CN105912008A - Electric power iron tower inspection unmanned plane flight control system and flight control method thereof - Google Patents
Electric power iron tower inspection unmanned plane flight control system and flight control method thereof Download PDFInfo
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- CN105912008A CN105912008A CN201610425253.2A CN201610425253A CN105912008A CN 105912008 A CN105912008 A CN 105912008A CN 201610425253 A CN201610425253 A CN 201610425253A CN 105912008 A CN105912008 A CN 105912008A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 36
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 36
- 238000007689 inspection Methods 0.000 title claims abstract description 32
- 229910052742 iron Inorganic materials 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005259 measurement Methods 0.000 claims description 6
- 108700026770 PPM protocol Proteins 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000006872 improvement Effects 0.000 description 8
- 230000003993 interaction Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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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 invention discloses an electric power iron tower inspection unmanned plane flight control system and a flight control method thereof. The electric power iron tower inspection unmanned plane flight control system comprises a DSP module and an ARM module. The DSP module reads attitude calculation data of at least one IMU installed on at least one electric power iron tower inspection unmanned plane, carries out attitude calculation according to the attitude calculation data and calculates the current flight attitude of the unmanned plane; reads two paths of GPS signals from the unmanned plane, carries out difference calculation, calculates the current course of the unmanned plane and carries out navigation; and calculates the current attitude and course data according to the current flight attitude and course of the unmanned plane, and transmits the current attitude and course data to the ARM module. The ARM module analyzes the current attitude and course data, compares the data with control command data received by one RC from the ground, and transmits the deviation to a motor of the unmanned plane for attitude and course adjustment. The invention further discloses a flight control method of the electric power iron tower inspection unmanned plane flight control system.
Description
Technical Field
The invention relates to a flight control system and a flight control method thereof, in particular to a flight control system and a flight control method of an electric power iron tower inspection unmanned aerial vehicle.
Background
The Unmanned plane is an Unmanned Aerial Vehicle (called Unmanned Aerial Vehicle) which is an Unmanned Aerial Vehicle utilizing a radio remote control device and a self-contained program control device and comprises an Unmanned helicopter, a fixed wing aircraft, a multi-rotor aircraft, an Unmanned airship and an Unmanned parachute. In a broad sense, near space vehicles (20-100 km airspace) such as stratospheric airships, high-altitude balloons, solar drones, and the like are also included. From a certain perspective, an unmanned aerial vehicle can complete complex aerial flight tasks and various load tasks under unmanned conditions, and can be regarded as an "aerial robot".
The flight control subsystem is a core system of the whole flight process of the unmanned aerial vehicle, such as finishing takeoff, air flight, task execution, return recovery and the like, and the flight control is equivalent to the effect of a driver on human and machine for the unmanned aerial vehicle, and is considered to be one of the most core technologies of the unmanned aerial vehicle. Flight control generally includes sensor, airborne computer and three major parts of servo actuation equipment, and the function of realization mainly has three main types of unmanned aerial vehicle gesture stability and control, unmanned aerial vehicle task equipment management and emergency control. The adjustment of the attitude and the course (namely, the navigation attitude and also called the air route) of the unmanned aerial vehicle is a key point for designing a flight control system with strong interaction with the outside.
Disclosure of Invention
In view of the above, the invention provides a flight control system and a flight control method for an electric power iron tower inspection unmanned aerial vehicle, which have strong interactivity with the outside.
The solution of the invention is: an electric power iron tower inspection unmanned aerial vehicle flight control system comprises a DSP module and an ARM module; wherein,
the DSP module reads attitude settlement data of at least one IMU (inertial measurement Unit) installed on an electric power iron tower inspection unmanned aerial vehicle, performs attitude settlement according to the attitude settlement data, and settles out the current flight attitude of the unmanned aerial vehicle; reading two paths of GPS signals from the unmanned aerial vehicle, performing differential calculation, resolving the current course of the unmanned aerial vehicle, and performing navigation; and the current attitude and heading data are calculated and transmitted to the ARM module according to the current flight attitude and heading of the unmanned aerial vehicle;
the ARM module analyzes current attitude and heading data transmitted by the DSP module, compares the current attitude and heading data with control command data from the ground received by an RC, and transmits deviation to a motor of the unmanned aerial vehicle to adjust attitude and heading if the deviation exists.
As a further improvement of the above scheme, the DSP module reads the temperature and system voltage of the whole drone through a built-in ADC to ensure the normal operation of the drone.
As a further improvement of the scheme, the DSP module stores the data as a navigation log in an SD card.
Further, the ARM module stores data serving as navigation logs in an SD card through an SDIO interface.
As a further improvement of the above scheme, the ARM module reads attitude settlement data of at least one IMU installed on an electric power iron tower inspection unmanned aerial vehicle through the SPI.
As a further improvement of the scheme, the DSP module reads two paths of GPS signals through a serial port.
As a further improvement of the above scheme, the data resolved by the DSP module is transmitted to the ARM module through SPI communication.
As a further improvement of the scheme, the DSP module adopts a TMS320F28375 chip, and the ARM module adopts an STM32F407 chip.
As a further improvement of the scheme, the deviation is transmitted to the motor of the unmanned aerial vehicle through a PPM protocol or a CAN protocol to adjust the attitude and the course.
The invention also provides a flight control method of the arbitrary power iron tower inspection unmanned aerial vehicle flight control system, which comprises the following steps:
reading attitude settlement data of at least one IMU (inertial measurement Unit) installed on an electric power tower inspection unmanned aerial vehicle, performing attitude settlement according to the attitude settlement data, and settling out the current flight attitude of the unmanned aerial vehicle; reading two paths of GPS signals from the unmanned aerial vehicle, performing differential calculation, resolving the current course of the unmanned aerial vehicle, and performing navigation; analyzing current attitude and heading data according to the current flight attitude and heading of the unmanned aerial vehicle;
and comparing the analyzed current attitude and heading data with control command data from the ground received by an RC (remote control), and if deviation exists, transmitting the deviation to a motor of the unmanned aerial vehicle to adjust the attitude and the heading.
According to the DSP + ARM dual-core design, TMS320F28375 is used for data processing because the DSP of TI has absolute advantage for data processing, and ARM has stronger interaction with the outside world, so that ARM is used for external interaction.
Drawings
Fig. 1 is a schematic structural diagram of an electric power tower inspection unmanned aerial vehicle flight control system according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the flight control system of the electric power tower inspection unmanned aerial vehicle mainly comprises a DSP module and an ARM module.
The DSP module reads attitude settlement data of at least one IMU installed on an electric power iron tower inspection unmanned aerial vehicle, and the DSP module carries out attitude settlement according to the attitude settlement data and settles out the current flight attitude of the unmanned aerial vehicle. The DSP module can read attitude settlement data of at least one IMU (Inertial measurement unit), namely the IMU, installed on an electric power iron tower inspection unmanned aerial vehicle through the SPI, and is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object. The DSP module may employ a TMS320F28375 chip and the IMU may include an ADIS16448 ten-axis gyroscope.
And the DSP module reads two paths of GPS signals from the unmanned aerial vehicle, performs differential calculation, calculates the current course of the unmanned aerial vehicle and performs navigation. The DSP module can read two paths of GPS signals through a serial port.
The DSP module is also used for resolving data and transmitting the data to the ARM module according to the current flight attitude and the current course of the unmanned aerial vehicle, and the data can be transmitted to the ARM module through SPI communication. The DSP module can read the temperature and the system voltage of the whole unmanned aerial vehicle through a built-in ADC so as to ensure the normal work of the unmanned aerial vehicle. The ARM module stores data in an SD card as a navigation log, and in the embodiment, the ARM module stores the data in the SD card as the navigation log through an SDIO interface.
The ARM module analyzes the current attitude and heading data transmitted by the DSP module, compares the current attitude and heading data with control command data from the ground received by an RC, and transmits deviation to a motor of the unmanned aerial vehicle through a PPM protocol or a CAN protocol to adjust the attitude and the heading if the deviation exists. Mainly, whether deviation exists between the attitude and the heading is compared, and if the deviation exists, correction is carried out.
The invention has the following characteristics:
1. the design is based on DSP + ARM dual cores;
2. because the DSP of the TI has absolute advantage for data processing, TMS320F28375 is used for data processing, and ARM has stronger interaction with the outside, the ARM is used for external interaction, and an STM32F407 chip is adopted as the ARM module;
3, the DSP reads ADIS16448 ten-axis gyroscope data through the SPI (or uses I2C to read MPU9250 and air pressure meter data which are ten-axis in total) to perform attitude settlement, the current flight attitude of the airplane at the settlement position is read through a serial port, two paths of GPS signals are read, differential calculation is performed, the current course is solved, and navigation is performed;
4. then the DSP calculates data according to the current posture and the current course and transmits the data to the ARM through the SPI communication; in addition, the DSP reads the temperature through the built-in ADC, the system voltage and the like ensure that the system works normally;
and 5, the ARM analyzes the data transmitted by the DSP, compares the data with data received by the RC (remote controller or fixed course), transmits the deviation to the motor through a PPM (PPM protocol) protocol or a CAN (controller area network) protocol to adjust the posture and course if the deviation exists, stores the data as a navigation log in the SD card through an SDIO (serial data input output) interface, and plans the course through a serial port or a USB (universal serial bus) protocol by using the upper computer of the computer.
The invention discloses a flight control system of an unmanned aerial vehicle for routing inspection of an electric power iron tower, which mainly comprises the following steps of:
reading attitude settlement data of at least one IMU (inertial measurement Unit) installed on an electric power tower inspection unmanned aerial vehicle, performing attitude settlement according to the attitude settlement data, and settling out the current flight attitude of the unmanned aerial vehicle; reading two paths of GPS signals from the unmanned aerial vehicle, performing differential calculation, resolving the current course of the unmanned aerial vehicle, and performing navigation; analyzing current attitude and heading data according to the current flight attitude and heading of the unmanned aerial vehicle;
and comparing the analyzed current attitude and heading data with control command data from the ground received by an RC (remote control), and transmitting the control command data to a motor of the unmanned aerial vehicle through a PPM (pulse position modulation) protocol or a CAN (controller area network) protocol to adjust the attitude and the heading.
In the first step, attitude settlement data of at least one IMU installed on an electric power iron tower inspection unmanned aerial vehicle is read through the SPI, attitude settlement is carried out according to the attitude settlement data, and the current flight attitude of the unmanned aerial vehicle is settled; reading two paths of GPS signals from the unmanned aerial vehicle through a serial port, performing differential calculation, resolving the current course of the unmanned aerial vehicle, and performing navigation; and analyzing current attitude and heading data according to the current flight attitude and heading of the unmanned aerial vehicle.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle flight control system is patrolled and examined to electric power iron tower which characterized in that: the system comprises a DSP module and an ARM module; wherein,
the DSP module reads attitude settlement data of at least one IMU (inertial measurement Unit) installed on an electric power iron tower inspection unmanned aerial vehicle, performs attitude settlement according to the attitude settlement data, and settles out the current flight attitude of the unmanned aerial vehicle; reading two paths of GPS signals from the unmanned aerial vehicle, performing differential calculation, resolving the current course of the unmanned aerial vehicle, and performing navigation; and the current attitude and heading data are calculated and transmitted to the ARM module according to the current flight attitude and heading of the unmanned aerial vehicle;
the ARM module analyzes current attitude and heading data transmitted by the DSP module, compares the current attitude and heading data with control command data from the ground received by an RC, and transmits deviation to a motor of the unmanned aerial vehicle to adjust attitude and heading if the deviation exists.
2. The electric power tower inspection unmanned aerial vehicle flight control system of claim 1, characterized in that: the DSP module reads the temperature and the system voltage of the whole unmanned aerial vehicle through a built-in ADC so as to ensure the normal work of the unmanned aerial vehicle.
3. The electric power tower inspection unmanned aerial vehicle flight control system of claim 1, characterized in that: and the DSP module stores the data as a navigation log in an SD card.
4. The electric power tower inspection unmanned aerial vehicle flight control system of claim 3, characterized in that: and the ARM module stores the data serving as a navigation log in an SD card through an SDIO interface.
5. The electric power tower inspection unmanned aerial vehicle flight control system of claim 1, characterized in that: the ARM module reads the attitude settlement data of at least one IMU installed on an electric power iron tower inspection unmanned aerial vehicle through the SPI.
6. The electric power tower inspection unmanned aerial vehicle flight control system of claim 1, characterized in that: and the DSP module reads two paths of GPS signals through a serial port.
7. The electric power tower inspection unmanned aerial vehicle flight control system of claim 1, characterized in that: and the DSP module calculates data and transmits the data to the ARM module through SPI communication.
8. The electric power tower inspection unmanned aerial vehicle flight control system of claim 1, characterized in that: the DSP module adopts TMS320F28375 chip, the ARM module adopts STM32F407 chip.
9. The electric power tower inspection unmanned aerial vehicle flight control system of claim 1, characterized in that: and the deviation is transmitted to a motor of the unmanned aerial vehicle through a PPM protocol or a CAN protocol to adjust the attitude and the course.
10. The flight control method of the unmanned aerial vehicle flight control system for the inspection of the power tower according to any one of claims 1 to 9, is characterized in that: which comprises the following steps:
reading attitude settlement data of at least one IMU (inertial measurement Unit) installed on an electric power tower inspection unmanned aerial vehicle, performing attitude settlement according to the attitude settlement data, and settling out the current flight attitude of the unmanned aerial vehicle; reading two paths of GPS signals from the unmanned aerial vehicle, performing differential calculation, resolving the current course of the unmanned aerial vehicle, and performing navigation; analyzing current attitude and heading data according to the current flight attitude and heading of the unmanned aerial vehicle;
and comparing the analyzed current attitude and heading data with control command data from the ground received by an RC (remote control), and if deviation exists, transmitting the deviation to a motor of the unmanned aerial vehicle to adjust the attitude and the heading.
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