Flight control system integrating communication and guide

Abstract

The invention relates to the technical field of unmanned communication navigation control, in particular to a communication and guide integrated flight control system, which comprises a sensor module, a communication module, an image transmission module and a navigation flight control module, the sensor module collects unmanned aerial vehicle environment state information and sends the information to the navigation flight control module. The communication module communicates with a ground remote control terminal; the navigation flight control module comprises an image coding processing core and a dual-core processor; the image transmission module collects and sends an environment image, the environment image is coded and compressed by the image coding processing core to form image data and a depth image, the dual-core processor comprises a navigation core and a flight control core, and the navigation core obtains a trajectory tracking instruction and sends the trajectory tracking instruction to the flight control core; the flight control core controls the power of the unmanned aerial vehicle according to the unmanned aerial vehicle environment state information and the trajectory tracking instruction; the stability and reliability of the unmanned aerial vehicle platform can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned communication, navigation and control, and in particular to a flight control system integrating communication, navigation and vision. Background Art

[0002] In modern aviation and aerospace, the navigation, control, and communication of aircraft are key technologies, essential for achieving precise flight, mission execution, and data transmission. Traditionally, these functions are often performed by independent subsystems or devices, such as GPS navigation systems, inertial measurement units (IMUs), communication equipment, and visual sensors. However, due to compatibility issues between individual components, especially in unmanned aerial vehicles and autonomous flight systems, decentralized connected components have great reliability issues. Communication, navigation, and vision integrated flight control systems are usually designed as plug-and-fly systems, which do not require complex installation and configuration processes and can be quickly deployed in different mission scenarios, reducing preparation time and adapting to the need for rapid response.

[0003] Existing drone platforms often utilize separate components for flight control units, communication units, visual sensors, and navigation units. These components require adaptation to interfaces and protocols, or the development of appropriate device drivers, resulting in a cumbersome, time-consuming, and labor-intensive system integration process. Furthermore, existing flight control systems are prone to response delays and task congestion due to insufficient computing resources when simultaneously handling high-load image processing, navigation and obstacle avoidance algorithms, and real-time flight control. The lack of effective isolation and parallel processing mechanisms between tasks further limits the system's stability and reliability in complex environments, making it difficult to meet the stringent requirements of flight control and navigation perception. Summary of the Invention

[0004] In view of the above problems, the present invention provides a flight control system with integrated communication, navigation and vision, which solves the technical problem of poor stability and reliability of UAV platforms in the prior art when performing various tasks.

[0005] The present invention provides a flight control system integrating communication, navigation and vision, including a sensor module, a communication module, an image transmission module and a navigation and flight control module; The sensor module collects the UAV environmental status information and sends it to the navigation and flight control module; The communication module communicates with the ground remote control terminal to send flight status and image data and receive control data; The navigation and flight control module includes an image coding processing core and a dual-core processor; the image transmission module collects and sends the environment image to the navigation and flight control module, and the environment image is coded and compressed by the image coding processing core to form image data and depth image, and the image data is sent to the communication module; the depth image is sent to the dual-core processor; The dual-core processor includes a navigation core and a flight control core, the navigation core receives and executes path planning according to the depth image, and sends the obtained trajectory tracking instruction to the flight control core; The flight control core receives the UAV environment status information and controls the power of the UAV according to the UAV environment status information and the trajectory tracking instruction. The operating frequency of the navigation core is lower than the operating frequency of the flight control core.

[0006] Preferably, the operating frequency of the navigation core is 10-50 Hz, and the operating frequency of the flight control core is 400-1000 Hz.

[0007] Preferably, the sensor module includes an inertial sensor, a barometer, a satellite antenna, and an optical flow sensor; the satellite antenna is a GNSS receiver; the inertial sensor and the barometer transmit information to the navigation flight control module via an SPI interface; the satellite antenna and the optical flow sensor transmit information to the navigation flight control module via a UART interface; The drone environmental status information includes inertial information, air pressure, satellite positioning and optical flow information.

[0008] Preferably, the communication module includes a main communication antenna, a secondary communication antenna and a radio frequency processing unit. The main communication antenna and the secondary communication antenna are used to transmit and receive flight status and image data respectively. The radio frequency processing unit includes a wireless baseband and a 2.4GRF radio frequency transceiver.

[0009] Preferably, the communication module communicates with the ground remote control terminal in the following manner: the communication module receives control data transmitted by the ground remote control terminal, and the communication module sends the flight status of the UAV to the ground remote control terminal and the communication module sends image data to the ground remote control terminal.

[0010] Preferably, the image transmission module includes a plurality of visible light infrared cameras, and sends the environmental image to the navigation flight control module through a visible light infrared camera interface, and the visible light infrared camera interface is a MIPI interface.

[0011] Preferably, the flight control core includes a state estimation module, a mode scheduling module and a bottom control module; the state estimation module receives the drone environment state information sent by the sensor module and runs the Kalman filter algorithm to generate the flight state; the flight state includes the state values ​​of the drone's current position, speed and attitude; The mode scheduling module determines the expected control information according to the operating mode and sends it to the underlying flight control module; the expected control information includes: expected position and expected speed; The bottom control module controls the UAV power according to the desired control information.

[0012] Preferably, it also includes a USB interface 1, a cooling fan interface 2, an external LED interface 4, a memory chip 5, a CAN interface 6, a power supply 12, a main PWM interface 14, an LED status light 15, a secondary PWM interface 16, a core board connector 17, and a backplane connector 18; Among them, the USB interface 1 is used to connect to the computer, the cooling fan interface 2 is connected to the cooling fan, the external LED interface 4 is connected to the breathing light, and the CAN interface 6 is connected to the GPS; the main PWM interface 14 and the auxiliary PWM interface output square wave signals to control the motor; the LED status light 15 displays different flight control states, the core board connector 17 and the baseboard connector 18 are used for pin connection between the baseboard and the core board, and the memory chip 5 can save the flight status log.

[0013] Preferably, a multi-core processing method for an integrated flight control system according to the present invention is also provided, comprising the following steps: Step S1: The image coding processing core receives the original environment image collected by the image transmission module, obtains a depth point cloud through depth extraction processing, and sends the depth point cloud to the navigation core; Step S2: The navigation core receives the flight status sent by the flight control core, and generates a probability grid map according to the flight status and the depth point cloud; The navigation core runs a path planning algorithm based on the probability grid map to generate a smooth obstacle avoidance flight trajectory, and sends the smooth obstacle avoidance flight trajectory to the flight control core; Step S3: The mode scheduling module of the flight control core determines whether the smooth obstacle avoidance flight trajectory sent by the navigation core has been received; if not, the desired control information provided by the current ground remote control terminal is sent to the underlying flight control module; if received, the desired control information is generated based on the smooth obstacle avoidance flight trajectory and transmitted to the underlying flight control module; Step S4: The bottom flight control module calculates control instructions based on the desired control information and sends them to the motors and steering gear that control the power of the drone.

[0014] Preferably, the step of generating a smooth obstacle avoidance flight trajectory in step S2 specifically includes: The navigation core determines whether the drone's current flight will collide with obstacles in the probability grid map. If a collision is predicted, the navigation core activates the obstacle avoidance algorithm and uses the A* algorithm to search for the optimal reference path on the local map. A smooth obstacle avoidance flight trajectory is obtained by fitting the optimal reference path with a polynomial spline trajectory.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: (1) This invention adopts a multi-core processing architecture, effectively separating the computationally intensive navigation and environmental perception algorithms from the flight control methods that require extremely high real-time performance from running independently on different cores. This split-core design fully unleashes the system's computing resources while isolating high-computation and high-real-time tasks. This significantly improves the system's response speed, ensures the stability and reliability of the flight control system, and reduces the risk of flight control delays caused by navigation planning occupying resources.

[0016] (2) The present invention adopts a highly integrated all-in-one package, integrating multiple functional modules such as the core data processing unit, sensor information acquisition and flight control, image processing and fusion, and wireless communication into the same system. The system also supports multiple hardware interfaces and rich software functions, and can realize aerial video compression, control signal processing, and wireless data transmission. It is fully powered and ready for use, greatly improving the integration and versatility of the equipment, bringing great convenience to the application and maintenance of drones.

[0017] (3) The present invention improves the high reliability and applicability of the system. Through the coordinated optimization of hardware and software, the module's capabilities in real-time data acquisition, analysis, and transmission are enhanced, while the independence and stability of the underlying flight control algorithm are guaranteed, effectively preventing mutual interference between algorithms and significantly improving the flight safety and mission completion capabilities of drones in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings are only for purposes of illustrating particular embodiments and are not to be considered limiting of the invention.

[0019] Figure 1 This is a schematic diagram of the flight control function block of the integrated communication, navigation and vision flight control system provided by the present invention.

[0020] Figure 2 This is a hardware schematic diagram of the integrated communication, navigation and vision flight control system provided by the present invention.

[0021] Figure 3 Schematic diagram of the core board of the flight control system with integrated communication, navigation and vision provided by the present invention.

[0022] Figure 4 This is a schematic diagram of the base plate of the integrated communication, navigation and vision flight control system provided by the present invention.

[0023] Figure 5 Schematic diagram of the flight control distributed computing framework of the integrated communication, navigation and vision flight control system provided by the present invention.

[0024] Figure markings: 1-USB interface, 2-cooling fan interface, 3-main control SOC, 4-external LED interface, 5-memory chip, 6-CAN interface, 7-main communication antenna interface, 8-satellite antenna interface, 9-secondary communication antenna interface, 10-visible light infrared camera interface, 11-inertial sensor, 12-power supply, 13-optical flow sensor interface, 14-main PWM interface, 15-LED status light, 16-secondary PWM interface, 17-core board connector, 18-baseboard connector, 19-GNSS receiving chip. DETAILED DESCRIPTION

[0025] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. In addition, the present invention can also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited by the specific embodiments disclosed below.

[0026] This invention proposes a UAV flight control system that integrates communication, navigation, and vision. This system utilizes a distributed computing architecture, integrates a DSP to process and compress images captured by dual cameras in real time, acquires environmental depth information, and utilizes a dual-core CPU to independently run navigation and obstacle avoidance planning algorithms and flight control algorithms. Inter-core communication enables efficient task coordination and data exchange. The system also integrates flight control data links, precise flight control, and high-speed image encoding and transmission. This solution enables real-time and stable communication, visual perception, and autonomous navigation within the flight control system, effectively improving the UAV's autonomous flight capabilities in complex environments, flight control stability, and overall system performance.

[0027] In order to illustrate the effectiveness of the present invention, the above technical solution of the present invention is described in detail below through a specific embodiment. Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, a flight control system integrating communication, navigation and vision is disclosed, which includes a sensor module, a communication module, an image transmission module and a navigation flight control module.

[0028] The sensor module includes an inertial sensor, a barometer, a satellite antenna, and an optical flow sensor, capable of collecting inertial information, air pressure, satellite positioning, and optical flow information. The information read by the sensor module is transmitted to the navigation and flight control module for navigation and control of the drone.

[0029] In some embodiments, the inertial sensor and the barometer transmit information to the navigation flight control module via an SPI interface; the satellite antenna and the optical flow sensor transmit information to the navigation flight control module via a UART interface.

[0030] In some embodiments, the satellite antenna is specifically a GNSS receiver chip, which is used to accurately locate the drone's position. Using the satellite navigation system, the GNSS receiver chip uses trilateration to calculate its own longitude, latitude, and altitude information. By measuring multiple satellite signals, it determines the receiver's clock error to obtain accurate time. After receiving the GNSS information, the SOC converts the longitude and latitude data into local plane coordinates in the Northeastern Sky coordinate system, providing accurate position information for flight control.

[0031] The communication module communicates and interacts with the ground remote control terminal. The communication module includes a main communication antenna and a secondary communication antenna, which respectively perform wireless communication of flight status, control data and image data.

[0032] The communication module of the present invention can communicate and interact with the ground remote control terminal in the following ways: the communication module receives control data transmitted by the ground remote control terminal, the communication module sends the flight status of the UAV to the ground remote control terminal, and the communication module sends image data to the ground remote control terminal.

[0033] The flight status may include the spatial position, attitude, flight speed and other information representing the current flight status of the UAV, and the flight status may be analyzed by the navigation and flight control module.

[0034] The control data may include instruction information for controlling the flight status of the UAV, which is sent by the ground remote control terminal to the communication module.

[0035] The communication module may include a radio frequency processing unit contained in a main control chip, including a wireless baseband and a 2.4G RF radio frequency transceiver, and the radio frequency processing unit can realize single-frequency 2.4G 2*2 MIMO wireless video transmission and reception.

[0036] The image transmission module includes multiple visible light or infrared cameras. The multiple visible light or infrared cameras of the present invention can capture multiple visible light or infrared images and transmit data through the visible light infrared camera interface.

[0037] In some embodiments, the visible light infrared camera interface can be a MIPI interface.

[0038] The image captured by the camera of the image transmission module can be transmitted to the navigation flight control module, and the compressed video stream is obtained by the hardware encoding unit of the image encoding processing core of the navigation flight control module, and then sent by the image transmission module to the communication module, and the communication module sends the compressed video stream.

[0039] The flight control system with integrated communication, navigation and vision of the present invention further includes a main control SOC, a memory chip and a GNSS receiving chip, wherein the GNSS receiving chip is used for receiving signals from a satellite antenna.

[0040] The main control SOC includes a dual-core processor, an image encoding processing core and a radio frequency processing unit.

[0041] In some embodiments, the dual-core processor of the main control SOC of the present invention can be a dual-core Cortex-M7, the image encoding processing core includes a hardware encoding unit and an image processor, and the radio frequency processing unit is used to constitute the communication part of the communication module.

[0042] The navigation flight control module includes a dual-core processor and an image encoding processing core, and the communication module includes a radio frequency processing unit.

[0043] like Figure 5 As shown, the dual-core processor of the present invention allocates navigation and obstacle avoidance functions and flight control functions to different cores for processing, and the dual-core processor includes a navigation core and a flight control core.

[0044] The navigation core is responsible for receiving the depth image processed by the image processor, generating the environmental obstacle map, and then iteratively generating the obstacle avoidance trajectory of the UAV through nonlinear optimization methods. This part involves a large number of matrix calculations, so the amount of calculation is large. At the same time, since it generates a continuous motion trajectory for a period of time, the frequency requirement is relatively low. This part runs at a frequency of 10Hz.

[0045] The navigation core can send the trajectory tracking instructions formed by trajectory optimization to the flight control core through inter-core communication to control the power of the drone.

[0046] The flight control core is responsible for receiving sensor information to calculate the current state of the drone, and at the same time running the control algorithm to calculate the motor and servo control instructions required to maintain the stability of the drone's flight and send them to the motor and servo to achieve stable control of the drone. Since the motor and servo require high-frequency continuous control, this part has a high requirement for the control instruction calculation frequency and runs at 400Hz.

[0047] In some embodiments, the flight control core can receive drone environmental status information provided by inertial sensors, barometers, satellite antennas, and optical flow sensors in the sensor module to calculate the flight status, and send the flight status to the navigation core through inter-core communication.

[0048] Through the split-core deployment design of the navigation and control modules, we can separate the computationally intensive low-frequency obstacle avoidance tasks from the high-frequency flight control underlying control tasks with high real-time requirements. This ensures stable flight control of the UAV even when the obstacle avoidance tasks occupy a large amount of core computing resources. The specific implementation steps are described in detail below.

[0049] (1) The image processor receives the original environment image captured by the image transmission module and processes it through depth extraction to obtain a depth point cloud. The depth point cloud contains information about the depth distance between the drone and the environment. The image processor sends the depth point cloud to the navigation core.

[0050] (2) The navigation core receives the flight status sent by the flight control core, and generates a probability grid map based on the flight status and the depth point cloud. The probability grid map is used to represent obstacle information around the UAV.

[0051] The navigation core determines whether the drone's current flight will collide with obstacles in the probability grid map. If a collision is predicted, the navigation core activates the obstacle avoidance algorithm, using the A* algorithm to search for an optimal reference path on the local map. This path search generates an optimal reference path for safe flight and no collisions.

[0052] A smooth obstacle avoidance flight trajectory is obtained by fitting the optimal reference path with a polynomial spline trajectory, so as to ensure that the UAV can avoid sudden obstacles in a dynamic environment.

[0053] The navigation core sends the smooth obstacle avoidance flight trajectory to the flight control core.

[0054] To ensure real-time planning, the navigation core runs the navigation obstacle avoidance algorithm at a lower frequency. In some embodiments, the navigation core runs the navigation obstacle avoidance algorithm at a frequency of 10 Hz.

[0055] (3) The flight control core includes a state estimation module, a mode scheduling module, and a bottom-level control module. The state estimation module receives the drone’s environmental status information sent by the sensor module and runs the Kalman filter algorithm to generate the state values ​​of the drone’s current position, speed, and attitude.

[0056] The mode scheduling module processes the operation mode according to the operation mode. If the smooth obstacle avoidance flight trajectory sent by the navigation core is not received, the operation mode is manual control mode. The mode scheduling module sends the expected control information (expected position, expected speed, etc.) provided by the current ground remote control terminal to the underlying flight control module. When receiving the smooth obstacle avoidance flight trajectory sent by the navigation core, the mode scheduling module generates the desired control information based on the obstacle avoidance trajectory and transmits it to the underlying flight control module; The underlying flight control module calculates control instructions based on the desired control information and sends them to the motors and servos that control the power of the drone to achieve stable control.

[0057] Since the motors and servos require high-frequency continuous control, the flight control core has a high requirement for the control command calculation frequency and runs at 400Hz.

[0058] In some embodiments, the integrated communication, navigation and viewing flight control system of the present invention further includes a storage unit, specifically a memory chip, which is responsible for storing flight logs and flight parameters.

[0059] In some embodiments, the integrated communication, navigation, and visual control system of the present invention also includes an LED status light that flashes at different frequencies to indicate the system's operating status. During system initialization, the LED status light flashes rapidly, while during normal operation, it flashes at a frequency of 1 Hz, visually reflecting the system's operating status.

[0060] In order to illustrate the effectiveness of the method proposed in the present invention, the above technical solution of the present invention is described in detail below through a specific embodiment.

[0061] Example 1 This embodiment provides a hardware structure of a flight control system with integrated communication, guidance and vision. Figure 2 、 Figure 3 and Figure 4 shown.

[0062] The hardware structure of the integrated communication, navigation and vision flight control system includes a sensor module, a communication module, an image transmission module and a navigation and flight control module.

[0063] The sensor module includes a satellite antenna interface 8, an inertial sensor 11, and an optical flow sensor interface 13. The satellite antenna interface 8 is connected to a satellite antenna and can receive satellite positioning signals. The optical flow sensor interface 13 is connected to an optical flow sensor and can receive optical flow fields for motion estimation to achieve indoor positioning. The inertial sensor 11 can obtain inertial information such as the acceleration, angular velocity, and attitude angle of the current drone.

[0064] The communication module includes a primary communication antenna interface 7 and a secondary communication antenna interface 9, which can be connected to the primary communication antenna and the secondary communication antenna, and is used to wirelessly communicate flight status, control data, and image data with a ground remote control terminal.

[0065] The image transmission module includes a visible light infrared camera interface 10 connected to a plurality of visible light or infrared cameras for capturing and transmitting image information.

[0066] The navigation flight control module includes a main control SOC 3 , a memory chip 5 and a GNSS receiving chip 19 .

[0067] The hardware structure of the flight control system with integrated communication, navigation and vision of the present invention also includes: USB port 1, cooling fan port 2, external LED port 4, CAN port 6, power supply 12, main PWM port 14, LED status light 15, auxiliary PWM port 16, core board connector 17, bottom board connector 18; Among them, USB port 1 is used to connect to a computer for parameter configuration and sensor calibration; cooling fan port 2 is connected to a cooling fan, and external LED port 4 is connected to a breathing light that can be controlled to display different flight control status; CAN port 6 is used for external backup and can be connected to GPS; main PWM port 14 and auxiliary PWM port 16 are output ports for motor control signals, outputting square wave signals to control the motor; LED status light 15 can also display different flight control status. Core board connector 17 and baseboard connector 18 are used to connect the pins of the baseboard and core board.

[0068] The integrated flight control of the present invention adopts a distributed computing solution and uses an integrated DSP to perform image processing and compression to obtain environmental depth information in real time. Then, by taking advantage of the dual-core CPU, the navigation and obstacle avoidance algorithm with large computational workload and the flight control algorithm with high real-time requirements are respectively run at low frequency. One core receives the depth image information of the DSP and the drone positioning information of the other core, and plans the obstacle avoidance flight trajectory in real time. The flight trajectory is then transmitted to the other CPU core in real time through inter-core communication. The trajectory tracking method and the basic flight control method are run in the other core. At the same time, the core is responsible for interacting with the chip communication unit in real time with the flight status and ground control instructions, realizing real-time and stable communication, visual perception and navigation functions within a single chip.

[0069] The above are only embodiments of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the field can improve and implement this scheme in combination with their own abilities under the inspiration given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

[0070] Although the specific embodiments of the present invention have been described in a particular order, it should be understood that such actions or steps are required to be performed in the particular order shown or in a sequential order, or that all illustrated actions or steps are required to be performed to obtain the desired result. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination.

[0071] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A flight control system with integrated communication, navigation and vision, characterized in that: include: Sensor module, communication module, image transmission module and navigation and flight control module; The sensor module collects the UAV environmental status information and sends it to the navigation and flight control module; The communication module communicates with the ground remote control terminal to send flight status and image data and receive control data; The navigation and flight control module includes an image coding processing core and a dual-core processor; the image transmission module collects and sends the environment image to the navigation and flight control module, and the environment image is coded and compressed by the image coding processing core to form image data and depth image, and the image data is sent to the communication module; The depth image is sent to the dual-core processor; The dual-core processor includes a navigation core and a flight control core, the navigation core receives and executes path planning according to the depth image, and sends the obtained trajectory tracking instruction to the flight control core; The flight control core receives the UAV environment status information and controls the power of the UAV according to the UAV environment status information and the trajectory tracking instruction. The operating frequency of the navigation core is lower than the operating frequency of the flight control core.

2. The integrated flight control system of communication, navigation and vision according to claim 1, characterized in that: The sensor module includes an inertial sensor, a barometer, a satellite antenna, and an optical flow sensor; the satellite antenna is a GNSS receiver; the inertial sensor and the barometer transmit information to the navigation flight control module via an SPI interface; the satellite antenna and the optical flow sensor transmit information to the navigation flight control module via a UART interface; The drone environmental status information includes inertial information, air pressure, satellite positioning and optical flow information.

3. The integrated flight control system of communication, navigation and vision according to claim 2, characterized in that: The communication module includes a main communication antenna, a secondary communication antenna and a radio frequency processing unit. The main communication antenna and the secondary communication antenna are used to transmit and receive flight status and image data respectively. The radio frequency processing unit includes a wireless baseband and a 2.4G RF radio frequency transceiver.

4. The integrated flight control system of communication, navigation and vision according to claim 3, characterized in that: The communication module communicates with the ground remote control terminal in the following ways: the communication module receives control data transmitted by the ground remote control terminal, the communication module sends the flight status of the UAV to the ground remote control terminal, and the communication module sends image data to the ground remote control terminal.

5. The integrated flight control system of communication, navigation and vision according to claim 4, characterized in that: The image transmission module includes multiple visible light infrared cameras and sends the environmental image to the navigation flight control module through a visible light infrared camera interface, where the visible light infrared camera interface is a MIPI interface.

6. The integrated flight control system of communication, navigation and vision according to claim 5, characterized in that: The flight control core includes a state estimation module, a mode scheduling module, and a bottom-level control module. The state estimation module receives the drone's environmental status information sent by the sensor module and runs the Kalman filter algorithm to generate the flight state. The flight state includes the state values ​​of the drone's current position, speed, and attitude. The mode scheduling module determines the expected control information according to the operating mode and sends it to the underlying flight control module; the expected control information includes: expected position and expected speed; The bottom control module controls the UAV power according to the desired control information.

7. The integrated communication, navigation and visual flight control system according to claim 6, characterized in that: The device also includes a USB interface (1), a cooling fan interface (2), an external LED interface (4), a memory chip (5), a CAN interface (6), a power supply (12), a main PWM interface (14), an LED status light (15), a secondary PWM interface (16), a core board connector (17), and a baseboard connector (18); The USB interface (1) is used to connect to a computer, the cooling fan interface (2) is connected to a cooling fan, the external LED interface (4) is connected to a breathing light, and the CAN interface (6) is connected to a GPS; the main PWM interface (14) and the auxiliary PWM interface output square wave signals to control the motor; the LED status light (15) displays different flight control states; the core board connector (17) and the baseboard connector (18) are used to connect the pins of the baseboard and the core board; and the memory chip (5) can save a log of the flight status.

8. The integrated flight control system of communication, navigation and vision according to claim 7, characterized in that: The operating frequency of the navigation core is 10-50 Hz, and the operating frequency of the flight control core is 400-1000 Hz.

9. The multi-core processing method for the integrated communication, navigation and vision flight control system according to claim 6, characterized in that: The following steps are involved: Step S1: The image coding processing core receives the original environment image collected by the image transmission module, obtains a depth point cloud through depth extraction processing, and sends the depth point cloud to the navigation core; Step S2: The navigation core receives the flight status sent by the flight control core, and generates a probability grid map according to the flight status and the depth point cloud; The navigation core runs a path planning algorithm based on the probability grid map to generate a smooth obstacle avoidance flight trajectory, and sends the smooth obstacle avoidance flight trajectory to the flight control core; Step S3: The mode scheduling module of the flight control core determines whether the smooth obstacle avoidance flight trajectory sent by the navigation core has been received; if not, the desired control information provided by the current ground remote control terminal is sent to the underlying flight control module; if received, the desired control information is generated based on the smooth obstacle avoidance flight trajectory and transmitted to the underlying flight control module; Step S4: The bottom flight control module calculates control instructions based on the desired control information and sends them to the motors and steering gear that control the power of the drone.

10. The multi-core processing method for the integrated communication, navigation and vision flight control system according to claim 9, characterized in that: The step of generating a smooth obstacle avoidance flight trajectory in step S2 specifically includes: The navigation core determines whether the drone's current flight will collide with obstacles in the probability grid map. If a collision is predicted, the navigation core activates the obstacle avoidance algorithm and uses the A* algorithm to search for the optimal reference path on the local map. A smooth obstacle avoidance flight trajectory is obtained by fitting the optimal reference path with a polynomial spline trajectory.

Images