WO2018032433A1

WO2018032433A1 - Dsp module-based autopilot for miniature unmanned aerial vehicle

Info

Publication number: WO2018032433A1
Application number: PCT/CN2016/095762
Authority: WO
Inventors: 邹霞; 钟玲珑
Original assignee: 邹霞
Priority date: 2016-08-17
Filing date: 2016-08-17
Publication date: 2018-02-22

Abstract

A DSP module-based autopilot for a miniature unmanned aerial vehicle, the autopilot comprising a processor (1), a GPS (2), an AD converter (3), an SRAM (4), an EEPROM (5), a simulator (6), a power amplifier circuit (7), a receiver (8), a JTAG (9), a remote station (10), a gyroscope assembly (11), an accelerometer assembly (12), and a sensor assembly (13). The processor (1) is connected to the GPS (2), AD converter (3), SRAM (4), EEPROM (5), simulator (6), power amplifier circuit (7), receiver (8), JTAG (9), and remote station (10). The present invention enables precise and intelligent control of an unmanned aerial vehicle.

Description

Manual Title: Based on DSP modular small drone autopilot

[0001] The present invention relates to a modular small drone autopilot based on DSP, which belongs to the field of UAV control.

Background technique

[0002] The Unmaned Aerial Vehicle (UAV) is an acronym for an unmanned, powered, reusable aircraft on board. Compared with manned aircraft, it has the advantages of small size, low cost and convenient use. It is favored by all countries in the world and has a wide range of civil and military uses. The drone autopilot is the core part of the drone, and it undertakes multiple tasks such as data acquisition, communication, control quantity calculation, and control quantity output. The advanced level of drones is largely reflected in their autopilots. From the overall situation, China's UAVs have developed rapidly in the military field. At present, many technologies have already taken the lead in the world, but in terms of civilian use, they have started late and have limited application. However, in recent years, research on civilian small drone autopilots has increased, especially for high-tech enterprises, and they have begun to develop their own drone autopilot products.

technical problem

[0003] However, due to the limitations of the key technologies of drones, the accuracy and performance are quite different from those of foreign counterparts. The number and functions of drone autopilots are limited, and products with independent intellectual property rights are more less. In order to fundamentally improve your own drone autopilot products, you must take the road of independent research and development.

Problem solution

Technical solution

In view of the above deficiencies of the prior art, it is an object of the present invention to provide a DSP-based modular small drone autopilot that can facilitate shift control.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A DSP based modular small drone autopilot, including processor, GPS, AD converter, SRA M, EEPROM, simulator, power amplifier circuit, receiver, JTAG, remote station, gyroscope combination, Accelerometer combination and sensor combination, where the processor is separate from GPS, AD converter, SRA M, EEPROM, simulator, power amplifier circuit, receiver, JTAG and remote station are connected, AD converter is respectively connected with gyroscope combination, accelerometer combination and sensor combination, and power amplifier circuit is connected with a signal controller, and the processor includes The DSP chip is internally integrated with SCI (Asynchronous Serial Communication Interface) and SPI (Synchronous Serial Communication Interface).

Preferably, the gyroscope combination described above includes three directions of gyroscopes, the accelerometer combination includes three directions of accelerometers, and the sensor combination includes two air pressure sensors.

Preferably, the AD converter described above includes a high precision AD conversion chip.

[0009] Preferably, the simulator outputs an analog signal.

[0010] Preferably, the autopilot further includes a power supply, including a voltage conversion chip, the fixed output design can output +3. 3V, +5V and +12V, and the adjustable voltage output range is from +1.2V to +37V, which can output 3A drive current, internal integrated frequency compensation and fixed frequency generator, the switching frequency is 150KHz.

[0011] Preferably, the processor has a high-speed processing capability of 150 MHz, has a 32-bit floating-point processing unit, 6 DMA channels support ADC, McBSP and EMTF, and has up to 18 PWM outputs, of which 6 are unique to TI. Higher precision PWM output (HRPWM), 12-bit 16-channel ADC analog-to-digital conversion module. Advantageous effects of the invention

Beneficial effect

[0012] Compared with the prior art, the present invention provides a DSP-based small-sized UAV self-driving device, and uses a single high-performance processor DSP chip to complete the improvement of the autopilot design, with independent intellectual property rights and advanced performance. Achieve precise and intelligent control of the drone.

Brief description of the drawing

DRAWINGS

1 is a schematic structural view of a self-driving device based on a DSP modular small unmanned aerial vehicle according to the present invention.

[0014] Reference numerals: 1-processor; 2-GPS; 3-AD converter; 4-SRAM; 5-EEPROM; 6-emulator

7-power amplifier circuit; 8-receiver; 9-JTAG; 10-remote station; 11-gyroscope combination; 12-acceleration meter combination; 13-sensor combination; 14-power supply; 15-signal controller.

Embodiments of the invention [0015] The present invention provides a modular small-sized unmanned aerial vehicle based on a DSP. The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0016] The present invention provides a DSP based modular small drone autopilot, including processor 1, GPS2, AD converter 3, SRAM4, EEPROM5, simulator 6, power amplifier circuit 7, receiver 8, JTAG9, remote Radio 10, gyroscope combination 11, accelerometer combination 12, and sensor combination 13, wherein processor 1 is coupled to GPS2, AD converter 3, SRAM 4, EEPROM 5, simulator 6, power amplifier circuit 7, receiver 8, JTAG 9, and remote The radios 10 are connected to each other, and the AD converters 3 are respectively connected to the gyroscope combination 11, the accelerometer combination 12, and the sensor combination 13. The power amplifying circuit 7 is connected to a signal controller 15, and the processor 1 includes a DSP chip. SCI (Asynchronous Serial Communication Interface) and SPI (Synchronous Serial Communication Interface) are integrated internally.

[0017] wherein the gyroscope combination 11 includes three directions of gyroscopes, the accelerometer combination 12 includes three directions of accelerometers, and the sensor combination 13 includes two air pressure sensors. The AD converter 3 includes a high precision AD conversion chip. The simulator 6 outputs an analog signal. The autopilot also includes a power supply 14, including a voltage conversion chip. The fixed output design can output +3.3V, +5V and +12V, and the adjustable voltage output range is from +1.2V to +37V. It can output 3A of drive current, internal. Integrated frequency compensation and fixed frequency generator with a switching frequency of 150KHz. Processor 1 has 150MHz high-speed processing capability, 32-bit floating-point processing unit, 6 DMA channels support ADC, McBSP and EMTF, with up to 18 PWM outputs, 6 of which are TI-specific higher precision PWM Output HRPWM, 12-bit 16-channel ADC analog-to-digital conversion module.

[0018] The processor of the present invention is a high-performance chip DSP with floating point operation for industrial control, which will be completed by using the SCI (Asynchronous Serial Communication Interface) and SPI (Synchronous Serial Communication Interface) modules of the DSP chip. The ground station communicates, receives the GPS2 signal and collects the information of the high-precision AD converter 3; and uses the DSP AD conversion device to collect the analog quantity with low precision; and uses the DSP eCAP device to collect the signal of the remote control receiver; Wo lj uses the DSP's ePWM device to output the PWM control signal, and drives the amplifying chip to amplify and control the steering wheel to rotate. The sensing of the integrated navigation device uses a gyro combination 11 (three-way gyro) based on MEMS (Micro Electro Mechanical Technology) technology, an accelerometer combination 12 (three-direction accelerometer) and a sensor combination 13 (two air pressure sensors) Measuring the angular velocity, acceleration, and pressure of the drone; A satellite receiver is used to receive satellite navigation information. The power source 14 uses the power conversion chip to obtain various voltage values required by the autopilot.

[0019] Among them, the autopilot is powered by a battery during flight, and in order to increase its working time, three large-capacity lithium batteries are used in series to supply power, and the voltage after the series is +12V. The stability of the power supply will affect the operation of the processor, the accuracy of the sensor, the accuracy of the A/D conversion, and the stability of the output signal to a certain extent. This autopilot requires multiple power supplies such as +5V, +3.3V, +1.8V. In order to obtain a stable power supply voltage and reduce the crosstalk of the digital signal to the analog signal, the analog part such as the gyroscope and the accelerometer should be supplied separately from the digital part.

[0020] In the power supply design, the total supply voltage of +12V is first converted to +5V, and the present invention uses the LM2596s-5.0 voltage conversion chip. The chip's fixed output design can output +3.3V, +5V and +12V, and the adjustable voltage output range is from +1.2V to +37V. It can output 3A of driving current and has strong driving capability. The device integrates a frequency compensation and fixed frequency generator with a switching frequency of 150KHz. Compared to a low frequency switching regulator, a smaller size filter element can be used. The device requires only four external components and can be used with a common standard inductor, which greatly simplifies circuit design.

[0021] The processor 1 is the core of the autopilot, and is mainly responsible for collecting various signals and performing data processing, and then outputting the processing results to achieve the purpose of controlling the drone. The selected processor 1 interface should be rich to meet the requirements of signal acquisition and control output, and must have sufficient data processing capability to ensure the implementation of the control algorithm and ensure a certain control accuracy. The design of processor 1 mainly includes power supply part design, 吋 clock design, boot load selection mode design and JTAG interface design.

[0022] The present invention employs three identical angular rate gyroscopes, the mounting positions being perpendicular to each other, so that the angular rates of the three axes of the drone can be measured. The accelerometer uses a single-axis accelerometer. The sensor is a 8-pin DIP plastic package. The measurement range is -1.7~1.7g, the sensitivity is 1.2V/g, and the maximum zero error is 125mg. Click +5V to supply the bidirectional acceleration measurement. The chip has good stability, reliable accuracy, and has good load and impact resistance to meet the needs of autopilot. As with the gyroscope, three identical accelerometers mounted perpendicular to each other are required to measure the three axial accelerations of the drone. A barometric pressure sensor is a sensor that uses a change in atmospheric pressure to convert it into a voltage for measurement. There are two main pressure sensors on the autopilot. One is used to measure the static pressure of the aircraft. It is the change of the atmospheric pressure caused by the change of the flying height of the drone. It is independent of the speed of the aircraft. The pressure is mainly used to calculate the unmanned. Height of the machine; One is used to measure the dynamic pressure of the aircraft, mainly to measure the magnitude of the atmospheric pressure in the direction of movement of the drone. The pressure value and the static pressure value can be used to calculate the speed of the drone relative to the air.

[0023] The invention provides a DSP-based small-sized UAV self-driving device, and uses a single high-performance processor DSP chip to complete the improvement of the autopilot design, has independent intellectual property rights, and has advanced performance, realizing the UAV. Precise and intelligent control.

[0024]

[0025] It is to be understood that those skilled in the art can make equivalent substitutions or changes in accordance with the technical solutions of the present invention and the inventive concept thereof, and all such changes or substitutions should belong to the appended claims. protected range.

Claims

Claim

[Claim 1] A DSP-based modular small drone autopilot, characterized in that: the autopilot includes a processor (1), a GPS (2), an AD converter (3), and an SRAM (4), EEPR OM (5), simulator (6), power amplifier circuit (7), receiver (8), JTAG

(9), remote station (10) gyroscope combination (11), accelerometer combination (12) and sensor combination (13) where processor (1) and GPS (2), AD converter (3), SRAM ( 4; , EEPROM (5), simulator (6), power amplifier circuit (7), receiver (8, JTAG (9) and remote station (10) are connected, the AD converter (3) and the gyro respectively The instrument combination (11), the accelerometer combination (12) and the sensor combination (13) are connected, the power amplification circuit (7) is connected to a signal controller (15), and the processor (1) comprises a DSP chip, and is internally integrated. There are SCI (Asynchronous Serial Communication Interface) and SPI (Synchronous Serial Communication Interface).

[Claim 2] The DSP-based modular small drone autopilot according to claim 1, wherein

The gyroscope combination (11) includes three directions of gyroscopes, the accelerometer combination (12) includes three directions of accelerometers, and the sensor combination (13) includes two air pressure sensors.

[Claim 3] The DSP-based modular small drone autopilot according to claim 1, wherein

: The AD converter (3) includes a high precision AD conversion chip.

[Claim 4] The DSP-based modular small drone autopilot according to claim 1, wherein

: The simulator (6) outputs an analog signal.

[Claim 5] The DSP-based modular small drone autopilot according to claim 1, wherein

The autopilot also includes a power supply (14) including a voltage conversion chip. The fixed output design can output +3.3V, +5V and +12V, and the adjustable voltage output range is from +1.2V to +37V, which can output 3A. The drive current, internal integrated frequency compensation and fixed frequency generator, the switching frequency is 150KHz.

[Claim 6] The DSP-based modular small drone autopilot according to claim 1, wherein

: The processor (1) has a high-speed processing capability of 150MHz, has a 32-bit floating-point processing unit, 6 DMA channels support ADC, McBSP and EMTF, and has up to 18 channels of PW M output, 6 of which are TI's unique higher precision PWM output (HRPWM), 12-bit 16-channel ADC analog-to-digital conversion module.