Double-receiver parallel dynamic parameter model identification system

Abstract

The invention discloses a double-receiver parallel dynamic parameter model identification system, and belongs to the technical field of unmanned machine modeling. The system is characterized by comprising remote control receivers, a flying control computer, a data radio station, a ground station and a remote control transmitter, wherein an unmanned machine and the ground station adopt totally same remote control receiver and flying control computer, receive instruction signals of the remote control transmitter at the same time and perform sampling; the flying control computer of the unmanned machine sends dynamic response data of the unmanned machine to the ground station through the data radio station at the same time of finishing remote control flying; and the ground station records the dynamic response data of the unmanned machine and the remote control instruction signals detected by the ground station at the same time as the original sample data of dynamic model identification. The system can acquire high synchronous, real and accurate experiment data in unmanned machine identification experiments, and ensures that the activity range of an operator is not limited by the length of a data wire so as to conveniently carry out the unmanned machine flying experiments.

Description

technical field [0001] The invention is a data sampling system for the identification of the dynamic model of the UAV, which can highly synchronously and accurately collect the control instructions and dynamic response data in the identification process of the UAV parameter model. It is mainly used in technical fields such as aerospace, UAV, robot identification and modeling. Background technique [0002] In the identification experiments of drones or other complex systems, it is necessary to read the remote control commands in high real-time and correspond to the dynamic response of the drone in real time. [0003] The traditional remote control command reading method is: use the data line to connect the remote control transmitter to the ground station, and directly collect the command signal inside the remote control through the ground station and decode it to obtain the remote control command. Since the command signal inside the remote control is collected before the rem...

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Problems solved by technology

[0004] Therefore, if the signal is directly read from the remote control transmitter, there will be time deviation and quantization error between the obtained remote control command and the remote control command actually obtained by the UAV flight control computer.

In addition, due to the use of data cables to connect the remote controller and the ground station, the drone operator must work within a limited radius (data cable length) from the ground station

This is very inconvenient in drone debugging and flight experiments

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