Navigation and control integrated flight control device for unmanned aerial vehicle

Abstract

The utility model provides a navigation and control integrated flight control device for an unmanned aerial vehicle, which relates to the technical field of navigation and control of the unmanned aerial vehicle and comprises a power management module, a navigation processor, a sensor module, a control processor, a memory module, a signal processing module, an external interface and a board edge interface, the power management module is used for supplying power; the navigation processor is connected with the sensor module and is used for reading sensor data for navigation calculation and sending a navigation calculation result to the control processor through a digital interface; the control processor receives a navigation resolving result of the navigation processor to obtain control parameters of the unmanned aerial vehicle, and the control parameters are transmitted to the external interface after being processed by the signal processing module; the memory module is connected with the control processor and used for storing data. The navigation and control integrated design is adopted, the structure is simple, the size and the weight are greatly reduced, and the application requirements of navigation and autonomous control of the micro unmanned aerial vehicle can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicle navigation and control, in particular to a navigation and control integrated flight control device for unmanned aerial vehicles. Background Art

[0002] In recent years, with the popularity of drones, the development of drone flight control technology has become increasingly mature. As a future high-tech, drones are increasingly widely used. They are not only widely used in meteorology, surveying and mapping, but also in civilian fields, such as logistics distribution, photography, plant protection, etc. The drone flight control system is the core component of the drone system, responsible for controlling the drone's flight attitude, position, speed and other parameters. The flight control system receives sensor data from the drone and combines navigation information and control algorithms to accurately control the movement of the drone. The drone flight control system usually consists of two parts: hardware and software. The drone hardware system mainly includes the main controller, sensors, actuators and other auxiliary equipment. The main controller is the core component of the drone, which is responsible for processing sensor data, executing control algorithms and sending control instructions. Sensors are used to collect drone status information, such as flight attitude, position, speed, etc. The actuator drives the drone's rudder, engine and other components according to the instructions of the main controller. The drone flight control software system is an important part of realizing autonomous flight of drones. The system collects drone sensor data, combines navigation information and control algorithms to achieve precise control of the drone.

[0003] However, the existing navigation and control are generally split structures with complex overall structure, large size and heavy weight, which are not suitable for micro-UAVs. Utility Model Content

[0004] In order to address the deficiencies of the above-mentioned prior art, the purpose of the utility model is to provide an integrated navigation and control flight control device for unmanned aerial vehicles, which can meet the needs of micro-unmanned aerial vehicles for high-precision, small size, and light weight of the navigation control system. It adopts an integrated navigation and control design, and its volume and weight are greatly reduced, which can meet the navigation and autonomous control application needs of micro-unmanned aerial vehicles.

[0005] Specifically, the utility model provides a navigation and control integrated flight control device for a drone, comprising a housing and a control circuit board arranged inside the housing, wherein the control circuit board is connected to the housing through a connector, and a power management module, a navigation processor, a sensor module, a control processor, a memory module, a signal processing module, an external interface, and a board edge interface are arranged on the control circuit board;

[0006] The power management module is electrically connected to the navigation processor, the sensor module, the control processor, the memory module and the signal processing module respectively and is used to supply power to the navigation processor, the sensor module, the control processor, the memory module and the signal processing module;

[0007] The input end of the navigation processor is communicatively connected to the output end of the sensor module, and the output end of the navigation processor is communicatively connected to the input end of the control processor via a digital interface;

[0008] The output end of the control processor is communicatively connected to the input end of the signal processing module, and the output end of the signal processing module is communicatively connected to the external interface;

[0009] The input end of the memory module is communicatively connected to the output end of the control processor, and the memory module is used to store data;

[0010] The sensor module includes a Beidou navigation chip, a primary inertial measurement unit, a 3D magnetometer, a barometer, a backup inertial measurement unit and an airspeed meter;

[0011] The Beidou navigation chip is connected to the navigation processor through a serial port, the main inertial measurement unit and the backup inertial measurement unit are connected to the navigation processor through SPI, and the 3D magnetometer, barometer and airspeed meter are connected to the navigation processor through IIC.

[0012] Preferably, the power management module includes a switching power supply and a linear power supply.

[0013] Preferably, the communication connection mode between the control processor and the navigation processor is SPI and serial port connection.

[0014] Preferably, the memory module includes a FLASH unit and an EMMC unit.

[0015] Preferably, the signal processing module includes an SBUS reverse control circuit, an AD signal conditioning circuit, a 24V control circuit, a speed measurement circuit, a CAN conversion circuit, a PWM output level conversion circuit, an RS232 conversion circuit, an RS422 conversion circuit and a USB protection circuit.

[0016] Preferably, the external interface includes two RS422 interfaces, three RS232 interfaces, ten PWM output interfaces, two ADC interfaces, one speed measurement interface, one SBUSOUT interface and one SBUSIN interface.

[0017] Preferably, the board edge interface includes one RS232 debugging interface, one Typec USB interface, one navigation RS422 interface, one navigation IIC interface and two 24V output interfaces.

[0018] Preferably, mounting holes are provided at four corners of the control circuit board, and connectors pass through the mounting holes to fix the control circuit board inside the housing.

[0019] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0020] (1) The entire device of the utility model adopts an integrated design of navigation and control, and sets the navigation and control on a circuit board. While ensuring the security and high speed of information transmission between the navigation processor and the control processor, it can also greatly reduce the size and weight of the flight control device, meet the autonomous positioning and flight control of micro-UAVs, and ensure the control accuracy.

[0021] (2) The utility model uses an inertial measurement unit, yaw data and altitude data as a minimum sensor system combination during navigation. The observation value can be selected according to the system working state, thereby achieving fault tolerance and scalability of combined navigation and making the navigation environment more adaptable. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the circuit board of the utility model;

[0023] Figure 2 It is a side structural schematic diagram of the circuit board of the utility model;

[0024] Figure 3 This is a block diagram of the navigation and control integrated flight control device for unmanned aerial vehicles of the utility model;

[0025] Figure 4 This is a connection diagram of the navigation and control integrated flight control device for unmanned aerial vehicles of the utility model;

[0026] Figure 5 This is a schematic diagram of the board edge interface of the navigation and control integrated flight control device for unmanned aerial vehicles of the utility model;

[0027] Figure 6 The utility model is a navigation schematic diagram of an application embodiment of the navigation and control integrated flight control device for unmanned aerial vehicles. DETAILED DESCRIPTION

[0028] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0029] like Figures 1 to 3As shown, the utility model provides a navigation and control integrated flight control device for an unmanned aerial vehicle, which includes a shell (not shown in the figure) and a circuit board 100 arranged inside the shell, and a power management module 1, a navigation processor 2, a sensor module 3, a control processor 4, a memory module 5, a signal processing module 6, an external interface 7 and a board edge interface 8 are sequentially arranged on the circuit board 100, wherein: the power management module 1 completes the power supply voltage reduction and voltage stabilization functions, and is electrically connected to the navigation processor 2, the sensor module 3, the control processor 4, the memory module 5 and the signal processing module 6 respectively, and supplies power to the navigation processor 2, the sensor module 3, the control processor 4, the memory module 5 and the signal processing module 6; the input end of the navigation processor 2 is communicatively connected to the output end of the sensor module 3, and the data of each sensor is read for navigation solution, so as to obtain the position, speed, attitude, angular velocity and acceleration data of the unmanned aerial vehicle, and send the navigation data to the control processor 4 through the digital interface; the output end of the navigation processor 2 is communicatively connected to the input end of the control processor 4, and the output end of the control processor 4 is connected to the external interface 7 by means of the signal processing module 6. The control processor 4 receives the navigation solution result of the navigation processor 2, generates the PWM control quantity of the UAV rotor, aileron, flap, rudder, elevator and throttle according to the adaptive control algorithm, and transmits it to the external interface 7 through the signal processing module 6. The input end of the memory module 5 is connected to the output end of the control processor 4 for storing information such as navigation parameters, flight parameters and flight logs; the signal processing module 6 completes the level conversion and conditioning of the output signals of the navigation processor 2 and the control processor 4, and transmits the processed data to the external interface 7 and the board edge interface 8.

[0030] like Figure 4 As shown, the power management module 1 includes a switching power supply 101 and a linear power supply 102. The switching power supply 101 works as a power supply for digital devices, with low loss and high efficiency in the switching state. The linear power supply voltage works as a power supply for analog devices, with the advantage of small ripple.

[0031] The switching power supply 101 includes a 6V power supply 1011, a 3V digital power supply 1012, a 12V power supply 1013, a 3.8V power supply 1014 and a 5.5V power supply 1015. The 6V power supply 1011 supplies power to the UAV payload via the external interface 7, the 3V digital power supply 1012 supplies power to the navigation processor 2, the control processor 4, and the signal processing module 6, and the 12V power supply 1013 supplies power to the UAV parachute controller via the external interface 7; the 3.8V power supply 1014 and the 5.5V power supply 1015 are connected to the linear power supply 102.

[0032] The linear power supply 102 includes a 3.3V analog power supply 1021 and a 5V power supply 1022. The 3.3V analog power supply 1021 is generated by stabilizing the 3.8V power supply 1014 through a linear regulator, and the 5V power supply 1022 is generated by stabilizing the 5.5V power supply 1015 through a linear regulator. The voltage difference across the linear power supply is reduced by combining the graded switching power supply and the linear power supply, thereby reducing the power loss of the power supply and improving the efficiency.

[0033] The sensor module 3 includes a Beidou navigation chip 301, a main inertial measurement unit 302, a 3D magnetometer 303, a barometer 304, a backup inertial measurement unit 305 and an airspeed meter 306; the Beidou navigation chip 301 communicates with the navigation processor 2 through the serial port to provide high-precision position, speed and heading information; the main inertial measurement unit 302 and the backup inertial measurement unit 305 communicate with the navigation processor 2 through SPI to provide angular velocity and acceleration information of the drone body; the 3D magnetometer 303, the barometer 304 and the airspeed meter 306 communicate with the navigation processor 2 through IIC to provide three-dimensional magnetic field information, atmospheric pressure information and pressure difference information of dynamic pressure and static pressure respectively. The navigation processor 2 collects data from the Beidou navigation chip 301, the main inertial measurement unit 302, the 3D magnetometer 303, the barometer 304, the backup inertial measurement unit 305 and the airspeed meter 306, and performs inertial navigation, Beidou navigation and combined navigation solutions after filtering and error compensation, calculates the position, speed, attitude, angular velocity and acceleration of the UAV, and sends the parameters to the control processor 4 via SPI or serial port.

[0034] The sensor module 3 is provided with a main inertial measurement unit 302 and a backup inertial measurement unit 305. When the main inertial measurement unit 302 fails, the backup inertial measurement unit 305 is used to perform navigation solution, thereby improving the fault tolerance of the system.

[0035] The communication connection mode between the control processor 4 and the navigation processor 2 is SPI and serial port connection, wherein SPI supports high-speed data transmission as the main connection mode, and serial port connection as a backup. When SPI is used to transmit data, the control processor 4 acts as the master device and the navigation processor 2 acts as the slave device.

[0036] The control processor 4 receives the navigation data of the navigation processor 2 through the SPI or serial port, and reads the stored navigation, control parameters and waypoint data from the FLASH unit 501, generates the PWM control quantity of the UAV rotor, aileron, flap, rudder, elevator and throttle through the adaptive control algorithm, and converts it into a 5V PWM acceptable to the UAV through the PWM output level conversion circuit 606, so as to realize the take-off and landing of the aircraft, horizontal, lateral, straight, circling, directional flight, automatic flight according to waypoints, and realize automatic control of the UAV.

[0037] The memory module 5 includes a FLASH unit 501 and an EMMC unit 502 . The FLASH unit 501 is used to store navigation, control parameters and waypoint data, and the EMMC unit 502 is used to store flight logs.

[0038] The signal processing module 6 includes an SBUS reverse control circuit 601, an AD signal conditioning circuit 602, a 24V control circuit 603, a speed measurement circuit 604, a CAN conversion circuit 605, a PWM output level conversion circuit 606, an RS232 conversion circuit 607, an RS422 conversion circuit 608 and a USB protection circuit 609; the SBUS reverse control circuit 601 is used to receive the SBUS remote control signal, the AD signal conditioning circuit 602 is used to convert the drone battery power analog signal into a digital signal, the 24V control circuit 603 is used to control the switch of the 24V power supply, and the speed measurement circuit 604 is used to measure the motor The CAN conversion circuit 605 is used to realize the conversion of the CAN bus and output the UAV status information in the form of a bus. The PWM output level conversion circuit 606 is used to convert the 3.3V PWM output by the control processor 4 into a 5V PWM for controlling the UAV rotor, aileron, flap, rudder, elevator and throttle. The RS232 conversion circuit 607 is used to convert the TTL serial port connected to the control processor 4 into an RS232 serial port. The RS422 conversion circuit 608 is used to convert the TTL serial port connected to the control processor 4 into an RS422 serial port. The USB protection circuit 609 is used to prevent external electrostatic interference.

[0039] The external interface 7 includes 2 RS422 interfaces, 3 RS232 interfaces, 10 PWM output interfaces, 1 speed measurement interface, 1 SBUSOUT interface and 1 SBUSIN interface, wherein the RS422 interface communicates with the mission payload equipment, the RS232 interface communicates with the ground through the air data link to realize the telemetry function, the PWM interface output controls the UAV rotor, ailerons, flaps, rudder, elevator and throttle, etc., the SBUSOUT interface is used to output analog remote control signals as a backup, and the SBUSIN interface is used to receive remote control signals.

[0040] like Figure 5As shown, the board edge interface 8 includes 1 flight control RS232 debugging interface 801, 1 Type C USB communication port interface 802, 1 navigation RS422 debugging interface 803, 1 external magnetometer IIC interface 804 and 2 24V external power supply interfaces 805; wherein 1 flight control RS232 debugging interface is used to print system debugging information, 1 Type C USB communication port is used to read log data stored in EMMC unit 502, 1 navigation RS422 debugging interface is used for external high-precision RTK information, 1 external magnetometer IIC interface is used for external high-precision magnetic compass information, and 2 24V external power supply interfaces are used to power the motor. At the same time, an external GPS communication interface 806 and a flight control SW burning hole 807 are also provided.

[0041] The working principle of the integrated flight control device for navigation and control of unmanned aerial vehicles is as follows: In specific applications, the navigation processor collects data from the Beidou navigation chip, main inertial measurement unit, 3D magnetometer, barometer, backup inertial measurement unit and airspeed meter, and performs inertial navigation, Beidou navigation and combined navigation solutions after filtering and error compensation. The navigation parameters such as the position, speed, attitude, angular velocity and acceleration of the unmanned aerial vehicle are calculated and sent to the control processor through a digital interface. The control processor generates the control quantities of the rotor, aileron, flap, rudder, elevator and throttle of the unmanned aerial vehicle according to the navigation parameters and track points or target instructions through an adaptive control algorithm, and controls the movement of the servo and motor through PWM to realize the take-off and landing of the aircraft, horizontal, lateral, straight, circling and directional flight, automatic flight according to waypoints, and automatic control of the unmanned aerial vehicle.

[0042] like Figure 6 The diagram shows the navigation structure of the system. The extended Kalman filter algorithm is run in the navigation processor. The minimum sensor data set of the extended Kalman filter method is: inertial measurement unit data source, yaw data source and altitude data source. The inertial measurement unit data source can come from the main inertial measurement unit 302 or the backup inertial measurement unit 305, the yaw data source can come from the 3D magnetometer 303 or obtain from the external visual navigation system through any RS422 interface in the external interface 7, and the altitude data source can come from the barometer 304 or the Beidou navigation chip 301.

[0043] The integrated flight control device for navigation and control of drones will perform initialization operations after power-on, check the minimum viable combination of sensors, and after completing the initial tilt, yaw and altitude alignment, enter the mode of providing rotation, vertical speed, vertical position, inertial measurement unit angle deviation and inertial measurement unit speed deviation estimation, on this basis, other sensor data can be used to estimate additional state variables.

[0044] When the 3D magnetometer 303 is used as the yaw data source, the body magnetic field strength is predicted by the 3D magnetometer measurement equation.

[0045] When the barometer 304 is used as the altitude data source, the barometer 304 and the accelerometer in the inertial measurement unit obtain accurate altitude through data fusion.

[0046] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A navigation and control integrated flight control device for an unmanned aerial vehicle, characterized in that: It includes a housing and a control circuit board arranged inside the housing, the control circuit board is connected to the housing through a connector, and the control circuit board is provided with a power management module, a navigation processor, a sensor module, a control processor, a memory module, a signal processing module, an external interface and a board edge interface; The power management module is electrically connected to the navigation processor, the sensor module, the control processor, the memory module and the signal processing module respectively and is used to supply power to the navigation processor, the sensor module, the control processor, the memory module and the signal processing module; The input end of the navigation processor is communicatively connected to the output end of the sensor module, and the output end of the navigation processor is communicatively connected to the input end of the control processor via a digital interface; The output end of the control processor is communicatively connected to the input end of the signal processing module, and the output end of the signal processing module is communicatively connected to the external interface; The input end of the memory module is communicatively connected to the output end of the control processor, and the memory module is used to store data; The sensor module includes a Beidou navigation chip, a primary inertial measurement unit, a 3D magnetometer, a barometer, a backup inertial measurement unit and an airspeed meter; The Beidou navigation chip is connected to the navigation processor through a serial port, the main inertial measurement unit and the backup inertial measurement unit are connected to the navigation processor through SPI, and the 3D magnetometer, barometer and airspeed meter are connected to the navigation processor through IIC.

2. The navigation and control integrated flight control device for unmanned aerial vehicles according to claim 1, characterized in that: The power management module includes a switching power supply and a linear power supply.

3. The navigation and control integrated flight control device for unmanned aerial vehicles according to claim 2, characterized in that: The communication connection mode between the control processor and the navigation processor is SPI or serial port connection.

4. The navigation and control integrated flight control device for unmanned aerial vehicles according to claim 1, characterized in that: The memory module includes a FLASH unit and an EMMC unit.

5. The navigation and control integrated flight control device for unmanned aerial vehicles according to claim 1, characterized in that: The signal processing module includes an SBUS reverse control circuit, an AD signal conditioning circuit, a 24V control circuit, a rotation speed measurement circuit, a CAN conversion circuit, a PWM output level conversion circuit, an RS232 conversion circuit, an RS422 conversion circuit and a USB protection circuit.

6. The navigation and control integrated flight control device for unmanned aerial vehicles according to claim 1, characterized in that: The external interfaces include two RS422 interfaces, three RS232 interfaces, ten PWM output interfaces, two ADC interfaces, one speed measurement interface, one SBUSOUT interface and one SBUSIN interface.

7. The navigation and control integrated flight control device for unmanned aerial vehicles according to claim 1, characterized in that: The board edge interface includes one RS232 debugging interface, one Typec USB interface, one navigation RS422 interface, one navigation IIC interface and two 24V output interfaces.

8. The navigation and control integrated flight control device for unmanned aerial vehicles according to claim 1, characterized in that: The four corners of the control circuit board are provided with mounting holes, and the connecting pieces pass through the mounting holes to fix the control circuit board inside the shell.

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