WO2018032433A1 - Pilote automatique basé sur un module dsp pour véhicule aérien sans pilote miniature - Google Patents

Pilote automatique basé sur un module dsp pour véhicule aérien sans pilote miniature Download PDF

Info

Publication number
WO2018032433A1
WO2018032433A1 PCT/CN2016/095762 CN2016095762W WO2018032433A1 WO 2018032433 A1 WO2018032433 A1 WO 2018032433A1 CN 2016095762 W CN2016095762 W CN 2016095762W WO 2018032433 A1 WO2018032433 A1 WO 2018032433A1
Authority
WO
WIPO (PCT)
Prior art keywords
dsp
combination
autopilot
processor
output
Prior art date
Application number
PCT/CN2016/095762
Other languages
English (en)
Chinese (zh)
Inventor
邹霞
钟玲珑
Original Assignee
邹霞
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 邹霞 filed Critical 邹霞
Priority to PCT/CN2016/095762 priority Critical patent/WO2018032433A1/fr
Publication of WO2018032433A1 publication Critical patent/WO2018032433A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present invention relates to a modular small drone autopilot based on DSP, which belongs to the field of UAV control.
  • the Unmaned Aerial Vehicle 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.
  • 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).
  • SCI Asynchronous Serial Communication Interface
  • SPI Synchronous Serial Communication Interface
  • the gyroscope combination described above includes three directions of gyroscopes
  • the accelerometer combination includes three directions of accelerometers
  • the sensor combination includes two air pressure sensors.
  • the AD converter described above includes a high precision AD conversion chip.
  • the simulator outputs an analog signal.
  • 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.
  • a power supply including a voltage conversion chip
  • the fixed output design can output +3. 3V, +5V and +12V
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • Embodiments of the 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.
  • 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
  • SPI Synchronous Serial Communication Interface
  • the gyroscope combination 11 includes three directions of gyroscopes
  • the accelerometer combination 12 includes three directions of accelerometers
  • 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.
  • 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.
  • 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.
  • the analog part such as the gyroscope and the accelerometer should be supplied separately from the digital part.
  • 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.
  • 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, ⁇ clock design, boot load selection mode design and JTAG interface design.
  • 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.
  • 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.
  • 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.
  • 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.

Abstract

La présente invention se rapporte à un pilote automatique basé sur un module DSP pour un véhicule aérien sans pilote miniature, le pilote automatique comprenant un processeur (1), un GPS (2), un convertisseur AD (3), une SRAM (4), une EEPROM (5), un simulateur (6), un circuit amplificateur de puissance (7), un récepteur (8), un JTAG (9), une station éloignée (10), un ensemble gyroscope (11), un ensemble accéléromètre (12), et un ensemble capteur (13). Le processeur (1) est connecté au GPS (2), au convertisseur AD (3), à la SRAM (4), à l'EEPROM (5), au simulateur (6), au circuit amplificateur de puissance (7), au récepteur (8), au JTAG (9) et à la station éloignée (10). La présente invention permet une commande précise et intelligente d'un véhicule aérien sans pilote.
PCT/CN2016/095762 2016-08-17 2016-08-17 Pilote automatique basé sur un module dsp pour véhicule aérien sans pilote miniature WO2018032433A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/095762 WO2018032433A1 (fr) 2016-08-17 2016-08-17 Pilote automatique basé sur un module dsp pour véhicule aérien sans pilote miniature

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/095762 WO2018032433A1 (fr) 2016-08-17 2016-08-17 Pilote automatique basé sur un module dsp pour véhicule aérien sans pilote miniature

Publications (1)

Publication Number Publication Date
WO2018032433A1 true WO2018032433A1 (fr) 2018-02-22

Family

ID=61196378

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/095762 WO2018032433A1 (fr) 2016-08-17 2016-08-17 Pilote automatique basé sur un module dsp pour véhicule aérien sans pilote miniature

Country Status (1)

Country Link
WO (1) WO2018032433A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070069083A1 (en) * 2005-06-20 2007-03-29 United States Of America As Represented By The Administrator Of The National Aeronautics And Spac Self-Contained Avionics Sensing And Flight Control System For Small Unmanned Aerial Vehicle
WO2007103644A2 (fr) * 2006-02-24 2007-09-13 Samuel Johnson Robot volant
US20140244078A1 (en) * 2011-08-16 2014-08-28 Jonathan Downey Modular flight management system incorporating an autopilot
CN104615142A (zh) * 2014-12-19 2015-05-13 重庆大学 基于民用小型无人机的飞行控制器
CN104898699A (zh) * 2015-05-28 2015-09-09 小米科技有限责任公司 飞行控制方法及装置、电子设备
CN105278544A (zh) * 2015-10-30 2016-01-27 小米科技有限责任公司 无人飞行器的控制方法及装置
CN105334861A (zh) * 2015-10-18 2016-02-17 上海圣尧智能科技有限公司 一种无人机飞控模块、无人机飞控系统及无人机
CN105446356A (zh) * 2015-12-17 2016-03-30 小米科技有限责任公司 无人机控制方法及装置
CN105652883A (zh) * 2016-01-15 2016-06-08 中国人民解放军国防科学技术大学 一种单板模块化高可靠性的无人机自驾仪
CN106200675A (zh) * 2016-08-17 2016-12-07 邹霞 基于dsp模块化小型无人机自驾仪

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070069083A1 (en) * 2005-06-20 2007-03-29 United States Of America As Represented By The Administrator Of The National Aeronautics And Spac Self-Contained Avionics Sensing And Flight Control System For Small Unmanned Aerial Vehicle
WO2007103644A2 (fr) * 2006-02-24 2007-09-13 Samuel Johnson Robot volant
US20140244078A1 (en) * 2011-08-16 2014-08-28 Jonathan Downey Modular flight management system incorporating an autopilot
CN104615142A (zh) * 2014-12-19 2015-05-13 重庆大学 基于民用小型无人机的飞行控制器
CN104898699A (zh) * 2015-05-28 2015-09-09 小米科技有限责任公司 飞行控制方法及装置、电子设备
CN105334861A (zh) * 2015-10-18 2016-02-17 上海圣尧智能科技有限公司 一种无人机飞控模块、无人机飞控系统及无人机
CN105278544A (zh) * 2015-10-30 2016-01-27 小米科技有限责任公司 无人飞行器的控制方法及装置
CN105446356A (zh) * 2015-12-17 2016-03-30 小米科技有限责任公司 无人机控制方法及装置
CN105652883A (zh) * 2016-01-15 2016-06-08 中国人民解放军国防科学技术大学 一种单板模块化高可靠性的无人机自驾仪
CN106200675A (zh) * 2016-08-17 2016-12-07 邹霞 基于dsp模块化小型无人机自驾仪

Similar Documents

Publication Publication Date Title
CN205281183U (zh) 一种低空环境监测无人机系统
CN104615142A (zh) 基于民用小型无人机的飞行控制器
CN102360218A (zh) 基于arm和fpga的无人直升机导航与飞行控制系统
CN202771262U (zh) 固定翼自动导航飞行控制系统
CN102968123A (zh) 无人机自动驾驶仪
CN105589467A (zh) 一种低成本扩展航姿传感器模块
CN205353762U (zh) 一种高集成自主飞行微型无人机飞控系统
CN106325289A (zh) 基于瑞萨r5f100lea主控的四旋翼飞行控制器及其控制方法
CN104386246A (zh) 四旋翼飞行器
CN106052689A (zh) 基于c8051f064单片机的imu信号采集系统
CN2681997Y (zh) 一种具有双处理器的飞行器自动驾驶仪
CN201004180Y (zh) 无人机姿态控制系统
CN202939490U (zh) 无人机自动驾驶仪
CN106125755A (zh) 一种无人机的大气边界层环境自主探测系统及其控制方法
CN105468010A (zh) 多自由度惯性传感器四轴无人机自主导航飞行控制器
CN103034238B (zh) 基于贯流风机的自动导航飞行控制系统
CN203025564U (zh) 一种基于贯流风机的自动导航飞行控制系统
CN202583877U (zh) 无人飞行器通用自动驾驶仪
CN103644914A (zh) 高精度微机电组合惯导装置
CN110488857A (zh) 一种太阳能的四旋翼无人飞行器的控制系统
CN204788412U (zh) 一种适用于小型无人直升机的惯性传感器组件
WO2018032433A1 (fr) Pilote automatique basé sur un module dsp pour véhicule aérien sans pilote miniature
Wei Autonomous control system for the quadrotor unmanned aerial vehicle
CN207397095U (zh) 一种多旋翼飞行器控制系统
CN100462723C (zh) 微机械式三轴角速率传感器

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16913190

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16913190

Country of ref document: EP

Kind code of ref document: A1