CN106483968A - A kind of ground surface identifying device automatically landed for unmanned plane - Google Patents

Abstract

The invention provides a ground surface recognition device for automatic landing of unmanned aerial vehicles, which belongs to the field of control and includes a three-axis gyroscope sensor, a three-axis acceleration sensor, a three-axis magnetic field sensor, an ultrasonic ranging module, a Kalman filter circuit III, IIR filter circuit, Kalman filter circuit Ⅰ, temperature compensation circuit, Kalman filter circuit Ⅱ, body balance analysis circuit, ground surface analysis circuit, body relative ground analysis circuit and output port circuit. The three-axis gyroscope, the three-axis acceleration sensor and the three-axis magnetic field sensor measure and determine the attitude of the device body relative to the horizontal plane, and the ranging module measures the distance of the device body relative to the lower surface to determine the attitude of the device relative to the ground surface. The posture of the ground surface relative to the horizontal plane can be determined according to the posture of the device body relative to the horizontal plane and the posture of the device body relative to the ground surface.

Description

A ground surface recognition device for automatic landing of drones

technical field

The invention relates to the field of control, in particular to a ground surface recognition device for automatic landing of drones.

Background technique

In recent years, the development momentum of drones is very strong, and the market demand is also increasing. Military, industrial, agricultural, and consumer drones are widely used. However, most of the current methods of landing UAVs are horizontal and vertical landings. Landing on sloping ground in this way is likely to cause the blades to hit the ground and destroy the UAV. This is a problem that cannot be ignored in terms of landing. It can be seen that when the UAV lands, it is very important to recognize the attitude of the landing surface relative to the horizontal plane.

Therefore, it is necessary to design a drone that can automatically recognize the ground and further adjust the blades according to the ground conditions, so that the drone will not damage the blades when it lands on any terrain.

Contents of the invention

In view of the above-mentioned deficiencies, the present invention provides a ground surface recognition device for automatic landing of drones.

The present invention solves the above problems through the following technical solutions:

A ground surface recognition device for automatic landing of drones, including a three-axis gyroscope sensor, a three-axis acceleration sensor, a three-axis magnetic field sensor, an ultrasonic ranging module, a Kalman filter circuit III, an IIR filter circuit, and a Kalman filter Circuit Ⅰ, temperature compensation circuit, Kalman filter circuit Ⅱ, body balance analysis circuit, ground surface analysis circuit, body relative ground analysis circuit and output port circuit;

The output end of the three-axis gyro sensor is connected to the Kalman filter circuit III; the output end of the three-axis acceleration sensor is connected to the IIR filter circuit; the output end of the three-axis magnetic field sensor is connected to the Kalman filter circuit I; The output end of the ultrasonic ranging module is connected to the Kalman filter circuit II through the temperature compensation circuit; the output ends of the Kalman filter circuit III and the IIR filter circuit are both connected to the body balance analysis circuit; the Kalman filter circuit I The output ends of the body balance analysis circuit and the body relative ground analysis circuit are connected respectively; the output end of the Kalman filter circuit II is connected with the body relative ground analysis circuit; the output ends of the body balance analysis circuit and the body relative ground analysis circuit All are connected with the ground surface analysis circuit; the output end of the ground surface analysis circuit is connected with the output port circuit; the output port circuit is connected with the controller of the drone.

In the above solution, preferably, the ultrasonic ranging module includes four ultrasonic sensors and a square or rectangular circuit board, and the four ultrasonic sensors are installed on four corners of the circuit board respectively.

In the above solution, preferably, the output port circuit is a serial port output circuit and an I2C output circuit.

In the above solution, preferably, the IIR filter circuit uses an IIR low-pass filter.

Advantage and effect of the present invention are:

The present invention provides a ground surface identification device for automatic landing of unmanned aerial vehicles, which measures and determines the attitude of the body of the device relative to the horizontal plane through a three-axis gyroscope, a three-axis acceleration sensor and a three-axis magnetic field sensor, and the distance measurement module measures the body of the device relatively low The distance of the surface can determine the attitude of the device relative to the ground surface; the attitude of the ground surface relative to the ground surface can be determined according to the attitude of the device body relative to the horizontal plane and the attitude of the device body relative to the ground surface; the device is installed on the UAV, and the measured ground surface is relatively The horizontal plane attitude data and the relative horizontal plane attitude data of the device body are transmitted to the UAV control system through the interface, so that the UAV can make a corresponding landing posture according to the ground surface attitude.

Description of drawings

Fig. 1 is a structural block diagram of the present invention.

detailed description

The present invention will be further described below in conjunction with embodiment.

A ground surface recognition device for automatic landing of drones, as shown in Figure 1, including a three-axis gyroscope sensor, a three-axis acceleration sensor, a three-axis magnetic field sensor, an ultrasonic ranging module, a Kalman filter circuit III, and an IIR filter circuit, Kalman filter circuit Ⅰ, temperature compensation circuit, Kalman filter circuit Ⅱ, body balance analysis circuit, ground surface analysis circuit, body relative ground analysis circuit and output port circuit. Among them, Kalman filter circuit III, IIR filter circuit, Kalman filter circuit I, temperature compensation circuit, Kalman filter circuit II, airframe balance analysis circuit, ground surface analysis circuit and airframe relative ground analysis circuit are internal structural circuits of the processor , the processor uses a single-chip microcomputer chip of the STM32 series or a DSP processor.

The output end of the three-axis gyroscope sensor is connected with the Kalman filter circuit III, and the three-axis gyroscope is used to measure the roll, pitch and yaw angular velocity of the device. The output end of the three-axis acceleration sensor is connected with the IIR filter circuit, and the three-axis acceleration sensor is used to measure the component of gravity on the coordinate axis of the device. The output end of the three-axis magnetic field sensor is connected with the Kalman filter circuit I, and the three-axis magnetic field sensor measures the yaw angle of the device. The output end of the ultrasonic ranging module is connected to the Kalman filter circuit II through the temperature compensation circuit, and the ultrasonic ranging module is used to measure the distance from the device body to the ground surface.

The output ends of the Kalman filter circuit III and the IIR filter circuit are both connected to the body balance analysis circuit. The output end of the Kalman filter circuit I is respectively connected with the body balance analysis circuit and the body relative ground analysis circuit. The output terminal of the Kalman filter circuit II is connected with the relative ground analysis circuit of the body. The output ends of the body balance analysis circuit and the body relative ground analysis circuit are connected with the ground surface analysis circuit. The output end of the ground surface analysis circuit is connected with the output port circuit. The output port circuit is connected with the controller of the drone, and the output port circuit is a serial port output circuit and an I2C output circuit. The body balance analysis circuit is used to calculate the attitude of the device body relative to the horizontal plane; the body relative to the ground analysis circuit

The processor is used to read the real-time data of the three-axis gyroscope, the three-axis acceleration sensor, the three-axis magnetic field sensor and the ranging module, and process and calculate these data to obtain the attitude of the device body relative to the horizontal plane, the attitude of the device body relative to the ground surface and the ground surface. The attitude of the surface relative to the horizontal plane. The processor transmits these attitude data to the UAV through the output port circuit.

The data collected by the three-axis gyro sensor is filtered by the Kalman filter algorithm in the Kalman filter circuit III. The data collected by the three-axis acceleration sensor is filtered by the IIR low-pass filter, and the three-axis magnetic field sensor is filtered by the Kalman filter algorithm in the Kalman filter circuit Ⅰ. The body balance analysis circuit uses three kinds of data from the gyroscope sensor, the acceleration sensor and the three-axis magnetic field sensor; the pitch angle and roll angle of the attitude are solved by fusion of the data filtered by the gyroscope and the acceleration sensor, and the yaw angle of the attitude is solved by using the gyroscope and the Data fusion solution after filtering of magnetic field sensor.

The original data measured by the ultrasonic ranging module has relatively large noise and error. First, the data is subjected to temperature compensation and then Kalman filtering. The four distances from each ultrasonic module to the ground surface measured by the ultrasonic ranging module can determine the pitch angle and roll angle of the attitude of the device body relative to the ground surface, and the filtered data of the three-axis magnetic field sensor can be used to calculate the azimuth angle, which can be used as The reference heading angle of the airframe relative to the ground surface. From the above, the attitude of the device body relative to the horizontal plane and the attitude of the body relative to the ground surface can be obtained. Through these two attitudes, the attitude of the ground surface relative to the horizontal plane can be solved. This attitude output is used as landing reference data for the UAV flight control, which is convenient for no one to fly. The machine makes a corresponding landing method. The distance data measured by the ultrasonic ranging module can be used as a reference for the UAV's fixed-altitude flight, and can also be used as a reference for the UAV's descent speed.

There are three kinds of data output by the output port circuit, which are the attitude data of the body relative to the horizontal plane, the attitude data of the ground surface relative to the horizontal plane, and the distance data between the body and the ultrasonic module to the ground.

The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art can also make various equivalent modifications or replacements without violating the spirit of the present invention. , these equivalent modifications or replacements are included within the scope of the present application.

Claims (4)

1. a kind of for unmanned plane automatically landing ground surface identifying device it is characterised in that：Including three-axis gyroscope sensor, 3-axis acceleration sensor, triaxial magnetic field sensor, ultrasonic distance measuring module, Kalman filtering circuit III, IIR filter circuit, Kalman filtering circuit I, temperature-compensation circuit, Kalman filtering circuit II, organism balance analysis circuit, earth's surface surface analysis electricity Road, body are relative to Ground analysis circuit and output port circuit；

The outfan of described three-axis gyroscope sensor is connected with Kalman filtering circuit III；Described 3-axis acceleration sensor Outfan is connected with IIR filter circuit；The outfan of described triaxial magnetic field sensor is connected with Kalman filtering circuit I；Described The temperature compensated circuit of outfan of ultrasonic distance measuring module is connected with Kalman filtering circuit II；Described Kalman filtering circuit The outfan of III and IIR filter circuit is all connected with organism balance analysis circuit；The outfan of described Kalman filtering circuit I divides Do not connect relative to Ground analysis circuit with organism balance analysis circuit and body；The outfan of described Kalman filtering circuit II with Body connects relative to Ground analysis circuit；Described organism balance analysis circuit is equal relative to the outfan of Ground analysis circuit with body It is connected with ground surface analysis circuit；The outfan of described ground surface analysis circuit is connected with output port circuit；Described outfan Mouth circuit is connected with the controller of unmanned plane.

2. according to claim 1 a kind of for unmanned plane automatically landing ground surface identifying device it is characterised in that：Institute State the circuit board that ultrasonic distance measuring module includes four ultrasonic sensors and one piece of square or rectangular, described four ultrasonic Wave sensor is separately mounted on four angles of circuit board.

3. according to claim 1 a kind of for unmanned plane automatically landing ground surface identifying device it is characterised in that：Institute Stating output port circuit is serial ports output circuit and I2C output circuit.

4. according to claim 1 a kind of for unmanned plane automatically landing ground surface identifying device it is characterised in that：Institute State IIR filter circuit and use IIR low pass filter.