CN202771262U - Fixed-wing automatic navigation flight control system - Google Patents
Fixed-wing automatic navigation flight control system Download PDFInfo
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- CN202771262U CN202771262U CN 201220275304 CN201220275304U CN202771262U CN 202771262 U CN202771262 U CN 202771262U CN 201220275304 CN201220275304 CN 201220275304 CN 201220275304 U CN201220275304 U CN 201220275304U CN 202771262 U CN202771262 U CN 202771262U
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Abstract
The utility model discloses a fixed-wing automatic navigation flight control system. The fixed-wing automatic navigation flight control system comprises an automatic navigation flight controller arranged on an aircraft and telemetry data monitoring software arranged at a ground station, wherein the automatic navigation flight controller comprises a central processing unit, a tri-axial gyroscope, a tri-axial acceleration sensor, a tri-axial magnetic field sensor, a GPS module, an air pressure sensor and a communication interface, the tri-axial gyroscope, the tri-axial acceleration sensor, the tri-axial magnetic field sensor, the GPS module, the air pressure sensor and the communication interface are respectively connected with the central processing unit, and a wireless receiving-transmitting device mutually communicates with the central processing unit through the communication interface; the ground station telemetry data monitoring software comprises a signal transfer plate, and a wireless data transmission receiving-transmitting device, a remote controller receiver device and a USB transfer serial-port communication device which are respectively connected with the signal transfer plate; the ground station telemetry data monitoring software is connected with the signal transfer plate through the USB transfer serial-port communication device; and the automatic navigation flight controller is communicated with the ground station telemetry data monitoring software through a wireless data transmission broadcasting station. The fixed-wing automatic navigation flight control system can accurately complete the preset flight mission and lengthen the control distance and range of a plane through a remote-control transfer control device, thereby ensuring high reliability and high stability of flight.
Description
Technical field
The utility model relates to flight control system, specifically a kind of fixed-wing self-navigation flight control system.
Background technology
Fixed-wing self-navigation flight control system is being played the part of important role in Armada International field in recent years.This system works is stable, and cost is relatively low, and very easy realization is taken off and landed, and in the process of executing the task, collect terrestrial information large, can realize telecommunication, also can carry more investigation equipment, hostile environment is investigated the advantages such as detailed; And along with the unmanned plane range of application is more and more extensive, the task that it is finished also becomes increasingly complex, maneuverability requirement to this system is also more and more higher, and this control core that just requires fixed-wing self-navigation flight control system is to high integration and miniaturization development.Therefore fixed-wing self-navigation flight control system has very large application market.
In the world, be fully recognized that with the western countries headed by the U.S. this self-navigation flight control system brought into play great function in war, in the development that competitively the high-tech technology is applied to the self-navigation flight control system and the development.Although equipped the unmanned plane of automatic flight controller and be not the overhead main force that carries out air tasking in battlefield, also become indispensable important component part.Equipped the fixed wing aircraft of self-navigation flight control system, by the good navigation way of PC control software set and flight parameter, realize unmanned beam riding, can carry out the investigation tasks of high-risk, so deeply be subjected to the favor of various countries aspect Military Application.Aspect civilian, the fixed wing aircraft that is equipped with the self-navigation flight controller can be realized the geographical mapping measurement, takes photo by plane, and natural disaster surveillance etc. are many-sided to be used, and can save manpower and cost, therefore also has widely market application.
Fixed-wing self-navigation flight controller presents flourish trend at home and abroad, China is no exception, the research of automatic flight controller mainly contains three classes: one, adopt industrial computer as processing core, the weak point of existence has: whole module volume is large, the structure between the multilayer module is compact not; Two, the design design proposal take single-chip microcomputer and DSP as core, shortcoming is: design technology is complicated, and the construction cycle is long, and workload is large, is not easy to realize the system integration; Three, adopt the ARM technology to be applied in the automatic flight controller, Embedded Operating System in the ARM chip, on the platform of operating system, realize the collaborative work of multitask, realize that really high integration, high-speed data are processed and the task of computing automatic flight controller.Can be divided into data processing and equipment control phase separation structure, so that more simplify on the algorithm, more accurate on automatic airline operation simultaneously.
Summary of the invention
The purpose of this utility model provides a kind of fixed-wing self-navigation flight control system, this system can be under complicated environmental condition, can finish accurately predefined aerial mission, can also be by the remote control control device of transferring, prolong command range and the scope of aircraft, guaranteed high reliability and the high stability of flight.
The technical scheme that realizes the utility model purpose is:
A kind of fixed-wing self-navigation flight control system, mainly the telemetry monitor by carry-on self-navigation flight controller and land station forms, self-navigation flight controller by central processing unit be connected the three-axis gyroscope, 3-axis acceleration sensor, triaxial magnetic field sensor, GPS module, baroceptor, the communication interface that are connected with central processing unit and form; Wireless transmitter is communicated by letter mutually by communication interface with central processing unit; Land station's telemetry monitor by Signals Transfer Board be connected the data wireless transmitting transceiver device that is connected with Signals Transfer Board, remote control receiver device, USB switching serial communication installation composition; Land station's telemetry monitor is connected with Signals Transfer Board by USB switching serial communication device; Self-navigation flight controller is communicated with by the Wireless Data Transmission radio station with land station telemetry monitor.
Described central processing unit has the communication protocol of oneself, and the wireless transmission protocol of customized is intercomed mutually by wireless transmitter and land station telemetry monitor, has guaranteed security and the integrality of signal transmission in the communication process.
Described Signals Transfer Board is connected to form by remote control switching transceiver module and data wireless transmit port, ground-based computer communication interface, remote control receiver signal port, and Signals Transfer Board has two kinds of functions: a kind of is the host-host protocol that the remote control receiver signal is converted to customization; Another kind is that the self-navigation information that signal transducer sets up user in land station's telemetry monitor on their own is sent to self-navigation flight controller, Signals Transfer Board sends the self-navigation controller that flies positional information and the attitude information of returning and sends ground-based computer back to, and shows on computers.
The wireless transmission protocol of described customized includes: attitude measurement data, flight control parameter, GPS position data, three-axle magnetic field data and magnetic heading angle.
The control signal of this self-navigation flight control system, not only can directly control by telepilot, can also convert remote signal to special host-host protocol by the remote control switching device, utilize wireless data transceiving radio station and navigation and flight control to communicate, prolonged transmission range, guaranteed the reliability of signal transmitting and receiving.
The course of work of the utility model fixed-wing self-navigation flight control system is:
1, on the ground:
(1) opens computer, operation land station software;
(2) connect the card extender power supply, the card extender pilot lamp is at a slow speed flicker normally, at GCS software, selects correct PORT COM to connect baud rate 19200;
(3) drive the RC telepilot;
(4) connection flies to control power supply;
(5) normal such as all, should see at land station's software receiving telemetry, barometer altitude is (initial start highly is 0 meter automatically) about 0 meter, control telepilot rudder face should be able to be seen the output of rudder face in the rudder face indicator gauge.Illustrate that land station has been communicated with robot pilot;
2, on the aircraft:
(1) robot pilot is installed in parallel on the fixed wing aircraft, substantially keeps a surface level with aircraft, and robot pilot is done corresponding glissando;
(2) plugged switches to balanced mode to telepilot;
(3) debugging aircraft, about, up and down, the rolling aircraft, observe steering wheel corresponding to aircraft and whether provide corresponding control effect;
(4) start the automatic takeoff function, aircraft then can fly according to predefined course line, after finishing the work, can automatically land according to predefined route.
Good effect of the present utility model is:
1, the utility model has adopted the arm processor technology to realize data acquisition and real-time intelligent expert PID control phase separation structure, realizes the collaborative work of multitask, has guaranteed data acquisition, data fusion accuracy and has controlled in real time accuracy;
2, fixed-wing flight control system integrated tri-axial micromechanical gyro, three axis accelerometer, magnetic sensor, high precision barometer; In this system, use inertia strapdown attitude algorithm, in conjunction with Kalman's numeral filtering and data anastomosing algorithm, provide high-precision attitude;
3, the integrated High-performance GPS Receiver of fixed-wing flight control system, 10Hz Refresh Data speed, 35 seconds quick positioning times, 2.5 meters CEP precision, the GPS charged pool can be remembered positional parameter, and secondary significantly improves positioning time;
4, the control that divides different rates is carried out ring attitude control in the 100Hz to the flight attitude of adjusting aircraft, and the steering wheel of aircraft is implemented 10Hz outer shroud Navigation Control;
5, this control system can realize multiple passage mixing control output, very convenient adjustment mixing.Practical various dissimilar fixed wing aircrafts;
6, control and remote manual control are merged automatically, higher dependable with function, and compatible all RC remote control equipments, and steering wheel outgoing inspection function is provided;
7, system can be in the situation that communication disruption realizes the state that automatically makes a return voyage;
8, the utility model is supported spacing auto photographing and the auto photographing of fixing time, cooperate POS information recording/module can record a longitude and latitude of taking pictures, highly, speed, the information such as flight attitude when taking pictures, be convenient to the later image data process;
9, the utility model land station software comprises electronic map function, can revise online course line and issue flight orders, can carry out in real time half autonomous type remote control, and real time record flying quality and support offline playback; The remote control receiver device can be realized data-switching by the remote control interconnecting module, remote signal is changed into the radio station control signal of special format with wireless transport module, extends transmission distance; And can adjust online and preserve all flight control parameters, the convenient independently parameter adjustment software of collateral use.
Description of drawings
Fig. 1 is the utility model self-navigation flight control system theory diagram;
Fig. 2 is that the data acquisition and fusion system of the utility model control system connects block diagram;
Fig. 3 is the master control system block diagram of the utility model control system;
Fig. 4 is that the land station of the utility model control system connects block diagram;
Fig. 5 is the schematic flow sheet of the utility model control system;
Fig. 6 is the utility model self-navigation flight control system hardware block diagram.
Embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further details.
As shown in Figure 1, this flight control assemblies is divided into and is attitude data measurement and Navigation Control signal operating part and remote signal conversion and telesignalisation monitoring part.Three-axis attitude survey sensor device comprises: three axle micro-mechanical gyroscopes, 3-axis acceleration sensor, triaxial magnetic field sensor are connected to the calibration of carrying out data acquisition and each axial data in the attitude orientation frame of reference; Measured positional information and high-precision sensor device information and the attitude data out of GPS positional information deriving means carries out Kalman filtering algorithm, gets that it is of living in, keeps away its shortage.Position after the connection of intelligence Expert PID control device is merged and attitude data, steering engine control device, according to the received navigation information in Wireless Data Transmission radio station, to the fixed wing aircraft control of flying, and with positional information, the information of taking pictures records and preserves.The monitoring of current electrokinetic cell voltage and current is provided simultaneously, also navigational state information is returned to land station together simultaneously; Remote signal conversion and telesignalisation monitoring part comprise: Wireless Data Transmission radio station R-T unit, remote control adapting system device, remote control reception machine, USB turn the computer system that serial communication device and land station's monitoring and telemetry arrange.Land station's monitoring can be by user's automatic setting line of flight with the computer system that telemetry arranges, the contents such as the flight parameter of practical flight, and turn serial port device by USB data are sent in the remote control adapting system device, the remote control adapting system converts these information to customization good protocol format, sends by the Wireless Data Transmission radio station.The steering wheel control signal that the remote control receiver device sends out behind the remote control adapting system, converts special radio station control signal to and transmits by the Wireless Data Transmission radio station, and fixed wing aircraft is controlled in real time.
With reference to Fig. 2, flight control system data acquisition and fusion system is connected with 3-axis acceleration sensor, three-axis gyroscope, triaxial magnetic field sensor, triaxial magnetic field sensor, GPS positional information deriving means, and the principle of work of each device is:
1, inertia strapdown Attitude Calculation processor carries out data acquisition and filtering algorithm to three-axis acceleration sensor device, calculates three axial linear acceleration data;
2, inertia strapdown Attitude Calculation processor carries out data acquisition and filtering algorithm to three-axis gyroscope, and according to data analysis and the processing of 3-axis acceleration data and magnetic field sensor device, and carry out quaternary element attitude algorithm, calculate stable attitude data, and various sensors are carried out calibration and the compensation of reference value by the actual alignment value.
3, inertia strapdown Attitude Calculation processor carries out integration to linear acceleration, and the velocity information that measures from GPS positional information deriving means, and the velocity amplitude that the velocity amplitude that obtains behind the acceleration transducer integration and GPS are obtained carries out Kalman filtering filtering.Revise and proofread and correct flying quality and the measuring accuracy of fixed wing aircraft;
4, inertia strapdown Attitude Calculation processor sends flying quality and attitude data to self-navigation flight control system master control system by attitude and position data dispensing device.
With reference to Fig. 3, this system moves according to predefined route by the navigation data control fixed wing aircraft that obtains attitude data in the data acquisition and fusion system, flying quality, ground control system.Its principle of work is: the target destination planning information by GPS positional information and user's defined is compared, needing to obtain the bogey heading data of control, again according to the residing course heading of current aircraft, finally obtain the course heading that a needs control is rotated, the course heading that the master control system computing machine will need to control rotation converts actual steering wheel controlled quentity controlled variable to, and the steering wheel of respective direction is carried out real-time PID expert Intelligence Control; Locking to aircraft altitude is also consistent with the course control mode.
With reference to Fig. 4, its principle of work is: the remote control receiver device is transferred to operator's control signal in the remote control adapting system receiving trap, and remote controller signal is converted to the radio station control signal behind adapting system, the flight attitude of control aircraft; StoreFront station supervisory computer system, the user can turn serial port device by USB from edlin destination information and flight parameter and be sent in the adapting system, and adapting system is crossed data communication device in the control system that the radio station sends to aircraft again.Land station's supervisory computer system can realize the transmission of data on the one hand, can receive various flying qualities and the monitoring information that flight control system passes down on the one hand in addition.
With reference to Fig. 5, the process flow diagram of this control system comprises the steps:
S501: beginning, central processing unit powers on and starts working, and starts the watchdog reset system;
S502: system prepares the inner parameter calibration parameter and reads;
S503: read the initialization of host computer gyro, magnetic field calibration instruction, so that micro mechanical sensor is calibrated;
S504: read inner FLASH calibration parameter; Default parameter value was carried out Attitude Calculation when employing was dispatched from the factory;
S505: open the processor timer and interrupt, start the system break of arm processor inside, carry out internal data and merge the work such as Attitude Calculation;
S506: signals collecting and filtering algorithm, according to the output characteristics of micro mechanical sensor data, adopt Kalman Filter Technology to carry out filtering; And be entrained with high frequency noise in the output data to the high precision baroceptor, adopt differential mode that baroceptor is carried out filtering and process;
S507: data fusion and attitude algorithm, to three axle micro-mechanical gyroscopes, triaxial accelerometer sensor, triaxial magnetic field sensor adopt Quaternion method to find the solution the attitude orientation angle;
S508: the telemetry encoding and decoding, attitude data and position data that CPU gathers are encoded, and the decoding data that land station's data are beamed back and carry out corresponding instruction;
S509: flight steering order obtain, if flight steering order obtain successfully, then continue 10 attitudes, highly, the position Navigation Control, continue to obtain the data that land station's data are beamed back otherwise just get back to 8 telemetry encoding and decoding;
S510: attitude, highly, the position Navigation Control, obtain data successes, according to height and the navigation data that the user sets up on their own, adjust in real time the flight attitude of flight, reach the control effect of setting;
S511: attitude, highly, the position Intelligent PID Control resolves, and current attitude data, position data and targeted attitude data, position data are carried out expert intelligence PID control;
S512: steering wheel controlled quentity controlled variable output, with the PID controlled quentity controlled variable that draws in 11, actual converted becomes the steering wheel controlled quentity controlled variable of each rudder face of control aircraft, gets back to 7 data fusion and attitude algorithm after the execution.
With reference to Fig. 6, the utility model comprises central microprocessor 8, attitude sensor comprises three-axis gyroscope 1,3-axis acceleration sensor 2 and triaxial magnetic field sensor 3, GPS module, baroceptor, communication interface 4 are connected with wireless transmitter 5, and are responsible for and central microprocessor 8 carries out data interaction.
The utility model research experiment is the result show: simultaneously under the identical simulation step length condition, use the calculation accuracy of above method under high dynamic angular movement environment high, the angle of pitch algorithm drift error that is caused by conical motion has also obtained establishment.Data processing method and Kalman filter with the optimal estimation theory merge velocity information, have guaranteed accuracy and the real-time of measuring accuracy.And adopt linear kalman filter to provide minimum variance estimate for the inertial navigation system error, then utilize the estimated value of these errors to go to revise attitude control system.Use the remote control adapting system not only to improve the distance of signal transmission, also improved greatly the reliability of signal in transmission course, also guarantee the real-time of signal transmission.
Claims (2)
1. fixed-wing self-navigation flight control system, it is characterized in that: this system mainly is comprised of the telemetry monitor of carry-on self-navigation flight controller and land station, self-navigation flight controller by central processing unit be connected the three-axis gyroscope, 3-axis acceleration sensor, triaxial magnetic field sensor, GPS module, baroceptor, the communication interface that are connected with central processing unit and form; Wireless transmitter is communicated by letter mutually by communication interface with central processing unit; Land station's telemetry monitor by Signals Transfer Board be connected the data wireless transmitting transceiver device that is connected with Signals Transfer Board, remote control receiver device, USB switching serial communication installation composition; Land station's telemetry monitor is connected with Signals Transfer Board by USB switching serial communication device; Self-navigation flight controller is communicated with by the Wireless Data Transmission radio station with land station telemetry monitor.
2. fixed-wing self-navigation flight control system according to claim 1, it is characterized in that: described Signals Transfer Board is connected to form by remote control switching transceiver module and data wireless transmit port, ground-based computer communication interface, remote control receiver signal port, and Signals Transfer Board has two kinds of functions: a kind of is the host-host protocol that the remote control receiver signal is converted to customization; Another kind is that the self-navigation information that signal transducer sets up user in land station's telemetry monitor on their own is sent to self-navigation flight controller, Signals Transfer Board sends the self-navigation controller that flies positional information and the attitude information of returning and sends ground-based computer back to, and shows on computers.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102707725A (en) * | 2012-06-12 | 2012-10-03 | 桂林飞宇电子科技有限公司 | Fixed-wing automatic navigation flight control system and using method thereof |
| CN103543752A (en) * | 2013-10-09 | 2014-01-29 | 深圳市大疆创新科技有限公司 | telecontrol method and telecontrol system |
| CN103645740A (en) * | 2013-12-30 | 2014-03-19 | 中国科学院自动化研究所 | Intelligent cruise robot based on wireless charging odd-shaft aircraft |
| CN103838152A (en) * | 2014-02-28 | 2014-06-04 | 北京航空航天大学 | Ground test device used for flight control system and control method |
| CN104199455A (en) * | 2014-08-27 | 2014-12-10 | 中国科学院自动化研究所 | Multi-rotor craft based tunnel inspection system |
| CN104460680A (en) * | 2013-09-17 | 2015-03-25 | 昊翔电能运动科技(昆山)有限公司 | Intelligent remote control device mixed control method, remote controller and flight system |
| CN104765377A (en) * | 2015-04-10 | 2015-07-08 | 哈尔滨工业大学深圳研究生院 | Unmanned helicopter flying control platform system based on QNX |
| CN105404308A (en) * | 2015-11-24 | 2016-03-16 | 中国电子科技集团公司第二十七研究所 | Flight control unit for parafoil type unmanned plane |
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- 2012-06-12 CN CN 201220275304 patent/CN202771262U/en not_active Expired - Lifetime
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102707725B (en) * | 2012-06-12 | 2014-10-29 | 桂林飞宇电子科技有限公司 | Fixed-wing automatic navigation flight control system and using method thereof |
| CN102707725A (en) * | 2012-06-12 | 2012-10-03 | 桂林飞宇电子科技有限公司 | Fixed-wing automatic navigation flight control system and using method thereof |
| CN104460680A (en) * | 2013-09-17 | 2015-03-25 | 昊翔电能运动科技(昆山)有限公司 | Intelligent remote control device mixed control method, remote controller and flight system |
| US9864370B2 (en) | 2013-10-09 | 2018-01-09 | SZ DJI Technology Co., Ltd | Remote control methods and systems |
| US9397782B2 (en) | 2013-10-09 | 2016-07-19 | SZ DJI Technology Co., Ltd | Remote control methods and systems |
| CN103543752B (en) * | 2013-10-09 | 2017-03-15 | 深圳市大疆创新科技有限公司 | A kind of remote control thereof and remote control systems |
| CN103543752A (en) * | 2013-10-09 | 2014-01-29 | 深圳市大疆创新科技有限公司 | telecontrol method and telecontrol system |
| US10514689B2 (en) | 2013-10-09 | 2019-12-24 | Sz Dji Technology, Co., Ltd. | Remote control methods and systems |
| US11256249B2 (en) | 2013-10-09 | 2022-02-22 | SZ DJI Technology Co., Ltd. | Remote control methods and systems |
| US11841702B2 (en) | 2013-10-09 | 2023-12-12 | SZ DJI Technology Co., Ltd. | Remote control methods and systems |
| CN103645740A (en) * | 2013-12-30 | 2014-03-19 | 中国科学院自动化研究所 | Intelligent cruise robot based on wireless charging odd-shaft aircraft |
| CN103838152A (en) * | 2014-02-28 | 2014-06-04 | 北京航空航天大学 | Ground test device used for flight control system and control method |
| CN103838152B (en) * | 2014-02-28 | 2016-08-17 | 北京航空航天大学 | A kind of ground test device for flight control system and control method |
| CN104199455A (en) * | 2014-08-27 | 2014-12-10 | 中国科学院自动化研究所 | Multi-rotor craft based tunnel inspection system |
| CN104765377A (en) * | 2015-04-10 | 2015-07-08 | 哈尔滨工业大学深圳研究生院 | Unmanned helicopter flying control platform system based on QNX |
| CN105404308A (en) * | 2015-11-24 | 2016-03-16 | 中国电子科技集团公司第二十七研究所 | Flight control unit for parafoil type unmanned plane |
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Address after: 541004, Guilin, the Guangxi Zhuang Autonomous Region, Seven Star Road, Chaoyang Road, information industry park D-12, Guilin electricity supplier Valley B block 3 Building Patentee after: Guilin Feiyu Polytron Technologies Inc Address before: 541004 the Guangxi Zhuang Autonomous Region Guilin Qixing District Chaoyang Road Information Industrial Park Yu technology building four floor tejet Feiyu Technology Patentee before: Guilin Feiyu Electronic Technology Co.,Ltd. |
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Granted publication date: 20130306 |