CN108965124A - A kind of unmanned aerial vehicle control system - Google Patents
A kind of unmanned aerial vehicle control system Download PDFInfo
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- CN108965124A CN108965124A CN201810857205.XA CN201810857205A CN108965124A CN 108965124 A CN108965124 A CN 108965124A CN 201810857205 A CN201810857205 A CN 201810857205A CN 108965124 A CN108965124 A CN 108965124A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/22—Alternate routing
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L45/28—Routing or path finding of packets in data switching networks using route fault recovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The invention discloses a kind of unmanned aerial vehicle control systems, the unmanned aerial vehicle control system is made of flight control assemblies and user control terminal, user control terminal receives operation control instruction from the user and sends to flight control assemblies, flight control assemblies receive the operation control instruction from user control terminal, and unmanned plane is controlled according to instruction, data interaction is carried out by Radio Link between flight control assemblies and user control terminal.Whole system is stable, and each module of system meets design requirement, has the characteristics that at low cost, small in size, light weight, high reliablity, easy to operate, practical.
Description
Technical field
The present invention relates to air vehicle technique field, in particular to a kind of unmanned aerial vehicle control system.
Background technique
The features such as small drone is low in cost with its, small in size, light-weight, mobility is strong, cruise duration is long, so
In civil field using more and more extensive.Traditional civil small-scale unmanned aerial vehicle (UAV) control mainly uses single-chip microcontroller to complete, main
The disadvantage is that data-handling capacity is insufficient, real-time is poor, it is typically only capable to complete single or relatively simple task.Microelectric technique
The application field of unmanned plane has been expanded in fast development, in recent years, unmanned plane agricultural, meteorological, disaster monitoring and in terms of
It is more and more widely used.The application of new technology improves the navigation performance of unmanned plane, but above-mentioned small drone is led
Boat has mainly continued to use the designing technique of military unmanned air vehicle with control, generally employs the integrated navigation technologies such as GPS, inertial navigation, nobody
Machine quality and the cost is relatively high.
Flight control system is the core of unmanned plane.Traditional small drone control is mainly completed using single-chip microcontroller,
Major defect is that operational capability is weak, memory space is small, real-time is poor, is typically only capable to complete some simple tasks.Based on PC machine
UAV Flight Control System be mature Fulfilling Industrial Control Bus product, using PC104 as representative, necessary resources are abundant, independent navigation,
Operation, storage etc. are powerful, but volume is big, interface capability is poor, price is high, are not easy to realize miniaturization.In addition, in flight course
In, unmanned plane needs to keep contact immediately using airborne wireless communication equipment and earth station, is completed by the control of earth station
Airflight, current data link mode include data radio station, wifi network and bluetooth.The work frequency of data radio station
For rate 433,000,000 or 915,000,000, this communication mode is by disposing transmission respectively at unmanned aerial vehicle onboard end and ground surface end and receiving
Module, communication distance are 1-1000 meters or so, therefore want suitable for consumer level aircraft, machine of taking photo by plane, fog machine etc. to communication distance
Seek not high aircraft.Requirement of the unmanned plane to safety is very high, this just proposes the communication reliability of unmanned plane higher
Requirement.If unmanned plane the communication failures such as signal interruption repeatedly occurs in flight course in the sky, the form of expression is unmanned plane
Moment loses contact, and there is the major safety risks that unmanned plane crashes because out of control for such failure.Therefore, how nothing is promoted
Man-machine communication reliability is current urgent problem to be solved.
Summary of the invention
The invention proposes a kind of unmanned aerial vehicle control systems, by establishing dual link mechanism in current communications link signal
Data are transmitted using backup link in the case where disconnected, so that the data transmitted between unmanned plane and controller keep continuity and surely
It is qualitative, to reduce the probability of unmanned plane suspension under conditions of controlling cost, increase the communication reliability of unmanned plane.
The technical solution adopted in the present invention is as follows:
A kind of unmanned aerial vehicle control system, the unmanned aerial vehicle control system are made of flight control assemblies and user control terminal,
User control terminal receives operation control instruction from the user and sends to flight control assemblies, and flight control assemblies, which receive, to be come
Unmanned plane is controlled from the operation control instruction of user control terminal, and according to instruction, flight control assemblies and user are controlled
Data interaction is carried out by Radio Link between terminal processed, it is characterised in that:
User control terminal includes controller, manipulation input unit, display unit and data communication units, manipulation input
The manipulation input of user is converted into data and is transferred to controller, the data communication units and the flight control assemblies by unit
In communication module connection, the data communication units include the first communications module and the second communications module, the data communication list
Director data from controller is transmitted to communication module by member, and receives the unmanned plane heartbeat data from flight control assemblies
Packet and unmanned plane during flying status data, the reception condition of the unmanned plane heartbeat data packets be used to judge by the controller be
Unmanned plane scheduling is carried out using the unmanned plane during flying status data that the first communications module or the second communications module receive；
Flight control assemblies include power module, sensor module, processor, drive control module, GPS module and lead to
Believe module；
Communication module, for the transmission of data between processor, the communication module includes 2.4G wireless communication unit
With gsm wireless communication unit.
Further, power module connects the modules in flight control assemblies, for supplying for flight control assemblies
Electricity；Sensor module is connect with processor, will be measured and is collected data and be sent to processor and handles, the sensor die
Block includes Inertial Measurement Unit, height measurement unit, magnetic heading measurement unit, air speed measuring unit；Drive control module, with place
Device connection is managed, receives the control instruction from processor, which includes PWM control unit, driving unit, manipulation
Unit, current potential feedback unit and decelerator unit, wherein PWM control unit, driving unit, manipulation unit are sequentially connected with, and are subtracted
Fast device unit is connected with driving unit, and passes through current potential feedback unit for feedback signal transmission to PWM control unit；GPS module,
It is connected with processor, the unmanned plane location information that will acquire is sent to processor and is analyzed and processed.
Further, 2.4G wireless communication unit is connected with the first communications module in the data communication units, is used for
Send unmanned plane heartbeat data packets and unmanned plane during flying status data, gsm wireless communication unit and the data communication units
In the second communications module be connected, for sending unmanned plane during flying status data.
Further, the reception condition of the unmanned plane heartbeat data packets is used to judge be to utilize first by the controller
The unmanned plane during flying status data that communications module or the second communications module receive carries out unmanned plane scheduling and specifically includes:
The first communication link is established between the 2.4G wireless communication unit and the first communications module, the gsm wireless is logical
The second communication link is established between letter unit and the first communications module.
Further, the reception condition of the unmanned plane heartbeat data packets is used to judge be to utilize first by the controller
The unmanned plane during flying status data that communications module or the second communications module receive carries out unmanned plane scheduling and specifically includes:
There are two flag bits for the thread of each communication link: backlog flag bit and line interruption flag bit,
Wherein, backlog flag bit indicates the use state of communication link: flag=0 indicates that communication link is unimpeded is used,
Flag=1 indicates that backlog is not used；
Line interruption flag bit indicates the actual interrupt status of communication link: during abort=0 indicates communication link state not
Disconnected, abort=1 indicates interrupted communication link state.
Further, the reception condition of the unmanned plane heartbeat data packets is used to judge be to utilize first by the controller
The unmanned plane during flying status data that communications module or the second communications module receive carries out unmanned plane scheduling and specifically includes:
First communication link state is flag1=0, abort1=0, indicates that the first communication link is used and does not hinder
Plug, while the first communications link signals are not interrupted normally；Second communication link state is flag2=1, abort2=0, is indicated
Second communication link does not use, blocked state, and signal of communication does not interrupt normally；
After not receiving the heartbeat data packets of flight control assemblies the first communication link continuous 3 times, it is believed that the first communication
Link obstructions, while interrupt identification is sent to the second communication link, the second communication link is enabled, at this time the second communication link state
Position flag2=0, abort2=0；
After receiving heartbeat the first communication link continuous 20 times, it is believed that the first communication link restores normal, then the first communication
Link sends abort1=0 flag bit, notifies second the first communication link of communication link unobstructed, using the logical of the first communication link
Letter data, the second communication link blocks but does not interrupt, state flag2=1, abort2=0 at this time.
Further, unmanned plane during flying status data includes the position data of unmanned plane, attitude data correlation operating parameter.
Further, the processor in flight control assemblies is using TMS320C2000 as master chip.
Further, the 2.4G wireless communication unit uses NRF24I_O1 wireless module chip.
It includes: by debugging that technical solution of the present invention, which can be obtained beneficial effect, and whole system is stable, system
Each module meets design requirement, has the characteristics that at low cost, small in size, light weight, high reliablity, easy to operate, practical.
Detailed description of the invention
Fig. 1 is the theory of constitution figure of the unmanned aerial vehicle control system；
Fig. 2 is the schematic diagram of link switching process.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under all other embodiment obtained, shall fall within the protection scope of the present invention.
Unmanned vehicle overall structure includes that fuselage, airborne electronic equipment (navigation and gesture stability etc.) and landing assist
System etc., requirement of the unmanned plane to aircraft are no less than miniature self-service reconnaissance plane.Firstly, small drone need it is as big as possible
California bearing ratio, with guarantee navigation with control, information collection and energy resource system carrying；Secondly, configuration design should be reasonable, it is ensured that fly
Row is safe and stablizes, and has preferable robustness and adaptability to various weather conditions；Third, the useful space and payload be big,
Structural strength is high, resistance to use, is wear-resistant；4th, landing system should have good place adaptability.According to above-mentioned requirements, fly
Machine overall structure uses high mounted wing, the upper counterangle, big rudder face, front-mounted engine, to 3 pitching, rolling, yaw freedom degree setting controls
Tailplane, vertical tail, aileron and wing flap is arranged in face processed, aircraft, realizes accurate control.The long 1390mm of fuselage, the span
1500mm, lifting area 0.39m2, engine use 46 grades of two-stroke methanol internal combustion engines, 4 standard steering engines, PCM1024 number
Proportional remote control.Meanwhile to improve place adaptability, designs catapult-assisted take-off system and parachuting landing system realizes rising for unmanned plane
Drop, to adapt to small drone in the use of different application scene.
For unmanned plane, flight control system is core control devices, and function is completed to the real-time of unmanned plane
Control.If using the communication transmission mode real-time exchange data of separate communication link between flight control system and earth station, one
There is signal interruption in denier communication link, will lead to unmanned plane and flight control system loses contact, to make flight control system
On display can not trace into unmanned plane in time, increase risk.Based on the above analysis, inventor devises dual communication link
Design scheme, make full use of cruise region base station, while building by adding backup module using the antenna of different operators
Vertical dual link mechanism transmits data using backup link in the case where current communications link signal interruption so that unmanned plane with
The data transmitted between earth station keep stability, to reduce unmanned plane under conditions of controlling cost solid
The probability for determining region suspension increases the communication reliability of unmanned plane.
Unmanned plane due to having the characteristics that small in size, load is light, control is flexible, to the technical requirement of controller compared with
Height, the technical indicator to be met mainly have the following aspects:
1) real-time.It is required that processor handles the data of input with most fast speed, is exported and controlled with shortest delay
Signal, and require control output accuracy height, stability good；
2) reliability.Strong antijamming capability will have wider operating temperature range and anti-electromagnetic interference capability, fly before taking off
Row parameter setting is easy, and controller maintenance and parameter are easy to adjust, continual and steady longevity of service；
3) embeddability.The weight of controller is less than the allowable load of aircraft, and can be mounted on narrow in cabin
In space.In addition to above 3 major requirements, controller will also meet the requirements such as memory space is big, low energy consumption, with the complicated control of storage
Processing procedure sequence and required Identification Data of taking a flight test, and guarantee that institute's power consumption is no more than airborne accumulator capacity in the Maximum Endurance time.
UAV Flight Control System is the core of UAV system, be responsible for unmanned plane during flying during automatic control and
Task device management, higher to the functional requirement of controller, the functional parameter to be met mainly has the following aspects:
1) receive surface instruction and acquire aspect information (pitch angle, inclination angle, magnetic heading angle, flight relative altitude,
Air speed, geographical coordinate, engine speed, airborne power supply voltage etc.), it is handled and is converted；
2) collected various parameters are carried out to the resolving of data processing and control law, and the control signal of generation is sent to
Corresponding control object completes corresponding movement；
3) each sensor and servo-system in unmanned aerial vehicle control system operating mode, flight control system and flight are controlled
The software and hardware part of computer is managed；
4) it completes to be crosslinked the control of other mission payloads and electronic component in machine and data.
Fig. 1 is the theory of constitution figure of the unmanned aerial vehicle control system, and the unmanned aerial vehicle control system is by flight control assemblies and use
Family controlling terminal composition, user control terminal receive operation control instruction from the user and send to flight control assemblies, fly
Row control device receives the operation control instruction from user control terminal, and is controlled according to instruction unmanned plane.Flight
Data interaction is carried out by Radio Link between control device and user control terminal.
User control terminal includes controller, manipulation input unit, display unit and data communication units, manipulation input
The manipulation input of user is converted into data and is transferred to controller, the data communication units and the flight control assemblies by unit
In communication module connection, the data communication units include the first communications module and the second communications module, the data communication list
Director data from controller is transmitted to communication module by member, and receives the unmanned plane heartbeat data from flight control assemblies
Packet and unmanned plane during flying status data, the reception condition of the unmanned plane heartbeat data packets be used to judge by the controller be
Unmanned plane scheduling is carried out using the unmanned plane during flying status data that the first communications module or the second communications module receive；
Flight control assemblies include power module, sensor module, processor, drive control module, GPS module and lead to
Believe module.Wherein, power module connects the modules in flight control assemblies, for powering for flight control assemblies；Sensing
Device module, connect with processor, will measure and collects data and be sent to processor and handles, which includes used
Property measuring unit, height measurement unit, magnetic heading measurement unit, air speed measuring unit；Drive control module connects with processor
Connect, receive the control instruction from processor, the drive control module include PWM control unit, driving unit, manipulation unit,
Current potential feedback unit and decelerator unit, wherein PWM control unit, driving unit, manipulation unit are sequentially connected with, retarder list
Member is connected with driving unit, and passes through current potential feedback unit for feedback signal transmission to PWM control unit；GPS module, with processing
Device is connected, and the unmanned plane location information that will acquire is sent to processor and is analyzed and processed；
Communication module, for the transmission of data between processor, the communication module includes 2.4G wireless communication unit
With gsm wireless communication unit, wherein 2.4G wireless communication unit is connected with the first communications module in the data communication units,
For sending unmanned plane heartbeat data packets and unmanned plane during flying status data, gsm wireless communication unit and the data communication
The second communications module in unit is connected, for sending unmanned plane during flying status data.
For example, unmanned plane heartbeat data packets and unmanned plane during flying status data can be packaged by 2.4G wireless communication unit
After TCP data packet, network is sent to the data communication units in user control terminal by wireless communication.
Fig. 2 is the schematic diagram of link switching process.Unmanned plane during flying status data includes the position data of unmanned plane, posture
The correlation operating parameter such as data.How the controller being described below in detail in user control terminal judges it is to utilize 2.4G channel radio
The first communication link between letter unit and the first communications module still pass through gsm wireless communication unit and the first communications module it
Between the unmanned plane during flying status data that receives of the second communication link carry out the detailed process of unmanned plane scheduling.Each communication chain
There are two flag bits for the thread on road: backlog flag bit and line interruption flag bit.Wherein, backlog flag bit indicates
The use state of communication link: flag=0 indicates that communication link is unimpeded and is used；Flag=1 indicates that backlog is not used.
Line interruption flag bit indicates the actual interrupt status of communication link: abort=0 indicates that communication link state is not interrupted, abort
=1 indicates interrupted communication link state.Under normal circumstances, the first communication link state is flag1=0, abort1=0, is indicated
First communication link, which is used, not to be blocked, while the first communications link signals are not interrupted normally.Second communication link shape
State is flag2=1, abort2=0, indicates that the second communication link does not use, blocked state, signal of communication is normally without in
It is disconnected.After not receiving the heartbeat data packets of flight control assemblies the first communication link continuous 3 times, it is believed that the first communication chain roadlock
Plug, while interrupt identification is sent to the second communication link, the second communication link is enabled, at this time the second communication link state position
Flag2=0, abort2=0.After receiving heartbeat the first communication link continuous 20 times, it is believed that the first communication link restores normal,
Then the first communication link sends abort1=0 flag bit, notifies second the first communication link of communication link unobstructed, logical using first
Believe the communication data of link, the second communication link blocks but do not interrupt, state flag2=1, abort2=0 at this time.
The separate communication link used in traditional technology occurs after going offline, and needs to release original communication connection, release accordingly
The work such as data space, again signal acquisition, therefore apply for that reconnection required time is longer.If using setting for two-way single-pass
Meter, i.e. communication link fails another communication link just start to be connected to, time interval about 30s or so, if actually answering
30 seconds or so are wanted in.Therefore, the above-mentioned working method using two-way bilateral, i.e., the same data replicate two parts and transmit simultaneously,
When a communication link fails, switch communication links, switching time are can be controlled in 3 seconds~5 seconds immediately, ensure that unmanned plane exists
The stability that data are transmitted in flight course, thus keep between user control terminal and unmanned plane synchronous communication with
And the function of flight control immediately.
Processor in flight control assemblies is using TMS320C2000 as master chip.TMS320C2000 series is the U.S.
The fixed-point DSP chip for the best observing and controlling application that TI company releases, TMS320F2812 and TMS320F28335 are the series in market
2 kinds of wider chips of upper application.Wherein MS320F28335 is using Floating-point Computation, and TMS320F2812 is using fixed
Point calculates, and MS320F28335 1 MAC unit also more than TMS320F2812.TMS320F28335 is C2000 family chip
In a device with a relatively high cost performance, be 32 fixed-point DSP chips that most advanced, function is most powerful on current international market.
Its existing digital signal processing capability, and there is powerful incident management ability and embedded Control ability, therefore select
TMS320F28335 chip.
The peripheral hardware of the device includes the flash storage of 256KB, S ARAM of 34KB*16, motor control peripheral hardware, serial ports
Communications peripheral, mathematical operation table, 1KB*16 OTP ROM and 8K*16 Boot ROM, provide 2 sampling hold circuits, it is real
Double-channel signal synchronized sampling is showed, there is very high operational precision and system processing capacity, working frequency reaches 150MHz, protects
The rapidity and real-time of signal processing are demonstrate,proved.In flight control assemblies, the signal of high speed can provide real-time position letter
Breath, meets the performance requirement of flight control assemblies.TMS320F28335 uses Harvard bus structures, and program read bus has 22 ground
Location line and 32 data lines, reading and writing data line are all 32, can complete instruction fetch parallel within 1 period, read data and write
The task of data.It has used instruction flow line line technology simultaneously, so that the processing speed of signal significantly improves.Code safety mould
Block guarantees the data safety of related register using 128 cryptoguards for protecting Flash/OTP and part SARAM.
The system and digital code of TMS320F28335 device can be developed using C/C++ completely, save a large amount of development time.Flight
The hardware design of control device mainly includes peripheral interface design, memory, power supply, switching value, CPU, D/A conversion, A/D conversion
Equal parts.Flight-control computer design based on DSP, only need to be according to the functional requirement of flight control to TMS320F28335 core
Piece carries out a small amount of external interface extension, can meet flight control system functional and following scalability requirement.
The sensor module includes Inertial Measurement Unit, height measurement unit, magnetic heading measurement unit, air speed measurement list
Member, in which:
1) Inertial Measurement Unit
It is also most important sensor unit that inertia measuring module, which is most basic, and accuracy directly affects control performance.
Module effect is the attitude angle of real-time measurement aircraft, including pitch angle, roll angle and course angle, needs to obtain the rotation of three axis
Angular speed and angular acceleration can find out 3 attitude angles, generally use gyroscope and the twin-axis accelerometer of Three Degree Of Freedom to survey
Amount.
In view of small drone small volume and the factors such as at low cost, vertical gyroscope uses TAROT ZYX-S editions
Free gyroscope.The gyroscope system is small in size, light-weight, debugging process is simple, provides 5 kinds of different offline mode choosings
It selects, for attitude angles such as the pitch angle, the inclinations angle that measure unmanned plane, maximum angular speed is 800 (o)/s.Output is simulation electricity
Signal is pressed, is converted by A/D, and sent by RS-232 interface to processor.
Twin-axis accelerometer selects the ADXL213AE two-axis acceleration measuring system of ADI company, the sensor is at low cost,
Low in energy consumption, perfect in shape and function, is the monolithic integrated circuit for integrating double-shaft acceleration sensor, and measurement range is ± 2G.It is defeated
It is out period adjustable pulse-width signal, can be directly connect with main control computer.
2) magnetic heading measurement unit
Magnetic heading measurement unit plays a part of heading measure and navigates to drive, and general magnetic heading measurement unit has wirelessly
Electric heading device, gyro-compass course instrument and magnetic course transmitter.Wherein, magnetic course transmitter be by the measurement of the magnetic north to the earth come
Complete the measurement of course angle.It is a kind of common heading measure method since its structure is simple, at low cost, light weight.
This unmanned aerial vehicle (UAV) control device uses GY-273 magnetic flux transducer, and control chip is made of HMC5883L.By it institute
The measured value of the 3 vertically arranged magnetic flux transducer institute induced fluxes provided can accurately calculate course angle, measure model
It encloses for ± 1.3-8 Gauss.Its voltage signal is converted by A/D, and is sent by RS-232 interface to processor.
3) height measurement unit
The altitude signal of unmanned plane is mainly obtained in its altitude measurement system.Height measurement unit is in aircraft
Important sensor, it is particularly significant for the safe flight and autonomous control of aircraft.For measuring the method for flying height very
It is more, the flying height under different definition can be measured using different measuring principles, there are commonly sonar altimeter, radar are high
Degree meter, laser altimeter and barometertic altimeter etc..
This unmanned aerial vehicle (UAV) control device uses barometertic altimeter, and altimeter adopts GY-63-03 barometric surveying module, atmospheric pressure
Module is MS5611 composition, which realizes the measurement to flying height using atmospheric gas pressure with the rule of height change, is had
There is the features such as stable small in size, high sensitivity, data output, precision height, fast response time, high reliablity.Its voltage signal is logical
A/D transformation is crossed, and is sent by RS-232 interface to processor, height error is within 1-2m.
4) air speed measuring unit
Flying speed is in-flight important one of flight parameter, is had for the safe flight and autonomous control of aircraft
Highly important effect, speed signal are mainly obtained from pitot meter.This unmanned aerial vehicle (UAV) control device uses CJMCU-36 pitot meter,
Pressure sensor is the MPXV7002DP of Freescale, which designed exclusively for microcontroller, voltage letter
It number is converted by A/D, and is sent by RS-232 interface to processor, error is 9--30m/s for ± 2m/s measurement range.Air speed
Caliber is 3.5--70mm, has the characteristics that small in size, light-weight, low in energy consumption, high reliablity.The pitot meter is mainly by differential pressure
Sensor, signal conditioning circuit and 3 part DSP composition.
With the maturation of GPS especially Differential GPS Technology, global, round-the-clock, continuous high-precision navigation, positioning
Ability and small in size, light-weight feature, are applied to Navigation of Pilotless Aircraft device quickly, provide the location information of unmanned plane,
GPS can also provide the speed and elevation information of aircraft simultaneously.GPS module has selected CJMCU-6M receiving module, master chip
For U-BLOX NEO-6M, the sensor is with small in size, power is low, high reliablity, locating speed is fast, precision is high, interface is convenient
The features such as.CJMCU-6M receiving module signal format is NMEA0183 agreement, is exported by RS-232 serial ports.Flight control assemblies
According to NMEA0183 agreement, geographical position coordinates (warp/latitude), flying speed and the time of unmanned plane are calculated.
Drive control module is the driving mechanism of unmanned plane during flying, and the various movements of unmanned plane will pass through drive control mould
Block drives the deflection of rudder face to realize.In flight control system, drive control module is often used as 1 separate unit to be designed,
The drive control module is mainly by PWM control unit, driving unit, manipulation unit, current potential feedback unit and retarder list
5 parts of member form,
Driving unit selects Tower Pro SG90 steering engine, and service speed that the steering engine is non-loaded is 0.12s/60o (4.8V),
Torque is 1.6kg.cm (4.8V), and dead zone is set as 5ms, has the spies such as small in size, light weight and cost is low, small power consumption, precision height
Point has reached requirement of the small drone to steering engine parameter.Altogether include 4 steering engines in drive control module, respectively drives liter
Rudder face, aileron rudder face, rudder surface and throttle drop.4 road PWM (pulsewidth modulation) signals needed are controlled, the signal is by processor
TMS320F28335 chip provides.TMS320F28335 chip calculates the control amount of rudder face, is then sent by I/O mouthfuls to driving
Control module.
The flight control assemblies need on the unmanned plane as airborne portion and, so being necessarily required to a communication module
Pass various flight attitude parameters back ground.Communication module includes 2.4G wireless communication unit and gsm wireless communication unit, is somebody's turn to do
2.4G wireless communication unit uses NRF24I_O1 wireless module chip, which, which has characteristics that, exempts from what licensing used
The ISM band of 2.4G global open；Strong antijamming capability, highest operating rate 2Mbps；Built-in CRC error detection and point-to-multipoint
Mailing address control；125 optional channels, can satisfy the needs of multi-point and frequency modulation communication；Settable automatic-answering back device,
To ensure the reliable transmission of data.2.4G wireless communication unit passes through spi bus agreement and processor communication, maximum transmission speed
Degree can achieve 10MHz.
For gsm wireless communication unit using SIM548C communications module, it is integrated with gsm module.In user control terminal
Data communication units used in be SIM300, it is equally also integrated with gsm module.Gsm wireless communication unit and processor
Data be transmitted through on processor carry universal asynchronous serial interface USART, in addition to configuration port and internal clocking other than,
USART controller must also be configured, fputc function is used to for printf function being redirected to USART, and circulation sends and receivees space
Fu Ze is carried out in main function.
Unmanned aerial vehicle control system of the invention believes GPS and posture etc. according to the characteristics of small drone and mission requirements
Breath acquisition is relatively independent system with processing, Navigation Control, flight control design case, realizes attitude data respectively by dsp chip
Acquisition, processing and navigation calculate, and effectively reduce the computation complexity of navigation system.This unmanned aerial vehicle control system has carried out repeatedly
Flight test, the results showed that, system realizes real time communication and data processing, and navigation accuracy is high, can fly by prebriefed pattern, real
The flight control of unmanned plane is showed.
The invention also includes a kind of computer readable storage mediums, are stored thereon with computer instruction, and the instruction is processed
Device executes nobody in the communication means of the unmanned plane in any one aforementioned embodiment, or any one aforementioned embodiment of execution
The communication means of machine server.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The calculating implemented in non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) can be used
The form of machine program product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of unmanned aerial vehicle control system, which is made of flight control assemblies and user control terminal, uses
Family controlling terminal receives operation control instruction from the user and sends to flight control assemblies, and flight control assemblies reception comes from
The operation control instruction of user control terminal, and unmanned plane is controlled according to instruction, flight control assemblies and user's control
Data interaction is carried out by Radio Link between terminal, it is characterised in that:
User control terminal includes controller, manipulation input unit, display unit and data communication units, manipulates input unit
The manipulation of user input is converted into data and is transferred to controller, in the data communication units and the flight control assemblies
Communication module connection, the data communication units include the first communications module and the second communications module, and the data communication units will
Director data from controller is transmitted to communication module, and receive the unmanned plane heartbeat data packets from flight control assemblies with
And unmanned plane during flying status data, the reception condition of the unmanned plane heartbeat data packets are used to judge be to utilize by the controller
The unmanned plane during flying status data that first communications module or the second communications module receive carries out unmanned plane scheduling；
Flight control assemblies include power module, sensor module, processor, drive control module, GPS module and communication mould
Block；
Communication module, for the transmission of data between processor, the communication module includes 2.4G wireless communication unit and GSM
Wireless communication unit.
2. unmanned aerial vehicle control system according to claim 1, it is characterised in that:
Power module connects the modules in flight control assemblies, for powering for flight control assemblies；
Sensor module is connect with processor, will be measured and is collected data and be sent to processor and handles, the sensor die
Block includes Inertial Measurement Unit, height measurement unit, magnetic heading measurement unit, air speed measuring unit；
Drive control module is connect with processor, receives the control instruction from processor, which includes PWM
Control unit, driving unit, manipulation unit, current potential feedback unit and decelerator unit, wherein PWM control unit, driving are single
Member, manipulation unit are sequentially connected with, and decelerator unit is connected with driving unit, and pass through current potential feedback unit for feedback signal transmission
To PWM control unit；
GPS module is connected with processor, and the unmanned plane location information that will acquire is sent to processor and is analyzed and processed.
3. unmanned aerial vehicle control system according to claim 1, it is characterised in that:
2.4G wireless communication unit is connected with the first communications module in the data communication units, for sending unmanned plane heartbeat
Data packet and unmanned plane during flying status data, gsm wireless communication unit communicate mould with second in the data communication units
Group is connected, for sending unmanned plane during flying status data.
4. unmanned aerial vehicle control system according to claim 1, which is characterized in that the reception of the unmanned plane heartbeat data packets
Situation is used to judge the unmanned plane during flying received using the first communications module or the second communications module by the controller
Status data carries out unmanned plane scheduling and specifically includes:
The first communication link, the gsm wireless communication unit are established between the 2.4G wireless communication unit and the first communications module
The second communication link is established between member and the first communications module.
5. unmanned aerial vehicle control system according to claim 4, which is characterized in that the reception of the unmanned plane heartbeat data packets
Situation is used to judge the unmanned plane during flying received using the first communications module or the second communications module by the controller
Status data carries out unmanned plane scheduling further include:
There are two flag bits for the thread of each communication link: backlog flag bit and line interruption flag bit, wherein
The use state of backlog flag bit expression communication link: flag=0 indicates that communication link is unimpeded is used, flag=1
Indicate that backlog is not used；
Line interruption flag bit indicates the actual interrupt status of communication link: abort=0 indicates that communication link state is not interrupted,
Abort=1 indicates interrupted communication link state.
6. unmanned aerial vehicle control system according to claim 5, which is characterized in that the reception of the unmanned plane heartbeat data packets
Situation is used to judge the unmanned plane during flying received using the first communications module or the second communications module by the controller
Status data carries out unmanned plane scheduling further include:
First communication link state is flag1=0, abort1=0, indicates that the first communication link is used and does not block, together
When the first communications link signals do not interrupt normally；Second communication link state is flag2=1, abort2=0, indicates second
Communication link does not use, blocked state, and signal of communication does not interrupt normally；
After not receiving the heartbeat data packets of flight control assemblies the first communication link continuous 3 times, it is believed that the first communication link
Obstruction, while interrupt identification is sent to the second communication link, the second communication link is enabled, at this time the second communication link state position
Flag2=0, abort2=0；
After receiving heartbeat the first communication link continuous 20 times, it is believed that the first communication link restores normal, then the first communication link
Abort1=0 flag bit is sent, notifies second the first communication link of communication link unobstructed, using the communication number of the first communication link
According to the second communication link blocks but do not interrupt, state flag2=1, abort2=0 at this time.
7. unmanned aerial vehicle control system according to claim 1, it is characterised in that: unmanned plane during flying status data includes for nobody
Position data, the attitude data correlation operating parameter of machine.
8. unmanned aerial vehicle control system according to claim 1, it is characterised in that: the processor in flight control assemblies uses
TMS320C2000 is as master chip.
9. unmanned aerial vehicle control system according to claim 1, it is characterised in that: the 2.4G wireless communication unit uses
NRF24I_O1 wireless module chip.
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