CN111947654A - Navigation and control integrated chip and control method thereof - Google Patents
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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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Abstract
The embodiment of the invention provides a navigation and control integrated chip and a control method thereof, wherein the chip comprises: the satellite signal receiving module is used for receiving and acquiring the current information of the aircraft; the attitude calculation module is used for acquiring flight attitude information of the aircraft and calculating the flight attitude information to obtain current attitude angle information of the aircraft; the processing module is used for acquiring target position information; calculating control information of the position information flying to the destination according to the current information and the flight attitude information; generating a control instruction matched with the control information according to the control information; and controlling the aircraft to fly according to the control instruction. The navigation and control integrated chip provided by the embodiment of the invention has high integration level, reduces the volume, reduces the component connection, solves the design problem that the existing navigation chip needs a plurality of complex processing circuits or connection in the period, and improves the reliability and stability of the system; the cost is reduced.
Description
Technical Field
The invention relates to the technical field of navigation guidance and control, in particular to a navigation and control integrated chip and a control method thereof.
Background
In recent years, with the rapid development of satellite navigation technology, MEMS technology and control algorithm, the research and application of precise guidance and navigation control have gained general attention worldwide, and become one of the research hotspots in the current aerospace field.
The existing guidance control system generally needs to adopt each functional module and is designed in a separated mode, and the system comprises a main flight control computer, an inertia measurement assembly, a satellite navigation receiver, a power electromechanical system and other parts; the components adopt an external bus for information interaction, and cables or industrial connectors are connected with all the interfaces. The system architecture causes high product cost and large volume, and cannot meet the requirements of navigation control product satellite and integration. The development trend of navigation type chip integration is that at present, the navigation type chip does not integrate the control function, and a main control CPU is required to be added for arithmetic processing.
Disclosure of Invention
In order to solve the technical problems that the integration level of an existing guidance control chip is not high in the prior art, and further the chip cost is high and the size is large, the embodiment of the invention aims to provide a navigation and control integrated chip and a control method thereof. The specific technical scheme is as follows:
in one aspect, an embodiment of the present invention provides a control method for a navigation and control integrated chip, including:
receiving and acquiring current information of an aircraft, wherein the current information comprises current position information, current speed information and current clock information of the aircraft;
acquiring flight attitude information of the aircraft, and resolving the flight attitude information to obtain current attitude angle information of the aircraft; the current attitude angle information comprises a roll angle, a pitch angle and a yaw angle;
acquiring target position information; calculating control information flying to the target position information according to the current information and the flight attitude information; the control information comprises the speed of the aircraft, the roll angle after adjustment, the pitch angle after adjustment and the yaw angle after adjustment;
generating a control instruction matched with the control information according to the control information;
and controlling the aircraft to fly according to the control instruction.
Further, the current information further includes current signal quality status information.
Further, the position information includes a current latitude, a current longitude, and a current altitude of the aircraft.
Further, the step of receiving and acquiring current information of the aircraft comprises:
receiving preprocessing information transmitted through a satellite; filtering the pre-processing information;
oscillating the filtered preprocessing information by using a reference oscillator to obtain intermediate frequency digital information;
and resolving the intermediate frequency digital information to obtain position information.
Further, acquiring the flight attitude information of the aircraft, and resolving the flight attitude information to obtain the current attitude angle information of the aircraft includes:
receiving a current three-directional acceleration of the aircraft sensed by a three-axis accelerometer;
receiving a current three-directional angular velocity of the aircraft sensed by a three-axis gyroscope;
and carrying out attitude calculation on the current three-way acceleration and the current three-way angular velocity by utilizing a quaternion Kalman filtering method to obtain the current attitude angle information of the aircraft.
Further, the calculation method for calculating the control information flying to the target position information according to the current information and the flight attitude information comprises the following steps:
let Rx, Ry and Rz be the position vectors of the target point relative to the aircraft, then the relative position of the aircraft is:
let Vxr，VyrAnd VzrThe velocity vector of the target point relative to the aircraft, the relative velocity of the aircraft is:
the relative distance of the target can be obtained
Relative speed of movement
Time remaining
Where α is the roll angle after adjustment, the pitch angle after θ adjustment, and the yaw angle after σ adjustment.
Further, the signal type of the control command is a pulse width modulation signal.
In another aspect, an embodiment of the present invention provides a navigation and control integrated chip, where the chip includes:
the satellite signal receiving module is used for receiving and acquiring current information of an aircraft, wherein the current information comprises current position information, current speed information and current clock information of the aircraft;
the attitude calculation module is used for acquiring flight attitude information of the aircraft and calculating the flight attitude information to obtain current attitude angle information of the aircraft; the current attitude angle information comprises a roll angle, a pitch angle and a yaw angle;
the processing module is used for acquiring target position information; calculating control information flying to the target position information according to the current information and the flight attitude information; the control information comprises the speed of the aircraft, the roll angle after adjustment, the pitch angle after adjustment and the yaw angle after adjustment; generating a control instruction matched with the control information according to the control information; and controlling the aircraft to fly according to the control instruction.
Further, the satellite signal receiving module includes:
the satellite navigation radio frequency signal processing submodule is used for receiving preprocessing information sent by a satellite; filtering the pre-processing information; oscillating the filtered preprocessing information by using a reference oscillator to obtain intermediate frequency digital information;
and the satellite signal baseband processing submodule is used for resolving the intermediate frequency digital information to obtain position information.
Further, the method also comprises the following steps:
the storage recording module is used for storing the control information and the control instruction obtained by the processing module; recording and outputting current information and current attitude angle information of the aircraft;
the bus control and interface module is used for providing an interface for setting navigation target information, providing an external interface for outputting motion state information and providing an interface for inputting information of the attitude calculation module;
and the power supply management module is used for carrying out power supply management on the navigation and control integrated chip.
The embodiment of the invention provides a navigation and control integrated chip, which comprises: the satellite signal receiving module is used for receiving and acquiring current information of the aircraft, wherein the current information comprises current position information, current speed information and current clock information of the aircraft; the attitude calculation module is used for acquiring flight attitude information of the aircraft and calculating the flight attitude information to obtain current attitude angle information of the aircraft; the current attitude angle information comprises a roll angle, a pitch angle and a yaw angle; the processing module is used for acquiring target position information; calculating control information of the position information flying to the destination according to the current information and the flight attitude information; the control information comprises the speed of the aircraft, the roll angle after adjustment, the pitch angle after adjustment and the yaw angle after adjustment; generating a control instruction matched with the control information according to the control information; and controlling the aircraft to fly according to the control instruction.
Compared with the prior art, the embodiment of the invention has the following remarkable advantages:
the navigation and control integrated chip provided by the embodiment of the invention integrates the satellite signal receiving module, the attitude resolving module and the processing module, has high integration level and strong chip processing function, realizes the functions of attitude resolving and aircraft guidance under the condition of small volume, and can automatically adjust the flight angle of the aircraft so as to realize the function of accurately arriving or hitting a destination; the integrated chip provided by the embodiment of the invention has small development difficulty, does not need deep algorithm knowledge of navigation and control, can acquire control information by using the satellite signal receiving module, the attitude settlement module and the processing module, and can control the aircraft by generating a corresponding control instruction according to the control information by the processor, thereby facilitating the direct use or integration of products; the navigation and control integrated chip provided by the embodiment of the invention has high integration level, reduces the volume, reduces the component connection, solves the design problem that the existing navigation chip needs a plurality of complex processing circuits or connection in the period, and improves the reliability and stability of the system; the cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic flow chart of a control method of a navigation and control integrated chip according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a module connection of a satellite signal receiving module according to an embodiment of the present invention;
FIG. 3 is a flow chart of a PID control according to an embodiment of the invention;
FIG. 4 is a block diagram of an overall control based on position and velocity errors according to an embodiment of the present invention;
FIG. 5 is a flow chart of a guidance control provided by an embodiment of the present invention;
fig. 6 is a block diagram of a navigation and control integrated chip according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.
Example 1
Referring to fig. 1 and 5, an embodiment of the present invention provides a control method for a navigation and control integrated chip, including:
s110, current information of the aircraft is received and acquired, wherein the current information comprises current position information, current speed information and current clock information of the aircraft.
Please refer to fig. 2, it should be noted that the obtained current information is information of the aircraft at a certain time point, where the time point includes a position of the aircraft, a flight speed of the aircraft, and a time of the aircraft at the certain time point; wherein, the position of the aircraft comprises latitude, longitude and altitude; first, an antenna may be used to receive information transmitted from a satellite, wherein the information includes the current information and other information except the current information, and therefore, the information needs to be processed; firstly, amplifying the information by using a Low Noise Amplifier (LNA), filtering the amplified information, carrying out oscillation on the filtered information by Radio Frequency (RF) to a reference oscillator, taking out the other information, and only retaining the current information required by a user; the information after the reference oscillation is processed by a software program as shown in fig. 2, and the current information in the present embodiment is finally obtained.
S120, acquiring flight attitude information of the aircraft, and resolving the flight attitude information to obtain current attitude angle information of the aircraft; and the current attitude angle information comprises a roll angle, a pitch angle and a yaw angle.
In the embodiment of the present invention, the attitude calculation unit reads a peripheral sensor data signal through an IIC interface, the sensor includes a three-axis accelerometer and a three-axis gyroscope, the three-axis accelerometer is used for detecting a current three-way acceleration of the aircraft, and the three-axis gyroscope is used for detecting a current three-way angular velocity of the aircraft; resolving current attitude angle information (roll angle, pitch angle and yaw angle) by using the existing quaternion Kalman filtering method, and transmitting the information to a processing module to be acquired by the processing module; the quaternion kalman filtering method is the existing common knowledge, and can be directly applied to the embodiment to realize the function of resolving the flight attitude information and obtaining the current attitude angle information.
S130, obtaining target position information; calculating control information flying to the target position information according to the current information and the flight attitude information; the control information comprises the speed of the aircraft, the roll angle after adjustment, the pitch angle after adjustment and the yaw angle after adjustment.
Specifically, the destination information may be a location of a destination obtained through an information input interface provided on the microprocessor when the aircraft takes off, or may be a new destination remotely written by a user during the flight of the aircraft; the calculation method for calculating the control information to the destination according to the current information and the flight attitude information may be:
through the navigation and attitude unit, the relative position and velocity of the aircraft can be clearly known.
First, assuming Rx, Ry, and Rz are the position vectors of the target point relative to the aircraft, the relative position of the aircraft
Comprises the following steps:
let Vxr，VyrAnd VzrThe velocity vector of the target point relative to the aircraft is the relative velocity of the aircraft
Comprises the following steps:
the relative distance of the target can be obtained
Relative speed of movement
Time remaining
Where α is the roll angle after adjustment, the pitch angle after θ adjustment, and the yaw angle after σ adjustment.
And changing the attack angle, the inclination angle and the slip angle, and changing the motion direction along with the change of the attack angle, the inclination angle and the slip angle, thereby realizing the guidance tracking of the target position.
And S140, generating a control instruction matched with the control information according to the control information.
Specifically, the type of aircraft guidance needs to be acquired in advance, and the guidance type can be any one of active guidance, remote guidance and ground seeking guidance; in this embodiment, different guidance modes require different control instructions to be output; the following are exemplified:
active guidance, namely performing parameter injection according to the coordinates of a target and performing guidance by using map information; during the movement or flight, the deviation of the current position from the preset position is determined, a guidance instruction is formed, and the track is guided to the preset area and the target. Or according to a scheme of specifying a motion track, and the guide command is formed according to the deviation of the actually measured parameter value and a preset value of a program.
And the guidance and control unit controls the aircraft to fly to the target through an automatic control system after receiving the instruction sent by the console.
The method comprises the steps of seeking guidance, setting target information, tracking a target by using a GPS/INS combined method, calculating accurate position and speed by using navigation information, and controlling a motion attitude by using trajectory prediction and drop point prediction and a proportional guidance method to form guidance.
For active guidance and remote control guidance, correspondingly adjusting the attitude according to a preset flight track or a received command of a control console, and outputting the adjustment of the attitude by using a proportional guidance and drop point prediction method for seeking guidance; first, a method for generating a control command is illustrated, in this embodiment, a method for calculating a control command uses a control algorithm of an incremental PID, which is specifically as follows:
Kpis a proportionality coefficient, TiTo integrate the time constant, TdIs a differential time constant
Discretized PID
Δu(k)＝u(k)-u(k-1)＝Ae(k)+Be(k-1)+Ce(k-2)
A. B, C relate to the sampling period, the scaling factor, the integration time, and the derivative time constant.
It should be noted that the guidance algorithm described in the present invention, including not limited to a single guidance algorithm, may be a composite guidance or a segmented guidance. If the missile is controlled to be at a certain distance from the target by using remote control guidance, when the missile approaches the target, the target is stably tracked, and then the missile is switched to target seeking guidance.
And S150, controlling the aircraft to fly according to the control instruction.
Specifically, please refer to fig. 3 and fig. 4; in the embodiment, the adjustment of the aircraft movement is controlled by a motor of a PWM signal rudder wing; at this time, a proper PID control rate is required to be set to control a proper amount, so that the problem of aircraft stability caused by the large change of the rotating speed of the motor is avoided.
In the flying process, the flying attitude is dynamically changed, the rotating speed of the motor needs to be continuously adjusted to enable the flying attitude to approach the expected attitude, and the PID controller realizes the process of settling the error between the expected attitude and the actual attitude into the motor control quantity.
Taking pitching as an example, the measured value is a pitching angle obtained by attitude calculation, the expected value is a pitching angle obtained by remote control input or according to the track requirement, the difference between the two values is e (t), and the output u (t) is obtained by PID calculation. The direct PID cannot achieve a good control effect, the feedback closed-loop control of the angular velocity can effectively increase the stability, and the chip control algorithm disclosed by the invention increases the control of an outer loop.
The control of the motion direction of the aircraft can be a single-rolling and pitching yawing control mode, and three omnidirectional control modes, namely a single-channel, double-channel and three-channel control mode.
Active guidance and remote control guidance, position reference measurement and target point formulation comparison are carried out to obtain position deviation (delta x, delta Y and delta z), and the control of three-direction positions is the direction control of pitching, yawing and rolling. And the seeking guidance track prediction method solves the position error between the actual track and the template track.
Trajectory prediction
And calculating a template trajectory before flight by using the initial position information, the current initial flight condition and the target point information. When in flight, the satellite positioning information is utilized to compare deviation amounts between other parameters and template trajectory parameters under the same trajectory parameter, the deviation amounts are used as target parameters to determine a correction direction angle, and an executing mechanism controls a motor to generate correction force and torque to enable the trajectory of the orbit template to approach. The deviation amount (Δ y, Δ z) of the height y and the lateral deviation z at the longitudinal range x can be taken as a correction target parameter.
The guidance control of the homing can also be realized by using a proportional guidance method.
Proportional steering control
During flight, the line-of-sight angular velocities in the ground system are:
wherein
With proportional steering, the overload command can be obtained as:
KYis the pitch proportionality coefficient, KZThe lateral proportionality coefficient k is generally 3-4. gyAnd (4) gravity compensation. Thereby to obtainAnd longitudinal and lateral overload control of the aircraft is realized.
Specifically, the navigation and control integrated chip provided by the embodiment of the invention integrates a satellite signal receiving module, an attitude calculation module and a processing module, has high integration level and strong chip processing function, realizes the functions of attitude calculation and aircraft guidance under the condition of small volume, and can automatically adjust the flight angle of an aircraft to realize the function of accurately arriving or hitting a destination; the integrated chip provided by the embodiment of the invention has small development difficulty, does not need deep algorithm knowledge of navigation and control, can acquire control information by using the satellite signal receiving module, the attitude settlement module and the processing module, and can control the aircraft by generating a corresponding control instruction according to the control information by the processor, thereby facilitating the direct use or integration of products; the navigation and control integrated chip provided by the embodiment of the invention has high integration level, reduces the volume, reduces the component connection, solves the design problem that the existing navigation chip needs a plurality of complex processing circuits or connection in the period, and improves the reliability and stability of the system; the cost is reduced. The integrated guidance chip disclosed by the invention integrates navigation data and attitude calculation and guidance and control algorithm, has the advantages of powerful function, easiness in use, strong universality and wide application range, and has wide prospect in the application field of navigation guidance and control systems.
In one embodiment, the current information further includes current signal quality status information. The communication instruction information of the base and the aircraft can be conveniently obtained by commanders in time, and further the decision can be conveniently made in advance.
In one embodiment, the location information includes a current latitude, a current longitude, and a current altitude of the aircraft.
In one embodiment, the step of receiving and obtaining current information for the aircraft comprises:
receiving preprocessing information transmitted through a satellite; filtering the pre-processing information;
oscillating the filtered preprocessing information by using a reference oscillator to obtain intermediate frequency digital information;
and resolving the intermediate frequency digital information to obtain position information.
In a specific embodiment, referring to fig. 2, obtaining flight attitude information of the aircraft, and calculating the flight attitude information to obtain current attitude angle information of the aircraft includes:
receiving a current three-directional acceleration of the aircraft sensed by a three-axis accelerometer;
receiving a current three-directional angular velocity of the aircraft sensed by a three-axis gyroscope;
and carrying out attitude calculation on the current three-way acceleration and the current three-way angular velocity by utilizing a quaternion Kalman filtering method to obtain the current attitude angle information of the aircraft.
Specifically, the system equation of the quaternion Kalman filtering method is
And selecting 15-dimensional system state parameters, namely position, speed, attitude error, zero offset of acceleration and gyro drift.
The expression is as follows:
FINSand (t) is an error state matrix of inertial navigation of the system.
The method comprises the following steps of taking inertial navigation as a main system, taking GNSS as an auxiliary navigation system, applying Kalman filtering technology, taking the position and the speed provided by the navigation system as observed quantities, and establishing an observation model through the position and speed errors between INS and the GNSS:
applying the kalman filter algorithm, the observation equation can be expressed as follows:
z(t)＝H(t)x(t)+v(t) v(t)～N(0,R(t))
h (t) is the observation matrix, v (t) is the observation noise and follows a distribution with zero mean variance R (t).
The Kalman filtering algorithm is divided into two steps: prediction and update
And (3) prediction: estimating the state of the current time (k time) according to the posterior estimation value of the previous time (k-1 time), and obtaining the prior estimation value update of the k time: and correcting the estimated value of the prediction stage by using the measured value of the current moment to obtain the posterior estimated value of the current moment.
Calculating the discrete state optimal estimation:
one-step prediction equation: xk,k-1＝Φk,k-1Xk,k-1
The state estimation equation: xk＝Xk,k-1+Kk(Zk-Zk,k-1)
Obtaining a gain matrix:
one-step prediction of mean square error:
estimating the mean square error: pk＝(I-KkHk)Pk,k-1
Wherein Q isk-1And RkRespectively, a system noise variance matrix and a measured noise variance matrix
The filtered position and velocity information has the smallest variance.
In one embodiment, the signal type of the control command is a Pulse Width Modulation (PWM) signal.
On the other hand, referring to fig. 6, an embodiment of the present invention provides a navigation and control integrated chip, where the chip includes:
the satellite signal receiving module is used for receiving and acquiring current information of an aircraft, wherein the current information comprises current position information, current speed information and current clock information of the aircraft;
the attitude calculation module is used for acquiring flight attitude information of the aircraft and calculating the flight attitude information to obtain current attitude angle information of the aircraft; the current attitude angle information comprises a roll angle, a pitch angle and a yaw angle;
the processing module is used for acquiring target position information; calculating control information flying to the target position information according to the current information and the flight attitude information; the control information comprises the speed of the aircraft, the roll angle after adjustment, the pitch angle after adjustment and the yaw angle after adjustment; generating a control instruction matched with the control information according to the control information; and controlling the aircraft to fly according to the control instruction.
Specifically, the navigation and control integrated chip provided by the embodiment of the invention can output 4 groups of high-speed PWM signals with 4 paths and 16 bits in each group, and can be used for controlling a multi-channel steering engine or a four-rotor aircraft, the processing module can be a processor integrating the core of ARM Cotex M4, the main frequency is up to 200mhz ARM, 2) the chip of the invention can realize navigation guidance and control calculation in a short time (5ms period), and generate control signals, and the chip has a high processing speed.
In one embodiment, the satellite signal receiving module includes:
the satellite navigation radio frequency signal processing submodule is used for receiving preprocessing information sent by a satellite; filtering the pre-processing information; and oscillating the filtered preprocessing information by using a reference oscillator to obtain intermediate-frequency digital information.
And the satellite signal baseband processing submodule is used for resolving the intermediate frequency digital information to obtain position information.
In a specific embodiment, the method further comprises the following steps:
the storage recording module is used for storing the control information and the control instruction obtained by the processing module; recording and outputting current information and current attitude angle information of the aircraft;
the bus control and interface module is used for providing an interface for setting navigation target information, providing an external interface for outputting motion state information and providing an interface for inputting information of the attitude calculation module; the bus control and interface module comprises 3 UART controllers and 2 paths of SPI interface controllers, and the 2 paths of I2C interface controllers are used for interfaces of peripheral output buses.
And the power supply management module is used for carrying out power supply management on the navigation and control integrated chip. The power management module adopts the existing power management module to manage the power supply of each part in the chip provided by the embodiment of the invention so as to reduce the energy consumption of the chip.
The embodiment of the invention provides a navigation and control integrated chip, which comprises: the satellite signal receiving module is used for receiving and acquiring current information of the aircraft, wherein the current information comprises current position information, current speed information and current clock information of the aircraft; the attitude calculation module is used for acquiring flight attitude information of the aircraft and calculating the flight attitude information to obtain current attitude angle information of the aircraft; the current attitude angle information comprises a roll angle, a pitch angle and a yaw angle; the processing module is used for acquiring target position information; calculating control information of the position information flying to the destination according to the current information and the flight attitude information; the control information comprises the speed of the aircraft, the roll angle after adjustment, the pitch angle after adjustment and the yaw angle after adjustment; generating a control instruction matched with the control information according to the control information; and controlling the aircraft to fly according to the control instruction.
Referring to fig. 5, a method for using the integrated chip provided by the embodiment of the invention is as follows:
step 1, setting target information; and outputting an initial PWM control signal to drive the electric power system according to the requirement of the target information.
And 2, in the motion state of the object, the attitude calculation unit is used for acquiring acceleration or angular velocity information and calculating attitude information through a fusion algorithm and Kalman filtering correction.
And 3, the satellite radio frequency signal processing unit and the baseband processing unit process the position and speed information of the current motion state.
And 4, the microprocessor unit obtains more accurate position and speed information, motion angle and angular speed information according to the satellite navigation data and attitude information data and by combining a fusion algorithm of combined navigation.
And 5, combining the obtained system motion state information and the target information, and outputting a PWM signal required by control through a guidance control algorithm.
The navigation and control integrated chip provided by the embodiment of the invention integrates the satellite signal receiving module, the attitude resolving module and the processing module, has high integration level and strong chip processing function, realizes the functions of attitude resolving and aircraft guidance under the condition of small volume, and can automatically adjust the flight angle of the aircraft so as to realize the function of accurately arriving or hitting a destination; the integrated chip provided by the embodiment of the invention has small development difficulty, does not need deep algorithm knowledge of navigation and control, can acquire control information by using the satellite signal receiving module, the attitude settlement module and the processing module, and can control the aircraft by generating a corresponding control instruction according to the control information by the processor, thereby facilitating the direct use or integration of products; the navigation and control integrated chip provided by the embodiment of the invention has high integration level, reduces the volume, reduces the component connection, solves the design problem that the existing navigation chip needs a plurality of complex processing circuits or connection in the period, and improves the reliability and stability of the system; the cost is reduced.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A control method of a navigation and control integrated chip is characterized by comprising the following steps:
receiving and acquiring current information of an aircraft, wherein the current information comprises current position information, current speed information and current clock information of the aircraft;
acquiring flight attitude information of the aircraft, and resolving the flight attitude information to obtain current attitude angle information of the aircraft; the current attitude angle information comprises a roll angle, a pitch angle and a yaw angle;
acquiring target position information; calculating control information flying to the target position information according to the current information and the flight attitude information; the control information comprises the speed of the aircraft, the roll angle after adjustment, the pitch angle after adjustment and the yaw angle after adjustment;
generating a control instruction matched with the control information according to the control information;
and controlling the aircraft to fly according to the control instruction.
2. The control method of the integrated navigation and control chip of claim 1, wherein the current information further comprises current signal quality status information.
3. The integrated navigation and control chip control method according to claim 1, wherein the position information comprises a current latitude, a current longitude and a current altitude of the aircraft.
4. The control method of the integrated navigation and control chip of claim 1, wherein the step of receiving and acquiring current information of the aircraft comprises:
receiving preprocessing information transmitted through a satellite; filtering the pre-processing information;
oscillating the filtered preprocessing information by using a reference oscillator to obtain intermediate frequency digital information;
and resolving the intermediate frequency digital information to obtain position information.
5. The control method of the integrated navigation and control chip according to claim 1, wherein the obtaining of the flight attitude information of the aircraft and the resolving of the flight attitude information to obtain the current attitude angle information of the aircraft comprises:
receiving a current three-directional acceleration of the aircraft sensed by a three-axis accelerometer;
receiving a current three-directional angular velocity of the aircraft sensed by a three-axis gyroscope;
and carrying out attitude calculation on the current three-way acceleration and the current three-way angular velocity by utilizing a quaternion Kalman filtering method to obtain the current attitude angle information of the aircraft.
6. The control method of the integrated navigation and control chip according to claim 1, wherein the calculation method for calculating the control information flying to the destination position information according to the current information and the flight attitude information comprises:
let Rx, Ry and Rz be the position vectors of the target point relative to the aircraft, then the relative position of the aircraft is:
let Vxr，VyrAnd VzrThe velocity vector of the target point relative to the aircraft, the relative velocity of the aircraft is:
the relative distance of the target can be obtained
Relative speed of movement
Time remaining
Where α is the roll angle after adjustment, the pitch angle after θ adjustment, and the yaw angle after σ adjustment.
7. The control method of the integrated navigation and control chip according to claim 1, wherein the signal type of the control command is a pulse width modulation signal.
8. A navigation and control integrated chip, the chip comprising:
the satellite signal receiving module is used for receiving and acquiring current information of an aircraft, wherein the current information comprises current position information, current speed information and current clock information of the aircraft;
the attitude calculation module is used for acquiring flight attitude information of the aircraft and calculating the flight attitude information to obtain current attitude angle information of the aircraft; the current attitude angle information comprises a roll angle, a pitch angle and a yaw angle;
the processing module is used for acquiring target position information; calculating control information flying to the target position information according to the current information and the flight attitude information; the control information comprises the speed of the aircraft, the roll angle after adjustment, the pitch angle after adjustment and the yaw angle after adjustment; generating a control instruction matched with the control information according to the control information; and controlling the aircraft to fly according to the control instruction.
9. The integrated navigation and control chip according to claim 8, wherein the satellite signal receiving module comprises:
the satellite navigation radio frequency signal processing submodule is used for receiving preprocessing information sent by a satellite; filtering the pre-processing information; oscillating the filtered preprocessing information by using a reference oscillator to obtain intermediate frequency digital information;
and the satellite signal baseband processing submodule is used for resolving the intermediate frequency digital information to obtain position information.
10. The integrated navigation and control chip of claim 8, further comprising:
the storage recording module is used for storing the control information and the control instruction obtained by the processing module; recording and outputting current information and current attitude angle information of the aircraft;
the bus control and interface module is used for providing an interface for setting navigation target information, providing an external interface for outputting motion state information and providing an interface for inputting information of the attitude calculation module;
and the power supply management module is used for carrying out power supply management on the navigation and control integrated chip.
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