CN205844898U - A kind of flying control equipment being suitable for SUAV - Google Patents
A kind of flying control equipment being suitable for SUAV Download PDFInfo
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- CN205844898U CN205844898U CN201620662403.7U CN201620662403U CN205844898U CN 205844898 U CN205844898 U CN 205844898U CN 201620662403 U CN201620662403 U CN 201620662403U CN 205844898 U CN205844898 U CN 205844898U
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Abstract
This utility model discloses a kind of flying control equipment being suitable for SUAV, including: real-time processing module, flight control modules, attitude calculate module, Composite communication interface and electronic identity authentication module, and above-mentioned modules uses sip technique to be integrated into chip, also includes: intelligent navigation module, actuator and dynamical system interface；Identity information is constantly sent by certain cycle by Composite communication interface and works in coordination with air traffic control system to ground by electronic identity authentication module；Attitude calculates that module measures unmanned plane angular velocity, acceleration and earth's magnetic field, and applies Quaternion Method and expanded Kalman filtration algorithm to estimate roll angle, the angle of pitch and course angle, and attitude calculates that the attitude angle estimated is sent to flight control modules by module；Intelligent navigation module switches navigation mode according to the surrounding enviroment situation residing for unmanned plane.Integrated automatic navigation control, long-range blank pipe communication, attitude reckoning, electronic identity authentication function, it is achieved the full autonomous flight of unmanned plane and air traffic control function.
Description
Technical field
This utility model belongs to the technical field of flight control of unmanned plane, particularly relates to flying of a kind of applicable SUAV
Control equipment.
Background technology
Although unmanned plane mechanical realization is fairly simple with flight theory, but to sensor performance and the requirement in control theory
The highest, the high speed development of MEMS sensor technology and embedded microprocessor makes the research of unmanned plane be broken through, especially
It is that many rotor wing unmanned aerial vehicles the most progressively replace helicopter type unmanned plane, and rotor wing unmanned aerial vehicle becomes the main flow of research.The most existing
Autonomous Control level is capable of autonomous or half Autonomous Control relatively determining under environment, under circumstances not known, realize quickly
Adaptive change, unmanned plane autonomous flight control truly, current technology is the most immature.
UAV Attitude measurement part mostly uses single axis gyroscope, three axis accelerometer and magnetometer etc., in market also
Have can the attitude heading reference system of direct output angle, volume is big, expensive.In addition, unmanned plane has low latitude, slow
Speed, feature that target is little, utilize unmanned plane illegally to shoot, to deliver drugs etc. of common occurrence, causes that management and control is difficult, detecting is difficult, disposes
Difficulty, there is also and declare the problems such as flight plan is not smooth, and aerial supervision is difficult, and the management and control for unmanned plane is a global problem.
Summary of the invention
For solving above-mentioned technical problem, the utility model proposes a kind of flying control equipment being suitable for SUAV.In order to right
Some aspects of the embodiment disclosed have a basic understanding, shown below is simple summary.This summarized section is not general
General commentary, is not key/critical component to be determined or the protection domain describing these embodiments.Its sole purpose is to use
Simple form presents some concepts, in this, as the preamble of following detailed description.
This utility model adopts the following technical scheme that
In some optional embodiments, it is provided that a kind of flying control equipment being suitable for SUAV, including: process data
Real-time processing module, calculate that blank pipe is worked in coordination with on module and ground for the flight control modules of unmanned plane autonomous flight control, attitude
System carries out the Composite communication interface of communication, electronic identity authentication module, intelligent navigation module, actuator and dynamical system and connects
Mouthful；Described Composite communication interface is connected with described real-time processing module, and described real-time processing module is connect by described composite communication
Mouth receives ground and works in coordination with the instruction of air traffic control system and be sent to described flight control modules by first interface；Described electronic identity
Authentication module is connected with described real-time processing module, and the identity information that self stores is passed through institute by described electronic identity authentication module
State Composite communication interface constantly to send by certain cycle and work in coordination with air traffic control system to ground；Described intelligent navigation module is with described
Real-time processing module connects, and selects navigation mode according to the external environment residing for unmanned plane；Described attitude calculates that module is used for surveying
The amount roll angle of unmanned plane, the angle of pitch and course angle also estimate attitude angle, including: 9 axle sensors, barometer, GPS interface,
Extended Kalman filter and output interface, described attitude calculates that module is connected with described flight control modules, by estimate
Attitude angle sends to described flight control modules, and described 9 axle sensors, barometer and GPS interface are connected to described extension karr
The input of graceful wave filter, described output interface is connected to the outfan of described extended Kalman filter, and described attitude calculates
Module is by the external GPS of described GPS interface.
In some optional embodiments, self is estimated by described extended Kalman filter by described output interface
Attitude angle send to described flight control modules, described output interface is UART serial ports or CAN interface.
In some optional embodiments, described communication interface includes: public network communication unit, Beidou satellite communication unit and
Wireless LAN communication unit, described public network communication unit is worked in coordination with air traffic control system by 2.5G, 3G or 4G network and ground and is carried out
Communication, described Beidou satellite communication unit is worked in coordination with air traffic control system with ground by the way of big-dipper satellite sends message and is led to
News, described wireless LAN communication unit communicates with mobile phone.
In some optional embodiments, described first interface is UART interface, SPI interface or iic bus, described in real time
Processing module is connected by described first interface with described flight control modules.
In some optional embodiments, described identity information includes: identity code, credit standing, unmanned plane institute is in place
The longitude and latitude put and the height of unmanned plane position.
In some optional embodiments, described 9 axle sensors include: three-axis gyroscope, three axis accelerometer, three axle magnetic
Strong meter and filter circuit.
In some optional embodiments, described 9 axle sensors are BNO055 sensor.
In some optional embodiments, described a kind of flying control equipment being suitable for SUAV, also include: storage
Device, described memorizer is connected with described flight control modules, for recording state of flight and the flight failure information of unmanned plane, institute
Stating memorizer is portable hard drive, SD card, USB flash disk or cloud storage system.
The beneficial effect that this utility model is brought: integrated automatic navigation control, long-range blank pipe communication, attitude reckoning, electricity
Sub-identity authentication function, it is achieved the full autonomous flight of unmanned plane and air traffic control function, may advantageously facilitate unmanned plane miniaturization；Bag
The electronic identity authentication module combined ground contained works in coordination with blank pipe platform, can thoroughly solve unmanned plane " black fly " universal, declare and fly
Row plan is not smooth, the problem that aerial supervision is difficult, facilitates management and control, promotes the development that unmanned plane industry is orderly and healthy.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of flying control equipment being suitable for SUAV of this utility model；
Fig. 2 is the schematic diagram that this utility model attitude calculates module.
Detailed description of the invention
The following description and drawings illustrate specific embodiments of the present invention fully, to enable those skilled in the art to
Put into practice them.Other embodiments can include structure, logic, electric, process and other change.Embodiment
Only represent possible change.Unless explicitly requested, otherwise individually components and functionality is optional, and the order operated is permissible
Change.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.
As illustrated in fig. 1 and 2, in some illustrative embodiments, it is provided that a kind of flying control equipment being suitable for SUAV,
Including: real-time processing module 1, flight control modules 2, attitude calculate module 3, Composite communication interface 4, memorizer 5, electronic identity
Authentication module 6, intelligent navigation module 7, actuator 8 and dynamical system interface 9.Memorizer 5 is connected with flight control modules 2,
For recording state of flight and the flight failure information of unmanned plane, memorizer 5 is portable hard drive, SD card, USB flash disk or cloud storage system
System.Flight control modules 2 uses self application control method, i.e. according to loading with structure from main modulation flying vehicles control parameter.
Intelligent navigation module 7 is connected with real-time processing module 1, comprises GPS navigation, vision guided navigation, laser navigation, according to nothing
Man-machine residing external environment selects navigation mode, and actuator 8 and dynamical system interface 9 are connected with flight control modules 2, right
Unmanned plane is controlled.
Real-time processing module 1 is used for processing data, built-in Cortex-A9 core processor, uses at Cortex-A9 kernel
Reason device, Cortex-A9 processor is supported (SuSE) Linux OS and Android operation system, is provided with TF/SD card interface sum
Word utilizing camera interface, supports 4G, WiFi and LAN online.Flight control modules 2 is by first interface with real-time processing module 1 even
Connecing, first interface is UART interface, SPI interface or iic bus.Flight control modules 2 comprises a Cortex-M4 processor,
For unmanned plane autonomous flight control, the ground received is worked in coordination with air traffic control system instruction and is connect by first by real-time processing module 1
Flight control modules 2 is delivered in oral instructions, and instruction unmanned plane does next step action.
Composite communication interface 4 carries out communication for working in coordination with air traffic control system with ground, including: public network communication unit 41, the Big Dipper
Satellite communication unit 42 and wireless LAN communication unit 43, i.e. use public network communication mode and big-dipper satellite composite communication mode
In conjunction with mode carry out communication, and wireless LAN communication unit 43 can work in coordination with the hands of air traffic control system by WIFI and ground
Machine communicates.Public network communication unit 41 is worked in coordination with air traffic control system by 2.5G, 3G or 4G network and ground and is carried out communication, and the Big Dipper is defended
Star communication unit 42 is worked in coordination with air traffic control system with ground by the way of big-dipper satellite sends message and is carried out communication.Composite communication interface
4 are connected with real-time processing module 1, and local in public network signal difference uses big-dipper satellite message sending function, multiple by both
State of flight and the identity information of unmanned plane are sent to ground and work in coordination with air traffic control system by hop communication interface, and, process mould in real time
Block 1 receives ground by Composite communication interface 4 and works in coordination with the instruction of air traffic control system.
Electronic identity authentication module 6 is connected with real-time processing module 1, and the identity information that self stores is passed through composite communication
Interface 4 is constantly sent to ground by certain cycle and works in coordination with air traffic control system, and ground is worked in coordination with air traffic control system and automatically identified unmanned plane
Identity information, ground is worked in coordination with after air traffic control system receives identity information and is sent next according to the content of the preentry of goods to unmanned plane
The action command of step.Wherein, the cycle is set according to practical situation, and identity information includes: identity code, credit standing, nothing
The longitude and latitude of man-machine position and the height of unmanned plane position.Identity code is the exclusive identification code that unmanned plane is corresponding,
This identification code for as the management code name in unmanned plane managing and control system, is the unmanned plane important evidence of working in coordination with management and control, electronics body
Part authentication module 6 reading by relevant protocol realization identity information.
Attitude calculates that module 3 is connected with flight control modules 2, for measuring the roll angle of unmanned plane, the angle of pitch and course
Angle also estimates attitude angle, including: 9 axle sensors 31, barometer 32, GPS interface 33, extended Kalman filter 34, output
Interface 35 and power supply 36.9 axle sensors 31 include: three-axis gyroscope, three axis accelerometer, three axis magnetometer and filter circuit,
Barometer 32 is used for calculating the flying height of unmanned plane, the external GPS of GPS interface 33, is obtained unmanned by GPS
The longitude and latitude of machine, uses GPS information to carry out speed and the position control of unmanned plane.The data that 9 axle sensors 31 gather are through expanding
Exhibition Kalman filter 34 real-time estimation goes out the attitude angle of unmanned plane, and attitude angle obtains angle information and is directly available for consumer level unmanned plane
Use.Attitude calculates that module 3 is connected with flight control modules 2, sends the attitude angle estimated to flight control modules 2,9 axles
Sensor 31, barometer 32 and GPS interface 33 are connected to the input of extended Kalman filter 34, and output interface 35 is connected to
The outfan of extended Kalman filter 34.The attitude that self is estimated by extended Kalman filter 34 by output interface 35
Angle sends to flight control modules 2, and output interface 35 is UART serial ports or CAN interface.
Air traffic control system is worked in coordination with for realizing the Shen of the aerial mission of unmanned plane, spatial domain, flight time, flight locations in ground
Report, when find unmanned plane beyond flight range time, by ground work in coordination with air traffic control system send make a return voyage instruction fly to aerial unmanned plane
Row is to safety zone or makes a return voyage.Ground works in coordination with that air traffic control system realizes the authentication declared of flight, the examination & verification of flight plan is criticized
Quasi-function, is inputted flight plan by operator, mainly includes aerial mission, airspace application, flight time section, aircraft model,
Ground is worked in coordination with air traffic control system and is carried out examining and monitoring unmanned plane in real time in actual flight course.
Wherein, real-time processing module 1, flight control modules 2, attitude calculate that module 3 and electronic identity authentication module 6 are passed through
System in package (SIP, System In a Package) mode is integrated in an encapsulation, thus realizes complete unmanned plane
Flying control function, integrated 9 axle sensors 31 of chip internal are for attitude measurement, and attitude calculates that module 3 exports according to 9 axle sensors 31
Angular velocity, acceleration and Geomagnetic signal, use extended Kalman filter 34 to calculate the attitude angle of unmanned plane.Will locate in real time
Reason device, internal memory, memorizer, sensor have all been integrated in single encapsulation, and volume is little, system is succinct, and flight control is controlled, led
Boat, electronic identity authentication are by, in SIP process integration to single encapsulation, being greatly decreased the usage amount of PCB, reduction system
Volume, improves electromagnetism anti-interference.Integrated simply, reduce unmanned plane exploitation threshold.Further, chip reserves analog digital conversion interface,
Facilitate user's outside extension high-precision sensor according to actual needs.
9 axle sensors 31 are BNO055 sensor, cheap, and are desirably integrated in chip, use extension karr
Graceful filtering algorithm estimation attitude angle, its output angle information calculates for flying control.
It should also be appreciated by one skilled in the art that various illustrative box, the mould combining the embodiments herein and describing
Block, circuit and algorithm steps all can be implemented as electronic hardware, computer software or a combination thereof.In order to clearly demonstrate hardware and
Interchangeability between software, is all carried out around its function various illustrative parts, frame, module, circuit and step above
It is generally described.It is implemented as hardware as this function and is also implemented as software, depend on specifically applying and to whole
The design constraint that system is applied.Those skilled in the art can realize in the way of flexible for each application-specific
Described function, but, this realize decision-making and should not be construed as the protection domain deviating from the disclosure.
Claims (8)
1. the flying control equipment being suitable for SUAV, it is characterised in that including: process the real-time processing module of data, use
Flight control modules, attitude in unmanned plane autonomous flight control calculate that module and ground are worked in coordination with air traffic control system and carried out communication
Composite communication interface, electronic identity authentication module, intelligent navigation module, actuator and dynamical system interface；Described compound logical
Letter interface is connected with described real-time processing module, and described real-time processing module receives ground by described Composite communication interface and works in coordination with
The instruction of air traffic control system is also sent to described flight control modules by first interface；Described electronic identity authentication module is with described
Real-time processing module connects, and the identity information self stored is passed through described Composite communication interface by described electronic identity authentication module
Constantly send by certain cycle and work in coordination with air traffic control system to ground；Described intelligent navigation module is with described real-time processing module even
Connect, select navigation mode according to the external environment residing for unmanned plane；Described attitude calculates that module is for measuring the roll of unmanned plane
Angle, the angle of pitch and course angle also estimate attitude angle, including: 9 axle sensors, barometer, GPS interface, EKF
Device and output interface, described attitude calculates that module is connected with described flight control modules, sends the attitude angle estimated to institute
Stating flight control modules, described 9 axle sensors, barometer and GPS interface are connected to the input of described extended Kalman filter
End, described output interface is connected to the outfan of described extended Kalman filter, and described attitude calculates that module is by described GPS
The external GPS of interface.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described extension karr
The attitude angle that self is estimated by graceful wave filter by described output interface sends to described flight control modules, and described output connects
Mouth is UART serial ports or CAN interface.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described communication interface
Including: public network communication unit, Beidou satellite communication unit and wireless LAN communication unit, described public network communication unit passes through
2.5G, 3G or 4G network and ground are worked in coordination with air traffic control system and are carried out communication, and described Beidou satellite communication unit is sent out by big-dipper satellite
Civilian mode of delivering newspaper is worked in coordination with air traffic control system with ground and is carried out communication, and described wireless LAN communication unit communicates with mobile phone.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described first interface
For UART interface, SPI interface or iic bus, described real-time processing module connects by described first with described flight control modules
Mouth connects.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described identity information
Including: identity code, credit standing, the longitude and latitude of unmanned plane position and the height of unmanned plane position.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that described 9 axle sensings
Device includes: three-axis gyroscope, three axis accelerometer, three axis magnetometer and filter circuit.
A kind of flying control equipment being suitable for SUAV the most according to claim 5, it is characterised in that described 9 axle sensings
Device is BNO055 sensor.
A kind of flying control equipment being suitable for SUAV the most according to claim 1, it is characterised in that also include: storage
Device, described memorizer is connected with described flight control modules, for recording state of flight and the flight failure information of unmanned plane, institute
Stating memorizer is portable hard drive, SD card, USB flash disk or cloud storage system.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106652568A (en) * | 2016-12-30 | 2017-05-10 | 中国人民解放军国防科学技术大学 | Access method and system of unmanned aerial vehicle air traffic control system |
| CN108196578A (en) * | 2018-01-24 | 2018-06-22 | 广东容祺智能科技有限公司 | A kind of digitlization unmanned plane during flying Performance Test System |
| WO2019119219A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle management method, server, and control device and system |
| WO2020006668A1 (en) * | 2018-07-02 | 2020-01-09 | 新疆联海创智信息科技有限公司 | Electromagnetic interference-resistant unmanned aerial vehicle, and unmanned aerial vehicle inspection system |
| US20200157922A1 (en) * | 2017-07-25 | 2020-05-21 | Weatherford Technology Holdings, Llc | Internet of things gateway systems and methods for oil and gas fields |
| CN111459187A (en) * | 2020-04-20 | 2020-07-28 | 清华大学 | Unmanned aerial vehicle state monitoring method, device and system and readable storage medium |
| CN111709385A (en) * | 2020-06-22 | 2020-09-25 | 电子科技大学 | Low, small and slow aircraft target detection system and identity identification method thereof |
| CN112099524A (en) * | 2020-08-21 | 2020-12-18 | 太仓云路遥智能科技有限公司 | Unmanned aerial vehicle navigation positioning integrated management system based on three-dimensional 5G networking |
| CN112470091A (en) * | 2018-08-22 | 2021-03-09 | 日本电气株式会社 | Selection device, selection method, and selection program |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106652568A (en) * | 2016-12-30 | 2017-05-10 | 中国人民解放军国防科学技术大学 | Access method and system of unmanned aerial vehicle air traffic control system |
| US20200157922A1 (en) * | 2017-07-25 | 2020-05-21 | Weatherford Technology Holdings, Llc | Internet of things gateway systems and methods for oil and gas fields |
| AU2018308383B2 (en) * | 2017-07-25 | 2023-04-27 | Weatherford Technology Holdings, Llc | Internet of things gateway systems and methods for oil and gas fields |
| US11711675B2 (en) * | 2017-07-25 | 2023-07-25 | Weatherford Technology Holdings, Llc | Internet of things gateway systems and methods for oil and gas fields |
| WO2019119219A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle management method, server, and control device and system |
| CN108196578A (en) * | 2018-01-24 | 2018-06-22 | 广东容祺智能科技有限公司 | A kind of digitlization unmanned plane during flying Performance Test System |
| WO2020006668A1 (en) * | 2018-07-02 | 2020-01-09 | 新疆联海创智信息科技有限公司 | Electromagnetic interference-resistant unmanned aerial vehicle, and unmanned aerial vehicle inspection system |
| CN112470091A (en) * | 2018-08-22 | 2021-03-09 | 日本电气株式会社 | Selection device, selection method, and selection program |
| CN111459187A (en) * | 2020-04-20 | 2020-07-28 | 清华大学 | Unmanned aerial vehicle state monitoring method, device and system and readable storage medium |
| CN111459187B (en) * | 2020-04-20 | 2021-09-07 | 清华大学 | Unmanned aerial vehicle state monitoring method, device and system and readable storage medium |
| CN111709385A (en) * | 2020-06-22 | 2020-09-25 | 电子科技大学 | Low, small and slow aircraft target detection system and identity identification method thereof |
| CN112099524A (en) * | 2020-08-21 | 2020-12-18 | 太仓云路遥智能科技有限公司 | Unmanned aerial vehicle navigation positioning integrated management system based on three-dimensional 5G networking |
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Address after: 213000 South end of Sany Road, Changzhou Science and Education City, Wujin District, Changzhou City, Jiangsu Province Patentee after: Jiangsu Zhongke intelligent science and Technology Application Research Institute Address before: 213164 Sany Road, science and Education City, Changzhou City, Jiangsu Province Patentee before: INSTITUTE OF INTELLIGENT SCIENCE AND TECHNOLOGY APPLICATION RESEARCH, JIANGSU AND CHINESE ACADEMY OF SCIENCES |
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