CN110568853B

CN110568853B - Four rotor unmanned aerial vehicle based on multisource information fusion

Info

Publication number: CN110568853B
Application number: CN201910830951.4A
Authority: CN
Inventors: 许森; 王金铭; 陈友荣; 尉理哲; 刘半藤; 任条娟; 王章权
Original assignee: Zhejiang Shuren University
Current assignee: Zhejiang Shuren University
Priority date: 2019-09-04
Filing date: 2019-09-04
Publication date: 2024-04-26
Anticipated expiration: 2039-09-04
Also published as: CN110568853A

Abstract

The invention discloses a four-rotor unmanned aerial vehicle based on multi-source information fusion, which comprises a GPS module circuit, a barometric sensor module circuit, an attitude sensor module circuit, a UWB module circuit and a singlechip module circuit; the invention adopts a space positioning control system formed by combining a GPS module circuit, a barometric sensor module circuit, an attitude sensor module circuit, a UWB module circuit and a singlechip module circuit, and not only realizes the outdoor high-precision space positioning of the four-rotor unmanned aerial vehicle in a severe air environment such as windy in the flying process, but also realizes the high-precision fixed-point hovering of the four-rotor unmanned aerial vehicle in the air, and also realizes the high-precision positioning of the four-rotor unmanned aerial vehicle in an indoor, a tunnel and a city block of a building forest by virtue of a plurality of sensor information fusion modes, and the positioning precision can reach +/-0.2 meter; the unmanned aerial vehicle control system is stable in operation, high in reliability and high in application value.

Description

Four rotor unmanned aerial vehicle based on multisource information fusion

Technical Field

The invention relates to a four-rotor unmanned aerial vehicle, in particular to a four-rotor unmanned aerial vehicle based on multi-source information fusion, and particularly relates to a miniature four-rotor unmanned aerial vehicle based on multi-source information fusion, which can realize high-precision spatial positioning.

Background

Currently, most of four-rotor unmanned aerial vehicles in the market adopt GPS positioning, and an operator manually adjusts and controls the spatial position of the four-rotor unmanned aerial vehicle through a remote controller, so that the spatial position is kept good in a windless environment. When the quadrotor unmanned aerial vehicle flies in windy environment, the quadrotor unmanned aerial vehicle can be interfered by wind, so that the quadrotor unmanned aerial vehicle deviates from the original spatial position. When wind speed is large, the quadrotor unmanned aerial vehicle may deviate from the original position more greatly, and even cannot realize fixed-point hovering.

When the four-rotor unmanned aerial vehicle is located indoors, in tunnels and in urban areas where high-rise buildings stand, the four-rotor unmanned aerial vehicle cannot receive effective GPS signals, so that the four-rotor unmanned aerial vehicle is inaccurate in space positioning, the four-rotor unmanned aerial vehicle cannot realize fixed-point hovering, or the position error between hovering positions is large. In addition, the GPS positioning mode is adopted, the space positioning precision is in the meter level, the meter level positioning precision is insufficient in a complex building environment or indoor environment, and the centimeter level positioning precision is needed to ensure that the four-rotor unmanned aerial vehicle flies in a narrow space with a high-precision track.

Disclosure of Invention

The technical problem solved by the invention is to overcome the defects of the prior art, and provide the four-rotor unmanned aerial vehicle based on multi-source information fusion, wherein the four-rotor unmanned aerial vehicle adopts a space positioning control system formed by combining a GPS module circuit, a barometric sensor module circuit, an attitude sensor module circuit, a UWB module circuit, a singlechip module circuit and an electronic speed regulator module circuit.

In order to solve the technical problems, the invention is solved by the following technical scheme:

The four-rotor unmanned aerial vehicle based on multi-source information fusion comprises a GPS module circuit for acquiring GPS position information of the four-rotor unmanned aerial vehicle, an air pressure sensor module circuit for acquiring air pressure information of an environment where the four-rotor unmanned aerial vehicle is located, a posture sensor module circuit for acquiring three-axis acceleration information, three-axis angular velocity information and three-axis magnetic field information of the four-rotor unmanned aerial vehicle, a UWB module circuit for acquiring space positioning information of a centimeter level within a 100-meter range of the four-rotor unmanned aerial vehicle, a singlechip module circuit for processing information received by the four-rotor unmanned aerial vehicle and controlling a brushless direct current motor through an electronic speed regulator module circuit, and a power supply module circuit for supplying power to the four-rotor unmanned aerial vehicle, wherein the GPS module circuit, the air pressure sensor module circuit, the posture sensor module circuit, the UWB module circuit and the power supply module circuit are respectively connected with the singlechip module circuit, the electronic speed regulator module circuit and the brushless direct current motor in turn; GPS position information of the four-rotor unmanned aerial vehicle is collected by the GPS module circuit, GPS position information obtained by collection is transmitted to the singlechip module circuit, air pressure information of an environment where the four-rotor unmanned aerial vehicle is located is collected by the air pressure sensor module circuit, the air pressure information obtained by collection is transmitted to the singlechip module circuit, three-axis acceleration information, three-axis angular velocity information and three-axis magnetic field information of the four-rotor unmanned aerial vehicle are collected by the gesture sensor module circuit, three-axis acceleration information, three-axis angular velocity information and three-axis magnetic field information obtained by collection are transmitted to the singlechip module circuit, centimeter-level space positioning information within a range of 100 meters of the four-rotor unmanned aerial vehicle is collected by the UWB module circuit, centimeter-level space positioning information within a range of 100 meters is transmitted to the singlechip module circuit, GPS position information, air pressure information, three-axis acceleration information, three-axis angular velocity information, three-axis magnetic field information and centimeter-level space positioning information within a range of 100 meters are respectively processed by the singlechip module circuit to obtain current position information of the four-rotor unmanned aerial vehicle, and the singlechip module circuit determines a four-rotor unmanned aerial vehicle through a direct-current position control target position of a four-rotor unmanned aerial vehicle through an electronic aircraft, and a four-rotor unmanned aerial vehicle control system is controlled by the singlechip module. The air pressure sensor module circuit collects air pressure information of the environment where the quadrotor unmanned aerial vehicle is located and transmits the collected air pressure information to the singlechip module circuit, and the singlechip module circuit performs data processing on the air pressure information to obtain altitude information of the position where the quadrotor unmanned aerial vehicle is located; the UWB module circuit is communicated with a plurality of anchor nodes within a range of 100 meters, centimeter-level space positioning information within the range of 100 meters of the quadrotor unmanned aerial vehicle is obtained through a positioning algorithm, then the centimeter-level space positioning information within the range of 100 meters is transmitted to the singlechip module circuit, and the singlechip module circuit performs data processing on the centimeter-level space positioning information; the GPS module circuit, the air pressure sensor module circuit, the gesture sensor module circuit, the UWB module circuit, the power module circuit, the singlechip module circuit, the electronic speed regulator module circuit and the brushless direct current motor are all arranged on the quad-rotor unmanned helicopter; basic longitude, latitude and altitude information of the four-rotor unmanned aerial vehicle in the flight process are obtained through a GPS module, altitude information of the four-rotor unmanned aerial vehicle in the flight process is obtained through an air pressure sensor, three-axis acceleration, three-axis angular velocity and three-axis magnetic field information of the four-rotor unmanned aerial vehicle in the flight process are obtained through an attitude sensor, centimeter-level space positioning information of the four-rotor unmanned aerial vehicle in a 100-meter range in the flight process is obtained through a UWB module, and a singlechip calculates the information by adopting an information fusion algorithm, so that high-precision space position information of the four-rotor unmanned aerial vehicle in the indoor and outdoor flight processes can be obtained; the space positioning control system formed by combining the GPS module circuit, the air pressure sensor module circuit, the attitude sensor module circuit, the UWB module circuit, the singlechip module circuit and the electronic speed regulator module circuit is adopted, and the outdoor high-precision space positioning of the four-rotor unmanned aerial vehicle is realized in a mode of various space positioning and information fusion, so that even if the four-rotor unmanned aerial vehicle is in a harsher air environment such as windy in the flying process, the four-rotor unmanned aerial vehicle can hover at an air fixed point, the high-precision positioning of the four-rotor unmanned aerial vehicle in an indoor city, a tunnel and a building forest city neighborhood is realized, and the positioning precision can reach +/-0.2 meter.

Preferably, the four-rotor unmanned aerial vehicle further comprises an NRF24L01 module circuit connected with the singlechip module circuit, and the four-rotor unmanned aerial vehicle is in wireless communication with the control center through the NRF24L01 module circuit. Wherein, the control center is arranged on the ground; the NRF24L01 module is a wireless communication module arranged on the four-rotor unmanned aerial vehicle, and the four-rotor unmanned aerial vehicle establishes wireless communication connection with the ground control center through the NRF24L01 module, so that the ground control center can monitor the flight state of the four-rotor unmanned aerial vehicle in real time.

As the optimization, the single-chip microcomputer module circuit comprises a single-chip microcomputer U1 and a debugging interface socket P5 serving as the single-chip microcomputer U1, wherein the 17 th pin, the 39 th pin, the 52 th pin, the 62 nd pin, the 72 nd pin, the 84 th pin, the 95 th pin, the 108 th pin, the 121 th pin, the 131 th pin and the 144 th pin of the single-chip microcomputer U1 are respectively connected to a power supply +3.3V, and the 16 th pin, the 38 th pin, the 51 th pin, the 61 st pin, the 71 st pin, the 83 rd pin, the 94 th pin, the 107 th pin, the 120 th pin, the 130 th pin and the 143 th pin of the single-chip microcomputer U1 are respectively connected to a power supply ground; the 34 th pin of the singlechip U1 is connected with the cathode of the light-emitting diode D3 through a resistor R5, and the anode of the light-emitting diode D3 is connected with a power supply +3.3V; the 35 th pin of the singlechip U1 is connected with the cathode of the light-emitting diode D4 through a resistor R8, and the anode of the light-emitting diode D4 is connected with a power supply +3.3V; the 105 th pin of the singlechip U1 is connected with the 2 nd pin of the debugging interface socket P5, the 109 th pin of the singlechip U1 is connected with the 3 rd pin of the debugging interface socket P5, the 1 st pin of the debugging interface socket P5 is connected to a power supply +3.3V, and the 4 th pin of the debugging interface socket P5 is grounded; the 48 th pin of the singlechip U1 is grounded after passing through a resistor R9; the 138 th pin of the singlechip U1 is grounded after passing through a resistor R7; one end of the capacitor C6 and one end of the capacitor C7 which are connected in parallel are connected with a 30 th pin of the singlechip U1, the other end of the capacitor C6 and the other end of the capacitor C7 which are connected in parallel are connected with a 33 rd pin of the singlechip U1, the 30 th pin of the singlechip U1 is connected to an analog ground VSSA, and the 33 rd pin of the singlechip U1 is connected to an analog power supply +3.3V; the 31 st pin of the singlechip U1 is connected to the analog ground VSSA; the 32 nd pin of the singlechip U1 is connected to an analog power supply +3.3V; the resistor R3 and the capacitor C5 are connected with the 25 th pin of the singlechip U1, the other end of the resistor R3 is connected to the power supply +3.3V, and the other end of the capacitor C5 is grounded; one end of the key S5 is connected with the 25 th pin of the singlechip U1, and the other end of the key S is grounded; a crystal oscillator Y1 is bridged between a 23 rd pin and a 24 th pin of the singlechip U1, the 23 rd pin of the singlechip U1 is grounded after passing through a capacitor C3, and the 24 th pin of the singlechip U1 is grounded after passing through a capacitor C4; one end of the key S1 is connected with the 1 st pin of the singlechip U1, and the other end of the key S is grounded; one end of the key S2 is connected with the 2 nd pin of the singlechip U1, and the other end of the key S is grounded; one end of the key S3 is connected with the 3 rd pin of the singlechip U1, and the other end of the key S is grounded; one end of the key S4 is connected with the 4 th pin of the singlechip U1, and the other end of the key S is grounded; a resistor R4 is connected between the power supply +3.3V and the analog power supply +3.3V; resistor R6 is connected at one end to digital ground GND and at the other end to analog ground VSSA.

Preferably, the GPS module circuit includes an interface socket P3, a 1 st pin of the interface socket P3 is connected to a power +3.3v, a2 nd pin of the interface socket P3 is connected to a 36 th pin of the single-chip U1, a3 rd pin of the interface socket P3 is connected to a 37 th pin of the single-chip U1, and a 6 th pin of the interface socket P3 is connected to a power ground. Wherein, neither pin 4 nor pin 5 of interface socket P3 is used.

Preferably, the air pressure sensor module circuit comprises a chip U4, wherein a 1 st pin of the chip U4 is connected with a 10 th pin and then connected with a power supply +3.3V, a 3 rd pin, an 8 th pin and a 9 th pin of the chip U4 are connected and then grounded, a 2 nd pin of the chip U4 is connected with a 74 th pin of the single chip U1, a 4 th pin of the chip U4 is connected with a 76 th pin of the single chip U1, a 5 th pin of the chip U4 is connected with a 75 th pin of the single chip U1, a 6 th pin of the chip U4 is connected with a 73 rd pin of the single chip U1, and a 7 th pin of the chip U4 is connected with a 77 th pin of the single chip U1; a capacitor C2 is connected between the 1 st pin and the 3 rd pin of the chip U4, one end of the capacitor C2 is connected with a power supply +3.3V, and the other end of the capacitor C2 is grounded.

Preferably, the gesture sensor module circuit comprises an interface socket J2, a 1 st pin of the interface socket J2 is connected with the power +3.3V, a2 nd pin of the interface socket J2 is connected with a 101 st pin of the single chip microcomputer U1, a 3 rd pin of the interface socket J2 is connected with a 102 rd pin of the single chip microcomputer U1, a 4 th pin of the interface socket J2 is grounded, a 5 th pin of the interface socket J2 is connected with the power +3.3V, and an 8 th pin of the interface socket J2 is grounded. Wherein, neither pin 6 nor pin 7 of interface jack J2 is used.

Preferably, the UWB module circuit includes a socket P2 and a socket P6, the socket P2 being a signal interface socket of the UWB module circuit, the socket P6 being a power socket of the UWB module circuit; the 1 st pin of the socket P2 is connected with the 40 th pin of the single-chip microcomputer U1, the 2 nd pin of the socket P2 is connected with the 43 rd pin of the single-chip microcomputer U1, the 3 rd pin of the socket P2 is connected with the 42 th pin of the single-chip microcomputer U1, the 4 th pin of the socket P2 is connected with the 41 st pin of the single-chip microcomputer U1, the 5 th pin of the socket P2 is connected with the 44 th pin of the single-chip microcomputer U1, the 6 th pin of the socket P2 is connected with the 27 th pin of the single-chip microcomputer U1, and the 7 th pin of the socket P2 is connected with the 45 th pin of the single-chip microcomputer U1; pin 1 of socket P6 is connected to power +3.3v, pin 2 of socket P6 is connected to power ground.

As the preference, NRF24L01 module circuit includes interface socket J1, interface socket J1's 1 st pin links to each other with singlechip U1's 128 th pin, interface socket J1's 2 nd pin links to each other with singlechip U1's 134 th pin, interface socket J1's 3 rd pin links to each other with singlechip U1's 135 th pin, interface socket J1's 4 th pin links to each other with singlechip U1's 133 th pin, interface socket J1's 5 th pin links to each other with singlechip U1's 129 th pin, interface socket J1's 6 th pin links to each other with singlechip U1's 132 th pin, interface socket J1's 7 th pin links to each other with power +3.3V, interface socket J1's 8 th pin ground.

Preferably, the power module circuit comprises a power socket P4, a chip U2, a chip U3 and a peripheral circuit, wherein the power socket P4 is connected with the anode and the cathode of the lithium battery, the 2 nd pin of the power socket P4 is grounded, the 1 st pin of the power socket P4 is connected with one end of a power switch S6, and the other end of the power switch S6 is connected with the anode +11.1V of the lithium battery; a capacitor C14 and a capacitor C15 are connected in parallel between the 1 st pin and the 2 nd pin of the power socket P4, one end of the capacitor C14 connected in parallel with the capacitor C15 is connected with the positive electrode +11.1V of the lithium battery, and the other end of the capacitor C14 is grounded; the 1 st pin of the chip U2 is connected to positive electrode +11.1V of the lithium battery, the 3 rd pin and the 5th pin of the chip U2 are respectively grounded, the 2 nd pin of the chip U2 is connected with the cathode of the diode D6, and the anode of the diode D6 is grounded; one end of the inductor L1 is connected with the 2 nd pin of the chip U2, and the other end of the inductor L1 is connected with the output voltage +5V; a capacitor C16 and a capacitor C17 are connected in parallel between the 4 th pin of the chip U2 and the power ground, one end of the capacitor C16 connected in parallel with the capacitor C17 is connected with the output voltage +5V, and the other end is grounded; the 3 rd pin of the chip U3 is connected with the output voltage +5V of the chip U2, one end of the capacitor C18 connected in parallel with the capacitor C19 is connected with the 3 rd pin of the chip U3, and the other end is grounded; the 1 st pin of the chip U3 is grounded, the 2 nd pin of the chip U3 outputs +3.3V voltage, one end of the capacitor C20 connected in parallel with the capacitor C21 is connected with the 2 nd pin of the chip U3, and the other end of the capacitor C20 is grounded; the anode of the diode D5 is connected to the power +3.3V, and the cathode of the diode D5 is grounded through a resistor R10; one end of the resistor R1 is connected to positive electrode +11.1V of the lithium battery, the other end of the resistor R1 is connected with the resistor R2 in series, the other end of the resistor R2 is grounded, and a connection point of the resistor R1 and the resistor R2 is simultaneously connected with a 26 th pin of the singlechip U1 to form a power type lithium battery voltage acquisition circuit; the capacitor C1 is connected with the resistor R2 in parallel, the anode of the diode D1 is connected with the cathode of the diode D2, the cathode of the diode D1 is connected to the power +3.3V, and the anode of the diode D2 is grounded, so that the power type lithium battery voltage acquisition protection circuit is formed.

Preferably, the electronic speed regulator module circuit comprises an interface socket DT1, an interface socket DT2, an interface socket DT3 and an interface socket DT4, wherein the 1 st pin of the interface socket DT1 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT1 is connected with the 136 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT1 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT2 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT2 is connected with the 137 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT2 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT3 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT3 is connected with the 139 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT3 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT4 is connected to the positive pole +11.1V of the lithium battery, the 2 nd pin of the interface socket DT4 is connected with the 140 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT4 is connected to the negative pole of the lithium battery.

The invention has the remarkable technical effects due to the adoption of the technical scheme: the space positioning control system formed by combining the GPS module circuit, the air pressure sensor module circuit, the gesture sensor module circuit, the UWB module circuit and the singlechip module circuit is adopted, and the high-precision space positioning of the four-rotor unmanned aerial vehicle outdoors is realized in a mode of integrating various sensor information, so that even if the four-rotor unmanned aerial vehicle is in a harsher air environment such as windy in the flying process, the high-precision fixed-point hovering of the four-rotor unmanned aerial vehicle in the air can be realized, the high-precision positioning of the four-rotor unmanned aerial vehicle in an indoor space, a tunnel space and a city neighborhood of a building is realized, and the positioning precision can reach +/-0.2 meter; the unmanned aerial vehicle control system is stable in operation, high in reliability and high in application value.

Drawings

Fig. 1 is a schematic block diagram of a control system of a four-rotor unmanned aerial vehicle embodiment based on multi-source information fusion according to the present invention.

Fig. 2 is a schematic circuit diagram of a single chip module circuit embodiment of the present invention.

Fig. 3 is a schematic circuit diagram of an embodiment of a power module circuit of the present invention.

Fig. 4 is a circuit schematic of an embodiment of the UWB module circuit of the present invention.

Fig. 5 is a schematic circuit diagram of an NRF24L01 block circuit embodiment of the present invention.

Fig. 6 is a circuit schematic of an embodiment of the attitude sensor module circuit of the present invention.

FIG. 7 is a schematic circuit diagram of an embodiment of a barometric sensor module circuit according to the present invention.

Fig. 8 is a schematic circuit diagram of an embodiment of the GPS module circuit of the present invention.

Fig. 9 is a circuit schematic of an embodiment of an electronic governor module circuit of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

The four-rotor unmanned aerial vehicle based on multi-source information fusion is shown in fig. 1-9, and comprises a GPS module circuit 6 for collecting GPS position information of the four-rotor unmanned aerial vehicle, an air pressure sensor module circuit 7 for collecting air pressure information of an environment where the four-rotor unmanned aerial vehicle is located, an attitude sensor module circuit 8 for collecting three-axis acceleration information, three-axis angular velocity information and three-axis magnetic field information of the four-rotor unmanned aerial vehicle, a UWB module circuit 1 for collecting space positioning information of a centimeter level within a 100-meter range of the four-rotor unmanned aerial vehicle, a singlechip module circuit 3 for processing information received and controlling a brushless direct current motor 4 through an electronic speed regulator module circuit 5, a power module circuit 2 for supplying power to the four-rotor unmanned aerial vehicle, wherein the GPS module circuit 6, the air pressure sensor module circuit 7, the attitude sensor module circuit 8, the UWB module circuit 1 and the power module circuit 2 are respectively connected with the singlechip module circuit 3, the electronic speed regulator module circuit 5 and the brushless direct current motor 4 in turn; GPS position information of the four-rotor unmanned aerial vehicle is collected by the GPS module circuit, GPS position information obtained by collection is transmitted to the singlechip module circuit, air pressure information of an environment where the four-rotor unmanned aerial vehicle is located is collected by the air pressure sensor module circuit, the acquired air pressure information is transmitted to the singlechip module circuit, three-axis acceleration information, three-axis angular velocity information and three-axis magnetic field information of the four-rotor unmanned aerial vehicle are collected by the gesture sensor module circuit, three-axis acceleration information, three-axis angular velocity information and three-axis magnetic field information obtained by collection are transmitted to the singlechip module circuit, centimeter-level space positioning information within a range of 100 meters of the four-rotor unmanned aerial vehicle is collected by the UWB module circuit, centimeter-level space positioning information within a range of 100 meters is transmitted to the singlechip module circuit, GPS position information, air pressure information, three-axis acceleration information, three-axis angular velocity information, three-axis magnetic field information and centimeter-level space positioning information within a range of 100 meters are respectively processed by the singlechip module circuit, current position information of the four-rotor unmanned aerial vehicle is obtained, and the singlechip module circuit determines a four-rotor unmanned aerial vehicle flight track according to the current position information of the four-rotor unmanned aerial vehicle, a target position of the four-rotor unmanned aerial vehicle is respectively controlled by the singlechip module, and the four-rotor unmanned aerial vehicle flight vehicle electronic flight track is controlled by the four-rotor unmanned aerial vehicle. The air pressure sensor module circuit collects air pressure information of the environment where the quadrotor unmanned aerial vehicle is located and transmits the collected air pressure information to the singlechip module circuit, and the singlechip module circuit performs data processing on the air pressure information to obtain altitude information of the position where the quadrotor unmanned aerial vehicle is located; the UWB module circuit is communicated with a plurality of anchor nodes within a range of 100 meters, centimeter-level space positioning information within the range of 100 meters of the quadrotor unmanned aerial vehicle is obtained through a positioning algorithm, then the centimeter-level space positioning information within the range of 100 meters is transmitted to the singlechip module circuit, and the singlechip module circuit performs data processing on the centimeter-level space positioning information; the GPS module circuit, the air pressure sensor module circuit, the gesture sensor module circuit, the UWB module circuit, the power module circuit, the singlechip module circuit, the electronic speed regulator module circuit and the brushless direct current motor are all arranged on the quad-rotor unmanned helicopter; basic longitude, latitude and altitude information of the four-rotor unmanned aerial vehicle in the flight process are obtained through a GPS module, altitude information of the four-rotor unmanned aerial vehicle in the flight process is obtained through an air pressure sensor, three-axis acceleration, three-axis angular velocity and three-axis magnetic field information of the four-rotor unmanned aerial vehicle in the flight process are obtained through an attitude sensor, centimeter-level space positioning information of the four-rotor unmanned aerial vehicle in a 100-meter range in the flight process is obtained through a UWB module, and a singlechip calculates the information by adopting an information fusion algorithm, so that high-precision space position information of the four-rotor unmanned aerial vehicle in the indoor and outdoor flight processes can be obtained; the space positioning control system formed by combining the GPS module circuit, the air pressure sensor module circuit, the attitude sensor module circuit, the UWB module circuit, the singlechip module circuit and the electronic speed regulator module circuit is adopted, and the outdoor high-precision space positioning of the four-rotor unmanned aerial vehicle is realized in a mode of various space positioning and information fusion, so that even if the four-rotor unmanned aerial vehicle is in a harsher air environment such as windy in the flying process, the four-rotor unmanned aerial vehicle can hover at an air fixed point, the high-precision positioning of the four-rotor unmanned aerial vehicle in an indoor city, a tunnel and a building forest city neighborhood is realized, and the positioning precision can reach +/-0.2 meter.

In this embodiment, the four-rotor unmanned aerial vehicle further includes an NRF24L01 module circuit 9 connected to the single-chip microcomputer module circuit 3, and the four-rotor unmanned aerial vehicle performs wireless communication with the control center 10 through the NRF24L01 module circuit 9. Wherein the control center 10 is arranged on the ground; the NRF24L01 module is a wireless communication module arranged on the four-rotor unmanned aerial vehicle, and the four-rotor unmanned aerial vehicle establishes wireless communication connection with the ground control center through the NRF24L01 module, so that the ground control center can monitor the flight state of the four-rotor unmanned aerial vehicle in real time.

In this embodiment, the single-chip microcomputer module circuit 3 includes a single-chip microcomputer U1 and a debug interface socket P5 serving as the single-chip microcomputer U1, where a 17 th pin, a 39 th pin, a 52 th pin, a 62 nd pin, a 72 nd pin, a 84 th pin, a 95 th pin, a 108 th pin, a 121 th pin, a 131 th pin, and a 144 th pin of the single-chip microcomputer U1 are respectively connected to a power supply +3.3v, and a 16 th pin, a 38 th pin, a 51 th pin, a 61 st pin, a 71 st pin, a 83 rd pin, a 94 th pin, a 107 th pin, a 120 th pin, a 130 th pin, and a 143 th pin of the single-chip microcomputer U1 are respectively connected to a power supply ground; the 34 th pin of the singlechip U1 is connected with the cathode of the light-emitting diode D3 through a resistor R5, and the anode of the light-emitting diode D3 is connected with a power supply +3.3V; the 35 th pin of the singlechip U1 is connected with the cathode of the light-emitting diode D4 through a resistor R8, and the anode of the light-emitting diode D4 is connected with a power supply +3.3V; the 105 th pin of the singlechip U1 is connected with the 2 nd pin of the debugging interface socket P5, the 109 th pin of the singlechip U1 is connected with the 3 rd pin of the debugging interface socket P5, the 1 st pin of the debugging interface socket P5 is connected to a power supply +3.3V, and the 4 th pin of the debugging interface socket P5 is grounded; the 48 th pin of the singlechip U1 is grounded after passing through a resistor R9; the 138 th pin of the singlechip U1 is grounded after passing through a resistor R7; one end of the capacitor C6 and one end of the capacitor C7 which are connected in parallel are connected with a 30 th pin of the singlechip U1, the other end of the capacitor C6 and the other end of the capacitor C7 which are connected in parallel are connected with a 33 rd pin of the singlechip U1, the 30 th pin of the singlechip U1 is connected to an analog ground VSSA, and the 33 rd pin of the singlechip U1 is connected to an analog power supply +3.3V; the 31 st pin of the singlechip U1 is connected to the analog ground VSSA; the 32 nd pin of the singlechip U1 is connected to an analog power supply +3.3V; the resistor R3 and the capacitor C5 are connected with the 25 th pin of the singlechip U1, the other end of the resistor R3 is connected to the power supply +3.3V, and the other end of the capacitor C5 is grounded; one end of the key S5 is connected with the 25 th pin of the singlechip U1, and the other end of the key S is grounded; a crystal oscillator Y1 is bridged between a 23 rd pin and a 24 th pin of the singlechip U1, the 23 rd pin of the singlechip U1 is grounded after passing through a capacitor C3, and the 24 th pin of the singlechip U1 is grounded after passing through a capacitor C4; one end of the key S1 is connected with the 1 st pin of the singlechip U1, and the other end of the key S is grounded; one end of the key S2 is connected with the 2 nd pin of the singlechip U1, and the other end of the key S is grounded; one end of the key S3 is connected with the 3 rd pin of the singlechip U1, and the other end of the key S is grounded; one end of the key S4 is connected with the 4 th pin of the singlechip U1, and the other end of the key S is grounded; a resistor R4 is connected between the power supply +3.3V and the analog power supply +3.3V; resistor R6 is connected at one end to digital ground GND and at the other end to analog ground VSSA. In the integrated circuit, the resistor R5 plays a role of current limiting; the resistors R7 and R9 are used as pull-down resistors, so that the 48 th pin and the 138 th pin of the singlechip are in a low-level state, and the function of selecting a main flash memory of the singlechip as a starting area is realized; the capacitor C6 and the capacitor C7 are decoupling capacitors, so that a relatively stable power supply can be provided, meanwhile, the noise of the element coupled to the power supply end can be reduced, and the influence of the noise of other elements on the element can be indirectly reduced; the resistor R3 and the capacitor C5 form a power-on reset circuit, the function of the key S5 is key reset, and when the key S5 is pressed, the 25 th pin (NRST pin) of the singlechip U1 becomes low level, so that the singlechip U1 is reset; the crystal oscillator Y1, the capacitor C3 and the capacitor C4 are combined to form a crystal oscillating circuit, so that an accurate master clock is provided for the singlechip U1; the keys S1, S2, S3 and S4 are function keys of the quadrotor unmanned aerial vehicle, and mainly complete the function test of the quadrotor unmanned aerial vehicle; resistor R4 and resistor R6 are isolation resistors, resistor R4 isolating the 3.3V digital power supply from the 3.3V analog power supply, and resistor R6 isolating the digital ground from the analog ground.

In this embodiment, the GPS module circuit 6 includes an interface socket P3, the 1 st pin of the interface socket P3 is connected to the power +3.3v, the 2 nd pin of the interface socket P3 is connected to the 36 th pin of the single-chip microcomputer U1, the 3 rd pin of the interface socket P3 is connected to the 37 th pin of the single-chip microcomputer U1, and the 6 th pin of the interface socket P3 is connected to the power ground. Wherein, the 4 th pin and the 5 th pin of the interface socket P3 are not used; in the integrated circuit, the 2 nd pin and the 3 rd pin of the interface socket P3 are respectively connected with the 36 th pin and the 37 th pin of the single-chip microcomputer U1 to form a UART interface, and the GPS module and the single-chip microcomputer U1 adopt the UART interface to carry out data transmission.

In this embodiment, the air pressure sensor module circuit 7 includes a chip U4, where the 1 st pin of the chip U4 is connected to the 10 th pin and then connected to the power +3.3v, and the 3 rd pin, the 8 th pin, and the 9 th pin of the chip U4 are connected to the ground, the 2 nd pin of the chip U4 is connected to the 74 th pin of the single-chip microcomputer U1, the 4 th pin of the chip U4 is connected to the 76 th pin of the single-chip microcomputer U1, the 5 th pin of the chip U4 is connected to the 75 th pin of the single-chip microcomputer U1, the 6 th pin of the chip U4 is connected to the 73 rd pin of the single-chip microcomputer U1, and the 7 th pin of the chip U4 is connected to the 77 th pin of the single-chip microcomputer U1; a capacitor C2 is connected between the 1 st pin and the 3 rd pin of the chip U4, one end of the capacitor C2 is connected with a power supply +3.3V, and the other end of the capacitor C2 is grounded. In the integrated circuit, the capacitor C2 is a decoupling capacitor, so that a relatively stable power supply can be provided, meanwhile, the noise of the element coupled to the power supply terminal can be reduced, and the influence of the noise of other elements on the element can be indirectly reduced.

In this embodiment, the gesture sensor module circuit 8 includes an interface socket J2, a1 st pin of the interface socket J2 is connected with the power +3.3v, a 2 nd pin of the interface socket J2 is connected with a 101 st pin of the single-chip microcomputer U1, a3 rd pin of the interface socket J2 is connected with a 102 st pin of the single-chip microcomputer U1, a 4 th pin of the interface socket J2 is grounded, a 5 th pin of the interface socket J2 is connected with the power +3.3v, and an 8 th pin of the interface socket J2 is grounded. In the integrated circuit, the 1 st pin and the 5 th pin of the interface socket J2 are connected to a +3.3V power supply, and the 4 th pin and the 8 th pin of the interface socket J2 are connected to a power ground; the No. 2 pin and the No. 3 pin of the interface socket J2 are respectively connected with the No. 101 pin and the No. 102 pin of the single chip microcomputer U1 to form a UART interface, and the gesture sensor module and the single chip microcomputer adopt the UART interface to carry out data transmission. Wherein, neither pin 6 nor pin 7 of interface jack J2 is used.

In this embodiment, the UWB module circuit 1 includes a socket P2 and a socket P6, the socket P2 is used as a signal interface socket of the UWB module circuit 1, and the socket P6 is used as a power socket of the UWB module circuit 1; the 1 st pin of the socket P2 is connected with the 40 th pin of the single-chip microcomputer U1, the 2 nd pin of the socket P2 is connected with the 43 rd pin of the single-chip microcomputer U1, the 3 rd pin of the socket P2 is connected with the 42 th pin of the single-chip microcomputer U1, the 4 th pin of the socket P2 is connected with the 41 st pin of the single-chip microcomputer U1, the 5 th pin of the socket P2 is connected with the 44 th pin of the single-chip microcomputer U1, the 6 th pin of the socket P2 is connected with the 27 th pin of the single-chip microcomputer U1, and the 7 th pin of the socket P2 is connected with the 45 th pin of the single-chip microcomputer U1; pin 1 of socket P6 is connected to power +3.3v, pin 2 of socket P6 is connected to power ground. In the integrated circuit, the socket P2 is a data transmission interface, the 1 st pin of the socket P2 is a chip select end of the UWB module DWM1000, the 2 nd pin, the 3 rd pin and the 4 th pin of the socket P2 are respectively connected with the 43 rd pin, the 42 nd pin and the 41 st pin of the singlechip U1 to form an SPI interface, and the singlechip U1 performs data transmission with the UWB module DWM1000 in an SPI bus mode; the 5 th pin of the socket P2 is a reset end of the UWB module DWM1000, and the 6 th pin of the socket P2 is an interrupt signal output end of the UWB module DWM 1000; the 7 th pin of the socket P2 is a low-power consumption wake-up control end of the UWB module, and the 8 th pin of the socket P2 is suspended; the socket P6 is an electric power socket, and provides an operating power of the UWB module.

In this embodiment, the NRF24L01 module circuit includes an interface socket J1, the 1 st pin of the interface socket J1 is connected with the 128 th pin of the single-chip microcomputer U1, the 2 nd pin of the interface socket J1 is connected with the 134 th pin of the single-chip microcomputer U1, the 3 rd pin of the interface socket J1 is connected with the 135 th pin of the single-chip microcomputer U1, the 4 th pin of the interface socket J1 is connected with the 133 th pin of the single-chip microcomputer U1, the 5 th pin of the interface socket J1 is connected with the 129 th pin of the single-chip microcomputer U1, the 6 th pin of the interface socket J1 is connected with the 132 th pin of the single-chip microcomputer U1, the 7 th pin of the interface socket J1 is connected with the power supply +3.3v, and the 8 th pin of the interface socket J1 is grounded. The 1 foot of the socket J1 is an interrupt output end of the NRF24L01 module, the 2 foot, the 3 foot and the 4 foot of the socket J1 are connected with the 133 foot, the 134 foot and the 135 foot of the singlechip to form an SPI interface, and an SPI bus is adopted between the NRF24L01 module and the singlechip for data transmission. In the integrated circuit, the 5 th pin of the socket J1 is a chip select signal of the NRF24L01 module, the 6 th pin of the socket J1 is a transmission or reception mode selection, the 7 th pin of the socket J1 is connected to a +3.3v power supply, and the 8 th pin of the socket J1 is connected to a power ground.

In this embodiment, the power module circuit 2 includes a power socket P4, a chip U2, a chip U3 and a peripheral circuit, the power socket P4 is connected with the positive electrode and the negative electrode of the lithium battery, the 2 nd pin of the power socket P4 is grounded, the 1 st pin of the power socket P4 is connected with one end of a power switch S6, and the other end of the power switch S6 is connected with the positive electrode +11.1v of the lithium battery; a capacitor C14 and a capacitor C15 are connected in parallel between the 1 st pin and the 2 nd pin of the power socket P4, one end of the capacitor C14 connected in parallel with the capacitor C15 is connected with the positive electrode +11.1V of the lithium battery, and the other end of the capacitor C14 is grounded; the 1 st pin of the chip U2 is connected to positive electrode +11.1V of the lithium battery, the 3 rd pin and the 5 th pin of the chip U2 are respectively grounded, the 2 nd pin of the chip U2 is connected with the cathode of the diode D6, and the anode of the diode D6 is grounded; one end of the inductor L1 is connected with the 2 nd pin of the chip U2, and the other end of the inductor L1 is connected with the output voltage +5V; a capacitor C16 and a capacitor C17 are connected in parallel between the 4 th pin of the chip U2 and the power ground, one end of the capacitor C16 connected in parallel with the capacitor C17 is connected with the output voltage +5V, and the other end is grounded; the 3 rd pin of the chip U3 is connected with the output voltage +5V of the chip U2, one end of the capacitor C18 connected in parallel with the capacitor C19 is connected with the 3 rd pin of the chip U3, and the other end is grounded; the 1 st pin of the chip U3 is grounded, the 2 nd pin of the chip U3 outputs +3.3V voltage, one end of the capacitor C20 connected in parallel with the capacitor C21 is connected with the 2 nd pin of the chip U3, and the other end of the capacitor C20 is grounded; the anode of the diode D5 is connected to the power +3.3V, and the cathode of the diode D5 is grounded through a resistor R10; one end of the resistor R1 is connected to positive electrode +11.1V of the lithium battery, the other end of the resistor R1 is connected with the resistor R2 in series, the other end of the resistor R2 is grounded, and a connection point of the resistor R1 and the resistor R2 is simultaneously connected with a 26 th pin of the singlechip U1 to form a power type lithium battery voltage acquisition circuit; the capacitor C1 is connected with the resistor R2 in parallel, the anode of the diode D1 is connected with the cathode of the diode D2, the cathode of the diode D1 is connected to the power +3.3V, and the anode of the diode D2 is grounded, so that the power type lithium battery voltage acquisition protection circuit is formed. In the integrated circuit, the power switch S6 is a power master switch of the quadrotor unmanned aerial vehicle, and when the switch S6 is closed, the quadrotor unmanned aerial vehicle is electrified as a whole; the capacitor C14 is a filter capacitor, and the capacitor C15 is used for bypassing high-frequency interference and improving ripple waves; the diode D6 forms a BUCK circuit and plays roles of unidirectional conduction and follow current in the circuit; the capacitor C16 is a filter capacitor, and the capacitor C17 is used for bypassing high-frequency interference and improving ripple waves; the capacitor C18 is a filter capacitor, and the capacitor C19 is used for bypassing high-frequency interference and improving ripple waves; the capacitor C20 is a filter capacitor, and the capacitor C21 is used for bypassing high-frequency interference and improving ripple waves; the diode D5 is a light-emitting diode and plays a role of a power indicator, and when the power management chip U3 outputs +3.3V voltage, the diode D5 emits light; the resistor R10 is a current limiting resistor, so that the light emitting diode D5 works in a rated current range; the resistor R1 and the resistor R2 form a voltage dividing circuit together to realize sampling of the output voltage of the lithium battery, the output voltage of the lithium battery is input to a 26 th pin of the singlechip U1 after the voltage dividing circuit is formed by the resistor R1 and the resistor R2, and the singlechip U1 can perform AD conversion on the output voltage, so that the voltage state of the lithium battery is monitored; the capacitor C1 is used for bypassing high-frequency interference; the diode D1 and the diode D2 form an input protection circuit, so that the damage to an IO port (namely a 26 th pin) of the singlechip U1 caused by too high or too low sampling voltage of the voltage dividing circuit is prevented.

In this embodiment, the electronic speed regulator module circuit includes an interface socket DT1, an interface socket DT2, an interface socket DT3, and an interface socket DT4, where a1 st pin of the interface socket DT1 is connected to a positive electrode +11.1v of the lithium battery, a2 nd pin of the interface socket DT1 is connected to a 136 th pin of the single chip microcomputer U1, and a3 rd pin of the interface socket DT1 is connected to a negative electrode of the lithium battery; the 1 st pin of the interface socket DT2 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT2 is connected with the 137 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT2 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT3 is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket DT3 is connected with the 139 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT3 is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket DT4 is connected to the positive pole +11.1V of the lithium battery, the 2 nd pin of the interface socket DT4 is connected with the 140 th pin of the single chip microcomputer U1, and the 3 rd pin of the interface socket DT4 is connected to the negative pole of the lithium battery. In the integrated circuit, the 136 th pin, the 137 th pin, the 139 th pin and the 140 th pin of the singlechip U1 respectively output PWM signals, and the electronic speed regulator module regulates the rotating speed of the brushless direct current motor according to the duty ratio of the PWM signals after receiving the PWM signals, wherein the duty ratio of the PWM signals and the rotating speed of the brushless direct current motor are in a direct-ratio relation, and the brushless direct current motor is tightly connected with the propeller in a mechanical structure, so that the regulation of the rotating speed of the propeller by the brushless direct current motor is realized.

In summary, the foregoing description is only of the preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the invention.

Claims

1. Four rotor unmanned aerial vehicle based on multisource information fusion, its characterized in that: the system comprises a GPS module circuit (6) for acquiring GPS position information of the quadrotor unmanned aerial vehicle, a barometric sensor module circuit (7) for acquiring barometric information of an environment where the quadrotor unmanned aerial vehicle is located, a posture sensor module circuit (8) for acquiring triaxial acceleration information, triaxial angular velocity information and triaxial magnetic field information of the quadrotor unmanned aerial vehicle, a UWB module circuit (1) for acquiring space positioning information of a centimeter level within a 100 meter range of the quadrotor unmanned aerial vehicle, a singlechip module circuit (3) for processing information received and controlling a brushless direct current motor (4) through an electronic speed regulator module circuit (5), a power module circuit (2) for supplying power to the quadrotor unmanned aerial vehicle, wherein the GPS module circuit (6), the barometric sensor module circuit (7), the posture sensor module circuit (8), the UWB module circuit (1) and the power module circuit (2) are respectively connected with a singlechip module circuit (3), the electronic speed regulator module circuit (5) and the brushless direct current motor (4) in turn; the GPS module circuit (6) collects GPS position information of the four-rotor unmanned aerial vehicle and transmits the collected GPS position information to the single-chip microcomputer module circuit (3), the air pressure sensor module circuit (7) collects air pressure information of an environment where the four-rotor unmanned aerial vehicle is located and transmits the collected air pressure information to the single-chip microcomputer module circuit (3), the gesture sensor module circuit (8) collects three-axis acceleration information, three-axis angular velocity information and three-axis magnetic field information of the four-rotor unmanned aerial vehicle and transmits the collected three-axis acceleration information, three-axis angular velocity information and three-axis magnetic field information to the single-chip microcomputer module circuit (3), the UWB module circuit (1) collects spatial positioning information of a centimeter level in a 100 meter range of the four-rotor unmanned aerial vehicle and transmits the spatial positioning information of the centimeter level in the 100 meter range to the single-chip microcomputer module circuit (3), the single-chip microcomputer module circuit (3) respectively carries out data processing on the GPS position information, the air pressure information, the three-axis acceleration information, the three-axis angular velocity information and the three-axis magnetic field information of the four-rotor unmanned aerial vehicle in the 100 meter range and obtains current position information of the four-rotor unmanned aerial vehicle, and the current position of the four-rotor unmanned aerial vehicle (4) is controlled by the single-chip microcomputer module circuit of the four-rotor unmanned aerial vehicle according to the current position information of the four-rotor unmanned aerial vehicle;

The four-rotor unmanned aerial vehicle also comprises an NRF24L01 module circuit (9) connected with the singlechip module circuit (3), and the four-rotor unmanned aerial vehicle is in wireless communication with a control center (10) through the NRF24L01 module circuit (9);

the single chip microcomputer module circuit (3) comprises a single chip microcomputer (U1) and a debugging interface socket (P5) serving as the single chip microcomputer (U1), wherein the 17 th pin, the 39 th pin, the 52 th pin, the 62 nd pin, the 72 nd pin, the 84 th pin, the 95 th pin, the 108 th pin, the 121 th pin, the 131 st pin and the 144 th pin of the single chip microcomputer (U1) are respectively connected to a power supply +3.3V, and the 16 th pin, the 38 th pin, the 51 th pin, the 61 st pin, the 71 st pin, the 83 th pin, the 94 th pin, the 107 th pin, the 120 th pin, the 130 th pin and the 143 th pin of the single chip microcomputer (U1) are respectively connected to a power supply ground; the 34 th pin of the singlechip (U1) is connected with the cathode of the light-emitting diode (D3) through a resistor (R5), and the anode of the light-emitting diode (D3) is connected with a power supply +3.3V; the 35 th pin of the singlechip (U1) is connected with the cathode of the light-emitting diode (D4) through a resistor (R8), and the anode of the light-emitting diode (D4) is connected with a power supply +3.3V; the 105 th pin of the singlechip (U1) is connected with the 2 nd pin of the debugging interface socket (P5), the 109 th pin of the singlechip (U1) is connected with the 3 rd pin of the debugging interface socket (P5), the 1 st pin of the debugging interface socket (P5) is connected to a power supply +3.3V, and the 4 th pin of the debugging interface socket (P5) is grounded; the 48 th pin of the singlechip (U1) is grounded after passing through a resistor (R9); the 138 th pin of the singlechip (U1) is grounded after passing through a resistor (R7); one end of the capacitor (C6) and one end of the capacitor (C7) after being connected in parallel are connected with a 30 th pin of the singlechip (U1), the other end of the capacitor (C6) and the other end of the capacitor (C7) after being connected in parallel are connected with a 33 rd pin of the singlechip (U1), the 30 th pin of the singlechip (U1) is connected to an analog ground VSSA, and the 33 rd pin of the singlechip (U1) is connected to an analog power supply +3.3V; the 31 st pin of the singlechip (U1) is connected to the analog ground VSSA; the 32 nd pin of the singlechip (U1) is connected to an analog power supply +3.3V; the resistor (R3) and the capacitor (C5) are connected with a25 th pin of the singlechip (U1), the other end of the resistor (R3) is connected to a power supply +3.3V, and the other end of the capacitor (C5) is grounded; one end of the key (S5) is connected with a25 th pin of the singlechip (U1), and the other end of the key is grounded; a crystal oscillator (Y1) is bridged between a 23 rd pin and a 24 th pin of the singlechip (U1), the 23 rd pin of the singlechip (U1) is grounded after passing through a capacitor (C3), and the 24 th pin of the singlechip (U1) is grounded after passing through a capacitor (C4); one end of the key (S1) is connected with the 1 st pin of the singlechip (U1), and the other end of the key is grounded; one end of the key (S2) is connected with a2 nd pin of the singlechip (U1), and the other end of the key is grounded; one end of the key (S3) is connected with a 3 rd pin of the singlechip (U1), and the other end of the key is grounded; one end of the key (S4) is connected with a 4 th pin of the singlechip (U1), and the other end of the key is grounded; a resistor (R4) is connected between the power supply +3.3V and the analog power supply +3.3V; resistor (R6) has one end connected to digital ground GND and the other end connected to analog ground VSSA;

the GPS module circuit (6) comprises an interface socket (P3), wherein the 1 st pin of the interface socket (P3) is connected to a power supply +3.3V, the 2 nd pin of the interface socket (P3) is connected with the 36 th pin of the single chip microcomputer (U1), the 3 rd pin of the interface socket (P3) is connected with the 37 th pin of the single chip microcomputer (U1), and the 6 th pin of the interface socket (P3) is connected to a power supply ground;

The air pressure sensor module circuit (7) comprises a chip (U4), wherein a 1 st pin of the chip (U4) is connected with a 10 th pin and then connected with a power supply +3.3V, a 3 rd pin, an 8 th pin and a 9 th pin of the chip (U4) are connected and then grounded, a2 nd pin of the chip (U4) is connected with a 74 th pin of the single chip microcomputer (U1), a 4 th pin of the chip (U4) is connected with a 76 th pin of the single chip microcomputer (U1), a 5 th pin of the chip (U4) is connected with a 75 th pin of the single chip microcomputer (U1), a 6 th pin of the chip (U4) is connected with a 73 rd pin of the single chip microcomputer (U1), and a 7 th pin of the chip (U4) is connected with a 77 th pin of the single chip microcomputer (U1); a capacitor (C2) is connected between the 1 st pin and the 3 rd pin of the chip (U4), one end of the capacitor (C2) is connected with a power supply +3.3V, and the other end of the capacitor (C2) is grounded;

The gesture sensor module circuit (8) comprises an interface socket (J2), wherein the 1 st pin of the interface socket (J2) is connected with a power supply +3.3V, the 2 nd pin of the interface socket (J2) is connected with the 101 st pin of the single chip microcomputer (U1), the 3 rd pin of the interface socket (J2) is connected with the 102 rd pin of the single chip microcomputer (U1), the 4 th pin of the interface socket (J2) is grounded, the 5 th pin of the interface socket (J2) is connected with the power supply +3.3V, and the 8 th pin of the interface socket (J2) is grounded;

The UWB module circuit (1) comprises a socket (P2) and a socket (P6), wherein the socket (P2) is used as a signal interface socket of the UWB module circuit (1), and the socket (P6) is used as a power socket of the UWB module circuit (1); the 1 st pin of the socket (P2) is connected with the 40 th pin of the single chip microcomputer (U1), the 2 nd pin of the socket (P2) is connected with the 43 rd pin of the single chip microcomputer (U1), the 3 rd pin of the socket (P2) is connected with the 42 nd pin of the single chip microcomputer (U1), the 4 th pin of the socket (P2) is connected with the 41 st pin of the single chip microcomputer (U1), the 5 th pin of the socket (P2) is connected with the 44 th pin of the single chip microcomputer (U1), the 6 th pin of the socket (P2) is connected with the 27 th pin of the single chip microcomputer (U1), and the 7 th pin of the socket (P2) is connected with the 45 th pin of the single chip microcomputer (U1). The 1 st pin of the socket (P6) is connected to the power +3.3V, and the 2 nd pin of the socket (P6) is grounded;

The NRF24L01 module circuit comprises an interface socket (J1), wherein the 1 st pin of the interface socket (J1) is connected with the 128 th pin of the single chip microcomputer (U1), the 2 nd pin of the interface socket (J1) is connected with the 134 th pin of the single chip microcomputer (U1), the 3 rd pin of the interface socket (J1) is connected with the 135 th pin of the single chip microcomputer (U1), the 4 th pin of the interface socket (J1) is connected with the 133 th pin of the single chip microcomputer (U1), the 5 th pin of the interface socket (J1) is connected with the 129 th pin of the single chip microcomputer (U1), the 6 th pin of the interface socket (J1) is connected with the 132 th pin of the single chip microcomputer (U1), the 7 th pin of the interface socket (J1) is connected with a power supply +3.3V, and the 8 th pin of the interface socket (J1) is grounded;

The power module circuit (2) comprises a power socket (P4), a chip (U2), a chip (U3) and a peripheral circuit, wherein the power socket (P4) is connected with the anode and the cathode of the lithium battery, the 2 nd pin of the power socket (P4) is grounded, the 1 st pin of the power socket (P4) is connected with one end of a power switch (S6), and the other end of the power switch (S6) is connected with the anode +11.1V of the lithium battery; a capacitor (C14) and a capacitor (C15) are connected in parallel between the 1 st pin and the 2 nd pin of the power socket (P4), one end of the capacitor (C14) and the capacitor (C15) after being connected in parallel is connected with the positive electrode +11.1V of the lithium battery, and the other end of the capacitor is grounded; the 1 st pin of the chip (U2) is connected to positive electrode +11.1V of the lithium battery, the 3 rd pin and the 5 th pin of the chip (U2) are respectively grounded, the 2 nd pin of the chip (U2) is connected with the cathode of the diode (D6), and the anode of the diode (D6) is grounded; one end of an inductor (L1) is connected with a2 nd pin of the chip (U2), and the other end of the inductor (L1) is connected with output voltage +5V; a capacitor (C16) and a capacitor (C17) are connected in parallel between the 4 th pin of the chip (U2) and the power ground, one end of the capacitor (C16) and the capacitor (C17) after being connected in parallel is connected with the output voltage +5V, and the other end of the capacitor is grounded; the 3 rd pin of the chip (U3) is connected with the output voltage +5V of the chip (U2), one end of the capacitor (C18) connected in parallel with the capacitor (C19) is connected with the 3 rd pin of the chip (U3), and the other end of the capacitor is grounded; the 1 st pin of the chip (U3) is grounded, the 2 nd pin of the chip (U3) outputs +3.3V voltage, one end of the capacitor (C20) connected in parallel with the capacitor (C21) is connected with the 2 nd pin of the chip (U3), and the other end of the capacitor is grounded; the anode of the diode (D5) is connected to the power supply +3.3V, and the cathode of the diode (D5) is grounded after passing through the resistor (R10); one end of the resistor (R1) is connected to positive electrode +11.1V of the lithium battery, the other end of the resistor (R1) is connected with the resistor (R2) in series, the other end of the resistor (R2) is grounded, and the connection point of the resistor (R1) and the resistor (R2) is simultaneously connected with a 26 th pin of the singlechip (U1); the capacitor (C1) is connected with the resistor (R2) in parallel, the anode of the diode (D1) is connected with the cathode of the diode (D2), the cathode of the diode (D1) is connected to the power supply +3.3V, and the anode of the diode (D2) is grounded;

The electronic speed regulator module circuit comprises an interface socket (DT 1), an interface socket (DT 2), an interface socket (DT 3) and an interface socket (DT 4), wherein the 1 st pin of the interface socket (DT 1) is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket (DT 1) is connected with the 136 th pin of the singlechip (U1), and the 3 rd pin of the interface socket (DT 1) is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket (DT 2) is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket (DT 2) is connected with the 137 th pin of the singlechip (U1), and the 3 rd pin of the interface socket (DT 2) is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket (DT 3) is connected to the positive electrode +11.1V of the lithium battery, the 2 nd pin of the interface socket (DT 3) is connected with the 139 th pin of the singlechip (U1), and the 3 rd pin of the interface socket (DT 3) is connected to the negative electrode of the lithium battery; the 1 st pin of the interface socket (DT 4) is connected to the positive pole +11.1V of the lithium battery, the 2 nd pin of the interface socket (DT 4) is connected with the 140 th pin of the singlechip (U1), and the 3 rd pin of the interface socket (DT 4) is connected to the negative pole of the lithium battery.