一种电力铁塔巡检无人机飞控系统及其飞控方法
申请公布号:CN105912008A
申请号:CN201610425253.2
申请日期:2016.06.13
申请公布日期:2016.08.31
发明人:杜强;王秋阳;赵瑜;杨学武;盛新蒲;姜超;黄桃丽;章子睿
分类号:G05D1/08(2006.01)I;G05D1/10(2006.01)I
主分类号:G05D1/08(2006.01)I
代理人:方荣肖
地址:230088 安徽省合肥市高新区创新大道666号
摘要:本发明公开了一种电力铁塔巡检无人机飞控系统及其飞控方法。所述电力铁塔巡检无人机飞控系统包括DSP模块、ARM模块。DSP模块读取安装在一个电力铁塔巡检无人机上的至少一个IMU的姿态结算数据,根据姿态结算数据进行姿态结算,结算出无人机的当前飞行姿态;并读取来自无人机的两路GPS信号,进行差分计算,解算无人机的当前航向,进行导航;且还根据无人机的当前飞行姿态和航向,解算出当前姿态和航向数据传递给ARM模块。ARM模块通过解析当前姿态和航向数据,经过与一个RC接收的来自地面的控制命令数据进行对比,将偏差传递给无人机的电机进行调整姿态和航向。本发明还公开所述电力铁塔巡检无人机飞控系统的飞控方法。
主权项:一种电力铁塔巡检无人机飞控系统,其特征在于:其包括DSP模块、ARM模块;其中,所述DSP模块读取安装在一个电力铁塔巡检无人机上的至少一个IMU的姿态结算数据,根据所述姿态结算数据进行姿态结算,结算出所述无人机的当前飞行姿态;并读取来自所述无人机的两路GPS信号,进行差分计算,解算所述无人机的当前航向,进行导航;且还根据所述无人机的当前飞行姿态和航向,解算出当前姿态和航向数据传递给所述ARM模块;所述ARM模块通过解析所述DSP模块传递来的当前姿态和航向数据,经过与一个RC接收的来自地面的控制命令数据进行对比,如果存在偏差则将偏差传递给所述无人机的电机进行调整姿态和航向。
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