CN111596682A - A navigation mobile three-dimensional command link control system - Google Patents

Abstract

A navigation mobile three-dimensional command and link control system relates to the technical field of three-dimensional command and link control systems, in particular to a navigation and mobile three-dimensional command and link control system. It includes ground station industrial computer, ground station display panel, industrial computer data conversion, data fusion processor A, first data link radio, second data link radio, 900M switching electronic switch, central controller, alarm feedback, fast Open the umbrella to start the wireless beacon, backup remote control transmission, manual remote control data, control equipment signal coding, video monitoring panel, image receiving radio, 24V vehicle power supply, central coordination controller, rotor motor signal generator. After adopting the above technical scheme, the beneficial effect of the present invention is: it uses a fault voting mechanism, when a fault occurs, the fault code is reported immediately, and then the processing method is selected according to the tolerance level of various states to the fault, which is a mutual restriction mechanism to achieve optimal processing results.

Description

A navigation mobile three-dimensional command link control system

technical field

The invention relates to the technical field of a three-dimensional command link control system, in particular to a navigable mobile three-dimensional command link control system.

Background technique

This patent is designed to address the need for deploying a mobile stereo command link control system. Based on the existing mature technology, this system redesigns the system structure framework, integrates the design concept dominated by safety and stability, and adds many safety protection mechanisms, including dual-core system coordination, flight status monitoring and fault voting processing mechanism, etc. , the flight control core system will never drop. In terms of link, the system adopts the more advanced spread spectrum anti-narrowband interference technology, which enables the device to reach a longer communication distance with lower power under the premise of ensuring high anti-interference.

SUMMARY OF THE INVENTION

The purpose of the present invention is to aim at the defects and deficiencies of the prior art, to provide a navigable mobile three-dimensional command link control system, which has the following advantages:

1. Add dual flight core and can automatically judge the fault and switch;

2. The fault voting mechanism is used. When a fault occurs, the fault code is immediately reported, and then the processing method is selected according to the tolerance level of the fault in various aspects. This is a mutually restrictive mechanism that can achieve the optimal processing result;

3. The failure handling system is perfect. Once the main and standby aircraft fail to go offline (the probability is extremely low), the bottom circuit with its own simple gravity sensor will take over and control the rudder surface to make the aircraft full throttle and climb at a large angle for 10 seconds , and then maintain a stable rudder state, keep the aircraft in the most favorable attitude for a slight glide, turn off the power and issue a red warning message, if there is no operation on the ground after 10 seconds, activate the wireless beacon and keep the rudder in the spiral descent attitude Open the umbrella after the original fall;

4. Using more advanced link communication technology, it has achieved a more stable and farther control range;

5. The ground control terminal of the system can be easily and quickly integrated into vehicles, ships, and even manned aerial vehicles, so as to achieve the effect of flexible and rapid response.

In order to achieve the above object, the present invention adopts the following technical solutions: it comprises a ground station industrial computer 1, a ground station display panel 2, an industrial computer data conversion 3, a data fusion processor A4, a first data link radio 5, a second data Link radio 6, 900M electronic switch 7, central controller 8, alarm feedback 9, quick parachute start wireless beacon 10, backup remote control transmission 11, manual remote control data 12, control equipment signal coding 13, video monitoring panel 14, Image receiving station 15, 24V vehicle power supply 16, central coordination controller 17, rotor motor signal generator 19, camera control and image fusion processing module 20, PTZ controller 21, data fusion processor B22, failure detection/fault processing center 23. I/O signal isolator 24, flight control host 25, flight control processing standby 26, GPS/sensor/airspeed failure coordination switching module 27, MS801 co-processor 28, PTZ 29, nano-lithium polymer power The battery 30, the ground station industrial computer 1 and the industrial computer data conversion 3 transmit data signals bidirectionally, the industrial computer data conversion 3 and the telemetry data encoding of the data fusion processor A4 transmit the data signal bidirectionally, and the telemetry data of the data fusion processor A4 The encoding and data encoding of the data fusion processor A4 are packaged to transmit data signals in both directions, the data encoding of the data fusion processor A4 is packaged to receive the signal encoded by the manual remote control data, the data fusion processor A4 and the first data link station 5, the second data The link radio 6 exchanges data in three phases, the 900M electronic switch 7 is controlled by the central controller 8, the ground station industrial computer 1 transmits signals to the ground station display panel 2, the ground station industrial computer 1 and the central controller 8 transmit signals in both directions, the ground station The industrial computer 1 receives the signal of the V PC800, the central controller 8 transmits the signal to the alarm feedback 9, the central controller 8 controls the backup remote control transmission 11, the central controller 8 receives the wireless beacon 10 for quick parachute opening, and the central controller 8 sends the manual Remote control data 12 transmits signal, manual remote control data 12 transmits signal to manual remote control data code, backup remote control transmit 11 transmits signal to 315M18dbi antenna, central controller 8 and control equipment signal code 13 transmit signal bidirectionally, the built-in 5V stabilizer of central controller 8 Piezoelectric power supply to control equipment signal coding 13, video monitoring panel 14 receives image receiving radio 15, image receiving radio 15 receives V RX90 and 510M high-gain FRP antenna signals, central coordination controller 17 controls rotor motor signal generator 18, airfoil Servo signal generator 19, camera control and image fusion processing module 20, PTZ controller 21, camera control and image fusion processing module 20 superimpose control image/flight information stacker (superposition control is superimposed by the central coordination controller), The camera control and image fusion processing module 20 receives the picture/picture signal of the main camera, camera A and camera B, the main camera receives the signal of V VIDEO, the camera A and camera B receive the signal of V Camera, the camera control The control and image fusion processing module 20, the image/flight information stacker and the image transmission station all receive the V S-00 signal, the image/flight information stacker sends signals to the image transmission station, and the image transmission station sends signals through the 912M whip antenna , the pan-tilt controller 21 controls the pan-tilt 29 and receives the signal of VPF; the central coordination controller 17 receives the manual remote control data separation of the data fusion processor B22 and the signal of the VMS800, the central coordination controller 8 and the data fusion processor B22 Telemetry data separation, data isolation output terminal of I/O signal isolator 24, failure detection/fault processing center 23 bidirectional transmission of signals, built-in 5V voltage regulator of central coordination controller 8 to MS801 co-processor 28, airfoil servo signal The generator 19 is powered, the telemetry data of the data fusion processor B22 is separated and the data is decoded and packaged by the data fusion processor B22 to transmit data bidirectionally, the data is decoded and packaged to the manual remote control data of the data fusion processor B22 The data is separated and transmitted, and the data fusion process The processor B22 receives the signal of the data link radio, the data fusion processor B22 transmits the signal bidirectionally with the data link radio, the data link radio receives the signal of the V P845R, the data link radio and the 912M microstrip antenna (the antenna cooperates with the data link radio) Send and receive link data) bidirectional transmission signals, the data isolation output terminal of the I/O signal isolator 24 and the data isolation flight control terminal of the I/O signal isolator 24 transmit signals in both directions, and the I/O signal isolator 24 uses V IO- OUT (data isolation output terminal power supply port) voltage, the data isolation flight control terminal of the I/O signal isolator 24 receives the built-in 3.3V regulated power supply of the flight control host 25, and the I/O signal isolator 24 is connected to the flight control The main engine 5 and the main and standby machines 26 in the flight control place transmit signals in both directions. The main machine 25 in the flight control place and the main and standby machines 26 in the flight control place use the voltage of V MS71 (the main power supply port for the flight control processing main machine and the standby machine). 25. The main and backup aircraft 26 of the flight control department both transmit information bidirectionally with the GPS/sensor/airspeed failure coordination switching module 27, and the failure detection/fault processing center 23 transmits signals to the alarm reminder, wireless beacon and parachute opening system, and failure detection/ The fault handling center 23 transmits signals in both directions with the backup link radio and the backup remote control link. Cooperate with the link radio to send and receive signals) two-way signal transmission, the failure detection/fault processing center 23 transmits the signal to receive the power supply of the backup power supply, and the 24V vehicle power supply 16 and the nano-lithium polymer power battery 30 provide the total power supply.

The control device signal code 13 receives joystick control, flight status switching, camera switching, overlay status switching, function adjustment knobs, and pan/tilt control components (including pan/tilt, tilt, direction adjustment joysticks, and pan/tilt). Tracking mode toggle switch and forward cast toggle switch).

The 24V vehicle power supply 16 is respectively connected to 24to 19-100W (24V to 19V 100W conversion module), 24to 12-120W (standard 24V to 12V 120W conversion module), 24to 5-isolation AW (24V to 5V 20W isolation conversion module) , 24to 5-isolation BW (24V to 19V 100W isolation conversion module), 24to 12-isolation W (24V to 12V 20W isolation conversion module) and 24to 12-40W (24V to 12V40W conversion module) transmission voltage, 24to 19-100W to V PC800 (ground station industrial computer 1 power supply port) delivers voltage, 24to 12-120W to V DIS PC (ground station display panel 2 power supply port) and V DIS S (ground station video detection panel 14 Power supply port) delivers voltage, 24to 5 -Isolation AW sends voltage to V P845TX (first data link radio 5/second data link radio 6 power supply port), 24to 5-isolated BW sends voltage to V DCK TX (data fusion processor A4 power supply port), 24to 12-Isolation W supplies voltage to V RX90 (15 power supply port of image receiving station), 24to12-40W supplies voltage to V MS801 (8 power supply port of CPU) and V315R (11 power supply port of backup remote control transmitter).

The described rotor motor signal generator 18 (for decoding the motor speed code of the central coordination controller into the speed information of multiple motor controllers) controls the rotor motor controller A, the rotor motor controller B, and the rotor motor controller C. , Rotor motor controller D and horizontal power motor, rotor motor controller A, rotor motor controller B, rotor motor controller C, rotor motor controller D and horizontal power motor all receive the signal of V motor.

Described airfoil servo signal generator 19 (for the bus coding of the angle of the aircraft rudder, decoded into the angle commands of a plurality of rudder surfaces) controls the airfoil servo A, the airfoil servo B, the airfoil servo C , wing server D, wing server E and wing server F, control wing server A, wing server B, wing server C, wing server D, wing server E and The airfoil servos F all receive the signal of V Sever.

The GPS/sensor/airspeed failure coordination switching module 27 receives TCK-31 three-axis gyro sensor, TCK-32 three-axis gyro sensor, TCK-33 three-axis gyro sensor, TCK-41 three-axis acceleration sensor, Signals of TCK-42 three-axis acceleration sensor, TCK-43 three-axis acceleration sensor, GPS receiver A, GPS receiver B, airspeed module A and airspeed module B, the TCK-31 three-axis gyroscope sensor, TCK-32 three-axis gyro sensor, TCK-33 three-axis gyro sensor, TCK-41 three-axis acceleration sensor, TCK-42 three-axis acceleration sensor, TCK-43 three-axis acceleration sensor all receive the signal of V TCK, the said The GPS receiver A and the GPS receiver B both receive the signal of V GCK, and the airspeed module A and the airspeed module B both use the voltage of V KCK (airspeed module power supply port).

The nano lithium polymer power battery 30 to 24to 12-80W (24V to 12V 80W conversion module), 24to12-isolated 30W (24V to 12V 30W isolated conversion module), 24to 7-isolated 200W (24V to 7V 200W isolated conversion module) ), 24to 12-200W (24V to 12V 200W conversion module), 24to7.4-200W (24V to 7.4V 200W conversion module), 24to 12-30W (24V to 12V 30W conversion module, V PF, and V motor transmission voltage , 24to 12-30W to 12to5-5W isolation (12V to 5V 5W conversion module) and 12to 5-5W12V to 5V5W conversion module) and V MS800 transmission voltage, 24to12-80W to V Camera and V VIDEO transmission voltage, 24to 12-isolation 30W transmits voltage to V S-00, 24to 7-isolation 200W transmits voltage to V MS71 and 7to5-20W, 7to5-20W transmits voltage to 5to5 isolation, V RCK, V KCK, V GCK, V TCK, the 5to5 isolation Supply voltage to V DCK RX, 24to 12-200W supply voltage to backup power supply (B), said 24to 7.4-200W supply voltage to V Sever, 12to5-5W isolation supply voltage to V P845R, 12to 5-5W supply voltage to VIO- OUT delivers voltage.

The working principle of the present invention: 1. The central coordination controller judges the flight mode according to the control data obtained from the data link, and the information of the rudder surface servo, rotor and horizontal power motor of the flight controller will be sent uniformly through the central coordination controller. ; If it is currently in the manual state, it will respond to the real-time operation of the manual remote control data, and superimpose the auxiliary stabilization control information output by the flight control processor; if it is currently in the mission flight mode, the route waypoint and the action information of each waypoint ( 2. In any mode, the coordination controller will transmit the real-time flight data to the ground through the data link for the operator to observe the status, The flight camera also captures images from the first-person perspective in real time, and then superimposes more than a dozen important flight data through the video overlay system, and sends it back to the ground through the video transmission link, so that the operator can watch the flight images and directly grasp the important flight data. 3. The airfoil servo signal generator is responsible for decoding the position information of each rudder surface and transmitting it to each rudder surface servo, while the rotor motor signal generator is responsible for decoding the rotational speed information of the rotor motor and the horizontal power motor and transmitting it to Each electronic governor; 4. The flight controller is mainly responsible for the stabilization control of the aircraft or the automatic flight and action control. It executes the flight instructions from the central coordination controller. If it receives a manual command, it outputs the stabilized rudder surface assistance. If the flight command is received, it will plan and execute the action data according to the route, and complete the aerial survey and shooting tasks autonomously; if the current is in the manual hoisting process, the quadrotor GPS flight mode will be executed, and only the azimuth flight information will be received; the flight controller The three-axis gyroscope sensor and the three-axis acceleration sensor are all three-redundant design, the airspeed sensor is two-redundant design, and the flight controller body is divided into two-redundant design of main machine and standby machine, when any sensor fails , the fail-coordination switching module will automatically switch to other sensors in normal state, and inform the master and standby machines of the failed sensor number, and notify the central coordination controller to send the fault information back to the ground, and when the host fails, the standby machine will immediately Switch the host to the offline state, continue the task of the host and continue to perform the next action immediately and send an orange alarm to the ground through the coordination controller; 5. The fault processing center is mainly responsible for fault detection and judging the fault level, through the status of each function Check and vote to choose the processing method. For example, when it is found that the main and standby aircraft are all faulty and offline, the processing center will issue a red alarm to the ground, and turn off the power output, keep the control surface state as the most favorable attitude for the aircraft to slide down, and wait for the ground to switch to manual flight. Or open the parachute, if no command is received within 10 seconds, immediately open the parachute and start the wireless beacon, (optionally use a GPRS signal generator, and check the forced landing site by the portable ground APP software) If the data link fails, then Convert the backup link to perform tasks and notify the ground; 6. PTZ controller, image fusion processing module, the controller can follow, orient, and manually control the image fusion processing in response to the projection angle information of the main camera sent by the coordination processor The module can switch the images of the two cameras and the main camera to transmit the ground according to the requirements of the coordination controller, or perform picture-in-picture display. If the ground requires superimposing flight information, it will send the superimposed heading, altitude, speed per second, position, distance from home, power Voltage and other key information; 7. Power supply, the power supply adopts 30AH22.2V G5 lithium polymer power battery, and ten power supply modules are integrated according to the operating voltage of each module in the system, the degree of isolation required and the power level.

After adopting the above-mentioned technical scheme, the beneficial effect of the present invention is as follows: it has the following advantages:

1. Add dual flight core and can automatically judge the fault and switch;

2. The fault voting mechanism is used. When a fault occurs, the fault code is immediately reported, and then the processing method is selected according to the tolerance level of the fault in various aspects. This is a mutually restrictive mechanism that can achieve the optimal processing result;

3. The failure handling system is perfect. In the event that both the main and standby aircraft fail to go offline (the probability is extremely low), the circuit with its own simple gravity sensor at the bottom will take over and control the rudder surface to make the aircraft full throttle and climb at a large angle for 10 seconds, and then maintain a stable rudder If the ground is inactive after 10 seconds, activate the wireless beacon and keep the rudder in the spiral descent attitude and open the parachute after falling in place;

4. Using more advanced link communication technology, it has achieved a more stable and farther control range;

5. The ground control terminal of the system can be easily and quickly integrated into vehicles, ships, and even manned aerial vehicles, so as to achieve the effect of flexible and rapid response.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

Fig. 1 is the block diagram of re-lifting unmanned aerial vehicle and ground station in the present invention;

Fig. 2 is the structural schematic block diagram of the present invention;

3 is a schematic structural diagram of the 24V vehicle-mounted power supply 16 in the present invention;

FIG. 4 is a schematic structural diagram of the nano-lithium polymer power battery 30 in the present invention.

Reference numeral description: ground station industrial computer 1, ground station display panel 2, industrial computer data conversion 3, data fusion processor A4, first data link radio 5, second data link radio 6, 900M switching electronic switch 7 , central controller 8, alarm feedback 9, quick umbrella start wireless beacon 10, backup remote control transmission 11, manual remote control data 12, control equipment signal coding 13, video monitoring panel 14, image receiving radio 15, 24V vehicle power supply 16, Central coordination controller 17, rotor motor signal generator 19, camera control and image fusion processing module 20, PTZ controller 21, data fusion processor B22, failure detection/fault processing center 23, I/O signal isolator 24, The flight control main unit 25 , the flight control processing standby unit 26 , the GPS/sensor/airspeed failure coordination switching module 27 , the MS801 co-processor 28 , the gimbal 29 , and the nano-lithium polymer power battery 30 .

Detailed ways

1-4, the technical solution adopted in this specific embodiment is that it includes a ground station industrial computer 1, a ground station display panel 2, an industrial computer data conversion 3, a data fusion processor A4, and a first data link radio station. 5. The second data link radio station 6, 900M switching electronic switch 7, central controller 8, alarm feedback 9, quick parachute start wireless beacon 10, backup remote control transmission 11, manual remote control data 12, control equipment signal coding 13, Video monitoring panel 14, image receiving station 15, 24V vehicle power supply 16, central coordination controller 17, rotor motor signal generator 19, camera control and image fusion processing module 20, PTZ controller 21, data fusion processor B22, failure Detection/fault processing center 23, I/O signal isolator 24, flight control host 25, flight control processing standby 26, GPS/sensor/airspeed failure coordination switching module 27, MS801 co-processor 28, PTZ 29, Nano lithium polymer power battery 30, ground station industrial computer 1 is PC-CTRL800 ground station industrial computer, ground station display panel 2 is DISPALY-PC ground station display panel, data fusion processor A4 is DCK-11TX data fusion processor, The first data link station 5 is the P845-TX(A) data link station A, the second data link station 6 is the P845-TX(B) data link station B, and the central controller 8 is the CEN-MS801 central control The backup remote control transmitter 11 is the P315T 315m backup remote control transmitter, the video monitoring panel 14 is the DISPLAY-S video monitoring panel, the image receiving station 15 is the S-RX90510m image receiving station, and the central coordination controller 17 is the CEN-MS800 central coordination controller. , camera control and image fusion processing module 20 is S-CTRL03 camera control and image fusion processing module, PTZ controller 21 is PF332 PTZ controller, data fusion processor B22 is DCK-11RX data fusion processor, failure detection/ The fault processing center 23 is the MS811 failure detection/fault processing center, the I/O signal isolator 24 is the CL-MS707 I/O signal isolator, the flight control host 25 is the CL-MS711 flight control host, and the flight control processing standby machine 26 is the MS-712 flight control processing standby machine, and the GPS/sensor/airspeed failover coordination switch module 27 is the RCK-221A GPS/sensor/airspeed failover coordination switchover module.

The ground station display panel 2 is powered by VDIS PC (display panel power supply interface).

The data fusion processor A4 uses the power supply of V DCK TX (the data fusion processor DCK11 TX power supply interface).

The first data link radio 5 and the second data link radio 6 are powered by V P845TX (power supply interface of link radio A, B).

The 900M switching electronic switch 7 sends signals to the 912M high-gain FRP antenna.

The central controller 8 is powered by V MS801 (central processing unit power supply interface).

The backup remote control transmitter 11 is powered by V 315R (315M module power supply interface).

The video monitoring panel 14 is powered by VDISS (video detection panel power supply interface).

The above is only used to illustrate the technical solution of the present invention and not to limit it. Other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solution of the present invention, as long as they do not depart from the spirit and scope of the technical solution of the present invention, should be Included within the scope of the claims of the present invention.

Claims (7)

1. A navigation mobile three-dimensional command link control system, characterized in that: it comprises a ground station industrial computer (1), a ground station display panel (2), an industrial computer data conversion (3), and a data fusion processor A (4) , the first data link radio station (5), the second data link radio station (6), the 900M switch electronic switch (7), the central controller (8), the alarm feedback (9), the quick parachute start wireless beacon ( 10), backup remote control transmission (11), manual remote control data (12), control equipment signal coding (13), video monitoring panel (14), image receiving radio station (15), 24V vehicle power supply (16), central coordination controller (17), rotor motor signal generator (19), camera control and image fusion processing module (20), PTZ controller (21), data fusion processor B (22), failure detection/fault processing center (23) , I/O signal isolator (24), flight control host (25), flight control processing standby (26), GPS/sensor/airspeed failover coordination switching module (27), MS (801) coprocessor ( 28), PTZ (29), nano-lithium polymer power battery (30), said ground station industrial computer (1) and industrial computer data conversion (3) two-way transmission of data signals, industrial computer data conversion (3) and The telemetry data encoding of the data fusion processor A (4) transmits the data signal bidirectionally, the telemetry data encoding of the data fusion processor A (4) and the data encoding of the data fusion processor A (4) are packaged to transmit the data signal bidirectionally, and the data fusion processing The data encoding package of the processor A (4) receives the signal encoded by the manual remote control data, and the data fusion processor A (4) exchanges data with the first data link station (5) and the second data link station (6) three-phase data, The 900M electronic switch (7) is controlled by the central controller (8), the ground station industrial computer (1) transmits signals to the ground station display panel (2), and the ground station industrial computer (1) and the central controller (8) transmit signals in both directions , the ground station industrial computer (1) receives the signal of the V PC800, the central controller (8) transmits the signal to the alarm feedback (9), the central controller (8) controls the backup remote control transmission (11), and the central controller (8) receives Quickly open the umbrella to start the wireless beacon (10), the central controller (8) transmits signals to the manual remote control data (12), the manual remote control data (12) transmits signals to the manual remote control data encoding, and the backup remote control transmits (11) to the 315M18dbi antenna Sending signals, the central controller (8) and the control equipment signal encoding (13) transmit signals bidirectionally, the built-in 5V regulated power supply of the central controller (8) supplies the control equipment signal encoding (13), and the video monitoring panel (14) receives images The receiving station (15) and the image receiving station (15) receive the signals of the V RX90 and 510M high-gain FRP antennas, and the central coordination controller (17) controls the rotor motor signal generator (18) and the wing servo signal generator (19) , camera control and image fusion processing module (20), PTZ The controller (21), the camera control and image fusion processing module (20) superimposes the control image/flight information stacker, the camera control and image fusion processing module (20) receives the picture/picture signals of the main camera, the camera A and the camera B, The main camera receives the V VIDEO signal, camera A and camera B receive the V Camera signal, the camera control and image fusion processing module (20), the image/flight information stacker and the image transmission station all receive the V S-00 signal, and the image / The flight information stacker sends a signal to the image transmission station, the image transmission station sends a signal through the 912M whip antenna, the gimbal controller (21) controls the gimbal (29) and receives the signal of the V PF; the central coordination controller (17) Receive the manual remote control data separation of the data fusion processor B (22) and the signal of the V MS800, the central coordination controller (8) and the telemetry data separation of the data fusion processor B (22), I/O signal isolator (24) The data isolation output terminal of the UPS, the failure detection/fault processing center (23) transmits signals bidirectionally, and the built-in 5V voltage regulator of the central coordination controller (8) supplies power to the coprocessor (28) and the airfoil servo signal generator (19), The telemetry data separation of the data fusion processor B (22) and the data decoding and packaging of the data fusion processor B (22) two-way transmission data, data decoding and packaging to the manual remote control data of the data fusion processor B (22) Separate transmission data , the data fusion processor B (22) receives the signal of the data link station, the data fusion processor B (22) and the data link station transmit signals in both directions, the data link station receives the signal of the VP845R, and the data link station communicates with the 912M The microstrip antenna transmits signals bidirectionally, the data isolation output terminal of the I/O signal isolator (24) and the data isolation flight control terminal of the I/O signal isolator (24) transmit signals bidirectionally, the I/O signal isolator (24) Using the V IO-OUT voltage, the data isolation flight control terminal of the I/O signal isolator (24) receives the built-in 3.3V regulated power supply of the flight control host (25), and the I/O signal isolator (24) is connected to the flight control terminal (25). The main control unit (5) and the flight control unit main unit (26) transmit signals bidirectionally. The flight control unit main unit (25) and the flight control unit main unit (26) both use the voltage of V MS71. The flight control unit main unit (25) ), the main and standby aircraft (26) of the flight control department both transmit information bidirectionally with the GPS/sensor/airspeed failure coordination switching module (27), and the failure detection/fault processing center (23) transmits signals to alarm reminders, wireless beacons and Umbrella system, the failure detection/fault handling center (23) transmits signals in both directions with the backup link radio and the backup remote control link, the backup link radio and the 900M microstrip antenna transmit signals in both directions, and the backup remote control link and the 315M microstrip antenna transmit in both directions Signal, the failure detection/fault handling center (23) transmits the signal to receive the power supply of the backup power supply, the 24V vehicle power supply (16), the nano-lithium polymer power supply The pool (30) provides the total power. 2. A navigation mobile three-dimensional command link control system according to claim 1, characterized in that: the control device signal coding (13) receives joystick control, flight state switching, camera switching, superimposing state switching, function Adjustment knob, and PTZ control components. 3. a kind of navigation mobile three-dimensional command link control system according to claim 1, is characterized in that: described 24V vehicle-mounted power supply (16) is respectively to 24to 19-100W (24V turns 19V 100W conversion module), 24to 12- 120W (standard 24V to 12V 120W conversion module), 24to 5-isolation AW (24V to 5V 20W isolation conversion module), 24to 5-isolation BW (24V to 19V 100W isolation conversion module), 24to 12-isolation W (24V to 12V 20W isolation conversion module) and 24to 12-40W (24V to 12V40W conversion module) to deliver voltage, 24to 19-100W to deliver voltage to V PC800 (ground station IPC 1 power supply port), 24to 12-120W to V DIS PC (ground station Display panel 2 power supply port) and V DIS S (ground station video detection panel 14 power supply port) supply voltage, 24to 5-isolated AW to V P845TX (first data link radio 5/second data link radio 6 power supply port) Transmitting voltage, 24to 5-isolated BW transmits voltage to V DCK TX (data fusion processor A4 power supply port), 24to 12-isolated W transmits voltage to V RX90 (image receiving station 15 power supply port), 24to 12-40W transmits voltage to VMS801 ( 8 power supply ports for the central processing unit) and V315R (11 power supply ports for backup remote control transmitters) to deliver voltage. 4. a kind of navigation mobile three-dimensional command link control system according to claim 1, is characterized in that: described rotor motor signal generator (18) controls rotor motor controller A, rotor motor controller B, rotor motor control The controller C, the rotor motor controller D and the horizontal power motor, the rotor motor controller A, the rotor motor controller B, the rotor motor controller C, the rotor motor controller D and the horizontal power motor all receive the signal of V motor. 5. A navigation mobile three-dimensional command link control system according to claim 1, characterized in that: the airfoil servo signal generator (19) controls the airfoil servo A, the airfoil servo B, the airfoil Server C, Wing Servo D, Wing Servo E and Wing Servo F, control Wing Servo A, Wing Servo B, Wing Servo C, Wing Servo D, Wing Servo Both the V Sever and the airfoil servo F receive the signal of V Sever. 6. a kind of navigation mobile three-dimensional command link control system according to claim 1 is characterized in that: described GPS/sensor/airspeed failure coordination switching module (27) receives TCK-31 three-axis gyro sensor, TCK -32 triaxial gyro sensor, TCK-33 triaxial gyro sensor, TCK-41 triaxial acceleration sensor, TCK-42 triaxial acceleration sensor, TCK-43 triaxial acceleration sensor, GPS receiver A, GPS receiver B , the signal of airspeed module A and airspeed module B, the TCK-31 three-axis gyro sensor, TCK-32 three-axis gyro sensor, TCK-33 three-axis gyro sensor, TCK-41 three-axis acceleration sensor , TCK-42 three-axis acceleration sensor, TCK-43 three-axis acceleration sensor all receive the signal of V TCK, the GPS receiver A, GPS receiver B all receive the signal of V GCK, the airspeed module A, Airspeed module B all use the voltage of V KCK (airspeed module power supply port). 7. A kind of navigation mobile three-dimensional command link control system according to claim 1, it is characterized in that: described nanometer lithium polymer power battery (30) to 24to 12-80W (24V turns 12V 80W conversion module), 24to 12 -Isolation 30W (24V to 12V 30W isolation conversion module), 24to 7-isolation 200W (24V to 7V 200W isolation conversion module), 24to 12-200W (24V to 12V 200W conversion module), 24to7.4-200W (24V to 7.4 V 200W conversion module), 24to 12-30W (24V to 12V 30W conversion module, V PF, and V motor transmission voltage, 24to 12-30W to 12to5-5W isolation (12V to 5V 5W conversion module) and 12to 5-5W12V to 5V5W conversion module) and V MS800 to transmit voltage, 24to 12-80W to transmit voltage to V Camera and V VIDEO, 24to 12-isolation 30W to transmit voltage to V S-00, 24to 7-isolation 200W to transmit voltage to V MS71 and 7to5-20W , 7to5-20W transmits voltage to 5to5 isolation, V RCK, V KCK, V GCK, V TCK, said 5to5 isolation transmits voltage to V DCK RX, 24to 12-200W transmits voltage to backup power supply B, said 24to 7.4 -200W delivers voltage to V Sever, 12to5-5W isolation delivers voltage to VP845R, 12to 5-5W delivers voltage to V IO-OUT.

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