CN206563806U - Unmanned plane GPS/ magnetometer integrated navigation systems based on AVR single chip - Google Patents
Unmanned plane GPS/ magnetometer integrated navigation systems based on AVR single chip Download PDFInfo
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- CN206563806U CN206563806U CN201621224489.1U CN201621224489U CN206563806U CN 206563806 U CN206563806 U CN 206563806U CN 201621224489 U CN201621224489 U CN 201621224489U CN 206563806 U CN206563806 U CN 206563806U
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Abstract
The utility model discloses a kind of unmanned plane GPS/ magnetometer integrated navigation systems based on AVR single chip, including：Ublox NEO M8NGPS modules, HMC5883L three axle magnetometers module, ATmega8LAVR one-chip computer modules, LT1963 Voltage stabilizing modules, the first ADM3202 serial communication modulars, the 2nd ADM3202 serial communication modulars, GPS ceramic antennas, GPS reserce cells, eeprom memory, I2C buses, USART serial ports, unmanned aerial vehicle (UAV) control device, GPS configuration interfaces and 5V Power Entry Modules.The utility model have small volume, be easily installed, positioning precision is high, course precision high, support Configuration Online and power down preservation, high renewal frequency, small power consumption and low cost and other advantages.
Description
Technical field
The utility model is related to a kind of small-sized depopulated helicopter airmanship, more particularly to a kind of based on AVR single chip
Unmanned plane GPS/ magnetometer integrated navigation systems.
Background technology
With social development and scientific and technological progress, in recent years, unmanned plane shows unprecedented development.Google, Amazon,
The Internet enterprises such as Facebook, Tengxun and millet carry out unmanned plane business to a high-profile one after another, then, except taking photo by plane, unmanned plane
Every profession and trade is also penetrated into, the field such as ground mapping, environment monitoring, traffic monitoring, pesticide spraying can see the body of unmanned plane
Shadow.
Navigation of Pilotless Aircraft is precision as requested, and nobody is correctly guided within the specified time along predetermined course line
Machine is to destination.Unmanned plane is set to successfully complete predetermined navigational duty, in addition to the position of starting point and target, it is necessary to
Know the navigational parameters such as the real time position, headway, course of unmanned plane.The airmanship used at present on unmanned plane is main
Including inertial navigation, satellite navigation, Doppler navigation, Terrain-aided Navigation and earth-magnetism navigation etc..These airmanships have
Respective advantage and disadvantage, therefore, in Navigation of Pilotless Aircraft, the different task to be undertaken according to unmanned plane selects skill of suitably navigating
Art is most important.
Positioning satellite navigation is to realize navigation feature by being constantly positioned so as to target object.At present, it is global
In the range of influential global position system there is the GPS in the U.S., European Galileo, Russian Ge Lanasi to also have China
The Big Dipper.
The general principle of GPS geo-location system navigation：When gps satellite normal work, constantly it can be entered with 1 and 0 two
Pseudo noise code (abbreviation pseudo-code) the transmitting navigation message of code element composition processed.Navigation message includes satellite ephemeris, working condition, clock
The information such as correction, ionospheric delay amendment, refraction correction.When user receives navigation message, satellite time is extracted
And itself and the clock of oneself are contrasted just can learn the pseudorange R of satellite and user, recycle the satellite ephemeris in navigation message
Present position when data extrapolate satellite launch text, the clock and satellite carried clock used due to receiver user is impossible
Always synchronous, it is time difference between satellite and receiver as unknown number to introduce a Δ t.In order to obtain the position of receiver
X, y, z, as long as receiver measures the pseudorange of four satellites, just can obtain four equations, simultaneous, which gets up, just can obtain using formula
Four unknown number x, y, z and Δ t.
Earth's magnetic field is vector field, and the ground magnetic vector at any point is all different from the arrow in other places in earth terrestrial space
Amount, therefore, as long as determining the geomagnetic fieldvector of the point, and combines accelerometer is calculated in IMU aircraft pitch angle and horizontal stroke
Roll angle, just can calculate the course angle of unmanned plane.
Most of existing GPS module of unmanned plane all still uses the 6th generation GPS, compared with the 6th generation GPS, eighth generation GPS
Module NEO-M8N has that renewal frequency is high, low in energy consumption, support that multiple satellite systems, small volume, positioning precision be higher, moderate cost
The advantages of.Small-sized depopulated helicopter GPS/ magnetometer integrated navigation module of the utility model based on AVR single chip is to use
Eighth generation GPS module NEO-M8N.
Existing GPS module is only that aircraft provides aircraft-position information, and underintegration is high, and the utility model is based on
GPS module, magnetometer are integrated into same mould by the small-sized depopulated helicopter GPS/ magnetometer integrated navigation modules of AVR single chip
In block, and GPS and magnetometer data are transmitted by AVR single chip give unmanned aerial vehicle (UAV) control device, provide and fly for controller
The positional information and course information of machine.So that whole UAS integrated level is higher, use is more convenient, and volume is more
It is small.
Utility model content
The purpose of this utility model is to overcome the shortcoming and deficiency of prior art there is provided a kind of based on AVR single chip
Unmanned plane GPS/ magnetometer integrated navigation systems.
The purpose of this utility model can be achieved through the following technical solutions：A kind of unmanned plane based on AVR single chip
GPS/ magnetometer integrated navigation systems, including：Ublox NEO-M8NGPS modules, HMC5883L three axle magnetometers module,
ATmega8LAVR one-chip computer modules, LT1963 Voltage stabilizing modules, the first ADM3202 serial communication modulars, the 2nd ADM3202 serial ports
Communication module, GPS ceramic antennas, GPS reserce cells, eeprom memory, I2C buses, USART serial ports, unmanned aerial vehicle (UAV) control
Device, GPS configuration interfaces and 5V Power Entry Modules；The of the GPS ceramic antennas, GPS reserce cell LT1963 Voltage stabilizing modules
Single port, one end of ADM3202 serial communication modulars, one end of USART serial ports and eeprom memory with Ublox NEO-
M8N GPS modules are connected, second port, HMC5883L three axle magnetometers module and the I2C buses of the LT1963 Voltage stabilizing modules
One end be sequentially connected, the other end of I2C buses is connected with the first port of ATmega8LAVR one-chip computer modules, described
3rd port of LT1963 Voltage stabilizing modules is connected with the second port of ATmega8LAVR one-chip computer modules, Ublox NEO-
M8NGPS modules are connected with one end of USART serial ports, the other end and the ATmega8LAVR one-chip computer modules of the USART serial ports
The 3rd port connection, the 4th port of the ATmega8LAVR one-chip computer modules passes through the 2nd ADM3202 serial communication modulars
It is connected with one end of unmanned aerial vehicle (UAV) control device, the other end of unmanned aerial vehicle (UAV) control device connects LT1963 voltage stabilizings by 5V Power Entry Modules
4th port of module, the Ublox NEO-M8N GPS modules are configured by the first ADM3202 serial communication modulars and GPS
Interface is connected.
Wherein, HMC5883L is communicated by IIC with AVR single chip, and GPS module is entered by serial ports with AVR single chip
Row communication, the 3.3V power voltage supplies that NEO-M8N, HMC5883L, ATmega8L, ADM3202 are exported by LT1963 Voltage stabilizing modules.
Wherein, it is characterised in that：GPS and magnetometer are combined into a module, by AVR single chip by GPS and magnetometer data
Transmit and give unmanned aerial vehicle (UAV) control device, provide aircraft current positional information and course information for controller.
Small volume is easily installed, positioning precision and course precision are high, support Configuration Online and power down preservation, renewal frequency
Height, small power consumption, low cost and other advantages.
GPS module is equipped with reserve battery, and when power supply is broken down or main controller is restarted, reserve battery can be given
Chip power supply, can support GPS module thermal starting within power-off a period of time, can save and search the star time.
GPS module is equipped with eeprom memory, supports power down to preserve configuration parameter data.
Preferably, the unmanned plane GPS/ magnetometers integrated navigation system of the present utility model based on AVR single chip is also wrapped
Include：Power supply indicator and signal lamp.Power supply indicator is used for after electricity in module, and indicator lamp can Chang Liang；Signal designation
When lamp is searched less than satellite for GPS, indicator lamp can flash, after searching out satellite, and indicator lamp often goes out.
The HMC5883L three axle magnetometers module is using classical chip HMC5883L magnetometers.HMC5883L is included at first
The serial magnetoresistive transducer of the high-resolution HMC118X that enters, and attach the integrated circuit of Honeywell patent include amplifier, it is automatic
Demagnetization driver, deviation calibration, 12 analog-digital converters of the compass precision controlling at 1 °~2 ° can be made, HMC5883L passes through I2C
Bus communicates with AVR single chip.
The GPS chip that the Ublox NEO-M8NGPS modules are selected is the eighth generation GPS module NEO- of Ublox companies
M8N.NEO-M8N modules are concurrent GNSS receivers, and receive and track many GNSS systems (for example： GPS、GLONASS、
GALILEO, BeiDou and QZSS signal).Because bifrequency RF front end structures, three signals (GPS L1C/A, GLONASS
L1OF and BeiDou B1) in two can be received and parallel processing.NEO-M8N modules have sensitivity height, navigation essence
The advantages of degree height, navigation renewal rate are up to 10HZ, low-power consumption.NEO-M8N is communicated by serial ports with AVR single chip.
Preferably, the unmanned plane GPS/ magnetometers integrated navigation system of the present utility model based on AVR single chip is also wrapped
Include：Module housing, the module housing has housing bottom and case top.The housing bottom is aluminum base, reflecting surface
Upward so that GPS satellite searching abilities are stronger, the case top is plastic material.
Transistor-Transistor Logic level is switched to RS232 electricity by AVR single chip by after GPS and magnetometer information packing by ADM3202 chips
It is flat, it is subsequently sent to fly control master control borad.
The 5V power supplys that GPS/ magnetometer integrated navigation modules are drawn by main controller are powered, due to NEO-M8N, HMC5883L,
ADM3202, EEPROM are 3.3V power supply chips, therefore 5V voltages are first switched to 3.3V by module from LT1963 chips, then
Above chip power supply is given again.
The purpose of this utility model can also be achieved through the following technical solutions：A kind of unmanned plane based on AVR single chip
GPS/ magnetometer integrated navigation systems, including：Ublox NEO-M8N eighth generations GPS module, HMC5883L three axle magnetometer moulds
Block, ATmega8L AVR single chips module, LT1963 Voltage stabilizing modules, ADM3202 serial communication modulars, GPS ceramic antennas, GPS
Reserce cell, eeprom memory and module housing.
The GPS chip that module is selected is the eighth generation GPS module NEO-M8N of Ublox companies.NEO-M8N modules are concurrent
GNSS receiver, and receive and track many GNSS systems (for example：GPS, GLONASS, GALILEO, BeiDou and QZSS
Signal).Because bifrequency RF front end structures, two in three signals (GPS L1C/A, GLONASS L1OF and BeiDou B1)
It is individual to be received and parallel processing.There is NEOM8N modules high sensitivity, navigation accuracy height, navigation renewal rate to reach as high as
The advantages of 18HZ, low-power consumption.
The magnetic force that module is selected is calculated as classical chip HMC5883L, and HMC5883L includes state-of-the-art high-resolution
HMC118X series magnetoresistive transducer, and attach Honeywell patent integrated circuit include amplifier, autodegauss driver,
Deviation calibration, 12 analog-digital converters of the compass precision controlling at 1 °~2 ° can be made.
NEOM8N is communicated by USART serial ports with AVR single chip, and HMC5883L three axle magnetometers are mono- by I2C and AVR
Piece machine communicates, and AVR single chip is sent to unmanned aerial vehicle (UAV) control device after GPS and magnetometer information pack by serial ports, is controller
The positional information and course information of aircraft are provided.
Module has two indicator lamps, and one of them is power supply indicator, after electricity in module, and indicator lamp can Chang Liang.Separately
One is signal lamp, and when GPS is searched less than satellite, indicator lamp can flash, after searching out satellite, and indicator lamp often goes out.
GPS module is equipped with reserve battery, when power supply failure or main controller power-down rebooting, reserve battery
It can so be saved in the interior support module thermal starting of power-off a period of time and search the star time to chip power supply.
GPS module is equipped with eeprom memory, supports power down to preserve baud rate, output data form, renewal frequency etc.
Configuration parameter data.
Due to be attached to need to configure before use on unmanned plane the baud rate of GPS module, renewal frequency, mode of operation,
Output format etc., therefore GPS configuration interfaces are individually left, the GPS Transistor-Transistor Logic levels exported are switched to using ADM3202 chips
RS232 level, convenient use computer is configured to GPS.
AVR single chip is turned TTL level by ADM3202 chips by after GPS information and the meter information package of magnetic force
For RS232 level, it is subsequently sent to fly control master control borad.
The 5V power supplys that GPS/ magnetometer integrated navigation modules are drawn by main controller are powered, due to NEO-M8N, HMC5883L,
ADM3202, EEPROM are 3.3V power supply chips, therefore 5V voltages are first switched to 3.3V by module from LT1963 chips, then
Above chip power supply is given again.
Module housing is made up of two parts, and bottom is aluminum base, and reflection is face-up so that GPS satellite searching abilities are stronger.Shell
It is plastic material at the top of body.
Small-sized depopulated helicopter GPS/ magnetometer integrated navigation module of the utility model based on AVR single chip is NEO-
M8N modules are equipped with reserve battery, and when power supply failure or main controller power-down rebooting, reserve battery can give chip
Power supply, can so be saved in system cut-off interior support module thermal starting for a period of time and search the star time.Meanwhile, it is NEO-M8N
Module is equipped with eeprom memory, supports power down to preserve the configuration parameter numbers such as baud rate, output data form, renewal frequency
According to.
Unmanned plane GPS/ magnetometers integrated navigation system of the present utility model based on AVR single chip can include：
Ublox NEO-M8N eighth generations GPS module, HMC5883L three axle magnetometers module, AVR single chip module, power module, serial ports
Communication module, gps antenna and module housing.Wherein, NEO-M8N is communicated by USART serial ports with AVR single chip,
HMC5883L three axle magnetometers are communicated by I2C with AVR single chip, and AVR single-chip microcomputers lead to after GPS and magnetometer data pack
Cross serial ports and be sent to unmanned aerial vehicle (UAV) control device, the positional information and course information of aircraft are provided for controller.Due to being attached to nobody
Need to configure baud rate, renewal frequency, mode of operation, output content of GPS module etc. before use on machine, therefore individually reserve
GPS configuration interfaces, using ADM3202 chips switch to RS232 level, convenient use computer pair by the GPS Transistor-Transistor Logic levels exported
GPS is configured.Small-sized depopulated helicopter GPS/ magnetometer integrated navigations module tool of the present utility model based on AVR single chip
There is small volume to be easily installed, positioning precision is high, course precision is high, support Configuration Online and power down preservation, renewal frequency height, power consumption
Small, low cost and other advantages.
The utility model has the following advantages and effect relative to prior art：
1st, module integrated level is high, and GPS and magnetometer are integrated into a module, will both information using AVR single chip
Packing is sent to main controller after integrating, and simplifies system, and improve operating efficiency.
2nd, GPS module is equipped with reserve battery, when power supply failure or main controller power-down rebooting, standby electricity
Pond can give chip power supply, can so save in the interior support module thermal starting of power-off a period of time and search the star time.
3rd, GPS module is equipped with eeprom memory, supports power down to preserve configuration parameter data.
4th, there is module small volume to be easily installed, positioning precision and course precision are high, support Configuration Online and power down to preserve,
Renewal frequency height, small power consumption, low cost and other advantages.
Brief description of the drawings
Fig. 1 is the structure chart of the unmanned plane GPS/ magnetometer integrated navigation systems based on AVR single chip.
Embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model
Mode not limited to this.
Embodiment
As shown in figure 1, the small-sized depopulated helicopter GPS/ magnetometer integrated navigation modules based on AVR single chip mainly have
Consisting of part：1st, NEO-M8N eighth generations GPS module；2nd, HMC5883L three axle magnetometers module；3rd, ATmega8L AVR are mono-
Piece machine module；4th, ADM3202 serial communications chip；5th, EEPROM memories；6th, GPS reserce cells；7th, LT1963 voltage stabilizings core
Piece；8th, 5V power interfaces；9th, GPS module configuration interface；10th, AVR single chip test interface；11st, ISP download programs interface；12、
Connect master interface；13rd, GPS ceramic antennas；14th, power supply indicator and gps signal indicator lamp；15th, module screw is fixed
Hole；16th, module housing.
Module housing is made up of bottom plate and upper lid two parts, and wherein bottom plate is aluminum, and upper lid is plastic material.Module is in dress
On to unmanned plane before use, three lines being connected with unmanned aerial vehicle (UAV) control device are fixed in the neck of upper lid, by the mould that navigates
Block is screwed on bottom plate, then is closed bottom plate and top cap by locating groove and screw.
Module is being attached on unmanned plane before use, to carry out multinomial detection and calibration.First having to test power module is
It is no to have exception.In module before electricity, whether there is short circuit with universal meter test module, if short circuit, to go through short circuit
Solder joint, if without short circuit, can give in module electricity further check.J2 is met with 5V adapters to module for power supply, first
Have a touch with whether modules have hot with hand, if any hot, power off checked immediately.If without hot, using general-purpose
Whether table test LT1963 output pin voltage is 3.3V, and such as voltage is 3.3V, then power module is normal, can carry out next step
Check.
Check out after power module, J2 is met with 5V adapters to module for power supply, by ISP interfaces under AVR single-chip microcomputers
Load " only sends A " test programs, Serial Port Line meets J1, and Configuration of baud rate is 38400, is checked whether continuously to connect with serial ports assistant
Receive alphabetical " A ", if it is possible to receive, illustrate that AVR single chip serial ports is working properly.
Check out after AVR single chip, start detection HMC5883L three axle magnetometers and whether normal communicate with AVR.Use 5V
Adapter meets J2 to module for power supply, and " only sending magnetometer data " test program, string are downloaded to AVR single chip by ISP interfaces
Mouth line meets J1, and Configuration of baud rate is 38400, receives data with serial ports assistant, if it is possible to normally receive magnetometer data and three
Individual axle data variation is normal, illustrates that magnetometer and AVR single chip communications are normal.The number that serial ports assistant receives under normal circumstances
It is as follows according to form：
$ HMC, 150, -408,302
$ HMC, 144, -403,302
$ HMC, 145, -405,199
$ HMC, 144, -405,299
Next step carries out relevant configuration to NEO-M8N GPS so that module is applied to our unmanned aerial vehicle control system.With
5V adapters meet J2 to module for power supply, and GPS is configured using ublox companies supporting software u-center_v8.18, string
Mouth line meets J3, and configuration content includes：Baud rate, renewal frequency, mode of operation, output content etc..Configuration process is not done in detail herein
It is thin to introduce.
After NEO-M8N is configured, integrated testability is carried out to module.J2 is met with 5V adapters to module for power supply, passes through ISP
Interface downloads " GPS module integrated testability " program to AVR single chip, and Configuration of baud rate is 19200, and number is received with serial ports assistant
According to if received GPS and magnetometer data are normal, illustrating that navigation module output data is normal.Serial ports under normal circumstances
The data format that assistant receives is as follows：
$GPGGA,,,,,,0,00,99.99,,,,,,*48
$GPVTG,,,,,,,,,N*30
$ HMC, -144,234,320
Because HMC5883L three axle magnetometers can be might have magnetisable material by surrounding or can influence local magnetic field
The material of intensity is present, such that deviation occurs for the magnetic field of the earth on Magnetic Sensor institute placement location.Therefore it is being used
Before, magnetometer is calibrated.We are calibrated to magnetometer using " plane calibration method ", and calibration process is herein no longer
It is discussed in detail.
After magnetometer calibration, module just can be attached on unmanned plane and use.
Above-described embodiment is the utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace
Generation, combination, simplification, should be equivalent substitute mode, are included within protection domain of the present utility model.
Claims (5)
1. a kind of unmanned plane GPS/ magnetometer integrated navigation systems based on AVR single chip, it is characterised in that including：Ublox
NEO-M8NGPS modules, HMC5883L three axle magnetometers module, ATmega8LAVR one-chip computer modules, LT1963 Voltage stabilizing modules,
One ADM3202 serial communication modulars, the 2nd ADM3202 serial communication modulars, GPS ceramic antennas, GPS reserce cells, EEPROM
Memory, I2C buses, USART serial ports, unmanned aerial vehicle (UAV) control device, GPS configuration interfaces and 5V Power Entry Modules；The GPS ceramics
Antenna, the first port of GPS reserce cell LT1963 Voltage stabilizing modules, one end of ADM3202 serial communication modulars, USART serial ports
One end and eeprom memory be connected with Ublox NEO-M8N GPS modules, the second end of the LT1963 Voltage stabilizing modules
One end of mouth, HMC5883L three axle magnetometers module and I2C buses is sequentially connected, the other end and ATmega8LAVR of I2C buses
The first port connection of one-chip computer module, the 3rd port and the ATmega8LAVR one-chip computer modules of the LT1963 Voltage stabilizing modules
Second port connection, Ublox NEO-M8NGPS modules are connected with one end of USART serial ports, the USART serial ports it is another
End is connected with the 3rd port of ATmega8LAVR one-chip computer modules, and the 4th port of the ATmega8LAVR one-chip computer modules leads to
Cross the 2nd ADM3202 serial communication modulars to be connected with one end of unmanned aerial vehicle (UAV) control device, the other end of unmanned aerial vehicle (UAV) control device passes through 5V
Power Entry Module connects the 4th port of LT1963 Voltage stabilizing modules, and the Ublox NEO-M8N GPS modules pass through first
ADM3202 serial communication modulars are connected with GPS configuration interfaces.
2. the unmanned plane GPS/ magnetometer integrated navigation systems according to claim 1 based on AVR single chip, its feature exists
In：Also include power supply indicator and signal lamp.
3. the unmanned plane GPS/ magnetometer integrated navigation systems according to claim 1 based on AVR single chip, its feature exists
In：The HMC5883L three axle magnetometers module is using classical chip HMC5883L magnetometers.
4. the unmanned plane GPS/ magnetometer integrated navigation systems according to claim 1 based on AVR single chip, its feature exists
In：The GPS chip that the Ublox NEO-M8NGPS modules are selected is the eighth generation GPS module NEO-M8N of Ublox companies.
5. the unmanned plane GPS/ magnetometer integrated navigation systems according to claim 1 based on AVR single chip, its feature exists
In：Also include module housing, the module housing has housing bottom and case top.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383831A (en) * | 2018-09-30 | 2019-02-26 | 安徽煜丰农业机械制造有限公司 | A kind of plant protection drone for automatic positioning of falling |
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2016
- 2016-11-14 CN CN201621224489.1U patent/CN206563806U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383831A (en) * | 2018-09-30 | 2019-02-26 | 安徽煜丰农业机械制造有限公司 | A kind of plant protection drone for automatic positioning of falling |
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