阅读说明：本技术 一种无人机的地面检测系统及方法 (Ground detection system and method for unmanned aerial vehicle ) 是由 王�华 郭宏选 于 2021-10-21 设计创作，主要内容包括：本发明公开了一种无人机的地面检测系统及方法,包括通讯管理模块,通讯管理模块依次连接有数据解析模块、数据分发模块、用户界面模块以及USB转串口设备；用户界面模块还依次连接有指令封装模块和通讯管理模块。本发明还公开了一种无人机的地面检测的方法,包括步骤1：连接地面检测系统与无人机机载设备,步骤2：各模块配合进行下行数据处理并显示；步骤3：地面检测人员输入指令,各模块进行上行指令帧发送。本发明的通信方式满足地面检测上下行数据通信要求；在一定程度上减少了协议变更导致的维护工作量；其使用便捷,检测功能较为齐全,且易于维护,具有较好的实用意义。(The invention discloses a ground detection system and method of an unmanned aerial vehicle, which comprises a communication management module, wherein the communication management module is sequentially connected with a data analysis module, a data distribution module, a user interface module and a USB-to-serial port device; the user interface module is also sequentially connected with an instruction packaging module and a communication management module. The invention also discloses a ground detection method of the unmanned aerial vehicle, which comprises the following steps of 1: connect ground detecting system and unmanned aerial vehicle airborne equipment, step 2: all modules are matched to process and display downlink data; and step 3: ground detection personnel input instructions, and each module sends an uplink instruction frame. The communication mode of the invention meets the communication requirement of the ground detection uplink and downlink data; the maintenance workload caused by protocol change is reduced to a certain extent; the detection device is convenient to use, complete in detection function, easy to maintain and good in practical significance.)

1. The ground detection system of the unmanned aerial vehicle is characterized by comprising a communication management module, wherein the communication management module is sequentially connected with a data analysis module, a data distribution module, a user interface module and a USB-to-serial port device; the user interface module is also sequentially connected with an instruction packaging module and a communication management module;

the communication management module is used for receiving and combining serial port signals of airborne equipment of the unmanned aerial vehicle and sending the serial port signals to the data analysis module; the communication management module is also used for sending the information of the instruction packaging module to the unmanned aerial vehicle airborne equipment;

the data analysis module is used for receiving the serial port signal of the communication management module, analyzing the serial port signal into field information of measurement parameters and states according to a communication protocol of the unmanned aerial vehicle airborne equipment and the ground detection system, and storing the field information into an ICD field container;

the data distribution module is used for reading the field information in the ICD field container and displaying the field information to the interface control appointed in the user interface module;

the user interface module is used for receiving the information of the data distribution module, processing and displaying the information, and generating measurement and state information of the current unmanned aerial vehicle airborne equipment; the user interface module is also used for sending the input instruction and the parameter type of the airborne equipment of the controlled unmanned aerial vehicle to the instruction encapsulation module;

the instruction encapsulation module is used for encapsulating the information input by the user interface module into a serial port data frame and then sending the serial port data frame to an uplink instruction frame of the flight control computer through the communication management module.

2. The ground detection system of an unmanned aerial vehicle of claim 1, wherein the display of the user interface module is a visual data display comprising at least one of a text display, a graphical display, and a tabular display.

3. The ground detection system of a drone of claim 1, wherein the instruction encapsulation module employs Python language as an instruction generation scripting language.

4. A ground detection method of an unmanned aerial vehicle, characterized in that the ground detection system of an unmanned aerial vehicle according to claim 1 is adopted, and comprises the following steps:

step 1: connecting a ground detection system of an unmanned aerial vehicle with airborne equipment of the unmanned aerial vehicle on the ground through USB (universal serial bus) to serial port equipment;

step 2: the communication management module receives and combines serial port signals of airborne equipment of the unmanned aerial vehicle and sends the serial port signals to the data analysis module; the data analysis module analyzes the serial port signal into field information of measurement parameters and states according to a communication protocol of the unmanned aerial vehicle airborne equipment and the ground detection system, the field information is stored in an ICD field container, and the data distribution module reads the field information in the ICD field container and displays the field information in an interface control appointed in the user interface module; the user interface module generates measurement and state information of the current airborne equipment of the unmanned aerial vehicle through processing and displaying;

and step 3: the ground detection personnel input the instruction and the parameter type of the airborne equipment of the controlled unmanned aerial vehicle in the user interface module, and the user interface module sends the instruction and the parameter type to the instruction encapsulation module; the command encapsulation module encapsulates the command and the parameter type into a serial port data frame, and then the serial port data frame is sent to an uplink command frame of the flight control computer through the communication management module, and the flight control computer controls and outputs the unmanned aerial vehicle airborne equipment according to the command and the parameter type.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicle ground detection control systems, and particularly relates to a ground detection system of an unmanned aerial vehicle and a ground detection method of the unmanned aerial vehicle.

Background

Unmanned aerial vehicle is as an unmanned vehicles, and it has integrated power device, measuring equipment such as position, attitude sensor, and servo actuation equipment, wireless communication equipment, task load equipment etc. can accomplish operations such as various flights, measurement, transportation under the condition that need not the driver to control.

The ground detection system is a guarantee system for ground detection and maintenance of the airplane. The method generally utilizes wired and wireless connection and data communication with a flight control management computer to report the running state of each device of the airplane to ground detection personnel; meanwhile, the parameter setting and control can be carried out on the aircraft equipment through the ground detection software, so that the aim of ground detection of the running state of the unmanned aerial vehicle is fulfilled.

The ground detection function of the existing unmanned aerial vehicle system is often integrated in a ground control station, but along with the increase of the operation task of the unmanned aerial vehicle, the complexity of the ground control station is gradually increased, so that the ground detection system of the unmanned aerial vehicle is further optimized immediately.

Disclosure of Invention

The invention aims to provide a ground detection system of an unmanned aerial vehicle, which solves the problem that the ground detection system of the unmanned aerial vehicle needs to be further optimized.

One technical solution adopted by the present invention is that,

a ground detection system of an unmanned aerial vehicle comprises a communication management module, wherein the communication management module is sequentially connected with a data analysis module, a data distribution module, a user interface module and a USB-to-serial port device; the user interface module is also sequentially connected with an instruction packaging module and a communication management module;

the communication management module is used for receiving and combining serial port signals of airborne equipment of the unmanned aerial vehicle and sending the serial port signals to the data analysis module; the communication management module is also used for sending the information of the instruction packaging module to the unmanned aerial vehicle airborne equipment;

the data analysis module is used for receiving the serial port signal of the communication management module, analyzing the serial port signal into field information of measurement parameters and states according to a communication protocol of the unmanned aerial vehicle airborne equipment and the ground detection system, and storing the field information into an ICD field container;

the data distribution module is used for reading the field information in the ICD field container and displaying the field information to the interface control appointed in the user interface module;

the user interface module is used for receiving the information of the data distribution module, processing and displaying the information and generating measurement and state information of the current airborne equipment of the unmanned aerial vehicle; the user interface module is also used for sending the input instruction and the parameter type of the airborne equipment of the controlled unmanned aerial vehicle to the instruction encapsulation module;

and the instruction encapsulation module is used for encapsulating the information input by the user interface module into a serial port data frame and then sending the serial port data frame to an uplink instruction frame of the flight control computer through the communication management module.

The present invention is also characterized in that,

the display of the user interface module is a visual data display which comprises at least one of a text display, a graphic display and a table display.

The instruction packaging module adopts Python language as instruction generation script language.

In another technical solution of the present invention,

a ground detection method of an unmanned aerial vehicle comprises the following steps:

step 1: connecting a ground detection system of an unmanned aerial vehicle with airborne equipment of the unmanned aerial vehicle on the ground through USB (universal serial bus) to serial port equipment;

step 2: the communication management module receives and combines serial port signals of airborne equipment of the unmanned aerial vehicle and sends the serial port signals to the data analysis module; the data analysis module analyzes the serial port signal into field information of measurement parameters and states according to a communication protocol of the unmanned aerial vehicle airborne equipment and the ground detection system, the field information is stored in an ICD field container, and the data distribution module reads the field information in the ICD field container and displays the field information in an interface control appointed in the user interface module; the user interface module generates measurement and state information of the current airborne equipment of the unmanned aerial vehicle through processing and displaying;

and step 3: the ground detection personnel input the instruction and the parameter type of the airborne equipment of the controlled unmanned aerial vehicle in the user interface module, and the user interface module sends the instruction and the parameter type to the instruction encapsulation module; the command encapsulation module encapsulates the command and the parameter type into a serial port data frame, and then the serial port data frame is sent to an uplink command frame of the flight control computer through the communication management module, and the flight control computer controls and outputs the unmanned aerial vehicle airborne equipment according to the command and the parameter type.

The invention has the beneficial effects that: the ground detection system has higher maintainability by collecting measurement information and forwarding detection instructions through a flight control computer, carrying out ICD management based on XML and generating instructions based on Python language, and can help ground detection personnel to complete daily detection, maintenance and troubleshooting of airborne aerial survey and aviation control equipment.

Drawings

Fig. 1 is a schematic diagram of the interconnection relationship between the ground detection system and the airborne system of the unmanned aerial vehicle in the ground detection system and method of the unmanned aerial vehicle of the invention;

FIG. 2 is a system diagram of a ground detection system and method for an unmanned aerial vehicle according to the present invention;

fig. 3 is a schematic flow chart of downlink data processing in the ground detection system and method for an unmanned aerial vehicle according to the present invention;

fig. 4 is a schematic flow chart of uplink data processing in the ground detection system and method of the unmanned aerial vehicle according to the present invention.

Detailed Description

The ground detection system and method for the unmanned aerial vehicle of the invention are further described in detail with reference to the accompanying drawings and the detailed description.

As shown in fig. 1 and 2, a ground detection system of an unmanned aerial vehicle includes a communication management module, which is sequentially connected with a data analysis module, a data distribution module, a user interface module, and a USB to serial port device; its purpose is when unmanned aerial vehicle is in the ground, changes serial devices and unmanned aerial vehicle machine-mounted device through USB and is connected the communication, carries out ground detection to it, demonstrates the running state of each equipment of aircraft. Meanwhile, the user interface module is sequentially connected with an instruction packaging module and a communication management module, and parameter setting and control are carried out on the airplane equipment through ground detection software, so that ground detection operation of the running state of the unmanned aerial vehicle is realized. The ground detection system can help ground detection personnel to complete daily detection, maintenance and troubleshooting of airborne aerial survey and aerial control equipment by collecting measurement information and forwarding detection instructions through the flight control computer.

Unmanned aerial vehicle ground detection system is a set of portable automatic check out test set that supports external field test, maintenance, and its system function includes: receiving, analyzing and visually processing ground detection data of a flight control computer; and (4) packaging and sending the detection instruction, the equipment parameters and the flight control computer parameters.

Because of the ground detection computer of the ground detection system of the unmanned aerial vehicle is only provided with an RS232 serial port interface and does not have RS422 and RS485 communication functions, the ground detection system selects a USB-to-serial port device as a connection device of the ground detection system and the airborne equipment of the unmanned aerial vehicle.

The ground detection computer is connected with the unmanned aerial vehicle airborne equipment through the USB-to-serial port equipment, wherein the unmanned aerial vehicle airborne equipment comprises a flight control computer and aerial survey and navigation control equipment. Considering that the comprehensive detection software has simple interface and independent function, the comprehensive detection computer selects a reinforced notebook as a hardware carrier to improve the portability of the ground detection system.

The ground detection system and method of the unmanned aerial vehicle of the invention are further described in detail by specific embodiments.

As shown in fig. 2, the communication management module in the ground detection system is responsible for receiving the downlink serial port data sent by the flight control computer and sending the uplink frame of the ground detection system to the flight control computer.

The communication management module in the ground detection system realizes the functions of combining and framing the received serial port data, and can identify and check the legal downlink frame of the flight control computer in the received byte stream with the indefinite length.

A user interface module in the ground detection system is an unmanned aerial vehicle system detection platform provided for ground detection personnel by ground detection software. On one hand, a user operation part of the user interface module displays the current running state and the measurement data of the unmanned aerial vehicle system to ground detection personnel; on the other hand, the user operation part of the user interface module sends the detection instruction and the instruction parameter input by the ground detection personnel to the flight control computer.

The data analysis module in the ground detection system is used for analyzing and identifying the downlink data of the flight control computer: the data analysis module analyzes the downlink serial port signal into field information of measurement parameters and states according to a communication protocol of the unmanned aerial vehicle airborne equipment and the ground detection system, and stores the field information into the ICD field container.

The data distribution module in the ground detection system is responsible for displaying the field information in the ICD field container to the interface control designated in the user interface module by reading the field information in the ICD field container;

and the user interface module generates the measurement and state information of the current airborne equipment of the unmanned aerial vehicle through processing and displaying.

And an instruction packaging module in the ground detection system undertakes the assembly process of an uplink instruction frame of the ground detection system. The instruction encapsulation module encapsulates detection instructions and parameters input by ground detection personnel into uplink instruction control frames which can be recognized by a flight control computer, namely serial port data frames. In the equipment control processing process of the ground detection system, the instruction packaging module adopts Python language as an instruction generation script language.

The data receiving of the ground detection system of the unmanned aerial vehicle is as follows: the serial port signal from the flight control computer is received, and the device signal information in the forms of numerical values, tables, charts and the like is finally generated through data analysis, device data distribution and device information interface module processing, so that the measurement and state information of the current airborne device can be conveniently observed by a detector.

The ground detection system realizes the transmission of the equipment control instruction through the following steps: the control of the ground detection system equipment comprises steering engine control and switching value control. The implementation mechanism is that the type of the controlled equipment and the parameters of the controlled equipment input by ground detection personnel in the equipment control interface are encapsulated and then sent to an uplink instruction frame of the flight control computer, and the flight control computer realizes the control and output of the airborne equipment according to the instruction content.

1) The downlink data sent by the flight control computer to the ground detection system comprises:

measurement data and equipment status of GPS, atmospheric computers, and inertial navigation sensors;

self-checking results and working state data of servo actuating equipment such as a steering engine, a steering controller and a brake;

state information of electromechanical and fuel control equipment.

2) The uplink detection and control instructions sent by the ground detection system comprise:

setting the angle and position of the servo actuating equipment;

controlling instructions of electromechanical and fuel control equipment;

setting instructions such as an unmanned aerial vehicle control mode, a task mode and the like;

and binding instructions for the operation parameters of equipment such as an atmosphere computer, a rudder controller and the like.

The invention relates to specific communication data of a ground detection system and a flight control computer of an unmanned aerial vehicle, which comprises the following steps:

1) communication signals (RS 422 communication);

the navigation sensors such as the optical fiber combination inertial navigation, the atmosphere computer, the angular rate gyroscope, the radio altimeter and the like send measurement and state information to the flight control computer and receive instructions sent by the flight control computer.

The signal processing unit sends information such as temperature and rotating speed sensors to the flight control computer.

And the power distribution control box sends power distribution state information to the flight control computer and receives a power distribution instruction sent by the flight control computer.

And the steering engine control system sends state information of the steering controller and the steering engine to the flight control computer and receives a steering engine control command sent by the flight control computer.

2) A discrete magnitude signal;

the flap controller sends flap position signals to the flight control computer.

And the fuel control system receives a fuel control system discrete quantity control signal sent by the flight control computer.

And the vertical gyroscope receives a working mode command signal sent by the flight control computer.

And the relay box receives a signal on-off instruction signal sent by the flight control computer.

3) An analog quantity signal;

and the vertical gyroscope sends pitch angle and roll angle measurement signals to the flight control computer.

The ground detection system receives and processes the data from the serial bus, and analyzes and visualizes the data according to the ground detection communication ICD. Ground detection personnel can acquire measurement information, running state and self-checking information of a flight control computer and airborne aerial survey and aerial control equipment which is cross-linked with the flight control computer in the current unmanned aerial vehicle system through a software interface of a user interface module.

The ground detection software can be packaged into serial communication data frames which can be identified by the flight control computer according to the detection instruction, the set parameters and other information set in the interface by the user.

As shown in fig. 3, a downlink data processing flow of the ground detection method of the unmanned aerial vehicle of the present invention is:

the ground detection system receives serial port signals from the flight control computer, and finally generates device signal information in the forms of numerical values, tables, charts and the like through the processing of modules such as data analysis, device data distribution, device information interfaces and the like, so that detection personnel can observe the measurement and state information of the current airborne device conveniently.

As shown in fig. 4, the uplink data processing flow of the ground detection method for an unmanned aerial vehicle of the present invention is as follows:

the ground detection system realizes the transmission of the equipment control instruction through the following steps: the ground detection system has the equipment control functions of steering engine control and switching value control; the implementation mechanism of the equipment control function is to transmit the type of the controlled equipment and the parameters of the controlled equipment, which are input by ground detection personnel in the user interface module, to an uplink instruction frame of the flight control computer after the instruction encapsulation module is encapsulated, and the flight control computer controls and outputs the airborne equipment according to the instruction content.

The ground detection system of the unmanned aerial vehicle is a set of portable automatic detection equipment supporting external field test and maintenance, and the communication mode is simple and reliable through a serial port data interface; ICD standardization and configurable management are convenient for communication protocol expansion and upgrading; based on the communication data analysis configured by the ICD, the ICD fields have rich types and meet the communication requirements of uplink and downlink data of ground detection; visual data display, which is provided with visual display components such as characters, graphs and tables; and uplink control and binding instruction encapsulation are performed, and an uplink instruction is generated based on a Python language, so that the system maintenance workload caused by protocol change is reduced. The operation mode of this system is convenient, and it is comparatively complete to detect the function, and easy to maintain, has the practical meaning of better commonality.