Large tilt-rotor vertical take-off and landing fixed-wing UAV and its onboard avionics system

Abstract

The present application relates to the technical field of unmanned aerial vehicles, and in particular to a large-scale tilt-rotor vertical take-off and landing fixed-wing unmanned aerial vehicle and its airborne avionics system, including: flight control, central HUB, left wing terminal control HUB, right wing terminal control HUB, left tail terminal control HUB, right tail terminal control HUB, equipment connected to the left wing terminal control HUB, equipment connected to the right wing terminal control HUB, equipment connected to the left tail terminal control HUB, and equipment connected to the right tail terminal control HUB. The present application can make the avionics system meet the requirements of a large number of equipment, diverse signal types, long wiring, and strong anti-electromagnetic interference capability.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a large-scale tilt-rotor vertical take-off and landing fixed-wing unmanned aerial vehicle and an airborne avionics system thereof. Background Art

[0002] Tilt-rotor vertical take-off and landing fixed-wing (abbreviated as tilt-to-vertical take-off) UAV is a new type of UAV that integrates fixed-wing and helicopter. The UAV can take off vertically without relying on a runway. After reaching a certain forward flight speed, the rotor pull can tilt forward 90°, so that it can fly at high speed like a fixed wing. When returning to land, the rotor pull can tilt upward 90° to land vertically like a helicopter. Currently, common tilt-to-vertical take-off UAVs are generally small in size, with a wingspan of no more than 3 meters. The configuration is mostly seen in four-rotor two-tilt and three-rotor two-tilt electric UAVs. The number of devices that need to be controlled is not large, usually no more than 16, and they can generally be directly controlled by the PWM signal output by the flight control. The avionics system of the whole machine is relatively simple, and it is mainly used to verify the flight function of the UAV.

[0003] As tilt-rotor vertical take-off and landing fixed-wing UAVs become larger and larger, their functions become more and more complex, and their safety level requirements become higher and higher, the number of avionics equipment in the UAV will increase. Therefore, the control method for UAVs is no longer a single PWM signal, and there will also be the problem of long cable wiring. In turn, the requirements for weight control and anti-electromagnetic interference will become more and more stringent. The avionics system using flight control direct drive control can no longer meet this demand.

[0004] Therefore, how to make the avionics system meet the requirements of a large number of devices, diverse signal types, long wiring, and strong anti-electromagnetic interference ability is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide an avionics system for a large-scale tilt-rotor vertical take-off and landing fixed-wing UAV, so that the avionics system can meet the requirements of a large number of devices, diverse signal types, long wiring, and strong anti-electromagnetic interference capability.

[0006] The above-mentioned purpose of the present invention can be achieved by adopting the following technical solutions:

[0007] An avionics system for a large-scale tilt-rotor vertical take-off and landing fixed-wing UAV includes: a flight control, a central HUB, a left wing terminal control HUB, a right wing terminal control HUB, a left tail terminal control HUB, a right tail terminal control HUB, a device connected to the left wing terminal control HUB, a device connected to the right wing terminal control HUB, a device connected to the left tail terminal control HUB, and a device connected to the right tail terminal control HUB; the flight control and the central HUB are arranged on the fuselage of the UAV, and the central HUB is connected to the flight control; the left wing terminal control HUB is arranged on the left wing, The right wing terminal control HUB is set on the right wing, the left tail terminal control HUB is set on the left tail, the right tail terminal control HUB is set on the right tail, and the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB, and the right tail terminal control HUB are all connected to the central HUB; the equipment connected to the left wing terminal control HUB is set on the left wing, the equipment connected to the right wing terminal control HUB is set on the right wing, the equipment connected to the left tail terminal control HUB is set on the left tail, and the equipment connected to the right tail terminal control HUB is set on the right tail.

[0008] In the large-scale tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system as described above, preferably, the central HUB converts the PWM control signal and the low-frequency control signal issued by the flight control into CAN bus data, and transmits it to the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB; the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB convert the received CAN bus data into PWM control signals and low-frequency control signals, and forward them to the devices connected thereto.

[0009] As described above, in the large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system, preferably, the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB receive feedback information from the devices connected thereto, and convert it into CAN bus data, and transmit it to the central HUB; the central HUB aggregates the received CAN bus data sent by the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB and sends it to the flight control, which saves these data.

[0010] The large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system as described above, wherein preferably, two GNSS antennas are also provided on the fuselage of the UAV, and the two GNSS antennas are connected to the flight control through feeders. The flight control has a built-in GNSS module, and the position information and heading angle of the UAV are calculated by receiving two satellite signals.

[0011] As described above, in the large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system, preferably, a digital radio antenna is also provided on the fuselage of the UAV, and the digital radio antenna is connected to the flight control through a feeder to receive and transmit radio electromagnetic wave signals.

[0012] The large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system as described above, wherein preferably, a set of electrically controlled steering wheels and a set of electrically controlled brake wheels are also provided on the fuselage of the UAV, the electrically controlled steering wheels are connected to the flight control, and the UAV steering is controlled by a PWM control signal, and the electrically controlled brake wheels are connected to the flight control, and the UAV braking is controlled by a PWM control signal.

[0013] As described above, in the large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system, preferably, the left wing terminal control HUB, the equipment connected to the left wing terminal control HUB and the right wing terminal control HUB, the equipment connected to the right wing terminal control HUB are symmetrically distributed.

[0014] As described above, in the large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system, preferably, the left tail terminal control HUB, the equipment connected to the left tail terminal control HUB and the right tail terminal control HUB, the equipment connected to the right tail terminal control HUB are symmetrically distributed.

[0015] The large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system as described above, wherein preferably, the equipment connected to the left wing terminal control HUB and the equipment connected to the right wing terminal control HUB can both include: multiple aileron and flap servos, multiple tilt servos, multiple variable pitch servos, multiple power sets, and multiple sensors.

[0016] The large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system as described above, wherein preferably, the equipment connected to the left tail terminal control HUB and the equipment connected to the right tail terminal control HUB can both include: multiple lift and heading servos, multiple tilt servos, multiple variable pitch servos, multiple power sets, and multiple sensors.

[0017] Compared with the above background technology, the large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system provided by this application can make the avionics system meet the requirements of large number of equipment, diverse signal types, long wiring, and strong anti-electromagnetic interference ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is an architectural diagram of an avionics system for a large tilt-rotor vertical take-off and landing fixed-wing UAV provided in an embodiment of the present application;

[0020] Figure 2 It is a functional schematic diagram of the HUB module of the airborne avionics system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0022] See also Figure 1 The present application provides an avionics system for a large tilt-rotor vertical take-off and landing fixed-wing UAV, including: a flight control 110, a central HUB 120, a left wing terminal control HUB 130, a right wing terminal control HUB 140, a left tail terminal control HUB 150, a right tail terminal control HUB 160, a device connected to the left wing terminal control HUB, a device connected to the right wing terminal control HUB, a device connected to the left tail terminal control HUB, and a device connected to the right tail terminal control HUB.

[0023] Among them, the center HUB120, the left wing terminal control HUB130, the right wing terminal control HUB140, the left tail terminal control HUB150, and the right tail terminal control HUB160 can be the same HUB module, and the HUB module is a multi-port repeater. For example: as shown in the attached Figure 2As shown, the central HUB120, the left wing terminal control HUB130, the right wing terminal control HUB140, the left tail terminal control HUB150, and the right tail terminal control HUB160 all include: 1 processor, 2-way temperature acquisition, 2-way independent CAN bus, 2-way voltage acquisition, 2-way RS232 serial port, 14-way PWM signal capture or output, and the different application functions of the HUB module are distinguished by different software solidified inside. In this way, the HUB module in this application has a variety of peripheral interfaces. In addition to a fixed 1-way CAN interface to communicate with the remaining HUBs, it can also control 14 PWM servos at the same time; connect two serial port devices, such as RS232 interface tilt servos; collect two-way temperature data; collect two-way voltage data; connect multiple CAN interface devices, such as CAN interface electric adjustment, CAN interface tilt angle sensor, thereby greatly improving the equipment compatibility of the large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system of this application.

[0024] In the present application, the drone includes: a fuselage, a left wing 210, a right wing 220, a left tail 230, and a right tail 240, and the left wing 210, the right wing 220, the left tail 230, and the right tail 240 are detachably mounted to the fuselage. During transportation, the left wing 210, the right wing 220, the left tail 230, and the right tail 240 are removed from the fuselage to facilitate transportation of the drone.

[0025] The flight control 110 is disposed on the fuselage of the UAV, wherein the flight control 110 is preferably an integrated flight control, which includes an IMU, a GNSS module, a data transmission radio, a dynamic and static pressure sensor, etc., for the attitude calculation and flight control of the UAV. The central HUB 120 is also disposed on the fuselage of the UAV, and the central HUB 120 is connected to the flight control 110.

[0026] The left wing terminal control HUB130 is set on the left wing 210, the right wing terminal control HUB140 is set on the right wing 220, the left tail terminal control HUB150 is set on the left tail 230, and the right tail terminal control HUB160 is set on the right tail 240, and the left wing terminal control HUB130, the right wing terminal control HUB140, the left tail terminal control HUB150, and the right tail terminal control HUB160 are all connected to the central HUB120.

[0027] The device connected to the left wing terminal control HUB is set on the left wing 210, the device connected to the right wing terminal control HUB is set on the right wing 220, the device connected to the left tail terminal control HUB is set on the left tail 230, and the device connected to the right tail terminal control HUB is set on the right tail 240.

[0028] The central HUB 120 converts the PWM control signal and the low-frequency control signal sent by the flight control 110 into CAN bus data, and transmits it to the corresponding left wing terminal control HUB 130, right wing terminal control HUB 140, left tail terminal control HUB 150 and right tail terminal control HUB 160. The left wing terminal control HUB 130, right wing terminal control HUB 140, left tail terminal control HUB 150 and right tail terminal control HUB 160 convert the received CAN bus data (e.g., control instructions) into PWM control signals and low-frequency control signals, and forward them to the devices connected thereto, thereby realizing the control of the attitude of the UAV.

[0029] The left wing terminal control HUB 130, the right wing terminal control HUB 140, the left tail terminal control HUB 150 and the right tail terminal control HUB 160 receive feedback information from the devices connected thereto, convert it into CAN bus data, and transmit it to the central HUB 120. The central HUB 120 aggregates the received CAN bus data (e.g., feedback data, sensor data) sent by the left wing terminal control HUB 130, the right wing terminal control HUB 140, the left tail terminal control HUB 150 and the right tail terminal control HUB 160 and sends it to the flight control 110, which stores the data.

[0030] On the basis of the above, the fuselage of the drone is also equipped with two GNSS antennas (GNSS antenna is a satellite receiving antenna), namely GNSS antenna A and GNSS antenna B. Both GNSS antenna A and GNSS antenna B are connected to the flight control 110 through a feeder. The flight control 110 has a built-in GNSS module. By receiving two satellite signals, the flight control 110 can not only calculate the position information of the drone, but also calculate the heading angle of the drone. The fuselage of the drone is also equipped with a digital radio antenna (the digital radio antenna is the external antenna of the built-in digital radio of the flight control). The digital radio antenna is connected to the flight control 110 through a feeder and is responsible for receiving and transmitting radio electromagnetic wave signals. The fuselage of the drone is also equipped with a set of electronically controlled steering wheels. The electronically controlled steering wheels are the steering wheels of the drone when it is sliding on the ground. The electronically controlled steering wheels are connected to the flight control and control the steering of the drone through PWM control signals. The drone is also provided with a set of electronically controlled brake wheels, which are used when the drone is sliding on the ground. The electronically controlled brake wheels are connected to the flight control 110 and control the brakes of the drone through PWM control signals.

[0031] The devices connected to the left wing terminal control HUB and the devices connected to the right wing terminal control HUB may include: multiple aileron and flap servos, multiple tilt servos, multiple pitch servos, multiple power groups, and multiple sensors. The left wing terminal control HUB, the devices connected to the left wing terminal control HUB, and the right wing terminal control HUB, the devices connected to the right wing terminal control HUB are symmetrically distributed.

[0032] The equipment connected to the left tail terminal control HUB and the equipment connected to the right tail terminal control HUB can include: multiple lift and heading servos, multiple tilt servos, multiple pitch servos, multiple power groups, and multiple sensors. The left tail terminal control HUB, the equipment connected to the left tail terminal control HUB, and the right tail terminal control HUB, the equipment connected to the right tail terminal control HUB are symmetrically distributed.

[0033] As an example: the flight control is connected to the central HUB through the PWM interface and the CAN2 bus or the RS232 serial port, and the central HUB is connected to the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB through the CAN1 bus.

[0034] The central HUB collects 14 PWM control signals of the flight control through the PWM interface, and receives the low-frequency control signal of the flight control through the CAN bus interface corresponding to the CAN2 bus or the RS232 serial port, and then converts the PWM control signal and the low-frequency control signal into CAN bus data that conforms to the CAN protocol, and broadcasts it to the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB through the CAN bus interface corresponding to the CAN1 bus.

[0035] The left wing terminal control HUB and the right wing terminal control HUB receive the CAN bus data broadcast by the central HUB through the CAN1 bus, and convert them into corresponding PWM control signals and low-frequency control signals, where the low-frequency control signals include serial port protocol signals and CAN protocol signals. Then, the PWM control signals are transmitted to up to 14 PWM servos (e.g., aileron and flap servos, variable pitch servos) through the 14-channel PWM interface to control these PWM servos. The serial port protocol signals are transmitted to up to 2 serial port devices (e.g., tilt servos) through the 2-channel RS232 interface to control the serial port devices or collect data from the serial port devices. The CAN protocol signals are transmitted to multiple CAN devices (e.g., ESCs, motors, tilt servos, sensors) through the CAN bus interface to control the CAN devices or collect data from the CAN devices.

[0036] On the basis of the above, the aileron and flap servo refers to the actuating device that controls the movement of the aileron and flap of the drone. The aileron and flap servo on the left wing is connected to the left wing terminal control HUB through the PWM interface and is controlled by the PWM control signal. The aileron and flap servo on the right wing is connected to the right wing terminal control HUB through the PWM interface and is controlled by the PWM control signal. For large drones, they usually have at least 4 ailerons and 4 flaps, 2 ailerons on the left wing, 2 ailerons on the right wing, 2 flaps on the left wing, and 2 flaps on the right wing, and they are symmetrically distributed.

[0037] The variable pitch servo is a servo that controls the change of the rotor pitch. It is used to adjust the pitch of the tiltable rotor in different flight modes (helicopter or fixed-wing mode) to achieve the best power efficiency. The variable pitch servo on the left wing is connected to the left wing terminal control HUB through the PWM interface and is controlled by the PWM control signal. The variable pitch servo on the right wing is connected to the right wing terminal control HUB through the PWM interface and is controlled by the PWM control signal. Among them, for large UAVs, the number of variable pitch servos is the same as the number of tiltable rotors.

[0038] Tilt servos are servos that control the pull / thrust of the rotor to tilt forward or upward. The tilt servos on the left wing are connected to the left wing terminal control HUB through the CAN bus interface or RS232 interface. They are controlled by low-frequency control signals and generally carry feedback information such as voltage, current, and position. For large drones, multiple tilt servos are usually set on the left and right ailerons.

[0039] The ESC and motor are used as power equipment. Generally, the motor is connected to the ESC. The ESC on the left wing is connected to the left wing terminal control HUB through the CAN bus interface. The ESC on the right wing is connected to the right wing terminal control HUB through the CAN bus interface. The low-frequency control signal converted by the CAN protocol is used to control the UAV, providing lift or forward flight pull / thrust. The ESC generally carries feedback information such as temperature, speed, voltage, and current. For large UAVs, multiple sets of power equipment are usually set on the left and right ailerons.

[0040] The sensors refer to temperature sensors and tilt angle sensors. The sensor on the left wing is connected to the left wing terminal control HUB via a CAN bus interface (e.g., temperature acquisition interface), and the sensor on the right wing is connected to the right wing terminal control HUB via a CAN bus interface (e.g., temperature acquisition interface), real-time acquisition of transmission / gear temperatures at two locations, and connected to multiple tilt angle sensors via the CAN bus, real-time acquisition of all tilt rotor tilt angles.

[0041] On the other hand, the left wing terminal control HUB and the right wing terminal control HUB receive feedback from serial devices (such as tilt servos) and CAN devices (such as ESCs, motors, tilt servos, sensors) through the serial port and CAN port, and convert them into CAN bus data, which are then transmitted to the central HUB through the CAN1 bus. The central HUB will summarize the CAN bus data and transmit it to the flight control through the CAN2 bus or RS232 serial port so that the flight control can process or save the feedback information.

[0042] The left tail terminal control HUB and the right tail terminal control HUB receive the CAN bus data broadcast by the central HUB through the CAN1 bus, and convert them into corresponding PWM control signals and low-frequency control signals, where the low-frequency control signals include serial port protocol signals and CAN protocol signals. Then, the PWM control signals are transmitted to up to 14 PWM servos (e.g., lift and heading servos, variable pitch servos) through the 14-channel PWM interface to control these PWM servos. The serial port protocol signals are transmitted to up to 2 serial port devices (e.g., tilt servos) through the 2-channel RS232 interface to control the serial port devices or collect data from the serial port devices. The CAN protocol signals are transmitted to multiple CAN devices (e.g., ESCs, motors, tilt servos, sensors) through the CAN bus interface to control the CAN devices or collect data from the CAN devices.

[0043] On the basis of the above, the elevator and heading servos refer to the actuating devices that control the movement of the elevator and heading surfaces of the drone. The elevator and heading servos on the left tail are connected to the left tail terminal control HUB through the PWM interface and are controlled by PWM control signals. The elevator and heading servos on the right tail are connected to the right tail terminal control HUB through the PWM interface and are controlled by PWM control signals. For large drones, they usually have multiple elevator and heading servos.

[0044] The variable pitch servo is a servo that controls the change of the rotor pitch. It is used to adjust the pitch of the tiltable rotor in different flight modes (helicopter or fixed-wing mode) to achieve the best power efficiency. The variable pitch servo on the left tail is connected to the left tail terminal control HUB through the PWM interface and is controlled by the PWM control signal. The variable pitch servo on the right tail is connected to the right tail terminal control HUB through the PWM interface and is controlled by the PWM control signal. Among them, for large UAVs, the number of variable pitch servos is the same as the number of tiltable rotors.

[0045] The ESC and motor are used as power equipment. Generally, the motor is connected to the ESC. The ESC on the left tail is connected to the left tail terminal control HUB through the CAN bus interface. The ESC on the right tail is connected to the right tail terminal control HUB through the CAN bus interface. The low-frequency control signal converted by the CAN protocol is used to control the UAV, providing lift or forward flight pull / thrust. The ESC generally carries feedback information such as temperature, speed, voltage, and current. For large UAVs, 1 to 2 sets of power equipment are usually set on the left and right tails.

[0046] The sensors refer to temperature sensors and tilt angle sensors. The sensor on the left tail is connected to the left tail terminal control HUB through a CAN bus interface (e.g., temperature acquisition interface), and the sensor on the right tail is connected to the right tail terminal control HUB through a CAN bus interface (e.g., temperature acquisition interface), real-time acquisition of transmission / gear temperatures at two locations, and connected to multiple tilt angle sensors through the CAN bus, real-time acquisition of all tilt rotor tilt angles.

[0047] On the other hand, the left tail terminal control HUB and the right tail terminal control HUB receive feedback from serial port devices (such as tilt servos) and CAN devices (such as ESCs, motors, tilt servos, sensors) through the serial port and CAN port, and convert them into CAN bus data, which are then transmitted to the central HUB through the CAN1 bus. The central HUB aggregates the CAN bus data and transmits it to the flight control through the CAN2 bus or RS232 serial port so that the flight control can process or save the feedback information.

[0048] Since the present application forms a CAN local area network through a central HUB and four terminal control HUBs (left wing terminal control HUB, right wing terminal control HUB, left tail terminal control HUB, right tail terminal control HUB), the PWM control signal sent by the flight control can be converted into CAN bus data by the central HUB and received by each terminal control HUB, and then restored to a PWM control signal to control the terminal device. Therefore, the present application not only avoids the PWM control signal from being easily interfered with and reduces the risk of rudder jumping, but also reduces the complexity of the cable and greatly reduces the weight of the cable. In addition, since the present application uses a central HUB and four terminal control HUBs, the present application can not only meet the flight function of the drone, but also the number of terminal devices required is no longer limited to the number of PWM interfaces of the flight control, and can meet the requirements of redundancy backup of key equipment or complex aircraft configurations.

[0049] The central HUB in this application can allow the motor, aileron servo, elevator servo, heading servo and other devices that require high-frequency control to remain unchanged in the flight control control mode, and still use PWM output; flap servo, tilt servo, variable pitch servo, steering servo, brake and other devices that can be controlled at a low frequency, the flight control control method can use CAN port or serial port to output control instructions, thereby greatly improving the adaptability of flight control from different manufacturers, eliminating the need for or reducing the workload of customized development.

[0050] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0051] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system, characterized in that: include: Flight control, center HUB, left wing terminal control HUB, right wing terminal control HUB, left tail terminal control HUB, right tail terminal control HUB, devices connected to the left wing terminal control HUB, devices connected to the right wing terminal control HUB, devices connected to the left tail terminal control HUB, devices connected to the right tail terminal control HUB; The equipment connected to the left wing terminal control HUB and the equipment connected to the right wing terminal control HUB both include: multiple aileron and flap servos, multiple tilt servos, and multiple variable pitch servos; the equipment connected to the left tail terminal control HUB and the equipment connected to the right tail terminal control HUB both include: multiple elevator and heading servos, multiple tilt servos, and multiple variable pitch servos; The flight control and central HUB are installed on the fuselage of the drone, and the central HUB is connected to the flight control; The left wing terminal control HUB is arranged on the left wing, the right wing terminal control HUB is arranged on the right wing, the left tail terminal control HUB is arranged on the left tail, the right tail terminal control HUB is arranged on the right tail, and the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB, and the right tail terminal control HUB are all connected to the central HUB; The equipment connected to the left wing terminal control HUB is set on the left wing, the equipment connected to the right wing terminal control HUB is set on the right wing, the equipment connected to the left tail terminal control HUB is set on the left tail, and the equipment connected to the right tail terminal control HUB is set on the right tail; The center HUB, left wing terminal control HUB, right wing terminal control HUB, left tail terminal control HUB, and right tail terminal control HUB all include processors, 2 independent CAN buses, 2 voltage acquisition channels, 2 RS232 serial ports, and 14 PWM signal capture or output channels. Different application functions of the HUB modules are distinguished by different software embedded in them. The flight control is connected to the central HUB via the PWM interface and CAN2 bus or RS232 serial port, and the central HUB is connected to the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB via the CAN1 bus; The central HUB collects 14-channel PWM control signals of the flight control through the PWM interface, and receives the low-frequency control signal of the flight control through the CAN bus interface corresponding to the CAN2 bus or the RS232 serial port, and then converts the PWM control signal and the low-frequency control signal into CAN bus data that conforms to the CAN protocol, and broadcasts it to the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB through the CAN bus interface corresponding to the CAN1 bus; The left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB receive the CAN bus data broadcasted by the central HUB through the CAN1 bus, and convert them into corresponding PWM control signals and low-frequency control signals, wherein the low-frequency control signals include serial port protocol signals and CAN protocol signals; The PWM control signal is transmitted to up to 14 PWM servos through the 14-channel PWM interface to control these PWM servos; the PWM servos include aileron and flap servos, and variable pitch servos; The serial port protocol signal is transmitted to up to two serial port devices through two RS232 interfaces to control the serial port devices or collect data from the serial port devices; the serial port devices include the tilt servo.

2. The large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system according to claim 1 is characterized in that: The left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB receive feedback information from the devices connected to them, convert it into CAN bus data, and transmit it to the central HUB; The central HUB collects the CAN bus data received from the left wing terminal control HUB, the right wing terminal control HUB, the left tail terminal control HUB and the right tail terminal control HUB and sends them to the flight control, which saves these data.

3. The large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system according to any one of claims 1-2, characterized in that: There are also two GNSS antennas on the drone's fuselage, which are connected to the flight control through feeders. The flight control has a built-in GNSS module, which calculates the drone's position information and heading angle by receiving two satellite signals.

4. The large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system according to claim 3 is characterized in that: The drone is also equipped with a digital radio antenna, which is connected to the flight control system through a feeder to receive and transmit radio electromagnetic wave signals.

5. The large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system according to claim 3 is characterized in that: The drone's fuselage is also equipped with a set of electronically controlled steering wheels and a set of electronically controlled brake wheels. The electronically controlled steering wheels are connected to the flight control system and control the steering of the drone through PWM control signals. The electronically controlled brake wheels are connected to the flight control system and control the braking of the drone through PWM control signals.

6. The large-scale tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system according to any one of claims 1-2, characterized in that: The left wing terminal control HUB and the equipment connected to the left wing terminal control HUB and the right wing terminal control HUB and the equipment connected to the right wing terminal control HUB are distributed symmetrically.

7. The large tilt-rotor vertical take-off and landing fixed-wing UAV airborne avionics system according to claim 6 is characterized in that: The left-end terminal control HUB and the equipment connected to the left-end terminal control HUB and the right-end terminal control HUB and the equipment connected to the right-end terminal control HUB are distributed symmetrically.

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