CN106325301A - Quadrotor formation flight system and formation method based on GPS and ZigBee - Google Patents
Quadrotor formation flight system and formation method based on GPS and ZigBee Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention discloses a quadrotor formation flight system and formation method based on GPS and ZigBee. The system contains a mothership and at least one sub-ship and terminal. The mothership and sub-ship are quadrotors; GPS orientation module, angular velocity module and singlechip are respectively installed in the mothership and sub-ship;the GPS orientation module and angular velocity module respectively connect the singlechip; the single chip installed in the mothership connects the singlechip installed in the sub-ship through the wireless communication of ZigBee module; and the singlechip installed in the mothership connects the terminal through the wireless communication of wireless RF module. The quadrotor formation flight system and formation method based on GPS and ZigBee perform the formation and data transmission through the networks formed by the distribution of GPS, angular velocity module and ZigBee in each mothership and sub-ship, so as to make the workers acquire data in large scale precisely with high efficiency. Meanwhile, with the wireless RF and ZigBee network, the data can be sent to realize the real-time analysis of data.
Description
Technical field
The present invention relates to formation flight system and formation method, particularly to four rotor flyings based on GPS and ZigBee
Device formation flight system and formation method.
Background technology
Quadrotor has, as a kind of, the rotary wings unmanned vehicle that structure is special, with fixed-wing unmanned plane phase
Ratio, it is little that it has volume, vertical landing, has the strongest mobility, and load capacity is strong, can quickly, neatly in all directions
Carry out motor-driven, simple in construction, it is easy to control, and the features such as various special, hot missions can be performed.Quadrotor is now
Society has the widest application, and such as military investigation detection, data acquisition, communication strengthen node etc..Meanwhile, four rotors without
People's aircraft can independently complete above-mentioned task, the most cost-effective, and enormously simplify manual labor, also cannot the mankind
The danger, the harm environment that arrive can replace human work completely.
The exploitation of many rotor wing unmanned aerial vehicles is started late by China, the farthest lags behind American-European and Japanese.At present,
Domestic some basic fundamentals for quadrotor have tended to ripe such as the technology such as warship of hovering, automatically return, four single rotations
The data that rotor aircraft gathers are accurate not, and scope is little, and inefficiency, if quadrotor is formed into columns, and application neck
Territory will be wider, have broader prospect in data collecting field.
Summary of the invention
The present invention is directed to the application of domestic quadrotor extensive not, range of application is less, propose a kind of based on GPS and
The quadrotor formation flight system of ZigBee, this system can carry out formation tune to aloft quadrotor
Whole, additionally it is possible to carry out large-scale data acquisition at spaciousness, overcome the shortcoming that data precision is the highest, and can improve
Data acquisition efficiency.It addition, present invention also offers a kind of formation method.
In order to realize object above, first this application provides a kind of quadrotor based on GPS and ZigBee and compile
Team's flight system, it is characterised in that: including a mother ship carrier, at least one sub-warship and terminal, described mother ship carrier and sub-warship are four rotations
Rotor aircraft；GPS locating module, angular velocity module and single-chip microcomputer it is separately installed with on described mother ship carrier and sub-warship；Described GPS positions
Module and described angular velocity module are connected with described single-chip microcomputer respectively；The single-chip microcomputer being installed on described mother ship carrier be installed on described
Connected by ZigBee module radio communication between single-chip microcomputer on sub-warship, the single-chip microcomputer being installed on described mother ship carrier and terminal it
Between connected by wireless radio frequency modules radio communication.
Further, described sub-warship is also equipped with photographic head, photoelectric sensor and/or infrared ray sensor；Described take the photograph
As head, described photoelectric sensor and described infrared ray sensor are connected with described single-chip microcomputer.
Further, described mother ship carrier and sub-warship being also equipped with power module, described power module includes for mother ship carrier and son
The first power supply that warship is powered and for described GPS locating module, described angular velocity module, described single-chip microcomputer, described ZigBee module
The second source powered with described wireless radio frequency modules；Described first power supply is 12V rechargeable battery, and described second source is provided
DC voltage be 3.3V.
Additionally, present invention also provides a kind of quadrotor formation method based on GPS and ZigBee, concrete steps
For:
Step 1: mother ship carrier and sub-warship take off before Initialize installation, the initial coordinate of mother ship carrier is (a0, b0, c0), sub-warship
Initial coordinate is (e0, f0, g0)；Distance threshold A between mother ship carrier and sub-warship；
Step 2: control mother ship carrier and sub-warship takes off to setting initial position in advance；
Step 3: be acquired the changing coordinates of the mother ship carrier after taking off with sub-warship, the changing coordinates of mother ship carrier is by two parts structure
Become: a part is the coordinate (a1, b1, c1) measured by GPS locating module, and another part is recorded by angular velocity module
Shift value that 3-axis acceleration double integral obtains (a, b, c), (a, b, c) by obtaining with following formula (1):
(a, b, c)=[(a1, b1, c1)+(a0+ ∫ ∫ Axdtdt, b0+ ∫ ∫ Aydtdt, c0+ ∫ ∫ Azdtdt)]/2 (1)
In formula (1): Ax, Ay and Az are the 3-axis acceleration of mother ship carrier；
The changing coordinates of sub-warship is made up of two parts, a part be coordinate measured by GPS locating module (e1, f1,
G1), another part be the 3-axis acceleration double integral recorded by angular velocity module obtain shift value (e, f, g)；
(e, f, g) by obtaining with following formula (2):
(e, f, g)=[(e1, f1, g1)+(e0+ ∫ ∫ axdtdt, f0+ ∫ ∫ aydtdt, g0+ ∫ ∫ azdtdt)]/2 (2)
In formula (2): ax、ayAnd azThe 3-axis acceleration of sub-warship；
Step 4: changing coordinates that sub-warship collects sends to mother ship carrier, current with mother ship carrier of the single-chip microcomputer being installed on mother ship carrier
On the basis of coordinate figure, calculating distance D between current mother ship carrier and sub-warship, D is obtained by formula (3):
D=| (a, b, c)-(e, f, g) | (3)
Step 5: threshold value A compared with difference D, if A is more than D, performs step 3；If threshold value A is less than D, then mother ship carrier
Send control instruction to sub-warship, adjust the state of flight of sub-warship.
The technology design of the present invention is: present invention employs GPS technology and ZigBee technology realizes four rotor shaft flights
Device is formed into columns and data are transmitted.Wherein, utilize ZigBee communication network to carry out internal data transfer.Mother is allowed when terminal sends signal
Warship flies, and GPS sensor and angular-rate sensor on four rotors record self-position coordinate, and sub-warship will by ZigBee communication
Self-position coordinate information is sent to mother ship carrier, and on mother ship carrier, single-chip microcomputer processes the data received and judges whether sub-warship offsets team
Shape, if skew formation, then sends information to sub-warship single-chip microcomputer by ZigBee communication and adjusts sub-berth and put, it is achieved form into columns；
Placing data acquisition module on every shelf warship and be used for data acquisition, the data of collection are transferred to by one-chip computer module by ZigBee
Mother ship carrier, data are passed to terminal by less radio-frequency after processing by mother ship carrier.
The invention has the beneficial effects as follows: by utilizing GPS, angular velocity module and ZigBee to be distributed in institute on each primary and secondary warship
The network constituted carries out forming into columns and data transmission so that staff can gather data on a large scale, accurately, and efficiency is relatively
High.Meanwhile, combining wireless radio frequency and ZigBee-network, send data message, can accomplish to analyze data in real time.
Accompanying drawing explanation
Fig. 1 is quadrotor formation flight system neutron mother ship carrier based on GPS and ZigBee provided by the present invention
Formation scattergram；
Fig. 2 is quadrotor formation flight system neutron mother ship carrier based on GPS and ZigBee provided by the present invention
Communication range schematic diagram；
Fig. 3 be in quadrotor formation flight system based on GPS and ZigBee provided by the present invention mother ship carrier with
Data transmission schematic diagram between terminal；
Fig. 4 is the flow chart of quadrotor formation method based on GPS and ZigBee provided by the present invention.
Specific embodiment
Below in conjunction with accompanying drawing, the present invention is further illustrated.
As Figure 1-3, provided by the present invention is a kind of quadrotor formation flight based on GPS and ZigBee
System, this system includes a mother ship carrier 1 at least one sub-warship 2 and terminal 3, and described mother ship carrier 1 and sub-warship 2 are in flight course
The formation formed can be Arbitrary Formation, The present invention gives primary and secondary fleet shape as described in Figure 1, during wherein mother ship carrier 1 is positioned at
Heart position, sub-warship 2 is around around mother ship carrier 1, and the mother ship carrier 1 described at this and sub-warship 2 are quadrotor；Meanwhile,
Mounted thereon have GPS locating module, angular velocity module and single-chip microcomputer；Described GPS locating module and described angular velocity module are divided
It is not connected with described single-chip microcomputer；It is installed on the single-chip microcomputer on described mother ship carrier and passes through between the single-chip microcomputer being installed on described sub-warship
ZigBee module radio communication connect, and be installed between the single-chip microcomputer on described mother ship carrier and terminal by wireless radio frequency modules without
Line communicates to connect.
Wherein, quadrotor the present embodiment use lighter weight, can in the cloud of load-carrying 3～4Kg visitor unmanned
Machine.GPS locating module then uses high accuracy 10HZ frequency GPS Big Dipper module glonass bimodulus location, improves positioning accurate
Degree.Angular velocity module uses three-axis gyroscope accelerometer, such as MPU6050, at the module integrated type 6 axle motion of this angular velocity
Reason assembly, compared to multicompartment scheme, the problem eliminating combination gyroscope and between centers difference during accelerator, decreases substantial amounts of
Encapsulated space；Module uses advanced digital filtering technique, can effectively reduce measurement noise, improves certainty of measurement；It is internally integrated
Attitude algorithm device, coordinates Dynamic Kalman Filtering algorithm, it is possible under the dynamic environment current pose of accurate output module, appearance
State certainty of measurement 0.01 degree, stability is high, and performance is even better than the inclinator of some specialty.
It addition, described single-chip microcomputer is then the single-chip microcomputer of the STM32F103 chip that the ST company used produces.This chip
There is the highest 72MHz operating frequency, when 0 latent period of memorizer accesses up to 1.25DMips/MHZ
(DhrystONe2.1).And it provides abundant peripheral hardware: intervalometer, ADC, SPI, USB, IIC and UART, meet device need
Ask.
And for, ZigBee module the present embodiment is then the Zigbee wireless serial transceiver module used, such as CC2530 number
According to transparent transmission.This module transfer distance can reach 1000 meters, and point-to-point transmission is with confirmation, and data loss rate is 0.00%；Support
Serial ports uninterruptedly sends, and two-way simultaneous is received and dispatched；Reach as high as the transfer rate of 3300 bytes-per-second；It is suitable for 3.0V～5.5V electricity
Press, and button can configure multi-to-multi pattern.
Additionally, wireless radio frequency modules is then the NRF24L01 chip used, it is possible to be operated in the ISM of 2.4GHz～2.5GHz
The monolithic wireless transceiver chip of frequency range.Width funtion working range, 1.9V～3.6V, input pin can bear the input of 5V voltage；
Low power dissipation design, during reception, 11.3mA during operating current 12.3mA, 0dBm power emission, is only 900nA during power-down mode；Launch
Power may be selected to be 0dBm ,-6dBm ,-12dBm and-18dBm；4 line SPI PORT COM, communication speed reaches as high as 8Mbps, suitable
Closing and be connected with various single-chip microcomputers, programming is simple.
On the basis of above scheme, further improving is to be also equipped with photographic head, photoelectric sensor on sub-warship
And/or infrared ray sensor；Described photographic head, described photoelectric sensor and described infrared ray sensor are with described single-chip microcomputer even
Connect.Can be reached on a large scale by data acquisition means such as photographic head, photoelectric sensor and infrared ray sensors, count at a distance
According to collection.
Additionally, be also equipped with power module on mother ship carrier 1 and sub-warship 2, this power module can use simplex power mode, i.e.
One power supply was both powered for mother ship carrier and sub-warship, again for be mounted thereon GPS locating module, angular velocity module, single-chip microcomputer,
ZigBee module and wireless radio frequency modules are powered；Dual power mode, the i.e. first power supply and second source, Qi Zhong can also be used
One power supply is mother ship carrier 1 and sub-warship 2 is powered, second source be GPS locating module, angular velocity module, single-chip microcomputer, ZigBee module and
Wireless radio frequency modules is powered.
And the first power supply is rechargeable battery, its voltage is 12V, and electric current is 1200mA.It addition, the supply voltage of second source
For 12V, this voltage obtains 5V DC source by three terminal voltage chip AMS1117-5.0 chips；Again by using three terminal voltages
Chip AMS1117-3.3 makes the DC source of a 3.3V.Because AD780 input voltage is 5V, output voltage is 2.5V, so
Reference voltage in this, as AD7705.The 3.3V unidirectional current of second source output is GPS locating module, angular velocity module, list
Sheet machine, ZigBee module and wireless radio frequency modules are powered.
First, user of service controls mother ship carrier by mobile phone A PP operation interface by Bluetooth control terminal transmission less radio-frequency
Fly with sub-warship.Equipped with GPS locating module, angular velocity module and single-chip microcomputer on each quadrotor, and it is installed on described
Single-chip microcomputer on mother ship carrier is connected by ZigBee module radio communication with between the single-chip microcomputer being installed on described sub-warship, is installed on
Single-chip microcomputer on described mother ship carrier and being connected by wireless radio frequency modules radio communication between terminal.
By GPS locating module, angular velocity module and ZigBee module, quadrotor is formed into columns.Every frame four
Equipped with GPS locating module and angular velocity module on rotor craft, by the two module, it is possible to record more accurate aircraft
Coordinate figure.The current location of sub-warship feeds back to mother ship carrier by (coordinate, i.e. XYZ value) ZigBee module, when there is deviation in group warship,
Mother ship carrier by ZigBee radio communication adjust on sub-warship angular velocity module, thus the state of flight of antithetical phrase warship is adjusted,
And then relative position between regulon mother ship carrier aircraft, thus keep rank.
After photographic head, photoelectric sensor and/or the infrared ray sensor installed on sub-warship collects data, sub-warship will be adopted
The data of collection are transferred to mother ship carrier by ZigBee communication, and the one-chip computer module on mother ship carrier is by the data of sub-warship and the number of self collection
After processing, passing to terminal by wireless radio frequency modules, terminal passes through Bluetooth transmission to mobile phone.
Additionally, the present embodiment additionally provides a kind of quadrotor formation method based on GPS and ZigBee, its step
As shown in Figure 4, concrete step is flow process:
Step 1: mother ship carrier and sub-warship take off before Initialize installation, the initial coordinate of mother ship carrier is (a0, b0, c0), sub-warship
Initial coordinate is (e0, f0, g0)；Distance threshold A between mother ship carrier and sub-warship；
Step 2: control mother ship carrier and sub-warship takes off to setting initial position in advance；
Step 3: be acquired the changing coordinates of the mother ship carrier after taking off with sub-warship, the changing coordinates of mother ship carrier is by two parts structure
Become: a part is the coordinate (a1, b1, c1) measured by GPS locating module, and another part is recorded by angular velocity module
Shift value that 3-axis acceleration double integral obtains (a, b, c), (a, b, c) by obtaining with following formula (1):
(a, b, c)=[(a1, b1, c1)+(a0+ ∫ ∫ Axdtdt, b0+ ∫ ∫ Aydtdt, c0+ ∫ ∫ Azdtdt)]/2 (1)
In formula (1): Ax, Ay and Az are the 3-axis acceleration of mother ship carrier, available 3-axis acceleration sensor measurement (as
MMA7206), acceleration is flown relative to initial position for aircraft in double integral this time period the most available of time
Go how many distances, added initial position co-ordinates, be changing coordinates；Owing to sensor exists a point tolerance, in order to reduce by mistake
Difference, here, the position that the positional information calculated by formula (1) this formula is measured by the application with GPS locating module
Confidence breath is averaged；
The changing coordinates of sub-warship has two parts to constitute, a part be coordinate measured by GPS locating module (e1, f1,
G1), another part be the 3-axis acceleration double integral recorded by angular velocity module obtain shift value (e, f, g)；
(e, f, g) by obtaining with following formula (2):
(e, f, g)=[(e1, f1, g1)+(e0+ ∫ ∫ axdtdt, f0+ ∫ ∫ aydtdt, g0+ ∫ ∫ azdtdt)]/2 (2)
In formula (2): ax、ayAnd azThe 3-axis acceleration of sub-warship；Available 3-axis acceleration sensor measures (such as MMA7206),
Acceleration has been flown how many for aircraft in double integral this time period the most available of time relative to initial position
Distance, adds initial position co-ordinates, is changing coordinates；Owing to sensor exists a point tolerance, in order to reduce error, here,
The positional information calculated by formula (2) this formula is asked by the application with the positional information that GPS locating module is measured
Meansigma methods；
Step 4: changing coordinates that sub-warship collects sends to mother ship carrier, current with mother ship carrier of the single-chip microcomputer being installed on mother ship carrier
On the basis of coordinate figure, calculate distance D between current mother ship carrier and sub-warship, obtained by formula (3):
D=| (a, b, c)-(e, f, g) | (3)
Step 5: threshold value A compared with difference D, if A is more than D, performs step 3；If threshold value A is less than D, then mother ship carrier
Send control instruction to sub-warship, adjust the state of flight of sub-warship.
The ultimate principle of the present invention and principal character and advantages of the present invention have more than been shown and described.The technology of the industry
Personnel, it should be appreciated that the present invention is not restricted to the described embodiments, simply illustrating this described in above-described embodiment and description
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these become
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and
Equivalent defines.
Claims (4)
1. quadrotor formation flight system based on GPS and ZigBee, it is characterised in that: include a mother ship carrier, at least
One sub-warship and terminal, described mother ship carrier and sub-warship are quadrotor；GPS it is separately installed with fixed on described mother ship carrier and sub-warship
Position module, angular velocity module and single-chip microcomputer；Described GPS locating module and described angular velocity module are respectively with described single-chip microcomputer even
Connect；It is installed on the single-chip microcomputer on described mother ship carrier and between the single-chip microcomputer being installed on described sub-warship by ZigBee module channel radio
Letter connects, and is installed between the single-chip microcomputer on described mother ship carrier and terminal and is connected by wireless radio frequency modules radio communication.
Quadrotor formation flight system based on GPS and ZigBee the most according to claim 1, its feature exists
In: it is also equipped with photographic head, photoelectric sensor and/or infrared ray sensor on described sub-warship；Described photographic head, described photoelectric transfer
Sensor and described infrared ray sensor are connected with described single-chip microcomputer.
Quadrotor formation flight system based on GPS and ZigBee the most according to claim 1 and 2, its feature
Being: be also equipped with power module on described mother ship carrier and sub-warship, described power module includes first powered for mother ship carrier and sub-warship
Power supply and for described GPS locating module, described angular velocity module, described single-chip microcomputer, described ZigBee module with described wireless penetrate
The second source that frequency module is powered；Described first power supply is 12V rechargeable battery, and the DC voltage that described second source is provided is
3.3V。
4. quadrotor formation method based on GPS and ZigBee, it is characterised in that: concretely comprise the following steps:
Step 1: mother ship carrier and sub-warship take off before Initialize installation, the initial coordinate of mother ship carrier is (a0, b0, c0), sub-warship initial
Coordinate is (e0, f0, g0)；Distance threshold A between mother ship carrier and sub-warship；
Step 2: control mother ship carrier and sub-warship takes off to setting initial position in advance；
Step 3: the changing coordinates of the mother ship carrier after taking off with sub-warship is acquired, the changing coordinates of mother ship carrier is made up of two parts:
A part is the coordinate (a1, b1, c1) measured by GPS locating module, and another part is three recorded by angular velocity module
Shift value that axle acceleration double integral obtains (a, b, c), (a, b, c) by obtaining with following formula (1):
(a, b, c)=[(a1, b1, c1)+(a0+ ∫ ∫ Axdtdt, b0+ ∫ ∫ Aydtdt, c0+ ∫ ∫ Azdtdt)]/2 (1)
In formula (1): Ax, Ay and Az are the 3-axis acceleration of mother ship carrier；
The changing coordinates of sub-warship is made up of two parts, and a part is the coordinate (e1, f1, g1) measured by GPS locating module, separately
A part be the 3-axis acceleration double integral recorded by angular velocity module obtain shift value (e, f, g)；(e, f g) pass through
Obtain with following formula (2):
(e, f, g)=[(e1, f1, g1)+(e0+ ∫ ∫ axdtdt, f0+ ∫ ∫ aydtdt, g0+ ∫ ∫ azdtdt)]/2 (2)
In formula (2): ax、ayAnd azThe 3-axis acceleration of sub-warship；
Step 4: the changing coordinates that sub-warship collects sends to mother ship carrier, and the single-chip microcomputer being installed on mother ship carrier is with the changing coordinates of mother ship carrier
On the basis of value, calculating distance D between current mother ship carrier and sub-warship, D is obtained by formula (3):
D=| (a, b, c)-(e, f, g) | (3)
Step 5: threshold value A compared with difference D, if A is more than D, performs step 3；If threshold value A is less than D, then mother ship carrier is to son
Warship sends control instruction, adjusts the state of flight of sub-warship.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111059967A (en) * | 2019-12-27 | 2020-04-24 | 中国人民解放军海军大连舰艇学院 | Formation method of formation naval aircraft missile naval vessel |
| CN112214034A (en) * | 2020-09-29 | 2021-01-12 | 南京航空航天大学 | ZigBee-based four-rotor aircraft formation flight control method |
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