Unmanned aerial vehicle optical fiber guidance system integrated with optical fiber inertial integrated navigation

Abstract

The invention discloses an unmanned aerial vehicle optical fiber guidance system integrated with optical fiber inertial integrated navigation, which relates to the technical field of unmanned aerial vehicles and comprises an optical fiber inertial integrated navigation system, an optical fiber anti-interference system and a novel optical fiber internal pay-off process. The optical fiber anti-interference system mainly comprises a transmitting optical transmitter and receiver, a receiving optical transmitter and receiver and an optical fiber cylinder. The main elements of the optical fiber inertial integrated navigation system comprise an optical fiber gyroscope, a quartz flexible accelerometer and a GNSS receiver, and the elements are integrated on a transmitting optical transceiver. The transmitting optical transceiver is fixed at one end of the optical fiber cylinder, and the transmitting optical transceiver is connected with a ground control end through an optical fiber; the optical fiber cylinder is fixed to the unmanned aerial vehicle through line constraint, and optical fibers are wound on the inner side. Therefore, the unmanned aerial vehicle optical fiber guidance system integrated with optical fiber inertial integrated navigation has the characteristics of high integration and modularization, is suitable for various unmanned aerial vehicle types, and can make up for accumulative errors of own inertial navigation and realize high-precision completely autonomous flight.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and more particularly to an unmanned aerial vehicle fiber optic guidance system integrating fiber optic inertial combined navigation. Background Art

[0002] With the rapid development of unmanned aerial vehicle technology, its applications in various fields are becoming more and more extensive. However, traditional unmanned aerial vehicle wireless communication technologies, such as Bluetooth and 2.4G band communication, are easily affected by external radio waves. At the same time, due to the long transmission distance and signal attenuation in the air, there is a certain delay in wireless control.

[0003] In order to overcome the above problems, fiber optic guidance technology has emerged. Fiber optic guidance technology has the advantages of strong anti-interference ability, large transmission bandwidth, and low delay, and can shield electromagnetic interference and improve control sensitivity in complex environments. However, there are still some problems in existing unmanned aerial vehicle fiber optic guidance systems:

[0004] First, the flight navigation of unmanned aerial vehicles depends on satellite signal systems and the inertial navigation systems of their own flight controls, and the wireless signal transmission mode is unstable.

[0005] Second, existing fiber optic guidance uses an internal wire outlet method. Although it adopts an anti-interference signal fiber optic transmission mode and has the ability to resist wireless interference, its unmanned aerial vehicle navigation process still depends on its own GPS positioning system and the inertial MEMS navigation system of the flight control. During the loss of GPS signals, due to its own accuracy problems, the inertial navigation MEMS of the flight control itself will still accumulate errors, resulting in the continuous loss of accuracy and navigation deviation of the unmanned aerial vehicle under fiber optic guidance, which makes the high precision and anti-interference ability of fiber optic guidance itself not fully utilized.

[0006] Third, for mainstream unmanned aerial vehicles using the internal wire outlet technical route, their fiber optic wire coils are prone to wire collapse, resulting in wire coil entanglement, and there is still a situation where the wire coils come out in clusters when using the inner side wire outlet, leading to fiber optic entanglement. At the same time, the fiber optic guidance range of existing inner wire outlet fiber optic cylinders is difficult to match the flight ranges of different models of unmanned aerial vehicles, which easily causes redundancy at the wire ends of the fiber optic cylinders and increases the load of the unmanned aerial vehicle.

[0007] In view of the above problems, the present invention proposes an unmanned aerial vehicle fiber optic guidance system integrating fiber optic inertial combined navigation. The fiber optic receiving end can resist wireless signal interference with the support of a high-precision fiber optic gyroscope, a quartz flexure accelerometer, a GNNS receiver and other sensors, assist in compensating for the accumulated errors of the unmanned aerial vehicle's own navigation system, and at the same time support the fully autonomous flight of the unmanned aerial vehicle. Summary of the Invention

[0008] The object of the present invention is to provide a UAV fiber optic guidance system integrating fiber optic inertial combined navigation, which uses an integrated fiber optic inertial combined navigation system and a fiber optic anti-interference system to assist the autonomous flight of the UAV, achieving high modularity and compatibility with most models of UAVs; and adopts a fiber optic internal wire laying process with the coil fixed by potting glue to achieve non-tangled and reliable fiber optic internal wire laying; at the same time, through the two-way transmission of the signal of the transmitting optical terminal and the UAV flight control, and the two-way connection of the signal of the transmitting optical terminal and the ground control terminal, closed-loop control is realized.

[0009] To achieve the above object, the present invention provides a UAV fiber optic guidance system integrating fiber optic inertial combined navigation, including a fiber optic inertial combined navigation system and a fiber optic anti-interference system:

[0010] The fiber optic anti-interference system includes a transmitting optical terminal, a receiving optical terminal and a fiber optic cylinder; the fiber optic inertial combined navigation system includes a fiber optic gyroscope, a quartz flexure accelerometer and a GNSS receiver, and the components are integrated in the transmitting optical terminal;

[0011] The transmitting optical terminal is fixed at one end of the fiber optic cylinder, and is composed of a transmitting optical end cover, a transmitting optical end bottom cover and an internal circuit board, and the transmitting optical terminal is connected to the ground control terminal through a fiber optic;

[0012] The fiber optic cylinder is fixed to the UAV through wire constraints, including a cylinder body, an outlet, a barrel cover, a bushing and a cylinder shaft; the fiber optic is embedded in the cylinder body, in a coil shape and hollow inside, and is fixed by potting glue to maintain its shape, and exits through the internal wire laying method; the cylinder shaft is used to keep the inside of the coil hollow during the solidification of the potting glue to prevent the coil from collapsing; the outlet is located at the other end of the fiber optic cylinder, opposite to the transmitting optical terminal;

[0013] The physical interfaces of the transmitting optical terminal include an Ethernet port, a serial port, a TTL and an HDMI.

[0014] In a possible implementation, the transmitting optical terminal and the UAV flight control perform wired signal transmission through a serial port, and the transmitted signals include the UAV attitude and position feedback signals of the inertial combined navigation system of the transmitting optical terminal.

[0015] In a possible implementation, the receiving optical terminal includes a photoelectric conversion module; ground personnel convert the control signal from an electrical signal to an optical signal through the photoelectric conversion module, and conduct it to the transmitting optical terminal through a fiber optic; the transmitting optical terminal converts the optical signal to an electrical signal and then transmits it to the UAV flight control through a serial port.

[0016] In a possible implementation, the transmitting optical terminal receives image information from the UAV and synchronizes the image information to the ground control terminal.

[0017] In a possible implementation, the transmitting optical end cap and the transmitting optical end bottom cover are riveted to protect the sensor module, which includes a GNNS receiver, a fiber optic gyroscope, and a quartz flexure accelerometer.

[0018] In a possible implementation, HDMI is the main interface of the image transmission module.

[0019] In a possible implementation, the fiber optic cylinder can be set to different models and is compatible with the transmitting optical terminal.

[0020] In a possible implementation, the ground control terminal directly intervenes in and controls the autonomous flight of the drone.

[0021] In a possible implementation, the fiber optic inertial navigation system is independent of the drone's own navigation system and is embedded in the drone's fiber optic guidance system.

[0022] In a possible implementation, the fiber optic cylinder uses an internal wire laying method to lead out the wire. Its manufacturing process uses potting glue to fix the shape of the fiber optic coil, preventing the coil from collapsing. During the solidification process of the potting glue, the shape of the fiber optic coil is fixed through the cylinder shaft, making the inside of the fiber optic coil hollow. When the drone is flying, the fiber optic coil is towed, and the fiber is led out from the hollow inside and connected to the ground control terminal via the wire outlet, realizing inner side wire leading to prevent wire entanglement.

[0023] Therefore, the drone fiber optic guidance system using the above integrated fiber optic inertial combined navigation has the following technical effects:

[0024] (1) The drone fiber optic guidance system of the present invention not only integrates the aircraft and the optoelectronic information conversion module, but also integrates the fiber optic inertial combined navigation system, and can detect and compensate the attitude information and position information of the drone and the carrier in real time.

[0025] (2) The fiber optic inertial combined navigation system of the present invention, relying on the high precision of the fiber optic gyroscope and the quartz flexure accelerometer, feeds back the attitude and position information to the drone flight control, assisting the drone to make up for the cumulative error of its own inertial navigation and adjust its own flight attitude, realizing completely autonomous flight without manual intervention. At the same time, with the help of the fiber optic guidance system, the ground control terminal can directly intervene in the autonomous flight of the drone to ensure the control right of the drone.

[0026] (3) The fiber optic inertial combined navigation system, the fiber optic anti-interference system of the present invention, and the flight control and inertial navigation systems of the drone itself form a closed-loop control. The drone flight control, the fiber optic inertial combined navigation system, and the ground control terminal are all connected by wire through two-way signal transmission in a narrow sense. This closed-loop control has extremely strong anti-interference ability, enabling the fiber optic guidance system to shield the interference of wireless signals and ensuring low latency and high precision of manual control.

[0027] (4) The UAV fiber optic guidance system integrating fiber optic inertial navigation of the present invention has the characteristics of high integration and modularization, and is more portable. Through the design of embedding the transmitting optical terminal and fixing it to the fiber optic cylinder, it is applicable not only to UAVs but also to mobile devices such as underwater submersibles.

[0028] (5) The fiber optic cylinder of the present invention adopts a modular design, with higher flexibility. It can replace the cylinder body of different sizes according to the model of the UAV, set the fiber optic cylinder to different fiber accommodation capacities to meet common UAV models, and is compatible with the transmitting optical terminal at the same time. Moreover, the wire outlet can be replaced according to the model of the fiber optic cylinder, with stronger practicability.

[0029] (6) The method of laying the fiber optic cable inside the cylinder of the present invention can prevent the fiber optic cable from getting entangled during the wire outlet process. The wire reel is fixed by potting glue to prevent the wire reel from collapsing. During the solidification process of the glue, the shape of the wire reel is maintained by the cylinder shaft. After solidification, the wire reel is taken out to make the inside of the wire reel hollow, and the wire reel is placed in the cylinder body. The fiber optic cable is led out from the hollow part through the wire outlet due to the traction force, realizing the internal wire laying.

[0030] The technical solution of the present invention will be further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is an isometric view of the fixation of the fiber optic cylinder and the transmitting optical terminal in an embodiment of a UAV fiber optic guidance system integrating fiber optic inertial combined navigation;

[0032] Figure 2 is a cross-sectional view of the fixation of the fiber optic cylinder and the transmitting optical terminal in an embodiment of a UAV fiber optic guidance system integrating fiber optic inertial combined navigation;

[0033] Figure 3 is an isometric view of the fiber optic cylinder body in an embodiment of a UAV fiber optic guidance system integrating fiber optic inertial combined navigation;

[0034] Figure 4 is an isometric view of the wire outlet in an embodiment of a UAV fiber optic guidance system integrating fiber optic inertial combined navigation;

[0035] Figure 5 is an isometric view of the bottom cover of the transmitting optical end cover in an embodiment of a UAV fiber optic guidance system integrating fiber optic inertial combined navigation;

[0036] Figure 6 is an isometric view of the transmitting optical end cover in an embodiment of a UAV fiber optic guidance system integrating fiber optic inertial combined navigation;

[0037] Figure 7 is a view of the fiber optic cylinder cover in an embodiment of a UAV fiber optic guidance system integrating fiber optic inertial combined navigation;

[0038] Figure 8 Is an isometric view of the optical fiber axis in an embodiment of an unmanned aerial vehicle optical fiber guidance system integrating an optical fiber inertial integrated navigation;

[0039] Figure 9 Is an isometric view of the bushing of the optical fiber cylinder in an embodiment of an unmanned aerial vehicle optical fiber guidance system integrating an optical fiber inertial integrated navigation;

[0040] Figure 10 Is an isometric view of the bobbin fixing the wire coil when the potting glue solidifies on the barrel shaft in an embodiment of an unmanned aerial vehicle optical fiber guidance system integrating an optical fiber inertial integrated navigation;

[0041] Figure 11 Is a schematic diagram of the wire laying inside the optical fiber in an embodiment of an unmanned aerial vehicle optical fiber guidance system integrating an optical fiber inertial integrated navigation;

[0042] Figure 12 Is a structural diagram of an unmanned aerial vehicle optical fiber guidance system integrating an optical fiber inertial integrated navigation in an embodiment of an unmanned aerial vehicle optical fiber guidance system integrating an optical fiber inertial integrated navigation;

[0043] Figure 13 Is a closed-loop control diagram of an unmanned aerial vehicle optical fiber guidance system integrating an optical fiber inertial navigation system in an embodiment of an unmanned aerial vehicle optical fiber guidance system integrating an optical fiber inertial integrated navigation.

[0044] Reference numerals

[0045] 01, optical fiber cylinder; 1, cylinder body; 2, transmitting optical terminal; 21, transmitting optical end cover; 22, transmitting optical end bottom cover; 3, wire outlet; 4, cylinder cover; 5, bushing; 6, barrel shaft. Detailed implementation manners

[0046] The present invention can be more detailedly explained through the following embodiments. The purpose of disclosing the present invention is to protect all changes and improvements within the scope of the present invention. The present invention is not limited to the following embodiments.

[0047] Please refer to FIGS. 1 to Figure 11 , the present invention provides an unmanned aerial vehicle optical fiber guidance system integrating an optical fiber inertial integrated navigation, including two major systems, namely an optical fiber anti-interference system and an optical fiber inertial integrated navigation system. Among them, the main components of the optical fiber anti-interference system include a transmitting optical terminal 2, a receiving optical terminal, and an optical fiber cylinder 01. The main components of the optical fiber inertial integrated navigation system include an optical fiber gyroscope, a quartz flexible accelerometer, and a GNSS receiver, and the components are integrated in the transmitting optical terminal 2.

[0048] The transmitting optical terminal 2 consists of a transmitting optical terminal cover 21, a transmitting optical terminal bottom cover 22, and an internal circuit board. The transmitting optical terminal cover 21 and the transmitting optical terminal bottom cover 22 are fixed to the barrel body 1 of the optical fiber cylinder by screws. The transmitting optical terminal 2 is fixed at one end of the barrel body 1 of the optical fiber cylinder and is a highly integrated module. Its circuit board integrates an optical fiber gyroscope, a quartz flexible accelerometer, a GNNS receiver, and an image transmission module. The physical interfaces of the transmitting optical terminal 2 include an Ethernet port, a serial port, TTL, and HDMI, and its main hardware is integrated in the transmitting optical terminal 2. The HDMI interface is the main interface of the image transmission module. The serial port is used for the wired signal transmission between the transmitting optical terminal 2 and the UAV flight control. The transmitted signals include the UAV attitude and position feedback signals of the inertial integrated navigation system of the transmitting optical terminal 2.

[0049] The specific implementation method of the optical fiber anti-interference system is as follows:

[0050] The optical fiber cylinder 01 is fixed to the UAV through line constraints. One end of the optical fiber cylinder 01 is fixed to the transmitting optical terminal 2 by screws, and the other end is fixed to the wire outlet 3 by screws. A fiber optic cable reel is arranged inside the barrel body 1 of the optical fiber cylinder 01, which is hollow inside, and the barrel body 1 is used to protect the internal optical fiber from external force damage.

[0051] The UAV flight control is connected to the serial port of the transmitting optical terminal 2. Ground personnel convert the control signal from an electrical signal to an optical signal through the optoelectronic conversion module of the receiving optical terminal, conduct it to the transmitting optical terminal 2 through the optical fiber of the optical fiber cylinder 01, the transmitting optical terminal 2 converts the optical signal into an electrical signal, and gives the signal to the flight control through the serial port. This process realizes the direct control of the UAV by the ground end.

[0052] Currently, UAVs mainly maintain attitude control and position navigation of the UAV through the combined action of the Global Navigation Satellite System (abbreviated as GPS) and the inertial navigation system MEMS of the flight control itself. When the UAV loses the GPS signal for a short time, the inertial navigation system of the flight control will calculate and compensate for the position information of the UAV, and maintain the flight navigation of the UAV within a short time. When the GPS signal is continuously lost, the position deviation of the UAV navigation will continue to accumulate due to measurement and calculation errors in the inertial navigation system of the flight control, resulting in the UAV deviating from the navigation target.

[0053] In the optical fiber gyro integrated optical fiber anti-interference system of the present invention, it does not replace the inertial navigation system of the UAV. Instead, relying on the high-precision optical fiber signal conduction and the serial port connection between the transmitting optical terminal 2 and the flight control of the UAV, the high-precision signals measured by the optical fiber inertial integrated navigation system are used to compensate for the accumulated deviation of the UAV's own inertial navigation, assist the UAV flight control to adjust its own flight attitude, and achieve high-precision and fully autonomous flight without manual intervention.

[0054] The specific implementation method of the closed-loop control of the fiber optic inertial integrated navigation system and the fiber optic guidance system based on fiber optic inertial navigation is as follows:

[0055] In the case of having GPS signals, the fiber optic gyroscopes and quartz flexure accelerometers of the fiber optic inertial navigation system record the attitude information of the fiber optic cylinder 01 in real time. The GNNS receiver is responsible for receiving the position information of the fiber optic cylinder 01. Since the fiber optic cylinder 01 and the unmanned aerial vehicle (UAV) are connected by a wire constraint, the attitude and position information of the fiber optic cylinder 01 is approximately the same as that of the UAV. After collecting the above information, the transmitting optical terminal 2 gives the information to the UAV flight control through the serial port to assist the UAV in compensating and correcting the attitude and position information. At the same time, the UAV flight control information and the fiber optic inertial navigation system signal will be transmitted to the ground control terminal through the fiber optic anti-interference system to form a closed-loop control with the manual control at the ground terminal.

[0056] When there is no GPS signal, the fiber optic gyroscopes in the fiber optic inertial integrated navigation system will continue to record the rotational angular velocity of the UAV from the breakpoint where there is no GPS signal, integrate the deceleration to calculate the change in the UAV's heading, and feedback the information to the UAV flight control to assist the UAV in realizing the compensation of the attitude and position information. Since the accuracy of the fiber optic gyroscopes is much higher than that of the UAV's own inertial navigation, and due to the anti-interference property of fiber optic guidance, based on the compensation of the attitude and position information of the fiber optic inertial navigation system, the UAV can continue to achieve autonomous navigation when the GPS signal is missing. This process can be carried out without manual intervention, especially in mine tunnels and areas with signal loss, and this situation will be particularly prominent. Similarly, due to the integrated fiber optic guidance, the ground receiving terminal can directly intervene and receive the control of the UAV's autonomous flight.

[0057] In addition, the transmitting optical terminal 2 simultaneously receives the image information from the UAV and synchronizes the information to the ground control terminal.

[0058] The transmitting optical terminal 2 is highly modular and can be connected to fiber optic cylinders 01 of various models. The transmitting optical terminal cover 21 and the transmitting optical terminal bottom cover 22 are riveted together to prevent external forces from damaging the circuit board and protect the above-mentioned sensor modules such as the GNNS receiver, fiber optic gyroscopes, and quartz flexure accelerometers.

[0059] The fiber optic cylinder 01 is composed of a cylinder body 1, an outlet 3, a cylinder cover 4, a bushing 5, and a cylinder shaft 6, and is fixed on an unmanned aerial vehicle or other carriers such as an underwater vehicle. Considering the variety of current unmanned aerial vehicle models and different actual usage scenarios. In other embodiments, the fiber optic cylinder 01 can flexibly change the size of the fiber optic cylinder 01 according to the flight range of the unmanned aerial vehicle, avoiding redundancy of the optical fiber and enabling the unmanned aerial vehicle and the carrier to carry extra weight. According to the cruising capabilities of the mainstream models of unmanned aerial vehicles in the market, the fiber optic lengths accommodated by the fiber optic cylinder 01 are set to 1KM, 2KM, 5KM, 10KM, 15KM, 20KM, 25KM, and 30KM, which can quickly deploy various types of fiber optic cylinders 01 according to user needs, with stronger pertinence and practicability. The above-mentioned various types of fiber optic cylinders are also compatible with the transmitting optical terminal 2, with a higher degree of modularization.

[0060] The outlet 3 of the fiber optic cylinder 01 is funnel-shaped and fixed on the cylinder cover 4 of the fiber optic cylinder 01, which can effectively prevent the optical fiber from spreading and flying into the propeller of the unmanned aerial vehicle and causing entanglement when the optical fiber is payed out. The present invention adopts the outlet 3 of the 5-10KM type, which can be compatible with all the above-mentioned models of fiber optic cylinders 01.

[0061] The optical fiber adopts an ultra-fine diameter single-mode bare optical fiber with a diameter of 0.25mm. The transmission loss of the single-mode optical fiber is about 0.35dB / km, and the transmission loss of the optical signal at a wavelength of 1550nm is less than 0.21dB / km.

[0062] The present invention also provides a new type of optical fiber in-payout process. Please refer to Figure 10 and Figure 11 , the fiber optic cylinder 01 adopts an in-payout method to lead out the optical fiber, and is embedded with an optical fiber coil. The shape of the optical fiber coil is fixed by potting glue to prevent the coil from collapsing; during the curing process of the potting glue, the cylinder shaft 6 is used to fix the shape of the optical fiber coil when the potting glue in the cylinder body 1 cures. When the glue cures, the cylinder shaft 6 is taken out, so that the inside of the coil is hollow; the bushing 5 is used to fix the cylinder shaft 6 to make it rotate smoothly.

[0063] When the unmanned aerial vehicle is flying, due to the traction force, the optical fiber is led out from the hollow part of the optical fiber coil. This way of leading out the optical fiber is called in-out. Then it is connected to the ground control terminal via the outlet 3. This way of leading out the optical fiber can effectively avoid optical fiber entanglement and external force damage.

[0064] The fiber optic inertial navigation system is independent of the navigation system of the unmanned aerial vehicle itself and is embedded in the fiber optic guidance system of the unmanned aerial vehicle. This design makes the in-payout type of unmanned aerial vehicle fiber optic guidance system more portable and has a higher degree of modularization.

[0065] Therefore, the present invention adopts the above-mentioned UAV fiber optic guidance system integrating fiber optic inertial combination navigation. With extremely strong anti-interference performance through fiber optic guidance and signal transmission, a fiber optic inertial navigation system integrated in the transmitting optical terminal is set up, which can measure and compensate the attitude error and position error of the UAV flight control, assist the UAV to fly autonomously, achieve high modularity, and be compatible with most models of UAVs.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An unmanned aerial vehicle fiber optic guidance system integrating fiber optic inertial combined navigation, characterized in that, It includes an optical fiber inertial integrated navigation system and an optical fiber anti-interference system: The optical fiber anti-interference system includes a transmitting optical terminal, a receiving optical terminal and an optical fiber cylinder; the optical fiber inertial integrated navigation system includes an optical fiber gyroscope, a quartz flexible accelerometer and a GNSS receiver, and the components are integrated in the transmitting optical terminal; The transmitting optical terminal is fixed at one end of the optical fiber cylinder, and is composed of a transmitting optical end cover, a transmitting optical end bottom cover and an internal circuit board, and the transmitting optical terminal is connected to the ground control terminal through an optical fiber; The optical fiber cylinder is fixed to the UAV through wire constraints, and includes a cylinder body, an outlet, a barrel cover, a bushing and a cylinder shaft; the optical fiber is embedded in the cylinder body and exits in an internal wire laying manner; the outlet is located at the other end of the optical fiber cylinder and is fixed on the barrel cover, opposite to the transmitting optical terminal; The physical interfaces of the transmitting optical terminal include an Ethernet port, a serial port, TTL and HDMI.

2. The fiber optic guidance system for an unmanned aerial vehicle integrating fiber optic inertial combined navigation according to claim 1, characterized in that, There is a wired signal transmission between the transmitting optical terminal and the UAV flight control through the serial port, and the transmitted signals include the UAV attitude and position feedback signals of the inertial integrated navigation system of the transmitting optical terminal.

3. The fiber optic guidance system for an unmanned aerial vehicle integrating fiber optic inertial combined navigation according to claim 1, characterized in that, The receiving optical terminal includes an optoelectronic conversion module; ground personnel convert the control signal from an electrical signal to an optical signal through the optoelectronic conversion module, and conduct it to the transmitting optical terminal through the optical fiber; the transmitting optical terminal converts the optical signal to an electrical signal and then transmits it to the UAV flight control through the serial port.

4. An unmanned aerial vehicle fiber optic guidance system integrating fiber optic inertial combined navigation according to claim 1, characterized in that, The transmitting optical terminal receives the image information from the UAV and synchronizes the image information to the ground control terminal.

5. An unmanned aerial vehicle fiber optic guidance system integrating fiber optic inertial combined navigation according to claim 1, characterized in that, The transmitting optical end cover and the transmitting optical end bottom cover are riveted to protect the sensor module, and the sensor module includes a GNNS receiver, an optical fiber gyroscope and a quartz flexible accelerometer.

6. An unmanned aerial vehicle fiber optic guidance system integrating fiber optic inertial combined navigation according to claim 1 or claim 4, characterized in that HDMI is the main interface of the image transmission module.

7. An unmanned aerial vehicle fiber optic guidance system integrating an optical fiber inertial combined navigation according to claim 1, characterized in that, The optical fiber cylinder is set to different models and is compatible with the transmitting optical terminal.

8. An unmanned aerial vehicle fiber optic guidance system integrating fiber optic inertial combined navigation according to claim 1, characterized in that, The ground control terminal directly intervenes in and controls the autonomous flight of the UAV.

9. An unmanned aerial vehicle fiber optic guidance system integrating fiber optic inertial combined navigation according to claim 1, characterized in that, The optical fiber inertial navigation system is independent of the UAV's own navigation system and is embedded in the UAV optical fiber guidance system.

10. An unmanned aerial vehicle fiber optic guidance system integrating fiber optic inertial combined navigation according to claim 1, characterized in that, The optical fiber cylinder exits in an internal wire laying manner. Its manufacturing process uses potting glue to fix the shape of the optical fiber coil to prevent the coil from collapsing. During the curing process of the potting glue, the shape of the optical fiber coil is fixed through the cylinder shaft, making the inside of the optical fiber coil hollow; when the UAV is flying, the optical fiber coil is towed, and the optical fiber is led out from the internal hollow part, and is connected to the ground control terminal through the outlet, realizing inner side wire leading to prevent wire entanglement.

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