The abstract introduced that the unmanned aerial vehicle flies An Kongqi the principle of work and the design realizes. Take at89C52 monolithic integrated circuit as the core processor, auxiliary by 2 piece at89C405l monolithic integrated circuits, expands its serial port through the parallel mailing address, enables its to be possible to bind controls the area data peacefully, and receives GPS or the simulation GPS data message, after and GPS data message mansion resolving result real-time downloading, through science An Kong the algorithm and suo slightly, controls the unmanned aerial vehicle to crash in the out of control situation nearby An Kongxian. The practical application indicated that the unmanned aerial vehicle flies An Kongqi the design is effective and reliable.
The key word multi-monolithic integrated circuits fly An Kongqi unmanned aerial vehicle GPS
What some domestically produced large-scale high subsonic speed unmanned aerial vehicle uses is the remote control autopilot system control flight, this unmanned aerial vehicle has not had the autonomous navigation flying ability at present, the main dependence receives the ground remote control command to complete the aerial mission. In the external guidance system breaks down and so on not to be controlled in the situation, has the possibility to depart the presumptive area, brings the threat for the peripheral big city or the profitable target even to cause the heavy losses. Therefore designed one kind of unmanned aerial vehicle to fly An Kongqi, when the unmanned aerial vehicle departed the presumptive area, An Kongqi carried out controls the instruction peacefully, caused the unmanned aerial vehicle to crash voluntarily in the presumptive area border.
Because the unmanned aerial vehicle carries out An Kong the reliable request to An Kongqi to be high, to guarantee that this system’s safety handling, has carried on the reasonable design to the system software and hardware, and has taken many kinds of reliable measures.
1 principle of work
The unmanned aerial vehicle flies An Kongqi to achieve the safety control through the control servo coupling supply line’s make-and-break the goal. First gives An Kongqi to bind a safety zone, stores EEPROM. An Kongqi the master control microprocessor through the parallel mode and the auxiliary microprocessor correspondence, gains the GPS data, and calculates and the judgment unmanned aerial vehicle whether to be binding in advance in safety zone. When departs the safety zone, An Kongqi to the executive circuit output control signal separation servo coupling supply line, causes the altitude control to be in the most Taisho rudder, the unmanned aerial vehicle under the aerodynamic force function, is at the stall mode, fast crash.
An Kongqi the master control microprocessor may also with another one be auxiliary the microprocessor through the parallel mode to carry on the correspondence, outputs GPS to it the resolving data, passes on the broadcasting station or the data line transmission through the number for the ground monitoring microcomputer. Production unmanned aerial vehicle flight track, for navigation reference; Or receives the GPS simulated data which the ground monitoring microcomputer transmits, confirms the presumptive area which binds to be whether correct.
2 hardware designs
An Kongqi mainly by the GPS receiver, the master control electric circuit, the executive circuit, the warming electric circuit and the number passes on the broadcasting station to be composed, as shown in Figure 1. And, the master control electric circuit and the executive circuit composition motherboard, completes An Kong to judge and the policy-making duty.
2.1 master control electric circuits
The master control electric circuit is composed of 3 piece of monolithic integrated circuits and the peripheral circuit, realizes with the GPS receiver and the ground monitoring microcomputer’s at the same time correspondence, as well as carries on the floating point calculation and judgment processing.
The master control monolithic integrated circuit uses Atmel Corporation’s AT89C52,2 piece auxiliary monolithic integrated circuit to use AT89C4051. Between them carries on the data exchange through and the mouth, its hardware connection as shown in Figure 2. In the chart U3 only transmits the GPS data to master control monolithic integrated circuit U1, therefore only used 3 holding wires besides the data line, respectively was the interrupt request holding wire, reads the signal and writes the holding wire. U4 and the Ul correspondence is bidirectional, therefore many data transfer direction holding wire F_WR. The concrete data exchange operation sees the following dependent program fragment.
In the design, the master control monolithic integrated circuit’s serial port uses in with the ground monitoring microcomputer correspondence carrying on controls the region the data to bind and to read peacefully. An auxiliary monolithic integrated circuit’s serial port and the GPS receiver carry on the correspondence, gains the related GPS information, including the date, the time, the latitude and longitude, the speed, the direction and highly and so on, and transforms the fixed form to provide for the master control monolithic integrated circuit carries on whether in presumptive area data computation. Another auxiliary monolithic integrated circuit’s serial port passes on the broadcasting station correspondence with the ground monitoring microcomputer or the number, on the one hand downloads the GPS information and the resolving result, on the other hand may also gain the simulation GPS data, thus confirms the accuracy which the presumptive area binds.
2.2 executive circuits
The executive circuit has adopted the double redundance design, namely constructs two group identical executive circuits: Control two light pairs separately through the master control monolithic integrated circuit’s P0.4 foot and the P0.5 foot, then controls two high efficiency MOS to manage IRF9540. Only then two group executive circuits work can separate the servo coupling power source, had guaranteed carries out An Kong the reliability.
3 software designs
3.1 parallel correspondences realize
Below take Figure 2 Ul and the U4 correspondence as the example explained that the parallel correspondence programming realizes the method. U1 first sends the interrupt request signal to U4, after U4 receives the interrupt request signal, enters the interrupt service, and judges the data transfer direction. If requests the transmission data, when then data preparation, replies U1 and delivers the data in the data line, waited for that U1 takes the data, U1 after receiving the answering signal, namely from the main line takes the data and responds the U4, U4 then preparation next data. Below to use the data exchange procedure related fragment which Keil the C51 language compiles.
In master control monolithic integrated circuit Ul dependent program fragment:
3.2 An Kong determines the algorithm
Leans the anomaly is refers to the unmanned aerial vehicle to the vector route’s vertical range. Supposes (xa, ya), (xb, yb) for the vector route two vertex coordinates, (x, y) for the unmanned aerial vehicle current coordinate, the route equation may be represented that as Az By C=0. And, A=ya-yb, B=xa-xb, C=xayb-xbya, then the side anomaly △Z is:
If the side anomaly is negative, then unmanned aerial vehicle located at route’s left side; If the side anomaly is positive, then unmanned aerial vehicle located at route right flank.
Establishes one according to the seal which clockwise is composed to swell the shape by the vector route, composes determines the region. If unmanned aerial vehicle current position located at all vector route’s right flank time, the unmanned aerial vehicle in determines in the region; If unmanned aerial vehicle current position so long as located at a vector route left side, then unmanned aerial vehicle in determines outside the region.
The actual use’s determination region swells the shape by two to be composed, is called “the safety zone”, as shown in Figure 3. And, in swells the shape to be called “controls the early warning line peacefully”, outside swells the shape to be called “controls the warning line peacefully”.
3.3 master control monolithic integrated circuit procedure flow
Master control monolithic integrated circuit AT89C52 mainly completes the judgment current position whether to be binding in advance in safety control region. If surpasses the early warning line, then issues the warning, and continues to judge whether to surpass the warning line, after the continual ten judgments surpass the warning line, then carries out controls the movement peacefully. Figure 4 is its master routine flow diagram.
4 experimental results
Carries on the dynamic distance experiment An Kongqi, ground software monitoring result as shown in Figure 5. In the chart two convex polygon region namely for the safety zone which binds. In what the chart demonstrated is An Kongqi carries out An Kong the result outside the warning line, this time servo coupling power source separation.
In some unmanned aerial vehicle for target experiment, because the remote-control receiver breakdown had the dangerous situation which the unmanned aerial vehicle is not controlled, controlled the system to carry out correctly peacefully has controlled peacefully, causes the unmanned aerial vehicle success to crash nearby the warning line periphery, indicated that the unmanned aerial vehicle flew An Kongqi to meet the practical application requirements.
5 conclusions
This design has realized the serial port expansion using monolithic integrated circuit many machine correspondences, may apply in the unmanned aerial vehicle essential spot flies An Kongqi, the practical application indicated that the monolithic integrated circuit many machine correspondence hardware architecture is simple, programming nimble convenient, system operation reliable. This article introduced the design mentality has the high reference value regarding unmanned vehicle’s reliability design.
