CN102354208A - Debugging device for flight test of unmanned aerial vehicle - Google Patents
Debugging device for flight test of unmanned aerial vehicle Download PDFInfo
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- CN102354208A CN102354208A CN2011102623982A CN201110262398A CN102354208A CN 102354208 A CN102354208 A CN 102354208A CN 2011102623982 A CN2011102623982 A CN 2011102623982A CN 201110262398 A CN201110262398 A CN 201110262398A CN 102354208 A CN102354208 A CN 102354208A
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Abstract
The invention discloses a debugging device for flight test of an unmanned aerial vehicle, relating to a debugging device and comprising an unmanned aerial vehicle part and a ground part, wherein the unmanned aerial vehicle part comprises a DSP (Digital Signal Processor) and a first wireless module, and the ground part comprises a second wireless module, a level switching module and a computer parameter adjusting software module; when changing the control parameter and motor rotating speed in the flight process of the unmanned aerial vehicle, the computer parameter adjusting software module sends a signal instruction which reaches to the second wireless module through the level switching module, and the second wireless module sends a wireless radio frequency signal which is sent to the DSP after being received by the first wireless module of the unmanned aerial vehicle part; the DSP changes the set of the received control parameter in the flight process of the unmanned aerial vehicle and then sends the changed control parameter to the first wireless module, and the first wireless module sends the wireless radio frequency signal, and the second wireless module receives the signal which is then switched to computer parameter adjusting software, thus, changed data can be displayed. The debugging device is simple in structure, high in reliability, easy to operate and capable of shortening the development period of an unmanned aerial vehicle control system.
Description
Technical field
The present invention relates to a kind of debugging apparatus, particularly relate to a kind of debugging apparatus that is used for the unmanned plane during flying test.
Background technology
Unmanned plane is a kind of dynamic, may command, can carry multiple-task load, carry out multiple-task and can reusable unmanned TUAV, because advantages such as its zero injures and deaths risk and high maneuverability have caused the great attention of the various countries militaries.The sub data transmission uplink and downlink on unmanned plane and ground, up is from ground to the unmanned plane, descendingly is from the unmanned plane to ground.
Generally, when we debug unmanned plane, the value of the controlled variable of change height etc. if desired; Following three kinds of modes are arranged, 1, use telepilot, but the port number of telepilot is limited; Also can constantly change program; Be transferred to any part, just arrive corresponding telepilot passage to the parameter maps of using, also bother but always change program; 2, stop the unmanned plane operation, change program, break away from emulator after the burning program again, the operation that powers on again, this kind mode bothers, and loses time; 3, stop the unmanned plane operation, change program, the unmanned plane band emulator flight, and this kind mode also bothers, and it is relatively heavier that the unmanned plane band emulator flight in addition, and line is short, is inconvenient to debug.
Generally, when we debug unmanned plane, if directly observe the action of unmanned plane with eyes; Can not accurately perceive the slight change of some parameters, also just can not adjust some controlled variable in time, be inconvenient to debug; And can not in time report to the police to unusual even dangerous flight situation; And might produce following consequence: the unmanned plane during flying security reduces, the housing construction of havoc unmanned plane, even crash.Machine carried memory can be with under the EDR of unmanned plane in flight course through flight computer; But have only behind unmanned plane landing ground; Just can read these data to understand the situation of change of some parameter; If situation such as unusual and inefficacy appear in unmanned plane some parameter in flight course, we can't in time find and tackle; Serial ports assistant with ready-made can not show decimal, can not data storage be got off, and is used for ex-post analysis; Connect unmanned plane and monitoring computer with Serial Port Line, Serial Port Line influences the flight of unmanned plane, is inconvenient to debug.
Summary of the invention
In order to separate the variation that must not in time discover parameter parameter is regulated and control, and can not be to the problem of the storage of data, the present invention provides following technical scheme to solve the problems referred to above:
A kind of debugging apparatus that is used for the unmanned plane during flying test; It is characterized in that; This device comprises unmanned plane part and above ground portion, and unmanned plane partly comprises the DSP and first wireless module, and above ground portion comprises second wireless module, level switch module and computer accent ginseng software module; When above ground portion need be changed controlled variable and the motor speed in the unmanned plane during flying process; Computer transfers the ginseng software module to send signal instruction; Arrive second wireless module through level switch module; Second wireless module emission radio frequency signal sends to DSP to first wireless module behind first wireless module reception signal by the unmanned plane part; DSP sends to first wireless module after the controlled variable change in the reception unmanned plane during flying process is provided with; First wireless module emission radio frequency signal is to second wireless module; Second wireless module receives the signal of first wireless module emission and transfers the ginseng software module after over level is transformed into computer, and computer is transferred the data after the ginseng software module shows change.
The present invention can not only show variable with the form of curve and numerical value in real time, and can monitor test flight data in real time, and when experimental data exceeds safe range, in time reports to the police.In addition, the present invention constitutes simply, high, the processing ease of reliability, utilizes the present invention can shorten the construction cycle of UAV control system.
Description of drawings
Fig. 1 is a kind of structural drawing that is used for the debugging apparatus of unmanned plane during flying test of the present invention.
Fig. 2 is that a kind of debugging apparatus computer that is used for the unmanned plane during flying test of the present invention is transferred the program flow diagram of ginseng software module.
Embodiment
As shown in Figure 1; Debugging apparatus of the present invention comprises DSP, first wireless module, second wireless module, level switch module and computer accent ginseng software module; Wherein the DSP and first wireless module are placed on the unmanned plane, and second wireless module, level switch module and computer transfer the ginseng software module to belong to above ground portion.When above ground portion need be changed the controlled variable in the unmanned plane during flying process; Accent ginseng software place at computer can change, and arrives second wireless module through level conversion, and first wireless module receives data after serial ports is passed to DSP; Number of parameters through this kind mode can change is more; And save trouble, save time, also deducted the weight of emulator.Information such as the attitude of unmanned plane are dealt into first wireless module from DSP, and second wireless module receives number after over level conversion is passed to computer through serial ports, and the accent ginseng software module on the computer just can show the data of attitude etc.Can see the isoparametric slight change of attitude through the ginseng of the accent on computer software module, also just can in time change, save time some controlled variable; This accent ginseng software also can show decimal, can also data storage be got off, and is used for ex-post analysis; Replaced the Serial Port Line between unmanned plane and computer with 2 wireless modules, helped the flight of unmanned plane, convenient debugging.
Transfer ginseng software to comprise upstream data interface and downlink data interface, Fig. 2 is for transferring the program flow diagram of ginseng software module; The downlink data interface comprises real-time graph and display field, and control shows the figure of which parameter and the check box of numerical value, and parameter is provided with button, transmission and X button; The upstream data interface comprises the controlled variable setting area and the motor speed setting area of pitching, roll, driftage and height, preserves and X button; Through transferring ginseng software downlink data interface can show that unmanned plane passes the numerical value of the variablees such as attitude of coming and along with the change of time curve, clicks the setting button at this interface, just gets into the upstream data interface; The controlled variable and the motor speed of pitching, driftage, lift-over and height can be set through this interface; Click save button after having changed data, close again, get back to descending surface chart; Point sends, and upstream data is just passed to unmanned plane through first wireless module and second wireless module.
First wireless module and second wireless module all are duplexing, can do transmitter module, can do receiver module again; First wireless module is configured to telegon, and second wireless module is configured to router, sets up network by telegon, and router adds to come in, and two wireless modules just can carry out both-way communication.For the real-time of data better; Packing value interval time of first wireless module and second wireless module all is made as 0; First wireless module and second wireless module are configured to unicast mode; Be that computer reads the first wireless module inherent address SH (Serial Number High), SL (Serial Number Low) and the second wireless module inherent address SH, SL; Make the second wireless module destination address DH (Destination Address High), DL (Destination Address Low) inherent address SH, the SL of first wireless module into, the first wireless module destination address DH, DL are made into inherent address SH, the SL of second wireless module;
The DSP that this device adopts is TMS320F28335, when sending downgoing signal, at first to the serial port initialization; Make frame format satisfy the requirement of communication protocol, it is 9600bps that baud rate is set, and opens serial ports and receives interruption; And enable serial port, after the serial port initialization is accomplished, if timing arrives; Be written to SCITXBUF to the data that will send such as pitching value 0x41 and will produce to send and interrupt, DSP sends data to first wireless module;
Be integrated with a UART interface among the second wireless module XBee Pro, after serial data got into XBee Pro module through the DIN pin, data can be stored in earlier in the serial received impact damper, go out through antenna transmission up to being sent out device; After antenna receives the RF data, receive data and then be introduced into the serial transmission buffer, and then serial sends in the level switch module, carry out Transistor-Transistor Logic level and the conversion of RS-232 level between XBee Pro and the host computer with the max13223 chip;
In transferring ginseng software, change into decimal number 65 through the data after the level conversion; Downlink data interfacial energy transferring ginseng software shows with digital form; Be 2 ordinates with adjacent serial data simultaneously; The reading number of times is 2 horizontal ordinates, and in this point-to-point transmission setting-out, the line of a plurality of such point-to-point transmissions is just formed the real-time curve of serial data with VB.
When sending upward signal, at first click and transfer the setting of ginseng software to get into up interface, select the motorrev tab, writing the data that will send is that 4 rotating speed of motor are respectively 2000; 2200,2400 and 2500, preserve; Close, get back to descending interface, point sends; Pass to level switch module, carry out Transistor-Transistor Logic level and the conversion of RS-232 level between XBee Pro and the host computer, issue second wireless module after the conversion with the max13223 chip;
Be integrated with a UART interface among the first wireless module XBee Pro, after serial data got into XBee Pro module through the DIN pin, data can be stored in earlier in the serial received impact damper, go out through antenna transmission up to being sent out device; After antenna receives the RF data, receive data and then be introduced into the serial transmission buffer, and then UART arrival DSP is sent in serial;
Behind the data arrives DSP, DSP responds interruption, and the content SCIRXBUF in interrupt routine is read, and controls corresponding motor again, and rotating speed of motor will change.
Claims (3)
1. one kind is used for the debugging apparatus that unmanned plane during flying is tested; It is characterized in that; This device comprises unmanned plane part and above ground portion, and unmanned plane partly comprises the DSP and first wireless module, and above ground portion comprises second wireless module, level switch module and computer accent ginseng software module; When above ground portion need be changed controlled variable and the motor speed in the unmanned plane during flying process; Computer transfers the ginseng software module to send signal instruction; Arrive second wireless module through level switch module; Second wireless module emission radio frequency signal sends to DSP to first wireless module behind first wireless module reception signal by the unmanned plane part; DSP sends to first wireless module after the controlled variable change in the reception unmanned plane during flying process is provided with; First wireless module emission radio frequency signal is to second wireless module; Second wireless module receives the signal of first wireless module emission and transfers the ginseng software module after over level is transformed into computer, and computer is transferred the data after the ginseng software module shows change.
2. a kind of debugging apparatus that is used for the unmanned plane during flying test as claimed in claim 1 is characterized in that said controlled variable comprises pitching, roll, driftage and height.
3. a kind of debugging apparatus that is used for the unmanned plane during flying test as claimed in claim 1 is characterized in that, said above ground portion computer transfers the accent ginseng method of ginseng software module following:
1) at first computer reads the first wireless module inherent address SH, SL and the second wireless module inherent address SH, SL; Make the second wireless module destination address DH, DL inherent address SH, the SL of first wireless module into, the first wireless module destination address DH, DL are made into inherent address SH, the SL of second wireless module;
2) numerical values recited of the pitching of downlink data interface display unmanned plane, roll, driftage and height parameter;
3) comprise pitching, roll, driftage and controlled variable and motor speed highly in the upstream data layout setting; Preserve, get back to the downlink data interface;
4) send first wireless module of instruction through level switch module, second wireless module and the unmanned plane part of above ground portion to DSP.
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| CN2011102623982A CN102354208A (en) | 2011-09-06 | 2011-09-06 | Debugging device for flight test of unmanned aerial vehicle |
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| CN103279126A (en) * | 2013-05-28 | 2013-09-04 | 哈尔滨工业大学 | Small-sized unmanned helicopter development testing platform |
| CN103488567A (en) * | 2013-09-26 | 2014-01-01 | 苏州大学 | Wireless simulation debugging system of singlechip based on wiFi technique |
| CN103592906A (en) * | 2013-09-29 | 2014-02-19 | 西安祥泰软件设备系统有限责任公司 | Motor parameter remote monitoring method and embedded motherboard |
| CN104133379A (en) * | 2014-08-15 | 2014-11-05 | 哈尔滨工业大学 | Simulation method for four-rotor aircraft |
| CN104615019A (en) * | 2014-12-25 | 2015-05-13 | 武汉智能鸟无人机有限公司 | System and method for remotely controlling UAV (Unmanned Aerial Vehicle) based on wireless communication |
| CN104991562A (en) * | 2015-05-05 | 2015-10-21 | 杨珊珊 | Aircraft operating system, aircraft method control method and aircraft |
| CN105704367A (en) * | 2016-01-15 | 2016-06-22 | 谭圆圆 | Camera shooting control method and device of unmanned aerial vehicle |
| WO2016168972A1 (en) * | 2015-04-20 | 2016-10-27 | SZ DJI Technology Co., Ltd. | System and method for supporting movable object application development |
| CN107111426A (en) * | 2015-11-18 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Parameter adjustment method, tune ginseng device, tune ginseng system and tune ginseng memory |
| CN107544529A (en) * | 2017-09-07 | 2018-01-05 | 重庆微眼航空科技有限公司 | Flight control parameter on-line tuning method and system |
| CN107690059A (en) * | 2017-08-24 | 2018-02-13 | 西安合创数字技术有限公司 | It is a kind of can portable adjusting wireless video transmission system and method |
| CN108021141A (en) * | 2016-10-31 | 2018-05-11 | 武汉众宇动力系统科技有限公司 | Unmanned aerial vehicle (UAV) control terminal and unmanned plane dynamic monitoring system operation interface display method |
| CN108710384A (en) * | 2018-06-20 | 2018-10-26 | 深圳市中科汉天下电子有限公司 | A kind of winged control debugging system of four axis |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103279126A (en) * | 2013-05-28 | 2013-09-04 | 哈尔滨工业大学 | Small-sized unmanned helicopter development testing platform |
| CN103279126B (en) * | 2013-05-28 | 2015-08-19 | 哈尔滨工业大学 | Small-sized depopulated helicopter development and testing platform |
| CN103488567A (en) * | 2013-09-26 | 2014-01-01 | 苏州大学 | Wireless simulation debugging system of singlechip based on wiFi technique |
| CN103592906A (en) * | 2013-09-29 | 2014-02-19 | 西安祥泰软件设备系统有限责任公司 | Motor parameter remote monitoring method and embedded motherboard |
| CN104133379A (en) * | 2014-08-15 | 2014-11-05 | 哈尔滨工业大学 | Simulation method for four-rotor aircraft |
| CN104615019A (en) * | 2014-12-25 | 2015-05-13 | 武汉智能鸟无人机有限公司 | System and method for remotely controlling UAV (Unmanned Aerial Vehicle) based on wireless communication |
| WO2016168972A1 (en) * | 2015-04-20 | 2016-10-27 | SZ DJI Technology Co., Ltd. | System and method for supporting movable object application development |
| US10116785B2 (en) | 2015-04-20 | 2018-10-30 | SZ DJI Technology Co., Ltd. | System and method for supporting movable object application development |
| US11184474B2 (en) | 2015-04-20 | 2021-11-23 | SZ DJI Technology Co., Ltd. | System and method for supporting movable object application development |
| CN104991562A (en) * | 2015-05-05 | 2015-10-21 | 杨珊珊 | Aircraft operating system, aircraft method control method and aircraft |
| CN104991562B (en) * | 2015-05-05 | 2017-11-07 | 杨珊珊 | The control method and aircraft of a kind of aircraft operating system, aircraft |
| CN107111426A (en) * | 2015-11-18 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Parameter adjustment method, tune ginseng device, tune ginseng system and tune ginseng memory |
| CN105704367A (en) * | 2016-01-15 | 2016-06-22 | 谭圆圆 | Camera shooting control method and device of unmanned aerial vehicle |
| CN105704367B (en) * | 2016-01-15 | 2019-04-26 | 谭圆圆 | The camera shooting control method and video camera controller of unmanned vehicle |
| CN108021141A (en) * | 2016-10-31 | 2018-05-11 | 武汉众宇动力系统科技有限公司 | Unmanned aerial vehicle (UAV) control terminal and unmanned plane dynamic monitoring system operation interface display method |
| CN108021141B (en) * | 2016-10-31 | 2021-07-16 | 武汉众宇动力系统科技有限公司 | Unmanned aerial vehicle control terminal and unmanned aerial vehicle power monitoring system operation interface display method |
| CN107690059A (en) * | 2017-08-24 | 2018-02-13 | 西安合创数字技术有限公司 | It is a kind of can portable adjusting wireless video transmission system and method |
| CN107544529A (en) * | 2017-09-07 | 2018-01-05 | 重庆微眼航空科技有限公司 | Flight control parameter on-line tuning method and system |
| CN108710384A (en) * | 2018-06-20 | 2018-10-26 | 深圳市中科汉天下电子有限公司 | A kind of winged control debugging system of four axis |
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Application publication date: 20120215 |