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Distributed redundancy bus-based unmanned aerial vehicle flight control system and flight control method

A UAV, redundant technology, applied in control/regulation system, transmission system, vehicle position/route/altitude control, etc., can solve the problems of reduced safety performance of UAV, easy loss of control of UAV flight, etc. Achieve the effect of increasing scalability and flexibility, simple structure, and enhanced stability

Active Publication Date: 2018-06-01
AVIC LIANCHUANG TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, during the switching process of the main and auxiliary flight control computers, the flight of the UAV is easy to lose control, resulting in a decrease in the safety performance of the UAV.

Method used

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  • Distributed redundancy bus-based unmanned aerial vehicle flight control system and flight control method

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Experimental program
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Embodiment 1

[0039] The first embodiment of the present invention provides a UAV flight control system based on a distributed redundancy bus, the structure of which is as follows figure 1 Shown, including: actuation controller, three flight control computers (denoted as flight control computer Ⅰ, flight control computer Ⅱ, flight control computer Ⅲ), three GPS (denoted as GPS Ⅰ, GPS Ⅱ, GPS Ⅲ), three IMU (Denoted as IMUⅠ, IMUⅡ and IMUⅢ) and three barometric altimeters (denoted as barometric altimeter I, barometric altimeter II and barometric altimeter III).

[0040] Three GPSs, three IMUs, and three barometric altimeters are respectively connected to the bus to encapsulate the collected data into data packets and send them to the bus; each flight control computer receives the data packets transmitted by the bus, according to the data packets The device ID identifies the device from which the data packet comes, compares the data of different devices with the same data type label, and votes acco...

Embodiment 2

[0060] The second embodiment of the present invention provides a UAV flight control method based on a distributed redundancy bus, which includes:

[0061] Step S101, the data packet transmitted by each collection device is carried on the bus; the transmitted data packet includes: device ID identification, data type label, data content part and check bit; the data type part includes data collected from each GPS Satellite data, measurement data collected by each IMU or the flight altitude of the drone measured by each barometric altimeter;

[0062] Step S102, each flight control computer receives the data packet transmitted from each acquisition device carried on the bus in real time; each flight control computer analyzes the data packet received at the current moment to obtain the device ID identification, data type label, and data Content part and check digit;

[0063] Step S103: Each flight control computer identifies the device source of the data packet according to the device ID ...

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Abstract

The invention provides a distributed redundancy bus-based unmanned aerial vehicle flight control system and flight control method. According to the distributed redundancy bus-based unmanned aerial vehicle flight control system and flight control method of the invention, each GPS, IMU (Inertial measurement unit) and barometric altimeter are connected with a bus and package measurement data into data packets in real time and transmit the data packets to the bus; each flight control computer receives data packets transmitted by acquisition equipment carried on the bus in real time; and each flight control computer is connected with the other flight control computers and an actuation controller through lines and is used for transmitting data packets carrying the flight parameters calculated bythe flight control computer itself to the other flight control computers, packaging the flight parameters calculated by the flight control computer itself into data packets and transmitting the datapackets to the actuation controller, wherein the data packets include device ID identifiers, data type tags, data content parts and check digits. According to the distributed redundancy bus-based unmanned aerial vehicle flight control system and flight control method of the present invention, the plurality of flight control computers and acquisition equipment are configured through the distributedredundancy bus so as to work coordinately in parallel. The flight control system and flight control method of the present invention have stronger fault tolerance capacity and can improve the reliability of the flight of unmanned aerial vehicles.

Description

Technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle flight control system and a flight control method based on a distributed redundancy bus. Background technique [0002] The unmanned aircraft is referred to as Unmanned Aerial Vehicle (UAV), which is an unmanned aircraft operated by radio remote control equipment and self-provided program control device. With the rapid development of drone technology, drones have been widely used in civil industries such as urban management, agriculture, geology, meteorology, electric power, disaster relief, and video shooting. [0003] UAVs usually include actuation controllers, flight control computers, and acquisition equipment, such as IMU (Inertial Measurement Unit), GPS, altitude measurement modules (such as barometer, ultrasonic ranging, radar ranging), etc. The IMU, GPS, and altitude measurement modules respectively transmit the measurement data to the flight co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10H04L29/08
CPCH04L67/12G05D1/101H04L67/52
Inventor 梁寅博王少华储国松
Owner AVIC LIANCHUANG TECH CO LTD