A single-autopilot-integrated aircraft system and two-dimensional pan-tilt control method thereof

Abstract

Provided are a single autopilot integrated aircraft system and a two-dimensional holder control method thereof. The single autopilot integrated aircraft system comprises a ground control center, an unmanned plane aircraft, a two-dimensional holder, an autopilot, a data communication link and an image transmission link. The autopilot meanwhile realizes aircraft control and two-dimensional holder control. The two-dimensional holder reflects the unmanned plane position and attitude information obtained by the position / attitude / course sensor in the autopilot, and the target point position information uploaded by the ground control center onto a body coordinate system having the unmanned plane center of mass as an original point. And moreover, according to the geometrical relation between the two-dimensional holder and the unmanned plane center of mass, the relative position relation between the two-dimensional holder and a target point is obtained, and the expected pitch angle and yaw angle instruction of the holder is calculated through a control algorithm, thereby guaranteeing that the unmanned plane aircraft can always directly align with the target point in the flight process of the unmanned plane aircraft. The single autopilot integrated aircraft system meanwhile considers an imaging quality problem, constrains holder rotation angles and angular velocities, and guarantees clear real-time images.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control system design, and in particular relates to an aircraft system integrated with a single autopilot and a two-dimensional pan-tilt control method thereof. Background technique [0002] At present, the PTZ camera system is more and more widely used in the field of UAV aerial photography. In the field of unmanned aerial vehicles, the fixed-wing type dominates. Because the fixed-wing unmanned aerial vehicle is fast and cannot hover, when it is necessary to observe a target at a fixed point, it is necessary to use the gimbal control mechanism. The gimbal controls the deflection angle and roll angle in real time according to the UAV's track and attitude, so as to achieve continuous observation of the target point. The PTZ system is a key factor for fixed-wing UAVs to complete aerial photography and fixed-point observation tasks. [0003] Most of the existing UAV pan-tilt control systems u...

AI Technical Summary

Problems solved by technology

[0004] In view of the above-mentioned technical problems, the object of the present invention is to provide a scientific and simple overall structure, highly integrated, safe and reliable, and convenient to operate two-dimensional pan-tilt control method by designing a single-autopilot-integrated aircraft system and its two-dimensional pan-tilt control method. A single autopilot system for the gimbal to observe the target to make up for the redundancy and complex operation of the existing UAV system with the gimbal

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