CN208296847U

CN208296847U - unmanned aerial vehicle flight attitude acquisition device

Info

Publication number: CN208296847U
Application number: CN201820894939.0U
Authority: CN
Inventors: 曹慕卿; 吴程军
Original assignee: Hex Technology Ltd
Current assignee: Singapore Cube Navigation Co.,Ltd.
Priority date: 2018-06-08
Filing date: 2018-06-08
Publication date: 2018-12-28
Anticipated expiration: 2028-06-08

Abstract

The application discloses unmanned aerial vehicle flight gesture acquisition device. The unmanned aerial vehicle flight attitude acquisition device comprises an inertial navigation chip for acquiring flight attitude information of the unmanned aerial vehicle; the main processing chip is used for receiving the flight state information and transmitting the flight state information in a centralized manner; and the flight controller is used for receiving the flight state information sent by the main processing chip in a centralized manner and controlling the flight state of the unmanned aerial vehicle according to the flight state information. The inertial navigation chip sets up unmanned aerial vehicle's aircraft nose position, inertial navigation chip's detection signal output part with main detection signal receiving terminal electric connection who handles the chip, main detection signal output part who handles the chip with flight controller's detection signal receiving terminal communication connection. The technical problem that easily receive magnetic signal interference, signal precision low when having solved unmanned aerial vehicle flight state signal acquisition.

Description

Unmanned plane during flying posture acquisition device

Technical field

This application involves air vehicle technique fields, in particular to a kind of unmanned plane during flying posture acquisition device.

Background technique

Unmanned plane is a kind of unmanned vehicle onboard program control or be remotely controlled by radio wave.Unmanned plane purposes is wide It is general, it can be used for taking photo in the sky, express transportation, the fields such as military surveillance, have many advantages, such as that easy to use, mobility is good.

Unmanned plane needs to acquire in flight course the flight attitude information of unmanned plane, existing unmanned plane during flying appearance in real time State information collecting device vulnerable to extraneous or unmanned plane self electromagnetism signal interference, cause collected signal accuracy it is low, Signal acquisition lag, can not accurately obtain the posture of unmanned plane, unmanned plane usually occurs in flight course for these reasons Deviation, and it is unable to complete assigned tasks.

For in the related technology to unmanned plane during flying state signal collecting when vulnerable to magnetic signal interference, signal accuracy is low asks Topic, currently no effective solution has been proposed.

Utility model content

The main purpose of the application is to provide a kind of unmanned plane during flying posture acquisition device, to solve to unmanned plane during flying The problem low vulnerable to magnetic signal interference, signal accuracy when state signal collecting.

To achieve the goals above, this application provides a kind of unmanned plane during flying posture acquisition device.

According to the unmanned plane during flying posture acquisition device of the application, comprising: inertial navigation chip acquires the flight of unmanned plane Posture information；Main process task chip receives the flight attitude information, and carries out concentration transmission to the flight attitude information；Fly Line control unit receives the flight attitude information sent in the main process task chipset, and according to the flight attitude information The state of flight of the unmanned plane is controlled, the Handpiece Location of the unmanned plane, institute is arranged in the inertial navigation chip The detection signal receiving end of the detection signal output end and the main process task chip of stating inertial navigation chip is electrically connected, the master The detection signal receiving end of the detection signal output end and the flight controller that handle chip communicates to connect；

Wherein, the inertial navigation chip includes the accelerometer for acquiring the acceleration information of unmanned plane, acquisition unmanned plane Angular velocity information gyroscope and acquisition unmanned plane course information magnetic compass, the accelerometer detection signal output End, the gyroscope detection signal output end and the magnetic compass detection signal output end respectively with the main process task chip Detection signal receiving end be electrically connected.

Further, the accelerometer uses 3-axis acceleration sensor.

Further, the gyroscope uses three-axis gyroscope.

Further, the unmanned plane during flying posture acquisition device further includes the gas for acquiring the airspeed information of unmanned plane The detection signal receiving end of pressure meter, the barometrical detection signal output end and the flight controller is electrically connected.

Further, the barometer uses ms5525 barometer chip.

Further, the unmanned plane during flying posture acquisition device further includes the gas for acquiring the flying height information of unmanned plane Pressure sensor, the detection signal output end and the detection signal receiving end of the flight controller of the baroceptor electrically connect It connects.

Further, communication link is carried out by CAN bus module between the main process task chip and the flight controller It connects.

Further, the CAN bus module includes CAN bus transceiving chip and CAN interface, the CAN bus Transceiving chip and the CAN interface are electrically connected.

Further, the main process task chip uses stm32f3 main process task chip.

In the embodiment of the present application, accelerometer, gyroscope and magnetic compass are integrated in same chip, compact is just It, can be with other electricity of unmanned plane since accelerometer, gyroscope and magnetic compass to be mounted on to the Handpiece Location of unmanned plane in installation Gas element keeps maximum distance, and electromagnetic interference is reduced to minimum, ensure that the accuracy of magnetic compass detection signal, accelerates simultaneously Degree meter and gyroscope can also obtain course and the state of flight of head at the first time, can accurately hold the whole boat of unmanned plane To and state of flight, signal is more accurate, thus realize improve unmanned plane signal detection precision technical effect, and then solve The technical problem low vulnerable to magnetic signal interference, signal accuracy when to unmanned plane during flying state signal collecting.

Detailed description of the invention

The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not Constitute the improper restriction to the application.In the accompanying drawings:

Fig. 1 is the utility model unmanned plane during flying posture acquisition device.

Specific embodiment

In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection It encloses.

It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, " Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.

In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside", " in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or Positional relationship.These terms are not intended to limit indicated primarily to better describe the utility model and embodiment Device, element or component must have particular orientation, or be constructed and operated with particular orientation.

Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.

In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example, It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component. For those of ordinary skills, can understand as the case may be above-mentioned term in the present invention specifically contain Justice.

It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

As shown in Figure 1, the unmanned plane during flying posture obtains dress this application involves a kind of unmanned plane during flying posture acquisition device It sets including inertial navigation chip 1, main process task chip 2 and flight controller 5, inertial navigation chip 1 is used to acquire flying for unmanned plane Row posture information；Main process task chip 2 carries out concentration transmission to flight attitude information for receiving flight attitude information；Flight Controller 5 is used to receive main process task chip 2 and concentrates the flight attitude information sent, and according to flight attitude information to unmanned plane State of flight is controlled.The Handpiece Location of unmanned plane, the detection signal of inertial navigation chip 1 is arranged in inertial navigation chip 1 The detection signal receiving end of output end and main process task chip 2 is electrically connected, the detection signal output end of main process task chip 2 and flight The detection signal receiving end of controller 5 communicates to connect.Inertial navigation chip 1 includes the acceleration of the acceleration information of acquisition unmanned plane Degree counts the gyroscope 102 of the angular velocity information of 101, acquisition unmanned plane and acquires the magnetic compass 103 of the course information of unmanned plane, adds Speedometer 101, gyroscope 102 and magnetic compass 103 are integrated on the same chip, detection signal output end, the top of accelerometer 101 Spiral shell instrument 102 detection signal output end and magnetic compass 103 detection signal output end respectively with the detection signal of main process task chip 2 Receiving end is electrically connected.Accelerometer 101, gyroscope 102 and magnetic compass 103 are integrated in same chip, compact is just It, can be with nothing since accelerometer 101, gyroscope 102 and magnetic compass 103 to be mounted on to the Handpiece Location of unmanned plane in installation Other man-machine electrical components keep maximum distance, and electromagnetic interference is reduced to minimum, ensure that magnetic compass 103 detects the essence of signal Exactness, while accelerometer 101 and gyroscope 102 can also obtain course and the state of flight of head, Neng Gouzhun at the first time Whole course and the state of flight of unmanned plane are really held, signal is more accurate, improves unmanned plane signal detection essence to realize The technical effect of degree.

In some embodiments of the utility model, accelerometer 101 uses 3-axis acceleration sensor；Gyroscope 102 is adopted Use three-axis gyroscope.

As shown in Figure 1, unmanned plane during flying posture acquisition device further includes the air pressure for acquiring the airspeed information of unmanned plane Meter 3, the detection signal output end of barometer 3 and the detection signal receiving end of flight controller 5 are electrically connected, and barometer 3 is arranged In the Handpiece Location of unmanned plane, the front of the test side alignment head of barometer 3, by the dynamic air pressure for measuring Handpiece Location With the draught head of static air pressure, the current flying speed of unmanned plane is obtained.

In some embodiments of the utility model, barometer 3 uses ms5525 barometer chip.

As shown in Figure 1, unmanned plane during flying posture acquisition device further includes the air pressure for acquiring the flying height information of unmanned plane Sensor 4, the detection signal output end of baroceptor 4 and the detection signal receiving end of flight controller 5 are electrically connected, and are passed through The collected pressure information of baroceptor 4, to judge flying height locating for unmanned plane, and then can obtain unmanned plane Flying height information.

As shown in Figure 1, being communicatively coupled between main process task chip 2 and flight controller 5 by CAN bus module, CAN Bus module includes CAN bus transceiving chip 6 and CAN interface 7,7 electricity of CAN bus transceiving chip 6 and CAN interface Property connection.

In some embodiments of the utility model, CAN bus transceiving chip 6 is using model 568-8686-2-ND's CAN bus transceiving chip.

In some embodiments of the utility model, main process task chip 2 uses stm32f3 main process task chip.

The device working principle are as follows: unmanned plane passes through 101 real-time detection unmanned plane during flying of accelerometer in flight course The acceleration of state is examined by the angular speed of 102 real-time detection unmanned plane during flying state of gyroscope by magnetic compass 103 in real time The course for surveying unmanned plane, by the flying speed of 3 real-time detection unmanned plane of barometer, by 4 real-time detection of baroceptor without Man-machine flying height, and flight is sent to after the information that each detection device detects is summarized by main process task chip 2 Controller 5, flight controller 5 control the motor of unmanned plane according to the unmanned plane during flying signal received, and then control The state of flight of unmanned plane.The unmanned plane during flying signal received can be also sent to positioned at remote monitor by flight controller 5 In host computer in center, staff can remotely be monitored by host computer to unmanned plane and the record of data.

Flight controller 2, flight controller 2 obtain the flight appearance of unmanned plane according to acceleration signal and angular velocity signal State, in the case where motor 5 is abnormal vibration or suddenly change occurs for flight attitude, flight controller 2 obtains different in time Regular signal simultaneously controls 4 alert of alarm, so that operator can make adjustment and manipulate in time.Host computer 3 and When obtain and signal and remotely monitored.

The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.

Claims

1. An unmanned aerial vehicle flight attitude obtaining device is characterized in that, comprising:

The inertial navigation chip (1) collects the flight attitude information of the drone;

The main processing chip (2), receives the flight attitude information, and sends the flight attitude information collectively;

a flight controller (5), receiving the flight attitude information sent centrally by the main processing chip (2), and controlling the flight state of the drone according to the flight attitude information,

The inertial navigation chip (1) is arranged at the nose position of the drone, and the detection signal output end of the inertial navigation chip (1) is electrically connected to the detection signal receiving end of the main processing chip (2) , the detection signal output end of the main processing chip (2) is communicatively connected with the detection signal receiving end of the flight controller (5);

Wherein, the inertial navigation chip (1) includes an accelerometer (101) for collecting the acceleration information of the drone, a gyroscope (102) for collecting the angular velocity information of the drone, and a magnetic compass (102) for collecting the heading information of the drone ( 103), the detection signal output end of the accelerometer (101), the detection signal output end of the gyroscope (102) and the detection signal output end of the magnetic compass (103) are respectively connected with the main processing chip (2 ) is electrically connected to the detection signal receiving end.

2. The flying attitude acquisition device of unmanned aerial vehicle according to claim 1, characterized in that, the accelerometer (101) adopts a three-axis acceleration sensor.

3. The device for obtaining the flight attitude of the unmanned aerial vehicle according to claim 1, wherein the gyroscope (102) adopts a three-axis gyroscope.

4. unmanned aerial vehicle flight attitude acquisition device according to claim 1, is characterized in that, described unmanned aerial vehicle flight attitude acquisition device also comprises the barometer (3) of gathering the flying speed information of unmanned aerial vehicle, described air pressure The detection signal output end of the meter (3) is electrically connected with the detection signal receiving end of the flight controller (5).

5. The flying attitude acquisition device of unmanned aerial vehicle according to claim 4, characterized in that, the barometer (3) adopts ms5525 barometer chip.

6. the unmanned aerial vehicle flight attitude acquisition device according to claim 1, is characterized in that, described unmanned aerial vehicle flight attitude acquisition device also comprises the barometric pressure sensor (4) of the flying height information of gathering unmanned aerial vehicle, and described air pressure The detection signal output end of the sensor (4) is electrically connected with the detection signal receiving end of the flight controller (5).

7. The flight attitude acquisition device for unmanned aerial vehicle according to claim 1, characterized in that, the main processing chip (2) and the flight controller (5) are communicatively connected through a CAN bus module.

8. unmanned aerial vehicle flight attitude acquiring device according to claim 7, is characterized in that, described CAN bus module comprises CAN bus transceiver chip (6) and CAN bus interface (7), and described CAN bus transceiver chip (6) ) is electrically connected with the CAN bus interface (7).

9. The flight attitude acquisition device of unmanned aerial vehicle according to claim 1, characterized in that, said main processing chip (2) adopts stm32f3 main processing chip.