A neural stimulation system for recording animal flight posture and positioning information

Abstract

The application discloses a kind of nerve stimulation systems for recording animal flight posture and positioning information, including control module, stimulation signal sending module, positioning module, acquisition module, shooting module, data recording module and power supply unit;Control module is used to generate stimulation instruction and control stimulation signal sending module, to determine stimulation channel, stimulation parameter and stimulation output time;Positioning module is used to obtain positioning information, height information and time information;Acquisition module is used to obtain posture-related data;Shooting module is controlled by control module, for shooting environmental information in flight process.The nerve stimulation system of the application can record the positioning information, posture-related data and environmental information in the flight process of pigeon, and through the electric stimulation signal with adjustable output frequency, pulse width and amplitude, realize the nerve stimulation control and multi-source information recording in flight process.

Description

Technical Field

[0001] This invention relates to the field of brain-computer interface technology, specifically to a neural stimulation system for recording animal flight posture and positioning information. Background Technology

[0002] Animal robots generally refer to a class of biorobots that use external stimulation devices to output stimulating signals to specific brain regions of animals to induce or regulate their behavior. Compared to traditional bionic robots, animal robots can utilize the animal's own motor abilities, environmental adaptability, and flexibility to perform motor actions with lower system power consumption. The common approach involves applying electrical stimulation signals to predetermined areas of the animal's brain using external stimulation devices, thereby regulating the animal's direction of movement, movement state, or behavioral patterns. The stimulation device, as the output carrier of the stimulation signal, has stimulation parameter settings and output methods that affect the effectiveness of animal behavior regulation.

[0003] In recent years, with the development of brain-computer interface (BCI) technologies, various stimulation or recording devices for animal robots have emerged. Some existing devices can perform functions such as neural signal detection, stimulation output, and behavior recording, and typically achieve parameter configuration and data interaction through wireless communication between the main control unit and an external host. For example, some systems use short-range wireless communication methods such as WiFi or Bluetooth to achieve data transmission between the device and the host; some devices can trigger recording or acquisition functions through sensors and combine them with stimulation output circuits to achieve electrical stimulation control of the animal. However, existing devices still generally have certain limitations in practical applications. For example, some systems are heavily reliant on external hosts or controllers, resulting in large overall device size and weight; some systems mainly focus on stimulation or single-type data recording, making it difficult to simultaneously acquire multi-source environmental information during animal movement; furthermore, when using short-range wireless communication methods such as Bluetooth and WiFi, the communication distance and link stability between the device and the external host are usually affected by factors such as transmission power, environmental obstruction, terrain conditions, and the animal's activity range. In scenarios involving long-distance animal activity or flight, it is difficult to maintain a stable data link between the device and the host, thus affecting real-time parameter configuration, control command transmission, and data feedback. In summary, existing animal robotic stimulation devices mainly have the following problems: 1) Limited data acquisition types: Existing animal robot stimulation devices typically mainly achieve stimulation output and partial physiological or motor information recording, lacking the function of synchronously acquiring environmental information during flight. For example, the ability to acquire image or video information is insufficient, making it difficult to meet the needs of multi-source data recording in search and rescue, environmental surveys, and animal behavior research.

[0004] 2) Insufficient miniaturization and weight reduction of equipment: For animal robots, especially flying animal robots, the size and weight of the equipment directly affect their motion stability, flexibility, and endurance. When the device is overloaded, it may adversely affect the animal's movement speed, flight trajectory, and behavioral response. Since different animals and individuals have different load capacities, it is necessary to minimize the size and weight of the stimulation equipment as much as possible while ensuring functionality.

[0005] 3) Strong reliance on short-range wireless links: Currently, most stimulation devices transmit data between the host and the device via wireless communication methods such as Bluetooth and WiFi. While this method facilitates parameter configuration and real-time data interaction, its communication distance is usually limited. In scenarios involving long-distance animal activity or flight, the wireless link between the device and the host is prone to interruption or limitation, thus affecting the system's applicability. Summary of the Invention

[0006] The purpose of this invention is to provide a neurostimulation system for recording the flight posture and positioning information of animals. The system outputs a square wave stimulation signal with adjustable frequency, pulse width, and amplitude through a control module and a stimulation signal output module to stimulate the target brain region of an animal flying robot, thereby achieving flight behavior regulation. The system also acquires positioning information, posture-related data, and environmental information of the animal flying robot during flight through a positioning module, a data acquisition module, and a camera module, thereby achieving collaborative recording of multi-source information during flight.

[0007] This was achieved through the following technical solutions: A neurostimulation system for recording animal flight posture and positioning information is disclosed. This system is designed to collaboratively record motion and environmental information during the flight of a pigeon robot. It includes a control module, a stimulation signal emission module, a positioning module, an acquisition module, an imaging module, a data recording module, and a power supply unit. The power supply unit outputs voltage to each module. The control module generates stimulation commands and controls the stimulation signal emission module to output stimulation signals, thereby determining the stimulation channel, stimulation parameters, and stimulation output timing. The stimulation channel is connected to stimulation electrodes implanted in the target brain region of the pigeon robot. The positioning module acquires positioning information. The acquisition module acquires flight posture-related data. The imaging module captures and stores environmental information during flight. The control module collaboratively records the positioning information and flight posture-related data and transmits them to the data recording module for storage.

[0008] Optionally, the stimulation signal generation module includes an operational amplifier and a multiplexer; the control module generates a square wave stimulation command with adjustable frequency, pulse width, and amplitude; the operational amplifier adjusts the magnitude of the stimulation command and transmits it to the multiplexer; the multiplexer selects the target stimulation channel to output the stimulation signal; the control module is connected to the multiplexer and controls the selection and activation / deactivation of the target stimulation channel. Through flexible routing and switching control of multiple output channels using a single stimulation source, a multi-brain-region, selectable stimulation strategy is supported with low hardware complexity, enhancing the system's functionality.

[0009] Optionally, the control module connects to the positioning module and the acquisition module via an asynchronous serial communication interface, to the data recording module via a synchronous serial communication interface, and to the imaging module via a general-purpose input / output port. The connection between the control module and the positioning module, acquisition module, imaging module, and data recording module controls data transmission and storage. Through these connections, the control module controls data transmission and storage, enabling collaborative recording of multi-source information during the pigeon robot's flight and expanding the pigeon robot's applicability.

[0010] Optionally, the positioning module includes a GNSS chip and a barometric pressure sensor to acquire latitude, longitude, time, and altitude information during the pigeon robot's flight, in order to plan the pigeon robot's flight path and complete tasks such as hovering at a fixed point.

[0011] Optionally, the acquisition module incorporates a six-axis motion sensor and a three-axis magnetic sensor. The six-axis motion sensor is used to acquire the three-axis acceleration and three-axis angular velocity on three orthogonal axes, and the three-axis magnetic sensor is used to acquire the three-axis magnetic field strength. The control module performs attitude calculations based on the three-axis acceleration, three-axis angular velocity, and three-axis magnetic field strength to obtain Euler angles and / or quaternions.

[0012] Optionally, the imaging module comprises an image sensor, a main control chip, and an SD card slot, used for acquiring image data, controlling data transmission, and storing data, respectively; and for starting or stopping recording and taking photos by receiving control signals from the control module. The imaging module enables the effective acquisition of image and video data during the pigeon robot's flight.

[0013] Optionally, the power supply unit includes a battery, a low-dropout linear regulator, and a DC-DC converter. The battery output is boosted by the DC-DC converter to power the stimulation signal emission module. The battery output is also regulated by the low-dropout linear regulator to power the positioning module, acquisition module, imaging module, control module, and data recording module. The power supply unit provides a continuous and stable voltage to the stimulation device, ensuring system safety.

[0014] Optionally, the operational amplifier employs a non-inverting amplifier circuit with DC bias; the non-inverting input of the non-inverting amplifier circuit is used to receive stimulation commands, and the bias voltage is connected to the inverting input of the non-inverting amplifier circuit through resistors R19 and R15 in series; a resistor R16 is provided between the output of the non-inverting amplifier circuit and the inverting input to form voltage negative feedback.

[0015] Optionally, the acquisition module uses a fixed navigation coordinate system as an absolute reference and outputs data in a carrier coordinate system that changes with attitude. The three axes of the navigation coordinate system point to due east, due north, and vertically upward, respectively. The three axes of the carrier coordinate system, x, y, and z, point to the front, right, and vertically downward of the animal flying robot, respectively. The origin is located at the center of mass of the animal flying robot. The control module performs attitude calculation based on the rotation relationship of the carrier coordinate system relative to the navigation coordinate system around the z-axis, y-axis, and x-axis, and obtains the corresponding quaternions.

[0016] Optionally, the six-axis motion sensor includes an accelerometer and a gyroscope, and the three-axis magnetic sensor includes a magnetometer; the control module uses an attitude calculation algorithm to fuse the output data of the accelerometer, gyroscope and magnetometer to obtain the corrected angular velocity value and the updated quaternion.

[0017] The beneficial effects of this invention compared to the prior art are: The technical solution of this invention, through a control module and a stimulus signal emission module, outputs adjustable stimulus signals that act on different brain regions of the animal robot, thereby controlling its movement behavior; at the same time, through a positioning module, a data acquisition module, and a shooting module, the position information, posture information, and environmental information of the animal robot during long-distance flight are recorded in a coordinated manner, so as to achieve effective control of its flight path and recording of environmental information, thereby improving the control efficiency and applicability of the system. Attached Figure Description

[0018] Figure 1 A framework diagram of a neural stimulation system for recording animal flight posture and positioning information; Figure 2 This is a flowchart of a method for recording animal flight posture and positioning information; Figure 3 This is a schematic diagram of a pigeon robot. Figure 4 This is a circuit diagram of an operational amplifier; Figure 5 This is a schematic diagram of the flight trajectory of a pigeon robot using a neural stimulation system. Detailed Implementation

[0019] The technical solutions in the embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0020] like Figure 1 The diagram shown is a framework of a neural stimulation system used to record animal flight posture and positioning information; Figure 3 The image shown is a schematic diagram of a pigeon robot; combined with Figure 1 and Figure 3 As shown, the animal robot in this solution is a pigeon robot. The pigeon robot's flight is controlled by a neural stimulation system. Based on the recorded flight position and flight posture data, the flight process is effectively regulated by outputting stimulation signals with adjustable parameters, and environmental information during the process is recorded.

[0021] The neural stimulation system includes a control module, a stimulation signal emission module, a positioning module, an acquisition module, an imaging module, a data recording module, and a power supply unit.

[0022] The control module, via its DAC port, outputs a square-wave stimulus signal to the stimulus signal sending module based on the stimulus parameters, stimulus emission time, and stimulus channel specified in the stimulus command. The stimulus channels are connected to different locations within the brain regions of the animal flight robot. The control module connects to the positioning and acquisition modules via asynchronous serial communication interfaces, to the data recording module via synchronous serial communication interfaces, and to the imaging module via general-purpose input / output ports. These interfaces allow the control module to effectively and rapidly control and transmit data to other modules, and it also acts as a data transfer relay, transferring data to the data recording module.

[0023] The stimulation signal generation module includes an operational amplifier and a multiplexer. The operational amplifier adjusts the magnitude of the stimulation command, generating different negative and positive stimulation square waves, which are then transmitted to the multiplexer. Each stimulation channel in the multiplexer outputs the signal to a corresponding brain region of the pigeon robot to control its movement according to a target, such as takeoff, left turn, right turn, or straight movement. Each brain region contains multiple nuclei; for example, one nucleus corresponds to a specific area of ​​the pigeon's brain, where multiple electrodes can be implanted, each corresponding to a stimulation channel. By changing the amplitude parameters of the negative and positive stimulation square waves, the turning angle of the pigeon robot can be effectively controlled. Furthermore, compared to using other waveforms, square waves provide instantaneous potential changes, resulting in lower stimulation intensity and simpler circuit implementation. The control module is also connected to the multiplexer to control the selection of each stimulation channel and the start / stop of the multiplexer.

[0024] like Figure 4The diagram shows the circuit structure of an operational amplifier. It employs a non-inverting amplifier circuit with DC bias. The non-inverting input receives the stimulus command signal, and the bias voltage is connected to the inverting input via resistors R19 and R15 in series. A resistor R16 is also placed between the output and inverting input of the non-inverting amplifier circuit to form voltage negative feedback. This op-amp is powered by a ±20V power supply signal, and therefore can be used to output negative and positive square waves. The steps for calculating the amplitude of its output signal are as follows: According to the shortness of the void, Figure 4 If the voltage values ​​at pins 4 and 3 of the operational amplifier are equal, then...

[0025] In the formula, This is the voltage value at pin 4 of the operational amplifier. sti 0 is the input signal of the operational amplifier, and also the voltage value of pin 3 of the operational amplifier.

[0026] According to the virtual open circuit rule, no current flows into pins 3 and 4 of the operational amplifier.

[0027] In the formula, sti This is the output signal of the operational amplifier.

[0028] Substituting equation (1.1) into equation (1.2), then

[0029] Since resistors R15 and R16 have equal resistance values, we can obtain the following from equation (1.3):

[0030] Ultimately, the negative and positive stimulus square waves output by the multiplexer are transmitted to the brain of the animal robot, enabling it to move according to the target.

[0031] It should be noted that the animal robot controls its movement by outputting stimulation signals to the animal through external devices. The control principle of the animal robot is as follows: stimulating specific nuclei of the pigeon robot with appropriately parameterized electrical signals can induce specific behaviors. Taking the currently disclosed FRM nucleus and LoC nucleus as examples: stimulating the FRM nucleus can induce turning; different positions of the electrode wire on the nucleus can induce left or right turns (the specific correspondence can be observed in experiments). Simultaneously, by adjusting the stimulation parameters, the turning angle can be controlled; that is, by adjusting the stimulation signal, the turning angle can be controlled. Stimulating the LoC nucleus can induce flight behavior. Combined with the turning control of the FRM nucleus, effective control of the animal robot's flight is achieved. The operational amplifier is responsible for precise voltage amplitude conditioning to ensure that the stimulation intensity meets the requirements; the multiplexer enables flexible routing and switching control of multiple output channels from a single stimulation source. This design supports multi-channel, selectable stimulation strategies with low hardware complexity, enhancing the system's functionality.

[0032] The positioning module is used to collect positioning information and transmit it to the control module. The positioning module includes a GNSS chip and a barometric pressure sensor. The GNSS chip collects positioning information (location, latitude, longitude, and time, etc.), and the barometric pressure sensor collects barometric pressure data. After receiving the data through an interface, the control module obtains the pigeon robot's altitude information based on known pressure and barometric pressure formulas.

[0033] The acquisition module collects attitude information and transmits it to the control module, which then passes it to the data recording module for storage. The acquisition module integrates a six-axis motion sensor and a three-axis magnetometer. The six-axis motion sensor acquires triaxial acceleration and angular velocity along three orthogonal axes, while the three-axis magnetometer acquires triaxial magnetic field strength. The control module calculates and verifies the attitude angles based on the triaxial acceleration, angular velocity, and magnetic field strength data to obtain corresponding attitude information, including Euler angles and quaternions. The combination of the six-axis motion sensor and the three-axis magnetometer acquires complete inertial and geomagnetic data necessary to describe rigid body motion, enabling efficient attitude calculation.

[0034] The shooting module integrates an image sensor, a main control chip, and an SD card slot, used for image data acquisition, control data transmission, and storage, respectively. The image sensor outputs in JPEG format, reducing the data processing load on the main control chip. The shooting module has a resolution of 640*480 and a bitrate of approximately 11MB / s. The module uses LEDs to indicate its current operating status. A constant LED and a fast flash indicate an inserted SD card, while a slow flash indicates the camera is working; the slow flash is continuous during recording and a single slow flash during taking a photo. The shooting module connects to the control module and receives control signals to start or stop recording and taking photos. The function of the shooting module is determined by the level and duration of the control signal. The control signal for taking a photo is a short low level of less than 1 second, while the control signal for recording is a long low level of more than 1 second; applying a low level again stops recording. After the camera starts shooting, the acquired video or photo is transferred to the SD card for storage via the main control chip.

[0035] The data logging module uses an SPI interface to communicate with the onboard SD card, supporting long-term, long-distance data transmission and storage. SPI transmission uses fewer signal lines, making it suitable for compact hardware applications.

[0036] The power supply unit includes a battery, a low-dropout linear regulator, and a DC-DC converter. The battery is a 3.7V, 400mAh lithium battery. After being boosted by the DC-DC converter, it powers the stimulation signal emission module. The battery output is also regulated by the low-dropout linear regulator before being transmitted to the positioning module, acquisition module, imaging module, control module, and data recording module.

[0037] Figure 2 This is a flowchart of a method for recording animal flight posture and positioning information, combined with... Figure 3 The diagram shows a pigeon robot to which the method is applied, in which a PCB board (neurostimulation system) is fixed to the back and head of the pigeon robot.

[0038] After downloading the program to the hardware circuit board, insert the battery to power the system. The following will explain the logical sequence of data transfer between modules throughout the entire process from power-on to power-off: After power-on, the control module initializes the DAC port, communication interface, etc. Then, the control module sends control information to the positioning module and the acquisition module respectively. The two functional modules begin to collect data and transmit it to the control module through different serial interfaces. The judgment information used to trigger the shooting function and the stimulation function can be changed as needed according to the flight environment of the pigeon robot. In addition to the latitude information of target position 1 and target position 2, it can also be the longitude, altitude, time, and other information of any two positions (user can set it themselves). For example, if the pigeon robot is flying north, the control module determines whether it is currently north of the target position 1 based on the latitude information of the target position 1. If it is, it sends a signal to the shooting module to start shooting through the interface and records the environmental information; if it is not at the target position, it directly transmits the data collected by the positioning module to the data recording module through synchronous serial communication, and then stores it in a certain format to the SD card. After passing target position 1, determine whether the coordinates of the current position are north of target position 2. If so, the control module outputs an initial stimulus signal, and then the stimulus signal output module changes the amplitude and outputs a stimulus signal that meets the requirements to control the flight trajectory of the pigeon robot. If not, store the position information in the SD card.

[0039] During data acquisition, the control module continuously receives data, sends stimulation signals and captures images upon reaching the target location, while the data recording module continuously stores data until the system is powered off. The SD card is then removed and read, and the information on the card is displayed in Matlab software.

[0040] The PCB board, composed of insulating material and conductive copper foil, is primarily used for electrical connections between electronic components. Depending on the requirements, it can be categorized as single-layer, double-layer, or multi-layer boards. This system consists of three PCB boards: Board 1 is the imaging module (camera), weighing 2.7g; Board 2 includes a control module, a stimulus signal emission module, a positioning module, a data recording module, and a power supply unit, weighing 4.3g; and Board 3 is the data acquisition module, weighing 2.2g. Board 1 is placed on the pigeon robot's head to capture environmental information; Boards 2 and 3 are placed on the pigeon robot's back via a backpack. The weight of the boards is within the pigeon's load-bearing capacity, and their placement does not affect the pigeon's movement, ensuring data validity. The backpack securing device reduces the impact of rain and other weather conditions on the device, improving system stability.

[0041] The control module uses the low-power STM32 L-series chips. Compared to the general-purpose F-series, the L-series chips have lower clock speeds, smaller memory, and fewer peripherals, making them suitable for applications requiring long-term operation and high power consumption. For this system, the L-series' clock speed, memory, and peripherals can meet the requirements for data acquisition speed and storage space. Its low power consumption allows the pigeon robot to fly farther with the same battery capacity and collect the same types of data over long distances.

[0042] The stimulation signal generation module includes an operational amplifier and a multiplexer. A single-supply op-amp is powered by a positive power source, while a dual-supply op-amp is powered by both positive and negative power sources. Since the stimulation signal is a square wave with both positive and negative signals, and the output voltage range of the operational amplifier is the same as the power supply voltage range, a dual-supply op-amp is chosen. The multiplexer has four channels, capable of outputting square wave signals with four different stimulation parameters, corresponding to different brain regions of the pigeon robot. By selecting the corresponding channel based on trigger conditions, different movements of the pigeon robot can be controlled, improving operational efficiency.

[0043] The positioning module on board 2 includes a GNSS positioning chip and a barometric pressure sensor. The positioning chip uses a ceramic antenna to receive satellite signals. Antennas can be active or passive; this system uses an active antenna with an internal amplifier circuit, which, compared to a passive antenna, can receive weaker signals, improving sensitivity and signal-to-noise ratio. The antenna connects to board 2 via IPEX. The barometric pressure sensor in the positioning module measures ambient temperature and atmospheric pressure. Altitude is calculated from the barometric pressure using the pressure-altitude formula. The measurable temperature range is 0~65℃, and the measurable atmospheric pressure range is 300hPa~1250hPa, which aligns with the current application scenarios for pigeon robots.

[0044] The data acquisition module on board 3 can collect three-axis acceleration, three-axis angular acceleration, and three-axis magnetic field strength, and obtain data such as Euler angles and quaternions from them. The acquisition module uses a fixed navigation coordinate system as an absolute reference and outputs data in a carrier coordinate system that changes with the attitude. The three axes of the navigation coordinate system are oriented due east, due north, and vertically upward, respectively; the three axes of the carrier coordinate system, x, y, and z, point directly in front of the animal flying robot, directly to its right, and vertically downward, respectively, with the origin located at the center of mass of the animal flying robot. After rotating the carrier coordinate system in the order of z, y, x, and aligning it with the navigation coordinate system, quaternions are obtained based on the rotation angles of each axis.

[0045] It should be noted that the six-axis motion sensor incorporates an accelerometer and a gyroscope, while the three-axis magnetometer incorporates a magnetometer. The gyroscope output data is corrected based on the output data from the accelerometer and magnetometer, resulting in corrected gyroscope data and quaternions. During correction, the Mahony algorithm is used for attitude calculation, and its core equation is:

[0046] in, The angular velocity value after verification. This is the gyroscope output value. The sum of the errors of the accelerometer and magnetometer, For the integral term of the error sum, and This is the gain value. (Through the error vector) This yields the current error relative to the true direction of gravity and magnetic field, thus correcting the drift problem of the gyroscope caused by the accumulation of integral errors.

[0047] The differential equation for quaternions is:

[0048] in, Let q be the differential of the quaternion, and q be the quaternion at time t. To represent quaternion multiplication, This represents a 4x1 column matrix, where 0 represents the first element of the first row, and 0 represents the first element of the first column. It is a 3x1 matrix. This represents the angular velocity value after verification at time t. This differential equation expresses the relationship between angular velocity and quaternion.

[0049] Combining equations (2.1) and (2.2) with the first-order Runge-Taku method, the updated quaternion can be obtained. This method can achieve relatively stable attitude calculation results under limited resources, striking a balance between computational complexity and accuracy.

[0050] like Figure 5 The image shows a schematic diagram of the trajectory of a pigeon robot flying using a neural stimulation system; the data collected by the positioning module and the acquisition module are imported into MATLAB for display, and the results can be obtained. Figure 5 The flight trajectory shown in the figure illustrates this. As can be seen from the image, the pigeon robot hovered in the air shortly after takeoff before continuing its journey back to its nest, successfully achieving flight control and verifying the effectiveness and practicality of this solution.

[0051] In summary, this invention, through a control module and a stimulation signal emission module, outputs a square wave signal with adjustable parameters, which stimulates different brain regions of the animal robot to control its movement. At the same time, through multiple modules, the position, attitude, and environmental information of the animal robot during flight are recorded collaboratively, achieving effective control of the flight path, improving the applicability of the system, and demonstrating significant progress.

[0052] The above embodiments are merely illustrative of the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solutions based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

Claims

1. A neural stimulation system for recording animal flight posture and positioning information, characterized in that, The system is a neural stimulation system for collaboratively recording motion and environmental information during the flight of a pigeon robot. It includes a control module, a stimulation signal emission module, a positioning module, a data acquisition module, an image capture module, a data recording module, and a power supply unit. The power supply unit is used to output voltage to each module. The control module generates stimulation commands and controls the stimulation signal output module to determine the stimulation channel, stimulation parameters, and stimulation output time. The stimulation channel is used to connect to the stimulation electrode implanted in the target brain region of the pigeon robot. The positioning module acquires positioning information. The acquisition module acquires flight attitude-related data. The imaging module captures and stores environmental information during flight. The control module records the positioning information and flight attitude-related data and transmits them to the data recording module for storage.

2. The neural stimulation system for recording animal flight posture and positioning information according to claim 1, characterized in that, The stimulation signal output module includes an operational amplifier and a multiplexer; the control module generates a square wave stimulation command with adjustable frequency, pulse width, and amplitude; the operational amplifier is used to adjust the magnitude of the stimulation command and transmit it to the multiplexer; the multiplexer is used to select the target stimulation channel to output the stimulation signal; the control module is connected to the multiplexer and is used to control the selection and start / stop of the target stimulation channel.

3. A neural stimulation system for recording animal flight posture and positioning information according to claim 1, characterized in that, The control module connects to the positioning module and the acquisition module via an asynchronous serial communication interface, to the data recording module via a synchronous serial communication interface, and to the imaging module via a general-purpose input / output port. The connection between the control module and the positioning module, the acquisition module, the imaging module, and the data recording module controls the transmission and storage of data.

4. A neural stimulation system for recording animal flight posture and positioning information according to claim 1, characterized in that, The positioning module includes a GNSS chip and a barometric pressure sensor, used to acquire latitude, longitude, time, and altitude information during the pigeon robot's flight.

5. A neural stimulation system for recording animal flight posture and positioning information according to claim 1, characterized in that, The acquisition module has a built-in six-axis motion sensor and a three-axis magnetic sensor. The six-axis motion sensor is used to acquire the three-axis acceleration and three-axis angular velocity on three orthogonal axes, and the three-axis magnetic sensor is used to acquire the three-axis magnetic field strength. The control module performs attitude calculation based on the three-axis acceleration, three-axis angular velocity and three-axis magnetic field strength to obtain Euler angles and / or quaternions.

6. A neural stimulation system for recording animal flight posture and positioning information according to claim 1, characterized in that, The shooting module consists of an image sensor, a main control chip, and an SD card slot, which are used to acquire image data, control data transmission, and store data, respectively; and to start or stop recording and taking pictures by receiving control signals from the control module.

7. A neural stimulation system for recording animal flight posture and positioning information according to claim 1, characterized in that, The power supply unit includes a battery, a low-dropout linear regulator, and a DC-DC converter. The output of the battery is boosted by the DC-DC converter to power the stimulation signal emission module. The output of the battery is also regulated by the low-dropout linear regulator to power the positioning module, the acquisition module, the shooting module, the control module, and the data recording module.

8. A neural stimulation system for recording animal flight posture and positioning information according to claim 2, characterized in that, The operational amplifier employs a non-inverting amplifier circuit with DC bias. The non-inverting input of the non-inverting amplifier circuit is used to receive stimulation commands, and the bias voltage is connected to the inverting input of the non-inverting amplifier circuit through a series resistor R19 and a resistor R15. A resistor R16 is provided between the output of the non-inverting amplifier circuit and the inverting input to form voltage negative feedback.

9. A neural stimulation system for recording animal flight posture and positioning information according to claim 5, characterized in that, The data acquisition module uses a fixed navigation coordinate system as an absolute reference and outputs data in a carrier coordinate system that changes with the attitude. The three axes of the navigation coordinate system point to due east, due north, and vertically upward, respectively. The three axes of the carrier coordinate system, x, y, and z, point to the front, right, and vertically downward of the animal flying robot, respectively. The origin is located at the center of mass of the animal flying robot. The control module calculates the attitude based on the rotation relationship of the carrier coordinate system relative to the navigation coordinate system around the z-axis, y-axis, and x-axis, and obtains the corresponding quaternions.

10. A neural stimulation system for recording animal flight posture and positioning information according to claim 8, characterized in that, The six-axis motion sensor includes an accelerometer and a gyroscope, and the three-axis magnetic sensor includes a magnetometer. The control module uses an attitude calculation algorithm to fuse the output data of the accelerometer, gyroscope and magnetometer to obtain the corrected angular velocity value and the updated quaternion.

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