201 results about "Flight controller" patented technology

The invention relates to the technical field of automatic obstacle avoidance, and provides an automatic obstacle avoidance method and system for a low-altitude aircraft. The method comprises the following steps: acquiring flight state information in real time; acquiring obstacle information through an environment sensing module; based on the flight state information and the obstacle information, calculating a relative position and a relative speed with the obstacle, and determining a potential collision risk area; if the potential collision risk exists, based on a preset obstacle avoidance strategy library, an obstacle avoidance strategy is retrieved in combination with a risk area, and an obstacle avoidance control instruction is generated; and transmitting the control instruction to a flight controller, and controlling the aircraft to execute automatic obstacle avoidance. The technical problems that an existing low-altitude aircraft is lagged in obstacle avoidance response in a complex environment and difficult to accurately avoid obstacles in real time are solved, and the technical effects that collision risk dynamic pre-judgment is achieved through multi-source information fusion and intelligent strategy matching, and the autonomous obstacle avoidance success rate and flight safety of the low-altitude aircraft are improved are achieved.

The invention discloses a ground wire adaptive visual trajectory tracking control method for unmanned aerial vehicle inspection, relates to the technical field of unmanned aerial vehicle inspection, and solves the problem that it is difficult to effectively fuse geometric, texture and multispectral features to construct a ground wire lightweight model. And a three-dimensional coupling constraint system is difficult to be combined to adapt to a dynamic scene of ground wire inspection. Comprising the following steps: collecting an initial visual image and multispectral data of a ground wire, extracting and splicing geometric, texture and state features, and constructing a ground wire lightweight model based on knowledge distillation to output a state evaluation result; the flight controller combines the model and geographic information to construct a three-dimensional coupling constraint system, calls a dynamic programming algorithm to generate an initial trajectory and sets a constraint deviation real-time monitoring mechanism; multi-dimensional deviation is calculated, and comprehensive deviation is obtained through weighting of the incidence matrix; and if the deviation exceeds a threshold value, starting a lightweight prediction controller to solve an optimal control problem and adjust flight parameters to generate a new trajectory, otherwise, flying along an initial trajectory.

The invention relates to an unmanned aerial vehicle power management and information monitoring system, and the system comprises a power management and information monitoring device which is connected among an unmanned aerial vehicle power supply, an unmanned aerial vehicle flight controller, and an unmanned aerial vehicle load set. Wherein the power management and information monitoring equipment is internally integrated with a unified power management module used for receiving electric energy of an unmanned aerial vehicle power supply and providing one or more transformed stable power supplies for an unmanned aerial vehicle load set; and the information and control concentrator module is used as an information and control relay among the unmanned aerial vehicle flight control, the unmanned aerial vehicle load set and the sensor. The invention aims to help to solve the problems of complex flight control interface and overweight operation burden caused by direct data and control interaction between numerous airborne equipment and a flight controller, and low system integration degree and insufficient reliability caused by decentralized management of a power supply in an existing unmanned aerial vehicle system.

A system, computer readable storage medium and method for controlling a trajectory of coordinated time-varying maneuvers of a geometric formation of unmanned vehicles is disclosed. The system includes unmanned vehicles, each configured with communication circuitry to communicate between the vehicles. A subset of the unmanned vehicles function as leader vehicles, with the remaining vehicles functioning as follower vehicles for leader-follower maneuvering. The system further includes an actuator suite configured to adjust the direction and orientation of each vehicle, a sensor suite for stabilization and navigation, and a flight controller for maintaining stable maneuvering, even in the presence of actuator faults and sensor deception attacks. Processing circuitry is configured with a reinforcement learning neural network that includes identifier, actor, and critic radial basis function neural networks to estimate movement, adjust control actions, and assess vehicle performance based on feedback signals, including corrupted signals from the sensor suite due to deception attacks.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle accurate attitude control method fusing multiple sensors and a flight controller thereof. The method comprises the following steps: acquiring the position and attribute characteristic data of an unmanned aerial vehicle through multiple sensors; determining the offset degree of the statistical period and the offset direction of the unmanned aerial vehicle according to the position difference between the unmanned aerial vehicle position and the planned route in the previous statistical period, the unmanned aerial vehicle direction and the planned route angle; attitude angles are obtained through attitude calculation, the attitude angles form a fluctuation curve, the fluctuation degree is analyzed, and the attitude stability degree of the unmanned aerial vehicle is obtained; the deviation of the unmanned aerial vehicle relative to the initial position is obtained according to the fluctuation curve slope of the yaw angle; comparing the direction with the offset direction to determine a correction angle; and calculating a three-axis error signal through the correction angle, and inputting the three-axis error signal into a PID (Proportion Integration Differentiation) controller for control. A more accurate attitude angle is obtained, so that the control precision is improved.

Systems and apparatus are provided for a high-power microwave sensor using an unmanned aerial vehicle. The unmanned aerial vehicle may include a central body, at least one electric motor, and a barometric pressure feedthrough. The central body may include a first enclosure housing a plurality of low voltage components, a voltage feedthrough connector, and a second enclosure housing a plurality of high voltage components. The low voltage components may include a first signal processing system, a first radio transceiver, a flight controller, a second signal processing system, a second radio transceiver, and a navigation system. The high voltage components may include a plurality of electronic speed controllers, a power distribution module, an input power interface, and a plurality of high power filters. The components of each enclosure may be segregated such that the high voltage components do not create electromagnetic interference with the low voltage components.

The invention relates to the technical field of unmanned aerial vehicle control and management, in particular to an unmanned aerial vehicle parameter consistency configuration method based on template management, which adopts a structured parameter configuration template in a JSON format, comprises four blocks of metadata, parameter definition, constraint rules and digital signatures, establishes an MAVLink communication link with an unmanned aerial vehicle flight controller through a template management terminal, and provides an unmanned aerial vehicle parameter consistency configuration method. And executing an automatic configuration process based on a finite-state machine, and ensuring parameter logic consistency by using a difference comparison and constraint verification mechanism. According to the method, temporary storage, batch writing and atomic submission of parameter changes are achieved through the atomization transaction submission protocol, the integrity of the configuration process is guaranteed, the digital signature auditing log containing the timestamp, the device identifier, the template hash and the change details is generated after configuration is completed, whole-process tracing is supported, and the method is high in practicability and easy to popularize. Headless mode operation, parameter white list control and hardware abstraction layer adaptation are supported, and high automation, standardization and safety of unmanned aerial vehicle parameter configuration can be achieved.

The invention discloses an unmanned aerial vehicle anti-wind disturbance controller and a control method, and belongs to the technical field of unmanned aerial vehicle flight control. The method runs on an independent processing module which is connected in series between a main flight controller and an electronic speed regulator of the unmanned aerial vehicle, a dynamic reference is constructed by collecting motor current in real time, deviation is calculated, and wind disturbance equivalent disturbance torque is estimated in a prospective mode through a third-order linear extended state observer (LESO) with bandwidth parameterization design; in combination with a'user operation state + flight mode 'two-dimensional intelligent decision compensation strategy, a'look-ahead wind resistance + attitude backup' dual-redundancy channel is matched, so that the wind disturbance is compensated in advance, and the flight stability in a complex scene is ensured. A corresponding controller adopts a standardized independent hardware design, the adaptability is high, the integration cost is low, and the method can be widely applied to high-precision operation scenes of various multi-rotor unmanned aerial vehicles.

The invention discloses an unmanned aerial vehicle adaptive energy efficiency prediction and optimization management method and system and a medium, and the method comprises the steps: constructing a physical-data dual-drive AI prediction model according to a fusion electrochemical model or an empirical formula as a physical constraint before a task starts; bMS real-time data, historical flight logs and charging and discharging records serve as input of an AI prediction model, the current battery state is obtained according to the input, and an initial flight path with the optimal global energy consumption is initially predicted based on the current battery state and the environment situation; in the flight process, the current battery state and environment situation are continuously updated, the intelligent task and flight control module continuously monitors multiple trigger states, and when one trigger state meets a preset dynamic adjustment trigger condition, a dynamic adjustment decision is executed, and an optimization instruction is generated and issued to a flight controller for execution; according to the management method, through global and closed-loop energy efficiency optimization, unnecessary energy consumption is effectively reduced, and the cruising ability is remarkably improved.

The embodiment of the invention discloses an unmanned aerial vehicle soft fence control method, and the method comprises the steps: obtaining personnel state information, generating environment risk distribution information based on the personnel state information, and carrying out the time alignment processing of the environment risk distribution information, so as to obtain the risk distribution information corresponding to the current moment of an unmanned aerial vehicle; acquiring a current flight state of the unmanned aerial vehicle, predicting a motion state of the unmanned aerial vehicle in a future period of time, and determining a risk assessment result according to the motion state and the risk distribution information; performing constraint processing on the operator control input according to the risk assessment result to generate a safety control instruction; inputting the safety control instruction into the flight controller to execute flight control, and triggering a safety protection strategy when the risk degree meets a preset condition; the unmanned aerial vehicle can be effectively prevented from entering a crowded or high-risk area, and the flight safety and controllability of the unmanned aerial vehicle in a complex personnel environment are improved.

An adjustable armrest assembly for a seat such as a pilot seat. In embodiments, the armrest assembly includes an armrest frame, a leadscrew rotatably mounted in the armrest frame, a control wheel mounted to the leadscrew, an armpad subassembly pivotally attached to the armrest frame, and a tilt link subassembly coupled between the armrest frame and the armpad subassembly. In use, rotating the leadscrew synchronizes rotational motion of the armrest frame relative to the seat, and armpad subassembly motion relative to the armrest frame. In embodiments, the adjustment capability of the armrest assembly facilitates use with a flight controller positioned forward of the armrest.

To provide a power supply system, a moving body and a control method for the power supply system.SOLUTION: In a power supply system 26 mounted on an electrically-driven vertical takeoff / landing aircraft (eVTOL aircraft), a battery controller 94 provides a flight controller 86 with first information representing the upper limit of electric power that a battery can input / output continuously for a first period and second information representing the upper limit of electric power that the battery can input / output continuously for a second period, and a motor controller 98 controls a plurality of VTOL drive devices each having a VTOL electric motor and a plurality of cruise drive devices each having a cruise electric motor.SELECTED DRAWING: Figure 3

Systems, apparatus and methods are provided for securing firmware and mission data in memory of an unmanned aerial vehicle. The unmanned aerial vehicle may include a central body and at least one electric motor. The central body may include a flight controller with a processor, a firmware memory configured to receive and store firmware, and circuit board with a fixed portion and a removable portion with a programming interface connector providing access through a signal connection to a firmware memory operatively connected to the flight controller. The central body may further include a volatile mission memory configured to receive mission data and automatically be erased upon power interruption.

The invention relates to the technical field of aviation ground service operation management and command and dispatch systems, in particular to a ground service decision control method and system. The method comprises the steps that a guarantee task of a flight is received, an independent virtual communication group is dynamically created for the flight, and the virtual communication group comprises post terminals of all guarantee departments related to the guarantee task of the flight; a flight manager issues announcement information in the virtual communication group through the post terminal of the flight manager, and monitors the in-place state of the post terminal of each guarantee department; the flight manager issues a standardized instruction to a post terminal of a specific security department through the virtual communication group, and receives closed-loop feedback information from the post terminal of the specific security department; acquiring and displaying security node state information of each security department so as to visually display a flight security process; and when a flight release condition is satisfied, the flight management and control personnel issues a flight release instruction through the virtual communication group.

The invention discloses an unmanned aerial vehicle formation flight obstacle avoidance method and system based on monocular depth estimation, and relates to the field of unmanned aerial vehicle formation, and the method comprises the steps: enabling an internal unmanned aerial vehicle of a fleet to obtain first detection information composed of external obstacle depth information and current unmanned aerial vehicle flight position information; the unmanned aerial vehicles in the fleet publish first detection information to the ground station through the inter-aircraft networking communication module; the ground station receives the first detection information, resolves the first detection information to obtain an obstacle position map, obtains obstacle avoidance code information, and broadcasts the obstacle avoidance code information to the unmanned aerial vehicle group; and after receiving the obstacle avoidance code information of the ground station, the unmanned aerial vehicles in the fleet input the obstacle avoidance code information to the flight controller, and the flight controller controls the unmanned aerial vehicles to avoid obstacles to perform formation flight tasks. The method employs a learning-driven depth estimation method to perform obstacle avoidance, can accurately estimate the target depth information, and improves the flight efficiency of the unmanned plane formation.

This invention discloses a dynamic path control method for unmanned aerial vehicles (UAVs) based on multi-source perception fusion, relating to the field of UAV path control technology. The method includes the following steps: acquiring raw perception data; interpolating and resampling the data acquired by the visual perception unit to achieve time alignment; inputting the time-aligned multimodal perception data into a time-interpolated perception fusion network model; estimating the system delay from perception data acquisition to control command output, constructing a feedforward prediction model based on the current state, predicting the future state, and generating a delay-compensated control signal; inputting the delay-compensated control signal into the flight controller, calculating and outputting attitude, velocity, and acceleration commands to drive the UAV to perform path control tasks, and adaptively adjusting parameters based on flight control feedback information. This invention enhances the spatiotemporal accuracy of path estimation under high-dynamic maneuvering conditions.

An aerial vehicle includes a battery, a propulsion system including a motor and a rotor, and a flight controller configured to: in response to one or more parameters of the battery not satisfying a preset condition, cause the aerial vehicle to enter a warm up mode, in which the motor drives the rotor to rotate but the aerial vehicle is prevented from taking off, and while the aerial vehicle is in the warm up mode, in response to the one or more parameters of the battery satisfying the preset condition, allow the aerial vehicle to take off.

Seeker devices and methods of navigation are disclosed. Devices comprise a self-protecting direction finder that can determine direction to a source of RF interference, cancel the interference, and provide direction signals and desirably received signals to the flight controller, which guides navigation with respect to the jammer.

This invention provides a method for UAV obstacle avoidance trajectory planning based on digital elevation maps, including digital elevation map conversion, initial trajectory loading, trajectory pre-planning, and trajectory re-planning. Using this invention, UAV obstacle avoidance trajectory planning can fully consider terrain variations during low-altitude flight missions to achieve ground-hugging flight. Simultaneously, this method first performs offline trajectory pre-planning and uploads the planned trajectory to the flight controller to provide flight guidance, effectively solving the problem of low real-time performance. When obstacles or threat areas appear on the pre-planned trajectory, the method provided by this invention can find the vertices of obstacles with complex shapes, handle obstacle overlap issues, and thus quickly plan a flight path.

The application discloses a kind of reinforcement learning self-tuning method and system of flight controller PID parameter, and it is related to aircraft control technical field.The application includes: establishing aircraft dynamics simulation model;Deep reinforcement learning agent including strategy network and value network is constructed, and strategy network model parameter is trained offline in simulation environment;The model parameter obtained after offline training is loaded into the real-time flight controller of aircraft, and state is collected online and input strategy network, and PID parameter increment is generated by forward operation, and the PID parameter is obtained by adding preset reference value;PID control module calculates control output according to the PID parameter generated and flight state feedback error.The application combines offline training and online inference, and both real-time and adaptive ability are considered, and the calculation load is low, and robustness is strong.

A system for imaging a scene includes a plurality of drones, each drone moving over the scene along a corresponding flight path and having a drone camera to capture a corresponding first image of the scene at a corresponding first pose and first time; a flight controller to control the flight path of each drone, in part by using a first pose estimate of each drone camera provided by a camera controller to create and maintain a desired pattern of drones having desired camera poses; the camera controller to receive the corresponding plurality of captured images from the drones, process the received images to generate a 3D representation of the scene as a system output, and provide the estimate of the first pose of each drone camera to the flight controller. The system is fully operational with only one operator.

The invention discloses an unmanned aerial vehicle positioning and charging system and method based on an ultrasonic technology. The system comprises an unmanned aerial vehicle and a charging pile. An airborne GPS positioning module, an airborne wireless radio frequency module, an airborne charging module, a flight controller and n airborne ultrasonic sensors are arranged on the unmanned aerial vehicle, wherein n is greater than or equal to 1; the charging pile is provided with a pile-mounted wireless radio frequency module, a pile-mounted charging module and m pile-mounted ultrasonic sensors, m is greater than or equal to 1, and n + m is greater than or equal to 3; the airborne wireless radio frequency module is matched with the pile-mounted wireless radio frequency module and is used for realizing time synchronization of the unmanned aerial vehicle and the charging pile; and the flight controller generates a horizontal position adjustment instruction according to the dynamic change of the real-time distance value between each airborne ultrasonic sensor and each pile-mounted ultrasonic sensor, and controls the unmanned aerial vehicle to dynamically adjust the horizontal position until the airborne charging electrode module is in contact with the pile-mounted charging module to complete butt joint. The active positioning charging of the unmanned aerial vehicle is realized by adopting the ultrasonic sensor and the wireless radio frequency module, the cost is low, the precision is high, and the environmental robustness is strong.

The application discloses a kind of unmanned plane control and telemetry wireless communication system and method, including communication processing unit, ICF5 flight controller and remote EC20 cellular communication module;Communication processing unit is accessed 4G network by remote EC20 module, runs communication service program under Ubuntu environment, realizes flight control telemetry data acquisition, encapsulation and back transmission;Communication service program executes 4G access management, link monitoring, automatic reconnection, log record and exception daemon, when detecting link interruption or continuous timeout reaches threshold value, send the safety mode instruction such as hover, return or landing to ICF5 flight controller.The application utilizes the network management, service daemon and log maintenance capability of Ubuntu system, combines the cellular access capability of remote EC20 module, realizes long-distance, high-reliable wireless communication of unmanned plane control and telemetry data, and its link coverage is wide, system stability is high, maintenance is convenient, flight safety.

The invention relates to the technical field of bionic aircrafts, and provides a butterfly-imitating aircraft which comprises a fuselage base, at least two pairs of wings, at least four groups of driving mechanisms and a flight controller. According to the butterfly-like aircraft provided by the invention, a driving mechanism is arranged and comprises a connecting assembly, a rotary driving assembly and a flapping driving assembly, the connecting assembly comprises a connecting frame and a connecting seat, the connecting seat is fixed to a fuselage base, the connecting frame is hinged to the connecting seat, and a wing shaft is rotationally connected to the connecting frame; the rotating motor is directly and fixedly arranged on the connecting frame and drives the wings to rotate, the wings can rotate without a cross universal coupling, the structure is simpler, a driving mechanism is simpler, the power transmission loss is smaller, and the energy utilization rate is higher; the flapping driving assembly is in driving connection with the connecting frame and drives the connecting frame to swing, and the flight controller is electrically connected with the rotating driving assembly and the flapping driving assembly so as to control rotation and swing of the wings, so that the butterfly-imitating aircraft flies more stably and flexibly.

A multi-monocopter system is provided, including a plurality of monocopters. Each monocopter includes: a flight controller, disposed on a housing member, operable to control a flight of the monocopter in an individual flight mode and a flight of the plurality of monocopters collectively in a cooperative flight mode; a wing member; a thrust unit; and a magnetic connector coupled to the housing member. The magnetic connector is configured to be connectable to corresponding magnetic connectors of other monocopters of the plurality of monocopters via a magnetic force to operate in the cooperative flight mode. When in the cooperative flight mode during flight, the flight controller is operable to control a rotational speed of the plurality of monocopters collectively to produce a centrifugal force that exceeds the magnetic force for separating the plurality of monocopters connected via the magnetic force to convert the cooperative flight mode to the individual flight mode.

The invention provides a direct current motor driving system integrating remote measurement and safety control, and relates to the technical field of motor driving and control, and the system comprises a PWM signal conditioning circuit which receives and conditions a PWM signal and is originally compatible with Pixhawk; the bidirectional polarity control circuit realizes positive and negative rotation of the motor through an optical isolation solid-state relay; the H-bridge driving circuit modulates the current of the motor; the current and voltage sensing circuit is used for generating current and voltage analog signals; the step-down conversion circuit supplies power to the flight controller; the logic level conversion interface is used for realizing 3.3 V / 5V level conversion; the telemetering output circuit outputs the analog signal to a flight controller ADC and transmits the analog signal to a ground station through MAVLink; and the fault protection circuit is used for triggering protection during overcurrent, overvoltage or undervoltage. Through the integrated design, the problems that a traditional driving module is poor in compatibility and lacks telemetering and protection are solved, and plug-and-play, state sensing, safe and reliable integrated driving is achieved.

The invention belongs to the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle and a control method thereof, electronic equipment and a program product, the unmanned aerial vehicle is applied to a global navigation satellite system (GNSS) denial scene, and the unmanned aerial vehicle comprises a fuselage; the upper view camera is mounted above the fuselage and is used for collecting real-time scene images in the flight process of the unmanned aerial vehicle; the navigation system is mounted above the fuselage, is connected with the upward-looking camera, and is used for acquiring a visual perception image in the flight process of the unmanned aerial vehicle, determining a current estimated position of the unmanned aerial vehicle in a space coordinate system according to the real-time scene image and the visual perception image, and outputting the current estimated position; the space coordinate system is constructed by taking a take-off point of the unmanned aerial vehicle as an original point; the flight controller is installed in the fuselage, connected with the navigation system and used for executing a path planning task according to the current estimated position of the unmanned aerial vehicle in the space coordinate system and controlling the unmanned aerial vehicle to execute an autonomous flight task according to the optimal flight path obtained through planning.

The invention relates to a tiltable eight-rotor unmanned aerial vehicle and a control method thereof. The tiltable eight-rotor unmanned aerial vehicle comprises a vehicle body, four vehicle arms, two tilting mechanisms, four sets of coaxial motor pairs and a flight controller. The fuselage and the four arms are distributed in an H shape, the tail end of each arm is provided with two coaxial motors with opposite rotating directions, and a large thrust-weight ratio can be provided. Besides, the arms on the two sides of the unmanned aerial vehicle can be driven by the two tilting mechanisms respectively to realize synchronous tilting, so that decoupling of pitch angle and position control is realized, the flexibility of yaw angle control is improved, and the flight speed, efficiency and attitude stability of the unmanned aerial vehicle are improved. The flight controller is electrically connected with the tilting mechanism and the motor and used for controlling the position and attitude of the unmanned aerial vehicle. The control method comprises a position controller, an attitude controller and a control distribution algorithm with a clear analytical solution, and stable flight of the tiltable eight-rotor unmanned aerial vehicle can be achieved.

The invention relates to an efficient and balanced unmanned aerial vehicle construction method. An unmanned aerial vehicle constructed according to the method comprises an unmanned aerial vehicle body, a propeller propeller * 9, a motor * 9, a plastic interface * 8, a power supply notch * 1, a gyroscope * 1, an accelerometer * 1, a compass * 1, a barometer * 1 and a camera * 1. The method is characterized in that four wings of an unmanned aerial vehicle body constructed according to the method are connected with two lightweight plastic interfaces, the interior of each plastic interface is connected with a wire, and the exterior of each plastic interface is connected with a small motor and further connected with a propeller pusher. And a propeller pusher is also arranged behind the machine body and is used for accelerating the advancing speed. A camera adopting an electronic anti-shake technology is arranged below an unmanned aerial vehicle body and used for obtaining stable and clear images, and a gyroscope, an accelerometer, a compass and a barometer are further arranged below the unmanned aerial vehicle body and used for detecting information such as the posture, the speed, the height and the environment state of the unmanned aerial vehicle, and the information can be fed back to a flight controller to be analyzed and controlled. And finally, a power notch is formed in the lower portion and used for containing a battery, supplying power and ensuring safety and compatibility, and the interior of a power source is connected with a motor through a wire so as to provide power for the propeller thruster to enable the propeller thruster to rotate.

The application discloses a kind of unmanned aerial vehicle direct transmission and mobile network power management and optimization method based on Stackelberg game theory, in the scene researched in the application, unmanned aerial vehicle has the module of data transmission by mobile network and the data transmission module between unmanned aerial vehicle and flight controller direct transmission simultaneously.Unmanned aerial vehicle has mobile network and direct transmission link simultaneously to carry out data transmission, so under the condition of limited unmanned aerial vehicle data transmission power, how to effectively allocate power to two kinds of data transmission mode is the problem needing to be solved in unmanned aerial vehicle data backhaul scene.Aiming at the above problem, the application provides a kind of unmanned aerial vehicle direct transmission and mobile network power management and optimization method based on Stackelberg game theory, and the above unmanned aerial vehicle direct transmission and mobile network backhaul link power limited problem is jointly formed into game model.The application aims to provide unique solution, physically in line with the scene of real application and can be effectively applied to engineering practice.