CN104503467A - Autonomous take-off and landing flight control system of unmanned aerial vehicle based on dual-core architecture - Google Patents
Autonomous take-off and landing flight control system of unmanned aerial vehicle based on dual-core architecture Download PDFInfo
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Abstract
The invention discloses an autonomous take-off and landing flight control system of an unmanned aerial vehicle based on dual-core architecture. The autonomous take-off and landing flight control system of the unmanned aerial vehicle based on the dual-core architecture comprises a navigation data gathering and fusion module used for gathering sensor data to serve as a basis for making flying control algorithm and strategy, a flying control module used for controlling the posture and speed of an airplane through the navigation and state data of the airplane, a steering engine control module used for monitoring manual remote-control signals and commands, outputting control commands to control a steering engine and gathering the actual position information of an executing mechanism, a communication protocol control module used for using multiple broadcasting stations and multiple channels to communicate between the airplane and a ground station and between the airplane and a ground visual navigation system, a system state monitoring module used for monitoring flying states and states of airborne equipment, and a data recording module used for recording airplane state signals and sensor data. The autonomous take-off and landing flight control system of the unmanned aerial vehicle based on the dual-core architecture has advantages of high efficiency, good stability, strong reliability, high integration level and the like.
Description
Technical field
The present invention is mainly concerned with the control field of unmanned plane, refers in particular to the autonomous landing flight control system of a kind of unmanned plane based on Duo-Core Architecture.
Background technology
Along with the development of aeronautical technology, unmanned plane is increasingly extensive in the application in military and civilian field.From various countries' unmanned plane accident statistics situation, most of accident is all occur in the landing process of unmanned plane.And the landing process of unmanned plane, accurately guiding and relative positioning information are crucial, and because dissimilar sensor has self relative merits and the scope of application, the information of comprehensive multiple sensors, can provide safeguard for stablizing landing under multiple condition.Therefore, support that the design focal point of autonomous landing is to enrich interface for multiple sensors provides, and there is stronger peripheral expansion ability.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical matters existed for prior art, the invention provides the autonomous landing of the unmanned plane based on the Duo-Core Architecture flight control system that a kind of efficiency is high, good stability, reliability are strong, integrated level is high.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
The autonomous landing flight control system of unmanned plane based on Duo-Core Architecture, comprising:
Navigation data gathers and Fusion Module, for pick-up transducers data, by merging the status data obtaining aircraft, and result is sent into flight control modules, as the foundation formulating Flight Control Algorithm and strategy;
Flight control modules, for by the navigation of aircraft and status data, controls the attitude of aircraft and speed, realizes the control to horizontal level and height;
Servos control module, is used for monitoring artificial remote signal and instruction, output steering order control steering wheel, gathering topworks's actual position information;
Communication protocol control module, for adopting many radio station and hyperchannel, realizes between aircraft and land station, communication between aircraft and ground vision navigation system;
System status monitoring module, for carrying out condition monitoring to state of flight and airborne equipment;
Data recordin module, for realizing the record of aircraft state signal and sensing data.
As a further improvement on the present invention: described sensing data comprises accelerometer, gyroscope, magnetic compass, pitot meter, GPS, airborne/ground vision guide system, radio altimeter, ULTRA-WIDEBAND RADAR data.
As a further improvement on the present invention: the status data of described aircraft comprises the attitude of aircraft, speed, position, acceleration, relative position information.
As a further improvement on the present invention: described state of flight and airborne equipment state comprise the duty of system power source voltage, device temperature, total system power consumption and each equipment.
As a further improvement on the present invention: the data record in described data recordin module adopts FAT16 file mode to realize, and directly connects PC computing machine, data are read back into Computer Analysis and process by TF card interface, card reader.
As a further improvement on the present invention: all functions module is all realized by two ARM Cortex M4+DSP framework, and the task of each CPU has carried out Module Division again, corresponding with six functional modules.
As a further improvement on the present invention: be collection 8 tunnel remote signal and S-Bus signal to remote controller signal collection in described servos control module, obtain two-way independently remote-control receiver signal; The output of servos control signal synthesis self-driving control algolithm exported and the output of telepilot, adopt CAN S-Bus signal two-way that is comprehensive and serial ports simulation to output to steering engine controller.
Compared with prior art, the invention has the advantages that:
Unmanned plane based on Duo-Core Architecture autonomous landing flight control system of the present invention has that efficiency is high, good stability, reliability are strong and integrated level advantages of higher.The present invention is directed to the autonomous landing process of unmanned plane, adopt two ARM Cortex M4+DSP framework, comprehensive Multi-sensor Fusion strategy, utilize the method for servos control loop Redundancy Design, for which providing a kind of multinuclear parallel data processing, Fusion, abundant, extendible Peripheral Interface design, finally achieve a set of flight control system.
Accompanying drawing explanation
Fig. 1 is topological structure schematic diagram of the present invention.
Fig. 2 is the structural framing schematic diagram of the present invention's flight control modules in embody rule example.
Fig. 3 is the framed structure schematic diagram of the present invention's navigation data collection and Fusion Module in embody rule example.
Fig. 4 is the framed structure schematic diagram of the present invention's steering wheel control module in embody rule example.
Fig. 5 is the landing track schematic diagram that the present invention carries out when autonomous landing is tested in embody rule example.
Fig. 6 is the landing geometric locus schematic diagram that the present invention carries out when autonomous landing is tested in embody rule example.
Embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Figure 1, the autonomous landing flight control system of the unmanned plane based on Duo-Core Architecture of the present invention, comprising:
Navigation data gathers and Fusion Module, for pick-up transducers data, by merging the status data obtaining aircraft, and result is sent into flight control modules, as the foundation formulating Flight Control Algorithm and strategy.When embody rule, described sensing data comprises the original sensor datas such as accelerometer, gyroscope, magnetic compass, pitot meter, GPS, airborne/ground vision guide system, radio altimeter, ULTRA-WIDEBAND RADAR.The status data of described aircraft comprises the attitude of aircraft, speed, position, acceleration, relative position information.
Flight control modules, for passing through navigation and the status data of aircraft, being resolved by control law, realizing attitude and the speeds control of aircraft, thus realizes the control to horizontal level and height.
Servos control module, is used for monitoring artificial remote signal and instruction, output steering order control steering wheel, gathering topworks's actual position information.
Communication protocol control module, for adopting many radio station and hyperchannel, realizes between aircraft and land station, communication between aircraft and ground vision navigation system.
System status monitoring module, for carrying out condition monitoring to state of flight and airborne equipment; Described state of flight and airborne equipment state comprise the duty of system power source voltage, device temperature, total system power consumption and each equipment.
Data recordin module, for realizing the record of aircraft state signal and sensing data; This data record adopts FAT16 file mode to realize, and by the TF card interface of design, directly can connect PC computing machine, data are read back into Computer Analysis and process by card reader according to actual needs.
As from the foregoing, the present invention adopts and flight control, system management, navigation information is merged 3 main functional modules and carry out relatively independent method for designing.The CPU of Duo-Core Architecture is adopted in whole control system, as: adopt two ARM Cortex M4+DSP framework, the task of each CPU has carried out Module Division again, and whole system is divided into above-mentioned 6 functional modules.
For flight controlling functions, in order to features such as outstanding high throughput, low-power consumption, massive store information, flight control modules of the present invention adopts the typical architecture of CPU+ " hard disk "+internal memory, and circuit diagram as shown in Figure 2.CPU selects ST Microelectronics STM32F407ZGT6 high-performance 32-bit processor, based on ARM Cortex-M4 kernel, reaches the processing power of 210DMIPS with 168MHz dominant frequency.Navigation CPU selects TI company's T MS320C28X series floating controller, has high speed 32 floating-point processing poweies of 150MHz dominant frequency.The model that internal memory adopts ISSI company to produce is IS62WV51216BLL 8M static RAM, and be placed in the high-speed cache between CPU and main memory, processing speed can reach 45ns, improves the work efficiency of whole system.
Flight data recording and storage are vital tasks of flight control system, for storage course line, way point information and navigation, controling parameters, Flight Condition Data and follow-up a large amount of visual pattern process information and video information, the present invention adopts " hard disk " TF card mode to realize, select SanDisk 64G storage card, class 10 speed class, the reading speed of 32MB/s can be reached, SPI interface convenience and system communication.Adopt FAT16 file system, register system configuration, parameter and real-time status data.
For navigation data collection and fusion function, in order to support the autonomous landing of unmanned plane, navigation module adds outside GPS except traditional Inertial Measurement Unit (3 axle gyroscopes, 3 axis accelerometers and 3 axle magnetic compasses), also introduces the data merging other sensor.Navigation operations adopts DSP to complete, the high ADIS16480 of integrated level is adopted (to contain three-axis gyroscope, 3-axis acceleration, three axle magnetometer and barometric altimeters, built-in extension Kalman filter) as inertance element, GPS adopts the LET-6 of u-blox, devises the pitot meter of digital interface.Outside extends other navigation module, comprises differential GPS, radio altimeter, ULTRA-WIDEBAND RADAR, airborne vision and ground vision guided navigation information and adopts in CAN, SCI interface drawing-in system.The design key of whole system is the navigation data how merging different sampling rate, and its system chart as shown in Figure 3.
For servos control and redundancy control capability, steering wheel is the topworks of unmanned plane, realizes the control of attitude to aircraft and engine speed.The present invention improves unmanned plane inner ring (Rudder loop) control accuracy and the cabling reduced between steering wheel designs, by transforming steering wheel, quote the true feedback states of servos control plate Real-time Collection topworks, form the closed-loop control of steering wheel loop, improve inner ring control accuracy.CAN transmission is adopted to servos control instruction, achieves bus steering wheel, decrease cabling, reduce interference; And Redundancy Design thought is introduced to servos control loop, improve the reliability of unmanned plane.Redundancy design method be have employed to remote controller signal collection, gather 8 tunnel remote signals and S-Bus signal simultaneously, obtain two-way independently remote-control receiver signal.The servos control signal exported can the comprehensive output of self-driving control algolithm and the output of telepilot, CAN S-Bus signal two-way that is comprehensive and serial ports simulation is adopted to output to improved steering engine controller, ensure when self-driving algorithmic error or remote signal malfunctioning, steering wheel can be normally controlled, ensures aircraft safety.On hardware implementing, make full use of the function of ARMPWM module, reduce the burden that software is caught, improve system reliability, its system architecture as shown in Figure 4 as far as possible.
In embody rule example, carry out autonomous landing test: unmanned plane autonomous landing experiment is made up of airborne equipments such as the middle-size and small-size unmanned plane of certain fixed-wing, flight control system, land station, differential GPS, radio altimeter, radio station.For unmanned plane Autonomous landing, unmanned plane Autonomous landing process, can be divided into the stage of 5 shown in Fig. 5,1. alignment stage 1: arrive and specify destination, controls height, position, until within the radius of arrival destination 0.2. alignment stage 2: line up with runway, major control course, puts down and flies, and control throttle to setting value, pitch regulation can compensate the height reduction that rolling brings.3. landing phases: reduce height, constant perpendicular speed 3m/s, controls course line up with runway, until height reduction is to destination 2 setting height.4. flare phase: throttle is constant, controls height, course alignment runway, until arrive in the radius of destination 2, is mainly used in regulating pinpoint landing.5. descend slowly and lightly the stage: first utilize throttle and pitching control height to pick-up point+1m, now minimum throttle kills engine exactly, then pull-up, and angle is 3 °.
As shown in Figure 6, the landing track of unmanned plane is represented.Can draw from figure, during practical flight landing, its landing track precisely can land with the process implementation that descends slowly and lightly according to aiming at, landing, even up.As from the foregoing, which show this system synthesis multi-sensor information fusion, and then the stable autonomous landing effectively reliably supporting unmanned plane.
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (7)
1., based on the autonomous landing flight control system of unmanned plane of Duo-Core Architecture, it is characterized in that, comprising:
Navigation data gathers and Fusion Module, for pick-up transducers data, by merging the status data obtaining aircraft, and result is sent into flight control modules, as the foundation formulating Flight Control Algorithm and strategy;
Flight control modules, for by the navigation of aircraft and status data, controls the attitude of aircraft and speed, realizes the control to horizontal level and height;
Servos control module, is used for monitoring artificial remote signal and instruction, output steering order control steering wheel, gathering topworks's actual position information;
Communication protocol control module, for adopting many radio station and hyperchannel, realizes between aircraft and land station, communication between aircraft and ground vision navigation system;
System status monitoring module, for carrying out condition monitoring to state of flight and airborne equipment;
Data recordin module, for realizing the record of aircraft state signal and sensing data.
2. the autonomous landing flight control system of the unmanned plane based on Duo-Core Architecture according to claim 1, it is characterized in that, described sensing data comprises accelerometer, gyroscope, magnetic compass, pitot meter, GPS, airborne/ground vision guide system, radio altimeter, ULTRA-WIDEBAND RADAR data.
3. the autonomous landing flight control system of the unmanned plane based on Duo-Core Architecture according to claim 1, is characterized in that, the status data of described aircraft comprises the attitude of aircraft, speed, position, acceleration, relative position information.
4. the autonomous landing flight control system of the unmanned plane based on Duo-Core Architecture according to claim 1, is characterized in that, described state of flight and airborne equipment state comprise the duty of system power source voltage, device temperature, total system power consumption and each equipment.
5. the autonomous landing flight control system of the unmanned plane based on Duo-Core Architecture according to claim 1, it is characterized in that, data record in described data recordin module adopts FAT16 file mode to realize, directly connect PC computing machine by TF card interface, card reader, data are read back into Computer Analysis and process.
6. according to the autonomous landing of the unmanned plane based on the Duo-Core Architecture flight control system in Claims 1 to 5 described in any one, it is characterized in that, all functions module is all realized by two ARM Cortex M4+DSP framework, the task of each CPU has carried out Module Division again, corresponding with six functional modules.
7. according to the autonomous landing of the unmanned plane based on the Duo-Core Architecture flight control system in Claims 1 to 5 described in any one, it is characterized in that, be collection 8 tunnel remote signal and S-Bus signal to remote controller signal collection in described servos control module, obtain two-way independently remote-control receiver signal; The output of servos control signal synthesis self-driving control algolithm exported and the output of telepilot, adopt CAN S-Bus signal two-way that is comprehensive and serial ports simulation to output to steering engine controller.
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| CN110989647A (en) * | 2019-12-24 | 2020-04-10 | 北京航天飞腾装备技术有限责任公司 | Multi-sensor fusion flight controller based on SoC |
| CN110989647B (en) * | 2019-12-24 | 2023-12-08 | 北京航天飞腾装备技术有限责任公司 | Multi-sensor fusion flight controller based on SoC |
| CN112198903A (en) * | 2019-12-31 | 2021-01-08 | 北京理工大学 | Modular multifunctional onboard computer system |
| CN111077841A (en) * | 2020-01-10 | 2020-04-28 | 沈阳航空航天大学 | Unmanned aerial vehicle flight control system based on two CAN buses |
| CN111272175A (en) * | 2020-03-05 | 2020-06-12 | 北京航空航天大学 | Micro-mechanical gyroscope POS data acquisition and processing system |
| CN113247253A (en) * | 2021-03-22 | 2021-08-13 | 重庆三峡学院 | Autonomous inspection device for long-distance equal-height earth surface unmanned aerial vehicle |
| CN114217556A (en) * | 2021-12-13 | 2022-03-22 | 北京零壹空间电子有限公司 | Rocket-borne flight control system |
| CN115877753A (en) * | 2022-11-16 | 2023-03-31 | 广州汽车集团股份有限公司 | Flight control system, aircraft control system and aircraft |
| CN115877753B (en) * | 2022-11-16 | 2024-08-16 | 广州汽车集团股份有限公司 | Flight control system, aircraft control system and aircraft |
| CN116700319A (en) * | 2023-08-04 | 2023-09-05 | 西安交通大学 | Autonomous take-off and landing system and method for aerial robot based on micro radar array |
| CN116700319B (en) * | 2023-08-04 | 2023-10-20 | 西安交通大学 | Autonomous take-off and landing system and method for aerial robot based on micro radar array |
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