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CN105334861A - Unmanned plane flight control module, unmanned plane flight control system and unmanned plane - Google Patents

️Wed Feb 17 2016

A kind of unmanned plane flies to control module, system for flight control computer and unmanned plane

Technical field

The present invention relates to unmanned plane field, be related specifically to a kind of unmanned plane and fly to control module, system for flight control computer and unmanned plane.

Background technology

Unmanned plane have relatively low without the need to aerial driver, mobility strong, cost, be easy to the advantages such as operation, at the investigation supervision of the region of military field, target lock-on tracking and communication relaying etc., anti-terrorism investigation supervision in police field, security and traffic monitoring etc., have application market and good application prospect widely in the business such as the petroleum pipeline line walking in civil area, power-line patrolling, agricultural plant protection and fishery, make the development of unmanned plane very swift and violent.

In prior art, the flight control system of unmanned plane is made up of this three part of ground remote controller, Airborne Control Unit and airborne drive unit mostly.Terrestrial operation hand needs the state of flight of Real Time Observation unmanned plane, and according to state of flight, telechiric device is controlled, the control information received and Airborne Control Unit are carried out alternately by telechiric device, Airborne Control Unit carries out analytical calculation to receiving command information, then according to the command information after process, described airborne drive system is controlled, finally, the control to unmanned plane is realized by airborne drive system.

The qualification of control mode to operator of above-mentioned this unmanned plane has higher requirements, and the unmanned plane in different application field, and its embody rule feature is also different, therefore needs strict training operator being carried out to specialty.

On the other hand, the control mode of above-mentioned this unmanned plane cannot realize over the horizon operation, and far distance controlled precision not good, affect flight safety, be unfavorable for that unmanned plane is in the popularization of each different field and widespread use.

Therefore, unmanned plane of the prior art also extremely relies on operator mostly, and cannot realize over the horizon operation, and far distance controlled precision is not good, and unmanned plane during flying security is lower.

Summary of the invention

The problem that the present invention solves is that unmanned plane of the prior art also extremely relies on operator mostly, and cannot realize over the horizon operation, and far distance controlled precision is not good, and unmanned plane during flying security is lower.

For solving the problem, the invention provides a kind of unmanned plane and flying to control module, comprising:

Processor;

GNSS module, described GNSS module is connected with described processor;

State of flight detecting unit, described state of flight detecting unit is connected with described processor;

Interface driver, described interface driver is connected with described processor.

Further, described state of flight detecting unit comprises:

IMU；

Absolute pressure sensor;

Differential pressure pick-up.

Further, also comprise:

Storer, described storer is connected with described processor;

Bus driver, described bus driver is connected with described processor;

Signal processing unit, described signal processing unit is connected with described processor, and is connected with described differential pressure pick-up;

Signal reshape unit, described signal reshape unit is connected with described processor;

Data-Link module, described Data-Link module is connected with described processor.

Further, also comprise:

LED, described LED is connected with described processor;

Power amplifier, described power amplifier is connected with described processor;

Power management module;

USB interface, described USB interface is connected with described processor.

Compared with prior art, technical scheme of the present invention has the following advantages:

Unmanned plane of the present invention flies control module and comprises state of flight detecting unit, described state of flight detecting unit can obtain the state of flight information such as such as overload messages, boat appearance information, air speed information and flow angle information, and obtain navigation information by GNSS, then unmanned plane is carried out after state of flight information and navigation information fusion calculation from main control by interface driver, realize over the horizon to control, improve the flight safety of unmanned plane, the dependence to operator when reducing unmanned plane during flying.

The present invention also provides a kind of system for flight control computer, comprising:

Above-mentioned unmanned plane flies to control module;

I/O interface, steering wheel and electricity are adjusted, and described I/O interface, steering wheel are adjusted with electricity and be connected with described interface driver;

Remote-control receiver, described remote-control receiver is connected with described signal reshape unit;

GNSS antenna, described GNSS antenna and described GNSS model calling;

Pitot, described pitot is connected with described signal processing unit and described differential pressure pick-up.

Further, also comprise:

Airborne power supply, described airborne power supply is connected with power management module;

I2C bus, UART bus and CAN, described I2C bus, UART bus are connected with described bus driver with CAN.

Further, also comprise:

Radio-frequency joint, described GNSS antenna is by described radio-frequency joint and described GNSS model calling.

Compared with prior art, technical scheme of the present invention has the following advantages:

System for flight control computer of the present invention comprises unmanned plane and flies to control module, described unmanned plane flies control module and comprises state of flight detecting unit, described state of flight detecting unit can obtain the state of flight information such as such as overload messages, boat appearance information, air speed information and flow angle information, and obtain navigation information by GNSS, then unmanned plane is carried out after state of flight information and navigation information fusion calculation from main control by interface driver, realize over the horizon to control, improve the flight safety of unmanned plane, reduce the dependence of unmanned plane during flying to operator.

The present invention also provides a kind of unmanned plane, comprising:

Above-mentioned system for flight control computer;

Telepilot, described telepilot can carry out with remote-control receiver alternately.

Further, also comprise:

Land station PC, described land station PC is connected with described processor by USB interface.

Further, also comprise:

Data-Link ground based terminal, described Data-Link ground based terminal can carry out with described Data-Link module alternately.

Unmanned plane of the present invention comprises system for flight control computer, described system for flight control computer comprises unmanned plane and flies to control module, described unmanned plane flies control module and comprises state of flight detecting unit, described state of flight detecting unit can obtain such as overload messages, boat appearance information, the state of flight information such as air speed information and flow angle information, and obtain navigation information by GNSS, then unmanned plane is carried out after state of flight information and navigation information fusion calculation from main control by interface driver, realize over the horizon to control, improve the flight safety of unmanned plane, reduce the dependence of unmanned plane during flying to operator.

Accompanying drawing explanation

Fig. 1 is the schematic layout pattern that in first embodiment of the invention, unmanned plane flies to control module;

Fig. 2 is the schematic layout pattern of system for flight control computer in second embodiment of the invention;

Fig. 3 is the schematic layout pattern of system for flight control computer and land station in third embodiment of the invention;

Fig. 4 is the signal processing flow schematic diagram of unmanned plane autonomous flight in third embodiment of the invention;

Fig. 5 is unmanned plane workflow diagram in third embodiment of the invention.

Embodiment

Unmanned plane of the prior art also extremely relies on operator mostly, and cannot realize over the horizon operation, and far distance controlled precision is not good, and unmanned plane during flying security is lower.

For enabling above-mentioned purpose of the present invention, feature and advantage more become apparent, and are described in detail specific embodiments of the invention below in conjunction with accompanying drawing.

First embodiment

With reference to figure 1, the present embodiment provides a kind of unmanned plane to fly to control module, comprising:

Processor, GNSS (GlobalNavigationSatelliteSystem, GLONASS (Global Navigation Satellite System)) module, state of flight detecting unit and interface driver.

In the present embodiment, described processor is the dual-core architecture of ARM and FPGA, can guarantee that unmanned plane flies control module and has good real-time and remarkable interface capability.

Described GNSS module is connected with described processor, and described GNSS module is used for providing satellite navigation information, can obtain the longitude of unmanned plane, latitude, highly, the information such as ground velocity and course, and these information transmission to be resolved to processor.

Described state of flight detecting unit is connected with described processor.In the present embodiment, described state of flight detecting unit comprises IMU, absolute pressure sensor and differential pressure pick-up.

Wherein IMU provides Inertia information and the Magnetic Field of 3 axles, and Inertia information and Magnetic Field is supplied to processor to resolve the flight attitude and magnetic heading that obtain unmanned plane.

Described absolute pressure sensor can record BAP Barometric Absolute Pressure, calculates barometer altitude for processor.

In the present embodiment, described unmanned plane flies control module and also comprises signal processing unit, and described signal processing unit is connected with described processor, and is connected with described differential pressure pick-up.Described differential pressure pick-up and signal processing unit provide differential pressure and air-flow angle signal to processor, calculate the information such as air speed, the angle of attack and yaw angle for processor.

Described interface driver is connected with described processor.

In the present embodiment, unmanned plane fly control module also comprise: storer, bus driver, LED, power amplifier, power management module, USB interface, signal reshape unit and Data-Link module.

Described storer is connected with described processor, and described processor can carry out read-write operation to described storer.

In the present embodiment, described storer comprises high speed NVM (NonVolatileMemory, nonvolatile memory) for real time access important parameter, also comprises TF card for recording large data, as storage course line, task dispatching are preloaded into data.

Described bus driver is connected with described processor, and described bus driver provides Standard bus interface, so that interconnected with existing common apparatus, improves versatility and extendability that unmanned plane flies to control module.

Described signal reshape unit is connected with described processor, and the interface signal that signal reshape unit is used for docking port driving processes, so that processor process, plays again insulation blocking effect.

Described Data-Link module is connected with described processor, for setting up wireless connections with Data-Link ground based terminal by radio-frequency joint.

Described LED is connected with described processor, and LED shows different information by the combination of different light under the driving of processor.

Described power amplifier is connected with described processor, for providing the interface of high-power output ability.

Described USB interface is connected with described processor, and land station PC flies to control module by this USB with unmanned plane and is connected.

The input of described power management module managing electrical power, for unmanned plane fly control module rational power supply is provided, and to power supply and unmanned plane fly control module protect.

The unmanned plane of the present embodiment flies control module and comprises state of flight detecting unit, described state of flight detecting unit can obtain the state of flight information such as such as overload messages, boat appearance information, air speed information and flow angle information, and obtain navigation information by GNSS, then unmanned plane is carried out after state of flight information and navigation information fusion calculation from main control by interface driver, realize over the horizon to control, improve the flight safety of unmanned plane, the dependence to operator when reducing unmanned plane during flying.

Second embodiment

With reference to figure 2, the present embodiment provides a kind of system for flight control computer, comprising:

Unmanned plane in first embodiment flies to control module.

I/O interface, steering wheel and electricity are adjusted, and described I/O interface, steering wheel are adjusted with electricity and be connected with described interface driver; Described I/O interface, steering wheel and electricity tune fly control module by unmanned plane and control, and then realize the final control to unmanned plane.

Remote-control receiver, described remote-control receiver is connected with described signal reshape unit; Described remote-control receiver receives the instruction of telepilot, and instruction is processed by described signal reshape unit, finally transfers to processor, is adjusted, realize the final control to unmanned plane by control I/O interface, steering wheel and electricity after processor process.

Described system for flight control computer also provides pulse signal to signal reshape unit.

GNSS antenna, described GNSS antenna and described GNSS model calling; For receiving the navigation signal of GNSS.

In a particular embodiment, described unmanned plane flies control module and also comprises radio-frequency joint, and described GNSS antenna is by described radio-frequency joint and described GNSS model calling.

Pitot, described pitot is connected with described signal processing unit and described differential pressure pick-up, for experiencing stagnation pressure (also claiming total head) and the static pressure of air-flow.

In the present embodiment, system for flight control computer also comprises airborne power supply, I2C bus, UART bus and CAN.

Described airborne power supply is connected with power management module; Airborne power supply directly supplies unmanned plane and flies control module, electricity tune and steering wheel, and can adapt to motor or the steering wheel of different capacity.

Described I2C bus, UART bus are connected with described bus driver with CAN.

3rd embodiment

With reference to figure 3, the present embodiment provides a kind of unmanned plane, comprising: the system for flight control computer of the second embodiment and telepilot.

Described telepilot can carry out with remote-control receiver alternately.

In the present embodiment, described unmanned plane also comprises land station PC, and described land station PC is connected with described processor by USB interface.

In the present embodiment, described unmanned plane also comprises Data-Link ground based terminal, and described Data-Link ground based terminal can carry out with described Data-Link module alternately.

Described telepilot, land station PC and Data-Link ground based terminal form the land station of unmanned plane.

Telepilot is connected with remote-control receiver by radiofrequency signal, and the instruction that telepilot sends is sent to processor by remote-control receiver and signal reshape unit, and processor processes rear control interface to instruction and drives with the control realized unmanned plane during flying state.

Land station PC can fly to control by USB and unmanned plane that module is connected to realize debugging, the operation such as Data import and reading.

Land station also can fly to control module by Data-Link ground based terminal and unmanned plane and carry out wireless interaction, and described Data-Link ground based terminal is connected with processor with Data-Link module by radio-frequency joint.

With reference to figure 4, the flow process of the unmanned plane autonomous flight of the present embodiment comprises:

Unmanned plane processor carries out sampling to the information that IMU collects and resolves (acceleration signal process and boat appearance are resolved), obtains boat appearance and the overload signal of unmanned plane, for realizing premature beats function and boat appearance controlling functions.

Unmanned plane processor carries out sampling processing to differential pressure and air-flow angle signal, obtains air speed, the angle of attack and yaw angle information, for realizing air speed and flow angle controlling functions.

Unmanned plane processor carries out sampling processing (navigation information resolves and highly resolves) to the signal that GNSS module and absolute pressure sensor are collected, obtain the longitude of unmanned plane, latitude, height and barometer altitude, in conjunction be preloaded into or the course line of dynamic importing, mission bit stream, carry out navigation calculation, for realizing Navigation Control function.

The present invention orientates premature beats function, boat appearance controlling functions, air speed control and flow angle controlling functions as inner ring controlling functions, Navigation Control function is as the input of inner ring controlling functions, export steering wheel to by inner ring controlling functions or electric transfer drive moves controlling functions, realize the final control to aircraft.

Surface instruction can be produced by telepilot, also directly can be produced by land station; Surface instruction can act on Navigation Control as the case may be or inner ring controls.

Course line and mission bit stream can be created by land station PC, and be loaded in advance or dynamically and fly to control module, land station PC is by data chain real time monitoring unmanned plane.

The unmanned plane of the present embodiment has complete emergency disposal function, in case of emergency can ensure flight safety, can switch, meet the user demand of different stage between hand behaviour and autonomous mode.

The system for flight control computer of the present embodiment improve abundant, core controlling functions is complete, controls architecture and method, applicable SUAV (small unmanned aerial vehicle) aircraft multiple with fixed-wing, many rotors etc. according to the unmanned plane configuration of different configurations is different.

With reference to figure 5, the typical workflow of the present embodiment unmanned plane:

Selected the configuration of unmanned plane during flying device by land station, design parameter is set, and according to the concrete method of attachment wiring of corresponding configuration unmanned plane;

System for flight control computer powers on, initialization, and performs testing process, if by, carry out next step, if there is fault, carry out troubleshooting according to information;

By land station's Aided Generation course line, task data.Together be loaded on concrete associated control parameters and configuration information and fly to control module;

Self-inspection before unmanned plane takes off, if by, carry out next step, if there is fault, carry out troubleshooting according to information;

After everything in readiness, terrestrial operation person sends by land station instruction of taking off, and enters complete autonomous control model;

Unmanned plane fly to control module obtain the longitude of GNSS module, latitude, highly, ground velocity, course, barometer altitude, course line and mission bit stream, resolve through navigation information, Navigation Control; It exports the input controlled as inner ring;

Utilize boat appearance information to carry out the control of boat appearance, utilize overload messages to carry out premature beats, utilize air speed information to carry out air speed control, (angle of attack, yaw angle information) carries out flow angle control to utilize flow angle information, together constitute inner ring and control;

Unmanned plane flies control module and automatically builds control architecture and method according to type and parameter, automatically forms applicable navigation and inner ring control method according to actual conditions, and can according to setting and demand sweetly disposition surface instruction;

The output controlled with inner ring is input, carries out signal transacting and distribution, drives steering wheel or electricity to adjust drive system, completes the driving work of unmanned plane, intervene, realize the autonomous flight of unmanned vehicle by course line and task attribute without the need to ground handling operator.

Land station also can record unmanned plane overall process flying quality automatically, to show flying quality and off-line analysis in real time; Operating personnel can send surface instruction by land station or telepilot, intervene autonomous flight.

Beneficial effect of the present invention mainly comprises:

The present embodiment Highgrade integration designs, and unmanned plane flies control module only needs a GNSS antenna can realize full autonomous flight control function, facilitates easy-to-use;

The present embodiment is highly autonomous system for flight control computer, based on course line and task attribute flight, intervenes and can finish the work, reduce the dependence to operating personnel and requirement without the need to personnel, and great boosting SUAV (small unmanned aerial vehicle) is in the popularization of every field and development;

Interface improves abundant, can meet the unmanned plane demand of the multiple configurations such as fixed-wing, many rotors, vertical takeoff and landing, and reserved sufficient bus and I/O interface, and extended capability is strong, can compatible existing various standard feature peripheral hardware;

Control method is perfect, can realize to multiple configuration unmanned vehicle from main control;

Mode of operation is flexible, can switch, meet the application demand of different stage between autonomous operation and manual operation;

Be applicable to SUAV (small unmanned aerial vehicle), the concrete working characteristics that flies of the SUAV (small unmanned aerial vehicle) for different configuration carries out parameter optimization, optimizes guaranteed performance, strictly controls volume weight, both ensure that function, performance, again reduce the cost of flight control system by software algorithm;

Processor adopts the Duo-Core Architecture of ARM and FPGA, by computing and logical separation, both ensure that real-time and the control accuracy of control system, and has solved again the problem of heavy demand interface;

Provide the interface of standard, can all types of receiver and telepilot on compatible market, highly versatile;

The present embodiment possesses perfect special disposal function, guarantee have perfect disposal logic and method when various special generations such as GNSS module by signal loss, Data-Link dropout, maloperation, power damage, electricity deficiencies, farthest can guarantee flight safety;

The present embodiment possesses debugging, test and analytic function, supports that the various level of different phase detects and test, and can provide test result and information;

The land station of the present embodiment is by the every data of data base administration and parameter, possesses perfect off-line analysis function, and provide professional normal process, method and default parameters for the embody rule of different field, be convenient to quick application, also support that the entry that user is autonomous upgrades and creates simultaneously, open excellent.

Although the present invention discloses as above, the present invention is not defined in this.Any those skilled in the art, without departing from the spirit and scope of the present invention, all can make various changes or modifications, and therefore protection scope of the present invention should be as the criterion with claim limited range.