CN109144091A - A kind of flight controller and unmanned vehicle - Google Patents
A kind of flight controller and unmanned vehicle Download PDFInfo
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- CN109144091A CN109144091A CN201811314195.1A CN201811314195A CN109144091A CN 109144091 A CN109144091 A CN 109144091A CN 201811314195 A CN201811314195 A CN 201811314195A CN 109144091 A CN109144091 A CN 109144091A
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- 238000005259 measurement Methods 0.000 claims abstract description 4
- 238000013016 damping Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 18
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000010006 flight Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
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- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Measuring Fluid Pressure (AREA)
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Abstract
The embodiment of the invention discloses a kind of flight controller and unmanned vehicles, wherein the flight controller includes: Inertial Measurement Unit IMU and micro-control unit MCU；The IMU includes sensor circuit；The sensor circuit includes at least two sensors and at least two source of stable pressure；Each sensor is electrically connected one by one with each source of stable pressure；The MCU is electrically connected at least two sensor respectively, for obtaining the inertial data of the sensor acquisition, and controls aircraft flight according to the inertial data.Flight controller structure provided in an embodiment of the present invention is simple, can save cost, and high reliablity.
Description
Technical field
The present embodiments relate to flight control technology more particularly to a kind of flight controllers and unmanned vehicle.
Background technique
Flight controller is the core control part of aircraft, the inertial data of available sensor acquisition, and will be used to
Control signal needed for property data are converted into electron speed regulator by specific Flight Control Algorithm, so that flight be varied and controlled
Posture (pitching/roll/course situation), geographical location and height of device etc..
Flight controller in the prior art, structural circuit and software processing are fairly simple, when some sensor goes out to ask
Topic when, flight controller is unable to control normal vehicle operation, and reliability is poor.In the prior art, there are also some flights to control
Although device reliability processed increases, hardware configuration and software handle more complicated, higher cost.
Summary of the invention
The embodiment of the present invention provides a kind of flight controller and unmanned vehicle, and structure is simple, can save cost, and
High reliablity.
The embodiment of the invention provides a kind of flight controllers, comprising: Inertial Measurement Unit IMU and micro-control unit MCU；
The IMU includes sensor circuit；The sensor circuit includes at least two sensors and at least two pressure stabilizings
Source；Each sensor is electrically connected one by one with each source of stable pressure；
The MCU is electrically connected at least two sensor respectively, for obtaining the inertia number of the sensor acquisition
According to, and aircraft flight is controlled according to the inertial data.
Optionally, the sensor circuit includes three sensors and three source of stable pressure.
Optionally, the IMU further includes shock-damping structure；
The shock-damping structure, for carrying out damping to the sensor circuit.
Optionally, the sensor is multi-shaft inertial sensor.
Optionally, the parameter of at least two sensor is all the same or the parameter of at least two sensor not
Together.
Optionally, the sensor is equipped with communication interface；The sensor is electrically connected by the communication interface and the MCU
It connects.
Optionally, the communication interface includes Serial Peripheral Interface (SPI) or R2C interface.
Optionally, the Serial Peripheral Interface (SPI) includes that piece selects control terminal；
Described is selected control terminal, is communicated for when input low level, controlling the sensor with MCU foundation；Or
Person is used for when input high level, controls the sensor and communicates with MCU disconnection.
Optionally, described is selected control terminal to be electrically connected with the first end of pull-up resistor, the second end of the pull-up resistor with
The source of stable pressure electrical connection.
Optionally, the source of stable pressure is electrically connected with main power source.
The embodiment of the invention also provides a kind of UAV Flight Control devices, including flight provided in an embodiment of the present invention to control
Device processed.
The embodiment of the present invention is incited somebody to action by using at least two sensors and at least two source of stable pressure in single IMU
Sensor and source of stable pressure are electrically connected one by one, and will at least sensor be electrically connected respectively with single MCU, and reliability is higher, and
Structure is simple, can save cost.
Detailed description of the invention
Fig. 1 a is a kind of flight controller structural block diagram provided in an embodiment of the present invention；
Fig. 1 b is each sensor provided in an embodiment of the present invention and MCU connection schematic diagram；
Fig. 2 is a kind of flight controller structural block diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of unmanned vehicle provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 a is a kind of structural block diagram of flight controller provided in an embodiment of the present invention, wherein the embodiment of the present invention mentions
The flight controller of confession is for carrying out in control scene aircraft, wherein aircraft can be unmanned plane etc..Flight controller
It can be set on aircraft, can also be separated with aircraft.Preferably, flight controller is set on aircraft, Ke Yigeng
The communication of flight controller and aircraft, the more flight of control aircraft in time are realized well.
In the prior art, flight controller includes single independent IMU, or including individually only collecting multiaxis number in pairs
The IMU of sensor, or containing there are three independent IMU.Wherein, for including the flight controller of single independent IMU, IMU
In only include a sensor, structural circuit and software processing it is all fairly simple, but when sensor when something goes wrong, sensor
Accurate inertial data cannot be acquired, then flight controller can not control normal vehicle operation according to inertial data, reliably
Property is poor.
Wherein, for including individually to collect the flight controller of multiaxis digital sensor IMU in pairs, dual redundant is had,
IMU reliability than being integrated with single sensor is slightly higher, but use the same voltage regulator circuit, when source of stable pressure when something goes wrong,
Then two multiaxis digital sensors cannot acquire inertial data, then flight controller is unable to control aircraft flight.And band
Have the flight controller of dual redundant, software arbitration process is more demanding, when some sensor when something goes wrong, need quick standard
Really judge the sensor to go wrong, then switch to another sensor, whether judgment method can only be met by output data
Physics law determines.
Wherein, for the flight controller including three independent IMU, each IMU has multi-axial sensor, damping
Structure, processor, source of stable pressure etc., and flight controller also needs to include an independent physics arbitration unit, reliability ratio
It is higher, but hardware, structure, software is all more complicated, when some element will affect the reliable of flight controller when something goes wrong
Property, and higher cost.
Flight controller provided in an embodiment of the present invention in single IMU by using at least two sensors and at least
Two source of stable pressure, and sensor and source of stable pressure are electrically connected one by one, and will at least sensor be electrically connected respectively with single MCU,
Reliability is higher, and structure is simple, can save cost.
As shown in Figure 1a, a kind of flight controller 10 provided in an embodiment of the present invention, comprising: Inertial Measurement Unit IMU
100 and micro-control unit MCU 200.Wherein, IMU 100 can be individually, and MCU 200 is also possible to individually.
Wherein, IMU 100 includes sensor circuit 110；Sensor circuit 110 is including at least two sensors 111 and extremely
Few two source of stable pressure 112；Each sensor 111 is electrically connected one by one with each source of stable pressure 112；MCU 200 is sensed at least two respectively
Device 111 is electrically connected, and controls aircraft flight for obtaining the inertial data of the acquisition of sensor 111, and according to inertial data.
Wherein, source of stable pressure 112, for being powered to sensor 111.Optionally, source of stable pressure 112 can be with main power source
300 are electrically connected, and the operating voltage of source of stable pressure 112 can be 3V.Wherein, optionally, the parameter of at least two sensors 111
All the same or at least two sensors 111 parameters are different, as long as identical physical quantity can be measured, therefore, to each
The parameters such as the model of a sensor 111 do not limit, and can measure identical physical quantity.Optionally, sensor 111 can be with
For microelectromechanical-systems (Micro-Electro-Mechanical System, MEMS) multi-shaft inertial sensor, wherein MEMS is more
Axis inertial sensor small volume, MEMS multi-shaft inertial sensor is integrated into flight controller, can reduce flight control
The volume of device, so that flight controller is more suitable for aircraft.
Wherein, inertial data can be the data such as the speed of aircraft, angular speed, and MCU 200 can be according to inertial data
The control to aircraft is realized in posture, position etc. of the motivation of adjustment device to adjust aircraft.MCU 200 can be from least one
Inertial data is obtained in a sensor 111, the flight of aircraft is controlled according to inertial data.That is MCU 200 can be from
Obtain inertial data in one sensor 111, according to inertial data control aircraft flight, or can also from two, three,
Or inertial data is obtained in the sensor 111 of other quantity, aircraft flight is controlled according to inertial data.Optionally, MCU
200 can select a sensor of interest according to default rule, and inertial data is obtained from sensor of interest, so that control flies
The flight of row device.Wherein default rule can be random rule, according to the rule of sequencing or other rules.Optionally,
MCU 200 can also determine the most accurate sensor of inertial data as target by the inertial data of analysis all the sensors
Sensor.As a result, when MCU obtains inertial data from a sensor, realizes the control to aircraft, MCU can reduce
Data processing amount, to improve control efficiency.
In embodiments of the present invention, flight controller is by including at least two sensors and at least two in single IMU
A regulated power supply, when one of sensor breaks down, MCU can obtain inertial data from other sensor, from
And the flight of aircraft is controlled, and for the flight controller in single IMU comprising single sensor, reliability
Want high.Flight controller provided in an embodiment of the present invention, when one of source of stable pressure break down when, MCU can from in addition
Source of stable pressure electrical connection sensor in obtain inertial data, to control the flight of aircraft, compared with the existing technology in IMU
Double multiaxis digital sensors are integrated with, and are used in conjunction with for the flight controller of a source of stable pressure, reliability is higher, avoids steady
When potential source breaks down, the case where flight controller is unable to control aircraft flight.It is controlled in flight provided in an embodiment of the present invention
Device processed, compared with the existing technology in include three independent IMU, and in each IMU include sensor, shock-damping structure, processor,
For the flight controller of source of stable pressure, hardware and software is simple, can save cost.
Optionally, as shown in Figure 1a, in an embodiment of the embodiment of the present invention, on the basis of above-described embodiment
On, IMU 100 can also include shock-damping structure 120 other than including above-mentioned sensor circuit 110.Wherein, sensor electricity
Road 110 can integrate on a printed circuit board, the printed circuit board for being integrated with sensor circuit can be arranged in clump weight,
Shock-damping structure can be set in the upper and lower part of clump weight, to realize the damping to sensor circuit, sensor be avoided to exist
The problem of inaccuracy is caused during aircraft flight due to shaking.Wherein, shock-damping structure can be spongy layer, glue-line or its
He has the material layer of shock-absorbing function.
In embodiments of the present invention, optionally, sensor can be equipped with communication interface；Sensor by communication interface with
MCU electrical connection.Optionally, communication interface includes Serial Peripheral Interface (SPI) spi or R2C interface.Wherein, the communication of sensor connects
Mouth can also be other forms, and the communication interface form to sensor is simultaneously not construed as limiting.
Wherein, as shown in Figure 1 b, optionally, Serial Peripheral Interface (SPI) 11 may include that piece selects control terminal 12；Piece selects control terminal
12, for when input low level, control sensor 111 to be communicated with the foundation of MCU 200；Or be used for when input high level,
Control sensor 111 is communicated with the disconnection of MCU 200.Optionally, piece selects control terminal 112 and the first end of pull-up resistor 400 to be electrically connected
It connects, the second end of pull-up resistor 400 is electrically connected with source of stable pressure 112.
Specifically, as shown in Figure 1 b, when MCU 200 needs to obtain the data of sensor 111, can serially peripheral hardware connect
The piece of mouth 11 selects control terminal 12 to send low level signal, so that sensor 111 and MCU 200 be made to establish communication.When MCU 200 is needed
When disconnecting the communication with sensor 111, control terminal 12 can be selected to send high level signal to piece, thus disconnection and sensor
111 communication.Wherein, piece is selected by setting pull-up resistor 400 between control terminal 12 and source of stable pressure 112, can anti-limited step selected control
The problem of connecting line at end 12 processed causes the port level floating when disconnecting.
It should be noted that the piece of each sensor, which selects, is respectively arranged a pull-up resistor between control terminal and source of stable pressure, it is defeated
Entering to the piece on each sensor selects the level of control terminal to be independent of each other.
The embodiment of the present invention is incited somebody to action by using at least two sensors and at least two source of stable pressure in single IMU
Sensor and source of stable pressure are electrically connected one by one, and will at least sensor be electrically connected respectively with single MCU, and reliability is higher, and
Structure is simple, can save cost.
Fig. 2 is a kind of structural block diagram of flight controller provided in an embodiment of the present invention, on the basis of the above embodiments,
In the present embodiment, it includes single sensor circuit 110 that flight controller 10, which includes IMU 100 and MCU 200, IMU 100, can
Choosing, single sensor circuit 110 includes three sensors 111 and three source of stable pressure 112, and MCU 200 is sensed with three respectively
Device 111 is electrically connected, and controls aircraft flight for obtaining the inertial data of the acquisition of sensor 111, and according to inertial data.
In the embodiment of the present invention, by using sensor triple redundance, source of stable pressure triple redundance, when one of sensor occurs
When failure, MCU can obtain inertial data from other two sensor, to control the flight of aircraft, even if wherein two
A sensor breaks down, and MCU can also obtain inertial data from another normal sensor, to control aircraft
Flight.For the flight controller in single IMU comprising single sensor, reliability wants high.
The embodiment of the present invention is by using sensor triple redundance, source of stable pressure triple redundance, when one or both of them pressure stabilizing
When source is broken down, MCU can obtain inertial data from the sensor being electrically connected with other normal source of stable pressure, to control
The flight of aircraft, middle IMU is integrated with double multiaxis digital sensors compared with the existing technology, and is used in conjunction with a source of stable pressure
For flight controller, reliability is higher, and when source of stable pressure being avoided to break down, flight controller is unable to control aircraft flight
Situation.
The embodiment of the present invention is by using sensor triple redundance, source of stable pressure triple redundance, and using single MCU respectively with
The electrical connection of three sensors, compared with the existing technology in include three independent IMU, and include sensor, damping in each IMU
Structure, processor, source of stable pressure flight controller for, hardware and software is simple, can save cost.
Flight controller provided in an embodiment of the present invention, by using sensor triple redundance, source of stable pressure triple redundance, relative to
For using two sensors and two source of stable pressure in single IMU, reliability is higher, even if there are two sensors or two
The case where source of stable pressure failure, flight controller provided in an embodiment of the present invention can also be with normal control aircraft flights.Relative to
For individually in IMU using three or more sensors and three or more the flight controller of source of stable pressure, structure is simple, Ke Yijie
Cost-saving.Therefore, flight controller uses single IMU, and uses sensor triple redundance and source of stable pressure triple redundance in single IMU,
Comprehensively consider from the angle of reliability and cost, effect is best.
Optionally, as shown in Fig. 2, flight controller can also include shock-damping structure 120, shock-damping structure 120, for biography
Sensor circuit 110 carries out damping.Wherein, in the prior art, each sensor needs a corresponding shock-damping structure, and of the invention
Embodiment integrally carries out damping using a shock-damping structure sensor circuit, carries out damping to three sensors to realize, can
So that the structure of flight controller is simple, the cost of manufacture of flight controller is saved.Other introductions of shock-damping structure can be detailed in
Introduction in above-described embodiment.
In embodiments of the present invention, optionally, sensor can be multi-shaft inertial sensor, and sensor can be equipped with communication
Interface；Sensor is electrically connected by communication interface with MCU.Optionally, communication interface includes Serial Peripheral Interface (SPI) spi or R2C
Interface.Wherein, optionally, Serial Peripheral Interface (SPI) includes that piece selects control terminal；Piece selects control terminal, for controlling when input low level
Sensor processed is communicated with MCU foundation；Or for when input high level, control sensor to be communicated with MCU disconnection.Optionally,
Piece selects control terminal to be electrically connected with the first end of pull-up resistor, and the second end of pull-up resistor is electrically connected with source of stable pressure.
Wherein, the introduction for please referring to above-described embodiment is discussed in detail by what spi interface was connect with MCU in each sensor
And Fig. 1 b.
Flight controller provided in an embodiment of the present invention, flight controller are adopted by using single IMU, and in single IMU
With sensor triple redundance and source of stable pressure triple redundance, structure is simple, can save cost, and high reliablity.
Fig. 3 is a kind of unmanned vehicle provided in an embodiment of the present invention, as shown in figure 3, nothing provided in an embodiment of the present invention
People's aircraft 1 includes flight controller 10 provided in an embodiment of the present invention, wherein the structure of flight controller can refer to above-mentioned reality
Apply being discussed in detail in example.
Unmanned vehicle provided in an embodiment of the present invention includes flight controller, and flight controller passes through in single IMU
It is electrically connected one by one using at least two sensors and at least two source of stable pressure, and by sensor and source of stable pressure, and will at least
Sensor is electrically connected with single MCU respectively, and reliability is higher, and structure is simple, can save cost.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
1. a kind of flight controller characterized by comprising Inertial Measurement Unit IMU and micro-control unit MCU；
The IMU includes sensor circuit；The sensor circuit includes at least two sensors and at least two source of stable pressure；Respectively
The sensor is electrically connected one by one with each source of stable pressure；
The MCU is electrically connected at least two sensor respectively, for obtaining the inertial data of the sensor acquisition, and
Aircraft flight is controlled according to the inertial data.
2. controller according to claim 1, which is characterized in that the sensor circuit includes three sensors and three
Source of stable pressure.
3. controller according to claim 1 or 2, which is characterized in that the IMU further includes shock-damping structure；
The shock-damping structure, for carrying out damping to the sensor circuit.
4. controller according to claim 1 or 2, which is characterized in that the sensor is microelectromechanical-systems multi-shaft inertial
Sensor.
5. controller according to claim 1 or 2, which is characterized in that the parameter of at least two sensor is all the same.
6. controller according to claim 1 or 2, which is characterized in that the sensor is equipped with communication interface；The sensing
Device is electrically connected by the communication interface with the MCU.
7. controller according to claim 6, which is characterized in that the communication interface includes Serial Peripheral Interface (SPI), or
R2C interface.
8. controller according to claim 7, which is characterized in that the Serial Peripheral Interface (SPI) includes that piece selects control terminal；
Described is selected control terminal, is communicated for when input low level, controlling the sensor with MCU foundation；Or it uses
It is communicated in when input high level, controlling the sensor with MCU disconnection.
9. controller according to claim 8, which is characterized in that described is selected control terminal and the first end of pull-up resistor electricity
Connection, the second end of the pull-up resistor are electrically connected with the source of stable pressure.
10. controller according to claim 1 or 2, which is characterized in that the source of stable pressure is electrically connected with main power source.
11. a kind of unmanned vehicle, which is characterized in that including such as described in any item controllers of claim 1-10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811314195.1A CN109144091A (en) | 2018-11-06 | 2018-11-06 | A kind of flight controller and unmanned vehicle |
| PCT/CN2019/112343 WO2020093861A1 (en) | 2018-11-06 | 2019-10-21 | Flight controller and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811314195.1A CN109144091A (en) | 2018-11-06 | 2018-11-06 | A kind of flight controller and unmanned vehicle |
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| CN109144091A true CN109144091A (en) | 2019-01-04 |
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| CN201811314195.1A Pending CN109144091A (en) | 2018-11-06 | 2018-11-06 | A kind of flight controller and unmanned vehicle |
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| CN (1) | CN109144091A (en) |
| WO (1) | WO2020093861A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020093861A1 (en) * | 2018-11-06 | 2020-05-14 | 广州极飞科技有限公司 | Flight controller and unmanned aerial vehicle |
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| CN106767777A (en) * | 2016-11-16 | 2017-05-31 | 江苏科技大学 | A kind of underwater robot redundancy inertial navigation device |
| CN106643716A (en) * | 2016-12-02 | 2017-05-10 | 中船重工西安东仪科工集团有限公司 | MEMS inertial measuring device with redundant signal acquisition strategy |
| CN108225313A (en) * | 2017-12-29 | 2018-06-29 | 中国电子科技集团公司第十三研究所 | Navigation attitude instrument based on redundancy MEMS sensor |
| CN207966174U (en) * | 2018-04-09 | 2018-10-12 | 上海交通大学 | Assembled architecture component positioning system based on inertial sensor and GPRS |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020093861A1 (en) * | 2018-11-06 | 2020-05-14 | 广州极飞科技有限公司 | Flight controller and unmanned aerial vehicle |
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| WO2020093861A1 (en) | 2020-05-14 |
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