CN112198903A - Modular multifunctional onboard computer system - Google Patents
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Abstract
The invention discloses a modularized multifunctional onboard computer system, which is formed by effectively combining a plurality of modules such as a computer control system, a sensing positioning system, a data communication system, a vision system, a power management system and the like, is stable in operation, can execute various tasks, such as autonomous decision flight, target identification and tracking and the like in a complex environment, and can flexibly cope with a variable environment.
Description
Technical Field
The present invention relates to on-board computer systems, and more particularly to a modular multi-function on-board computer architecture.
Background
Unmanned aerial vehicle technique is emerging, and as the many rotor unmanned aerial vehicle technique development of important member wherein is rapid, along with the continuous development of trade technique, people are to the steady forming machine of modularization, multi-functional maturity carry computer system's demand more and more high.
However, most of the existing airborne computer systems are single computer systems, carry few sensors and have little load, cannot realize complex functions such as high-precision positioning, obstacle avoidance, identification and tracking, action execution and the like, have single purpose, and cannot flexibly meet different task environments and requirements.
A typical example is that in a multi-rotor unmanned aerial vehicle, two functions of planning decision and attitude control are integrated on the same computing platform, on one hand, the computing platform needs to take high computational power and high control output frequency into account, resulting in high computing platform pressure; on the other hand, the system is weak in modularization degree, is not easy to overhaul and replace, and is easy to cause the problem of working safety of the system such as attitude control instability caused by the problem in a decision-making link. In addition, the existing common airborne computer system has single sensor and weak sensing capability on the attitude and the environment, and cannot adapt to complex and variable task environments.
Disclosure of Invention
In order to overcome the defects of the prior art, the inventor of the invention has conducted intensive research and finds that a plurality of modules such as a computer control system, a sensing positioning system, data communication, a vision system, power management and the like are effectively combined to form a modular multifunctional onboard computer system which is stable in operation, can execute various tasks, such as autonomous decision-making flight, target recognition and tracking and the like in a complex environment, and can flexibly cope with a variable environment, thereby completing the invention.
The invention aims to provide a modular multifunctional on-board computer system, which comprises:
the computer control system comprises a main control computer and an attitude control computer, is used for stabilizing and controlling the position and the attitude of the multi-rotor unmanned aerial vehicle, processing data information provided by the positioning system and the vision system, and finishing decision making of tasks such as obstacle avoidance, path planning, tracking and the like according to external information;
the sensing system is used for measuring/obtaining the acceleration, the angular speed and the like of the multi-rotor unmanned aerial vehicle relative to the inertial system; a positioning system, such as an external differential GPS module, for determining the position of the multi-rotor drone;
the visual system is used for searching, identifying and tracking the target, identifying the barrier and acquiring related depth information;
the data communication system is used for transmitting key data between the multi-rotor unmanned aerial vehicle and a ground station, such as airborne camera image data, multi-rotor unmanned aerial vehicle position and attitude information, ground station instructions and the like, and the ground station is used for monitoring the flight state of the multi-rotor unmanned aerial vehicle and controlling key decisions;
the power management system is used for supplying power for the whole system of the multi-rotor unmanned aerial vehicle, and comprises high-voltage power electricity for driving power equipment such as an electric adjusting motor and the like and low-voltage electricity for maintaining the operation of airborne electronic equipment.
The multi-rotor unmanned aerial vehicle adopting the airborne computer system also comprises a power system, wherein the power system comprises an electronic speed regulator, a brushless motor, a propeller and the like, is connected with the attitude control computer through a PWM pin, receives a PWM control signal and drives the motor to rotate to generate lift force.
In the invention, the multifunctional airborne computer system obtained by effectively combining the system modules has the following advantages:
(1) the double-computer system is used, tasks are executed respectively and are not interfered with each other, and the control computer is not influenced when a high-performance computer serving as a main control computer goes wrong, so that the attitude of the multi-rotor unmanned aerial vehicle is guaranteed to be kept stable all the time, and the system safety is improved.
(2) Can realize keeping away the barrier function automatically, guarantee the adaptability of many rotor unmanned aerial vehicle in complicated changeable environment.
(3) By using the double-light photoelectric pod, the wide-range field search can be performed under the two conditions of visible light and infrared light, and the target can be stably tracked after being determined.
(4) Shared data can be cooperatively searched for multiple computers through the data transmission station, so that a foundation is provided for the multiple computers to jointly execute tasks.
(5) The design of using external differential GPS and the redundancy of the double positioning mode of the visual inertial odometer can correct positioning data mutually in a normal use environment and can ensure that the positioning of the unmanned aerial vehicle is accurate in an environment with strong electromagnetic interference or rejection of the GPS.
Drawings
FIG. 1 shows a modular multi-function on-board computer architecture diagram of a preferred embodiment of the present invention.
Fig. 2 shows a schematic diagram of a master control computer of a preferred embodiment of the present invention.
Fig. 3 shows a schematic diagram of an attitude control computer of a preferred embodiment of the present invention.
Fig. 4 shows a schematic view of the optoelectronic pod of the preferred embodiment of the present invention.
Fig. 5 shows a schematic diagram of an obstacle avoidance camera according to a preferred embodiment of the present invention.
FIG. 6 shows a schematic diagram of a differential GPS module of a preferred embodiment of the present invention.
FIG. 7 shows a schematic representation of the power system of a preferred embodiment of the present invention.
FIG. 8 shows a schematic diagram of a sensing system of a preferred embodiment of the present invention, wherein the IMU includes a three-axis accelerometer and a three-axis gyroscope.
Fig. 9 shows a schematic diagram of a data transfer station in accordance with a preferred embodiment of the present invention.
Fig. 10 shows a schematic diagram of a power management system of a preferred embodiment of the present invention.
Detailed Description
The features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
In the invention, the computer control system is used for stabilizing and controlling the position and the posture of the multi-rotor unmanned aerial vehicle, processing data information provided by the positioning system and the vision system, and finishing decision and planning of tasks such as obstacle avoidance, path planning, tracking and the like according to external information. The computer control system comprises a main control computer and an attitude control computer.
In the prior art, a common airborne computer control system generally only has a posture control computer, such as a pixhawk Flight control system for finishing posture control and waypoint Flight, or a single computer is adopted as a main control computer and a posture control computer at the same time, such as a high-traffic Snapdagon Flight Autopilot, and the computer control system designed by the invention uses the design of the main control computer and the posture control computer, and has the following advantages:
(1) and (3) using the main control computer as a high-performance processing computer to complete complex algorithms such as path planning, image recognition, obstacle avoidance algorithm and the like. A high-performance computing platform is selected and loaded with a real-time operating system and a graphical interface, so that on one hand, efficient interaction between a user and a task system can be facilitated; on the other hand, the reliability and the portability of the complex algorithm are ensured.
(2) And (3) using the attitude control computer as a high-frequency control computer to complete high-frequency processing algorithms required for attitude stability control, position attitude calculation and the like. An embedded system with high stability and high signal output frequency is selected, so that on one hand, data of an external sensor can be processed at high frequency, the real-time performance of the data is ensured, and the situation that the control effect is poor due to data delay is avoided; on the other hand, the control signal can be output at high frequency, the bandwidth of a control system is ensured, and the control frequency is ensured to meet the requirement.
(3) The main control computer and the attitude control computer are independent and do not interfere with each other, and when the main control computer is down due to running a complex algorithm and cannot output a control instruction, the attitude control computer can still run normally, so that the attitude stability of the multi-rotor unmanned aerial vehicle is ensured. Ensure whole many rotor unmanned aerial vehicle's stability.
(4) The main control computer and the attitude control computer operate independently, the main control computer operates the complex algorithm with high calculation power requirement and low real-time requirement at a lower frequency, and the attitude control computer operates the simple algorithm with low calculation power requirement and high real-time requirement at a higher frequency independently without being blocked by the complex algorithm of the main control computer. If the operating frequency of the algorithm of the main control computer is about 10HZ to 30HZ, the requirement of the design index of the attitude control system of which the operating frequency is usually at least more than 50HZ cannot be met, but the operating frequency of the algorithm of the attitude control computer can reach 100HZ as fast as possible, and the operating frequency of the control system can be ensured to meet the requirement of the design index.
(5) Due to the design of the double computer systems, the maintainability of the on-board computer system can be greatly improved, and when the attitude control computer is damaged, only the attitude control computer needs to be replaced without replacing the computer control system, so that the maintenance cost of the system is greatly reduced.
In a preferred embodiment of the invention, the main control computer is connected with the attitude control computer through a TTL level serial port, receives information such as the position and attitude state of the multi-rotor unmanned aerial vehicle of the attitude control computer, and sends a position and attitude control instruction to the attitude control computer.
In the present invention, the main control computer provides high performance computer hardware resources and rich communication interfaces for the multi-rotor drone mission system, and a computer suitable for the field of aviation may be used, but Jetson TX2 is preferably used as a high performance on-board computer due to its excellent speed and low power consumption. The high-performance airborne computer adopts NVIDIA Pascal GPU, memory with the bandwidth as high as 8GB and memory with the bandwidth as high as 59.7GB/s, provides rich standard hardware interfaces, perfectly adapts to various products and appearance specifications, and realizes an AI computing terminal in the true sense. Compared with other airborne computing platforms, such as Intel computer Stick, Raspberry pie and the like, Jetson TX2 has the characteristics of small size, low power consumption, high computing power and the like. Therefore, the high-performance airborne computer is suitable for completing multiple functions of decision planning, navigation guidance, collaborative search, obstacle avoidance, image processing, recognition and the like. The Jetson TX2 mainly comprises a core computing module, an upper-layer interface expansion board, a cooling fan and the like, is connected with an attitude control computer through TTL level serial port pins of the expansion board, receives information such as the position attitude state of the multi-rotor unmanned aerial vehicle and sends a position attitude control command; the system is connected with the double-light photoelectric pod through an RS232 or SDI interface of the expansion board, receives image information and sends a control instruction for the photoelectric pod; the USB interface of the expansion board is connected with the obstacle avoidance camera to receive the depth information of the obstacle.
In the invention, the attitude control computer is used for ensuring the stability and maneuverability of the aircraft, improving the capability of completing tasks and flight quality, enhancing the safety of flight and lightening the burden of a driver. In the invention, a Pixhawk attitude control computer is preferably selected as a high-frequency embedded device serving as a lower computer, receives a control instruction of the upper computer, stably controls the attitude, and outputs a control signal to control the power system. Compared with other flight control platforms, such as DJI N3 flight control and MWC flight control, the pixhawk has the characteristics of source-opening, customizable expansibility, good control effect and the like. The Pixhawk attitude control computer mainly comprises an MCU (microprogrammed control Unit), an interface expansion board, an AD (analog-to-digital) conversion circuit and the like, is connected with a differential GPS (global positioning System) module through a TTL (transistor-transistor logic) level serial port interface or a CAN (controller area network) interface, and receives position information such as longitude, latitude, height and the like; the device is connected with sensors such as an IMU (inertial measurement Unit), a magnetic compass, a barometer and the like through an I2C interface, and receives data information such as triaxial acceleration, angular velocity, a geomagnetic field, air pressure and the like; the PWM pin is connected with the electric modulator, and the PWM wave is sent to control the electric modulator to drive the motor to rotate; the system is connected with a main control computer through a serial port interface of TTL level, sends information such as position attitude state of the multi-rotor unmanned aerial vehicle, and receives a position attitude control instruction; the serial port interface through the TTL level is connected with the data transmission radio station, sends data such as airborne camera image, many rotor unmanned aerial vehicle position attitude information, receives the ground station instruction.
In the invention, the sensing system comprises inertial measurement sensors (IMU) such as a three-axis accelerometer, a three-axis gyroscope and the like, altitude measurement sensors such as a barometer and a heading measurement sensor such as a magnetic compass and the like, the sensors are connected with an attitude control computer through an I2C bus or a CAN bus, and data such as acceleration, angular velocity, geomagnetic field, air pressure and the like are transmitted to the attitude control computer through a serial bus so as to determine the self attitude and altitude of the multi-rotor unmanned aerial vehicle.
In the invention, the positioning system preferably adopts an external differential GPS module, the external differential GPS module mainly comprises an airborne receiving module, a ground base station and a GPS antenna, the airborne receiving module and the ground fixed base station simultaneously receive common GPS positioning information, the ground fixed base station sends a positioning correction value to the airborne receiving module according to the self accurate position and the common GPS positioning information obtained simultaneously, and the airborne receiving module calculates more accurate positioning information through the common GPS positioning information and the positioning correction value.
The airborne receiving module is connected with the attitude control computer through a serial port of TTL level and a CAN bus, and sends longitude and latitude, height and other information to the attitude control computer for self positioning of the multi-rotor unmanned aerial vehicle; moreover, the differential GPS module and the IMU (e.g., including a three-axis gyroscope, a three-axis accelerometer, etc.) in the sensing system form a sensor redundancy design, and the acceleration and angular velocity data integration measured by the IMU in the sensing system can be used to obtain position information and correct the position information obtained by the GPS.
In a preferred embodiment of the invention, a Here + RTK high-precision differential positioning module of herxing science and technology is adopted as the external differential GPS, and compared with other positioning modules, the herz + RTK high-precision differential positioning module has high positioning precision and good integration degree, and the design matched with the flight control can directly transmit positioning information, magnetic compass data and barometer data to the flight control for data fusion, and can assist the flight control to better complete self-position estimation.
In the invention, the vision system preferably uses a depth camera to acquire the obstacle information and avoid the obstacle, thereby ensuring the perception adaptability of the multi-rotor unmanned plane to the complex environment; the dual-light electro-optic pod is preferably used for wide-range field search in both visible and infrared situations and for stable tracking of the target after determination.
The double-photoelectric pod mainly comprises a lens, a photosensitive element, a three-axis pan-tilt, an interface circuit and the like, is connected with a main control computer through an RS232 or SDI interface, sends image information to the main control computer, and the main control computer identifies a target through a written image identification tracking algorithm (typically, such as Shafiee M J, Chywl B, Li F, et al. Fast YOLO: A Fast You Only Look one System for Real-time Embedded Object Detection in Video [ J ].2017.), calculates the deviation of the target relative to the pixel center point of the photoelectric pod, generates a control instruction according to the deviation amount, and sends the control instruction to the photoelectric pod, controls the rotation of the pan-tilt to maintain the target to be always in the pixel center position, and realizes the tracking function.
In a preferred embodiment of the present invention, as the dual photovoltaic pod, a star net uda SCA260 type photovoltaic pod may be used. The SCA260 type photoelectric pod adopts a high-precision two-axis stable platform, a 36-time continuous zooming visible light camera and a high-resolution single-lens reflex camera are arranged in the high-precision two-axis stable platform, and the high-resolution single-lens reflex camera is compact in structure and high in cost performance. Compared with other photoelectric pods, the pod has the advantages of combination of various optical sensors, a high-precision fiber-optic gyroscope stable platform, integrated high-definition automatic tracking and the like, and the tracking target effect is excellent. The SCA260 type photoelectric pod mainly comprises a lens, a photosensitive element, a three-axis cradle head, an interface circuit and the like, is connected with a main control computer through the interface circuit, sends image information, receives control information such as the cradle head, a shutter and the like to control the photoelectric pod to rotate and take pictures.
The depth camera for avoiding the obstacle mainly comprises a binocular module, a depth module, a built-in IMU and the like, is connected with a main control computer through a USB interface, and sends the depth information of the obstacle to the main control computer. And the main control computer forms an artificial potential field according to the depth information of the obstacle, namely, the position closer to the obstacle is provided with a larger virtual repulsive force, and the path is optimized according to the indexes such as the minimum repulsive force and the like, so that the obstacle avoidance operation is realized.
In a preferred embodiment of the invention, as an obstacle avoidance camera, a depth camera, in particular an Intel realsense D435i RGB-D camera, may be used as a depth obstacle avoidance camera. The visual field is wide, the maximum shooting distance can reach 10m, and the visual field is supported by Intel realistic sense SDK 2.0 and a cross-platform. Compared with other depth obstacle avoidance cameras, the camera has the advantages that RGB imaging quality is high, depth information is accurate, and functions such as SLAM can be simultaneously completed by the aid of the built-in IMU.
The invention selects two image acquisition devices of a double-light photoelectric pod and a depth camera for the tracking function and the obstacle avoidance function at the same time, and has the following advantages:
(1) because two light photoelectric pod have the structure of triaxial machinery cloud platform, guaranteed on the one hand that the photoelectric ball acquires the stability of image when many rotor unmanned aerial vehicle carry out large-angle maneuver flight, on the other hand has guaranteed that the photoelectric ball can be independent of many rotor unmanned aerial vehicle free rotation, can search on a large scale when not discovering the target, be favorable to it to search the target faster, and after discerning the target, the photoelectric ball can be through the rotation of self cloud platform, make the target be in the field of view all the time, avoided losing the condition of target field of view because of many rotor unmanned aerial vehicle is because of self mobility is not enough, therefore, the system is suitable for search and tracking to the fast moving object, if use this many rotor unmanned aerial vehicle system to accomplish to track ground fast moving platform.
(2) The double-light photoelectric pod can simultaneously obtain visible light images and infrared images, so that the reliability and the all-weather performance of the searching and tracking of the multi-rotor unmanned aerial vehicle system are ensured, and the visible light images are used for searching and tracking under the condition of good visible light imaging effect; in environments such as fog or the dark, infrared images are used instead of visible light. Thus, the system can provide a high-altitude view to ground personnel in harsh environments, such as at night to assist ground personnel in searching for ground objects.
(3) The method comprises the following steps that an RGB-D camera which is strapdown with a multi-rotor unmanned aerial vehicle and is internally provided with an IMU is used as an obstacle avoidance camera, on one hand, depth information between the depth camera and an obstacle can be used, and algorithms such as an artificial potential field method are used for obstacle avoidance; on the other hand, the image information of the RGB camera can be combined with the attitude information measured by an IMU (Inertial measurement Unit) arranged in the camera, and a relevant Monocular vision Inertial mileage calculation method such as VINS-MONO (Tong Q, Beiliang L, Shaojie S, VINS-Mono: A Robust and vertical monomer Visual-interferometric State Estimator [ J ]. IEEE Transactions on Robotics,2018:1-17.) is used to complete the position and attitude estimation based on vision; under a general environment, the position and attitude information estimated by vision can be fused with the position information measured by a GPS and the attitude information measured by a built-in IMU by using an algorithm such as EKF (typically, Zhang P, Gu J, Milios E, et al. Navigation with IMU/GPS/digital composition with unsected Kalman filter [ C ]// mechanics & Automation, IEEE International reference, 2005 ]), and the data is corrected to ensure that the position and attitude of the multi-rotor unmanned aerial vehicle can be accurately estimated when a small amount of error data occurs in the IMU of the GPS module and the sensing system. And in the environment that strong electromagnetic interference or GPS refused, like power plant, indoor, vision inertia odometer can replace GPS, becomes many rotor unmanned aerial vehicle's positional information and acquires the source, has guaranteed this many rotor unmanned aerial vehicle to the robustness of environmental change, can accomplish the function of independently flying like in the building.
In the invention, the data communication system is used for completing partial key data transmission between the multi-rotor unmanned aerial vehicle and the ground station, such as airborne camera image data, multi-rotor unmanned aerial vehicle position and attitude information, ground station instructions and the like, and is used for monitoring the flight state of the multi-rotor unmanned aerial vehicle and controlling key decisions by the ground station. The data communication system comprises an airborne terminal and a ground terminal, wherein the airborne terminal is connected with an attitude control computer through a serial port of TTL level, the attitude control computer is responsible for forwarding data information of each airborne device and instructions sent by a ground station, the airborne terminal and the ground terminal transmit data through radio, and the ground terminal is connected with the ground computer through a USB.
In the invention, a data transmission radio station, particularly HereLink of Herstella is preferably used as an airborne end of a data communication system, the module has a video transmission link with the advantages of data and image transmission and remote control integration, the image quality is as high as 1080p @60fps, the maximum transmission distance is 20KM, the ground is empty, no shielding and interference are caused, the data delay is as short as 110ms, and the HDMI is input to a display end. Compared with other data transmission radio stations, the remote control system has the characteristics of integrating data transmission and remote control, simplifying the quantity of system equipment, facilitating the use of users and the like. The system can realize the monitoring of the flight state of the airborne system and the ground station, the transmission of critical data such as battery power, flight mission state, alarm and the like.
In the invention, the power management system mainly supplies power to a battery, a voltage stabilizing module, a distributor plate and other parts, is connected with the positive and negative interfaces of the power supply of each module through various types of power supply lines, supplies power to the whole system of the multi-rotor unmanned aerial vehicle, and comprises high-voltage power electricity for driving power equipment such as an electric adjusting motor and the like and low-voltage electricity for maintaining the operation of airborne electronic equipment. Preferably, a lattice tatu 22000mAh battery is used as a power supply module, and a positive source electronic direct current converter is used as a voltage reduction module.
By adopting the airborne computer system of the invention, the following effects can be achieved:
(1) a main control computer: the operating frequency of the obstacle avoidance and path planning algorithm is 30HZ, and the operating frequency of the visual identification algorithm is 20HZ, which is higher than the lowest frequency requirement;
(2) an attitude control computer: the operation frequency of the control algorithm is 100HZ, the rising time of the control system responding to unit step input is 0.27s, overshoot is avoided, and the control instruction can be quickly followed;
(3) a vision system: the maximum tracking error of the visual identification tracking algorithm is 1m, and accurate target following can be completed. Obstacle avoidance algorithm enables the multi-rotor unmanned aerial vehicle to automatically avoid obstacles within 5m, and the obstacle avoidance algorithm can autonomously avoid obstacles under the low-speed flight condition. The positioning accuracy of the visual inertial odometer is about 0.2m under the condition that the GPS is rejected, and the indoor positioning requirement is basically met;
(4) a differential GPS module: the cold start time is 26s, the maximum update frequency is 5HZ, the positioning precision is 0.025m, and outdoor high-precision positioning flight can be completed;
(5) power management, power and power supply system: the maximum tensile force of the power system is 11320g, the endurance time is about 20 minutes, and the takeoff weight and the flight time can meet most application scenarios.
Example 1 tracking and landing a ground mobile platform in a complex environment
In an environment with a plurality of floating obstacles, a target unmanned aerial vehicle flies in an irregular flight path, and starts a multi-rotor unmanned aerial vehicle carrying an onboard computer system shown in fig. 1 to execute tasks, wherein a main control computer adopts Jetson TX2, an attitude control computer adopts Pixhawk, a dual-photoelectric pod adopts a star network space to reach an SCA260 type photoelectric pod, a depth obstacle avoidance camera adopts an Intel realsense D435i RGB-D camera, a difference GPS module adopts a Here + RTK high-precision difference positioning module of hertzian technology, and a data transfer radio adopts hereLink.
The multi-rotor unmanned aerial vehicle flies to a high point, a double-light photoelectric pod of an onboard computer system is used for searching a target with a large visual field range, after the target is detected, a main control computer calculates a path and overload information according to a proportion guidance algorithm (Qianxuan, Linruing, Zhao, Asian, missile flight mechanics [ M ]. Beijing university of Physician university, 2013.), the overload information is sent to a posture control computer Pixhawk, the posture control computer Pixhawk controls the multi-rotor unmanned aerial vehicle to track a target platform, in the meantime, a floating obstacle is identified through a depth obstacle avoidance camera and is avoided according to an artificial potential field algorithm (Chengni, Youbo, CHENLi-bin, et al. robot dynamic tracking and obstacle avoidance based on an improved artificial potential field method [ J ]. automation technology and application, 2007,26(4):8-10.), the double-light photoelectric pod is used for identifying the target platform, approach and continuous tracking, eventually completing the landing on the mobile platform (Cinchoujian, Guo san Lei. improved SIFT unmanned aerial vehicle image recognition algorithm [ J ] computer applications and software based on the simplified Forstner operator, 2012(05): 260. 261+306.) (Yu Y, Yang S, Wang M, et al. High performance wind intensity control of a quadrat SO (3) [ C ]// IEEE International Conference on Robotics & Automation. IEEE 2015.)
Although the present invention has been described in detail with reference to the foregoing illustrative embodiments, the present invention should not be construed as limited to the foregoing embodiments, and those skilled in the art will appreciate that various modifications, substitutions and alterations can be made to the technical solution and embodiments without departing from the spirit and scope of the present invention.
Claims (9)
1. A modular multi-function on-board computer architecture, comprising:
the computer control system comprises a main control computer and an attitude control computer, is used for stabilizing and controlling the position and the attitude of the multi-rotor unmanned aerial vehicle, processing data information provided by the positioning system and the vision system, and finishing decision and planning of tasks such as obstacle avoidance, path planning, tracking and the like according to external information;
the sensing system is used for measuring information such as acceleration, angular velocity and the like of the multi-rotor unmanned aerial vehicle relative to an inertial system;
the positioning system is used for determining the position information of the multi-rotor unmanned aerial vehicle, such as the position, longitude and latitude, height and the like of a relative flying point; the visual system is used for searching, identifying and tracking the target, identifying the barrier and acquiring related depth information; and
the data communication system is used for key data transmission between the multi-rotor unmanned aerial vehicle and the ground station, such as airborne camera image data, multi-rotor unmanned aerial vehicle position and attitude information, ground station instructions and the like, and the ground station is used for monitoring the flight state of the multi-rotor unmanned aerial vehicle and controlling key decisions.
2. The multi-function on-board computer architecture of claim 1, further comprising:
the power management system is used for supplying power for the whole system of the multi-rotor unmanned aerial vehicle, and comprises high-voltage power electricity for driving power equipment such as an electric adjusting motor and the like and low-voltage electricity for maintaining the operation of airborne electronic equipment.
3. A multi-function on-board computer system as claimed in claim 1, wherein the master computer employs Jetson TX 2.
4. A multi-function on-board computer system as claimed in claim 1, wherein the attitude control computer employs Pixhawk.
5. The multi-function on-board computer architecture of claim 1, wherein the sensing system comprises sensors such as flight-controlled three-axis inertial measurement sensors, magnetic compasses, and barometric pressure gauges.
6. The multi-function on-board computer system as claimed in claim 1, wherein the positioning system is an external differential GPS module, and is connected to the attitude control computer via TTL-level serial communication protocol and CAN protocol to transmit horizontal position and height information.
7. The multifunctional airborne computer system of claim 1, wherein the vision system comprises a photoelectric pod and a depth camera, and is connected with the main control computer through an RS232 interface or an SDI interface, and the obtained relative position information of the target and the photoelectric ball and the depth information of the obstacle are transmitted for completing tasks such as tracking and obstacle avoidance.
8. A multi-function on-board computer system as set forth in claim 1, wherein the data communication system comprises a radio-modem on-board terminal.
9. The multi-function on-board computer system of claim 1, wherein the power management system comprises a power supply and a voltage reduction module.
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