四方面提供的导航系统的基础上，发明人进一步的提出了一种无人机飞行器，该无人机飞行器装载有上述本发明第四方面提供的导航系统。具体的，请参见图13所示的无人机飞行器的结构。如图13所示，该无人机飞行器包括：
飞行平台、动力装置、电气系统、任务设备以及上述第四方面提供的导航装置。其中，导航系统的结构可以参见上述图9至图12以及上文描述的内容，此次不再赘述。
在上述本发明第四方面提供的导航系统的基础上，发明人进一步的提出了导航方法。下面结合图14的流程图对该方法进行解释说明。
请参见图14，图14是本发明第六方面提供的无人机飞行器导航方法的流程图，该方法包括：
步骤1401：控制器接收主导航单元和从导航单元传送的每个测量模块测量的数据；
步骤1402：控制器利用接收到的每个测量模块的数据进行导航。
可选的，所述控制器利用接收到的每个测量模块的数据进行导航的步骤包括：
控制器根据每个测量模块的数据分析同一类型的测量模块各自的运行状态；
控制器针对同一类型的测量模块选择一个运行状态最优的测量模块，利用所选择的测量模块的数据进行导航。
可选的，所述控制器利用接收到的每个测量模块的数据进行导航的步骤包括：
控制器根据每个测量模块的数据分析同一类型的测量模块各自的运行状态；
控制器针对同一类型的测量模块选择一个运行状态最稳定的测量模块，利用所选择的测量模块的数据进行导航。
可选的，所述方法还包括：
控制器根据同一类型的测量模块测量的数据，判断测量模块是否发生故障；
当控制器判断测量模块发生故障时，则发出告警信息。
可选的，所述控制器根据同一类型的测量模块测量的数据，判断测量模块是否发生故障的步骤，包括：
控制器比较同一类型的一个测量模块的数据与其他测量模块的数据之间的差值是否大于预设阈值，如果是，判断出所述同一类型的一个测量模块发生故障。
可选的，所述控制器通过串行通信总线与所述主导航单元和所述从导航单元进行数据通信。
可选的，所述控制器通过CAN通信总线与所述主导航单元和所述从导航单元进行数据通信。
可选的，所述控制器接收主导航单元和从导航单元传送的每个测量模块测量的数据的步骤，包括：
所述控制器接收主导航单元内的一个惯性测量模块、一个定位模块和一个磁感应模块各自测量的数据，以及接收从导航单元内的两个惯性测量模块、两个定位模块和两个磁感应模块各自测量的数据。
可选的，所述控制器通过串行接口与惯性测量模块进行数据通信。
利用本发明提供的导航方法，控制器接收导航系统内主从导航单元各自传送的数据；由于从导航单元内测量模块是为主导航单元内测量模块提供冗余支持的，因此，即使主导航单元内测量模块出现故障或其测量数据不准确，从导航单元也能够保证数据正常传输，为控制器提供有效数据，以便控制器 根据接收到的数据进行导航，能够为无人机飞行器提供可靠的导航信息。
通过以上的实施方式的描述可知，本领域的技术人员可以清楚地了解到上述实施例方法中的全部或部分步骤可借助软件加必需的通用硬件平台的方式来实现。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者诸如媒体网关等网络通信设备，等等)执行本发明各个实施例或者实施例的某些部分所述的方法。
需要说明的是，本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于设备及系统实施例而言，由于其基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。以上所描述的设备及系统实施例仅仅是示意性的，其中作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
以上所述仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本发明的保护范围内。

Claims (62)

  1. 一种无人机飞行器导航系统，其特征在于，所述系统包括：
    一个控制器和至少一个测量模块；
    所述控制器与每个测量模块连接；
    其中，所述至少一个测量模块包括冗余的传感器，并将传感器测量的数据传送至控制器。
  2. 根据权利要求1所述的系统，其特征在于，
    所述至少一个测量模块通过串行通信总线与控制器进行数据通信。
  3. 根据权利要求2所述的系统，其特征在于，
    所述至少一个测量模块通过CAN通信总线与控制器进行数据通信。
  4. 根据权利要求1所述的系统，其特征在于，
    至少有一个测量模块是惯性测量模块。
  5. 根据权利要求4所述的系统，其特征在于，
    所述惯性测量模块包括加速度传感器和/或陀螺仪传感器。
  6. 根据权利要求4所述的系统，其特征在于，
    所述惯性测量模块嵌入在所述控制器中。
  7. 根据权利要求4所述的系统，其特征在于，
    所述惯性测量模块通过串行接口与控制器进行数据通信。
  8. 根据权利要求4所述的系统，其特征在于，
    所述惯性测量模块通过串行通信总线与系统中的其他测量模块进行数据通信。
  9. 根据权利要求8所述的系统，其特征在于，
    所述惯性测量模块通过CAN通信总线与系统中的其他测量模块进行数据通信。
  10. 根据权利要求1所述的系统，其特征在于，
    所述至少一个测量模块是定位模块，该定位模块用于计算无人机飞行器的地理位置。
  11. 根据权利要求9所述的系统，其特征在于，
    所述定位模块包括定位传感器。
  12. 根据权利要求11所述的系统，其特征在于，
    所述定位传感器包括以下任意一种或者多种类型组合：
    GPS传感器或北斗定位传感器。
  13. 根据权利要求1所述的系统，其特征在于，
    所述至少一个测量模块是磁感应模块，该磁感应模块用于感应地磁以判断方向。
  14. 根据权利要求1所述的系统，其特征在于，
    所述磁感应模块包括罗盘传感器。
  15. 根据权利要求1所述的系统，其特征在于，所述系统还包括：
    视觉模块；所述视觉单元与所述控制器连接。
  16. 根据权利要求1所述的系统，其特征在于，
    所述视觉模块是单目模块或双目模块。
  17. 根据权利要求1所述的系统，其特征在于，所述系统还包括：
    载波信号差分模块；所述载波信号差分模块与所述控制器连接。
  18. 根据权利要求1所述的系统，其特征在于，当所述系统包括至少两个测量模块时，
    所述至少两个测量模块各自包含至少一个传感器，所述至少两个测量模块包含的传感器互相提供冗余支持。
  19. 一种无人机飞行器，其特征在于，所述无人机飞行器包括：
    上述权利要求1-18中任一项所述的无人机飞行器导航系统。
  20. 一种无人机飞行器导航方法，其特征在于，所述方法包括：
    控制器接收测量模块传送的数据；其中，至少一个测量模块包括冗余的传感器，并将传感器测量的数据传送至控制器；
    控制器根据接收的数据进行导航。
  21. 根据权利要求20所述的方法，其特征在于，
    当所述至少一个测量模块传送的数据包括每个传感器测量的数据时，则所述控制器根据接收的数据进行导航的步骤，包括：
    控制器从所述至少一个测量模块传送的数据中，选择运行状态最优的传感器的数据，利用选择的数据和其他测量模块传送的数据进行导航。
  22. 根据权利要求20所述的方法，其特征在于，
    当所述至少一个测量模块传送的数据包括每个传感器测量的数据时，则所述控制器根据接收的数据进行导航的步骤，包括：
    控制器从包含冗余的传感器的测量模块传送的数据中，选择运行状态稳定的传感器的数据，利用选择的数据和其他测量模块传送的数据进行导航。
  23. 根据权利要求20所述的方法，其特征在于，
    所述至少一个测量模块传送的数据包括：运行状态最优的传感器的数据，或者运行状态最稳定的传感器的数据；则所述控制器根据接收的数据进行导航的步骤具体是：
    所述控制器根据每个模块传送的数据直接进行导航。
  24. 根据权利要求20所述的方法，其特征在于：
    所述控制器通过串行通信总线与测量模块进行数据通信。
  25. 根据权利要求24所述的方法，其特征在于：
    所述控制器通过CAN通信总线与测量模块进行数据通信。
  26. 根据权利要求20所述的方法，其特征在于，
    所述控制器接收惯性测量模块传送的数据；所述控制器根据惯性测量模块传送的数据进行导航。
  27. 根据要求要求26所述的方法，其特征在于，
    所述惯性测量模块包括加速度传感器和/或陀螺仪传感器。
  28. 根据权利要求26所述的方法，其特征在于，
    所述控制器通过串行接口与所述惯性测量模块进行数据通信。
  29. 根据权利要求20所述的方法，其特征在于，
    所述控制器接收定位模块传送的数据；
    所述控制器根据定位模块传送的数据进行导航。
  30. 根据权利要求29所述的方法，其特征在于，
    所述定位模块包括定位传感器。
  31. 根据权利要求30所述的方法，其特征在于，
    所述定位传感器包括以下任意一种或者多种类型组合：
    GPS传感器或北斗定位传感器。
  32. 根据权利要求20所述的方法，其特征在于，
    所述控制器接收磁感应模块传送的数据；
    所述控制器根据磁感应模块传送的数据进行导航。
  33. 根据权利要求20所述的方法，其特征在于，
    所述磁感应模块包括罗盘传感器。
  34. 根据权利要求20所述的方法，其特征在于，
    所述控制器接收视觉模块传送的数据；
    所述控制器根据视觉模块传送的数据进行导航。
  35. 根据权利要求20所述的方法，其特征在于，
    所述视觉模块包括单目模块或双目模块。
  36. 根据权利要求20所述的方法，其特征在于，
    所述控制器接收载波信号差分模块传送的数据；
    所述控制器根据载波信号差分模块传送的数据进行导航。
  37. 一种无人机飞行器导航系统，其特征在于，所述系统包括：
    主导航单元、从导航单元和控制器；
    所述主导航单元包括：至少一个测量模块；
    所述从导航单元包括：至少一个测量模块；所述从导航单元中的至少一个测量模块为所述主导航单元中的至少一个测量模块提供冗余支持；
    所述控制器用于利用所述主导航单元内的测量模块和为其提供冗余支持的从导航单元内的测量模块进行导航。
  38. 根据权利要求37所述的系统，其特征在于，
    所述主导航单元和所述从导航单元中的测量模块通过串行通信总线与控制器进行数据通信。
  39. 根据权利要求37所述的系统，其特征在于，
    所述主导航单元和所述从导航单元中的测量模块通过CAN通信总线和控制器进行数据通信。
  40. 根据权利要求37所述的系统，其特征在于，
    所述控制器用于从所述主导航单元和所述从导航单元中，针对每种类型的测量模块选择一个测量模块用以导航。
  41. 根据权利要求40所述的系统，其特征在于，
    所述控制器用于从所述主导航单元和所述从导航单元中，针对每种类型的测量模块选择运行状态最优的测量模块用以导航。
  42. 根据权利要求40所述的系统，其特征在于，
    所述控制器用于从所述主导航单元和所述从导航单元中，针对每种类型的测量模块选择运行状态最稳定的测量模块用以导航。
  43. 根据权利要求37所述的系统，其特征在于，
    所述主导航单元包括：一个惯性测量模块、一个定位模块、一个磁感应模块或其组合；
    则所述从导航单元包括：至少一个惯性测量模块、至少一个定位模块、至少一个磁感应模块或其组合。
  44. 根据权利要求43所述的系统，其特征在于，
    所述主导航单元包括：一个惯性测量模块、一个定位模块和一个磁感应模块；
    所述从导航单元包括：两个惯性测量模块、两个定位模块和两个磁感应模块。
  45. 根据权利要求37所述的系统，其特征在于，
    所述主导航单元包括惯性测量模块，所述惯性测量模块嵌入在控制器中。
  46. 根据权利要求37所述的系统，其特征在于，
    所述从导航单元包括至少一个惯性测量模块，所述从导航单元中的任意一个惯性测量模块嵌入在控制器中。
  47. 根据权利要求45或46所述的系统，其特征在于，
    所述惯性测量模块通过串行接口与控制器进行数据通信。
  48. 根据权利要求37所述的系统，其特征在于，
    所述主导航单元包括定位模块和磁感应模块，所述定位模块和所述磁感应模块集成在同一模块中。
  49. 根据权利要求48所述的系统，其特征在于，
    所述从导航单元包括N个定位模块和N个磁感应模块，所述从导航单元中的定位模块和磁感应模块以成对的方式分别集成在N个模块中，所述N为 大于或等于1的整数。
  50. 根据权利要求37所述的系统，其特征在于，所述系统还包括：
    视觉模块，所述视觉模块与所述控制器连接。
  51. 根据权利要求50所述的系统，其特征在于，
    所述视觉模块是单目模块或双目模块。
  52. 根据权利要求37所述的系统，其特征在于，所述系统还包括：
    载波信号差分模块；所述载波信号差分模块与所述控制器连接。
  53. 一种无人机飞行器，其特征在于，所述无人机飞行器包括：
    上述权利要求37-52中任一项所述的无人机飞行器导航系统。
  54. 一种无人机飞行器导航方法，其特征在于，所述方法包括：
    控制器接收主导航单元和从导航单元传送的每个测量模块测量的数据；
    控制器利用接收到的每个测量模块的数据进行导航。
  55. 根据权利要求54所述的方法，其特征在于，所述控制器利用接收到的每个测量模块的数据进行导航的步骤包括：
    控制器根据每个测量模块的数据分析同一类型的测量模块各自的运行状态；
    控制器针对同一类型的测量模块选择一个运行状态最优的测量模块，利用所选择的测量模块的数据进行导航。
  56. 根据权利要求54所述的方法，其特征在于，所述控制器利用接收到的每个测量模块的数据进行导航的步骤包括：
    控制器根据每个测量模块的数据分析同一类型的测量模块各自的运行状态；
    控制器针对同一类型的测量模块选择一个运行状态最稳定的测量模块，利用所选择的测量模块的数据进行导航。
  57. 根据权利要求54所述的方法，其特征在于，所述方法还包括：
    控制器根据同一类型的测量模块测量的数据，判断测量模块是否发生故障；
    当控制器判断测量模块发生故障时，则发出告警信息。
  58. 根据权利要求54所述的方法，其特征在于，所述控制器根据同一类 型的测量模块测量的数据，判断测量模块是否发生故障的步骤，包括：
    控制器比较同一类型的一个测量模块的数据与其他测量模块的数据之间的差值是否大于预设阈值，如果是，判断出所述同一类型的一个测量模块发生故障。
  59. 根据权利要求54所述的方法，其特征在于，
    所述控制器通过串行通信总线与所述主导航单元和所述从导航单元进行数据通信。
  60. 根据权利要求54所述的方法，其特征在于，
    所述控制器通过CAN通信总线与所述主导航单元和所述从导航单元进行数据通信。
  61. 根据权利要求54所述的方法，其特征在于，所述控制器接收主导航单元和从导航单元传送的每个测量模块测量的数据的步骤，包括：
    所述控制器接收主导航单元内的一个惯性测量模块、一个定位模块和一个磁感应模块各自测量的数据，以及接收从导航单元内的两个惯性测量模块、两个定位模块和两个磁感应模块各自测量的数据。
  62. 根据权利要求54所述的方法，其特征在于，
    所述控制器通过串行接口与惯性测量模块进行数据通信。
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