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其他题名UAV flight status real-time monitoring evaluation system based on Labview
张昆1,2; 张铁民1; 廖贻泳1; 兰玉彬1
资助机构国家高技术研究发展计划(863 计划)课题(2013AA102303) ; 机器人学国家重点实验室开放课题(2012-O02)
关键词无人机 监测 传感器 Labview 飞行状态
摘要为了实现无人机飞行状态信息的自动化采集和性能评估,该文设计了基于Labview的无人机飞行状态实时监测评估系统,该系统利用传感器采集无人机的飞行状态信息:包括三轴姿态角、三轴角速度、三轴速度、三轴加速度、GPS经纬度及海拔高度、环境温度和气压等。无线传输模块将经过简单处理之后的信息传输至PC机,基于Labview建立的监测评估软件对这些数据进一步处理之后,实时图形化显示三轴姿态、飞行高度、二维轨迹、三维轨迹和航迹偏差;根据三轴姿态信息实时模拟无人机姿态,自动计算飞行里程,并自动保存所有数据。飞控手目视操控无人机的试验结果表明:平均航迹偏差高达5.2 m,定高飞行的平均高度偏差为0.9 m,横滚角和俯仰角波动幅度均在8°以内,整个测试过程中传感器温度下降了2℃。数据分析结果与系统输出结果一致,该系统运行稳定,输出结果可靠,能够用于实时监测、图形化显示、评估和记录无人机飞行状态信息,为无人机飞行性能的评估及飞控手的训练提供参考。
其他摘要UAV (unmanned aerial vehicle) is widely used in modern agriculture because of its various advantages. But it is difficult to detect flight performance and the accuracy of human eye observation is poor. In order to monitor UAV flight status and assess performance of UAV automatically, this paper designed a UAV flight status real-time monitoring and performance evaluation system based on the LabVIEW. The system could be separated to airborne parts and ground parts; airborne parts included information collection module and wireless communication module, and ground parts included wireless communication module and monitoring software. The information collection module used AHRS IG-500N to obtain UAV flight status which consisted of triaxial attitude angle, triaxial acceleration, triaxial angular velocity, triaxial speed, GPS (global positioning system) latitude and longitude, GPS altitude, temperature and barometric pressure. After being preprocessed by MCU STM32F103ZE which converted hexadecimal data to ASCII, these data were sent to the ground computer through a pair of wireless transmission module GE MDS EL 805. The monitoring software based on the LabVIEW extracted these data through serial port for the maximum and minimum filtering. Then it displayed the real-time triaxial attitude angle and flight altitude, and used three-dimensional model created by Solidworks to simulate the real-time attitude of the UAV. In addition, it used Gauss-Kruger projection transformation to transform the latitude and longitude coordinates into the corresponding geodetic coordinates. By accumulating three-dimensional space between adjacent points of real-time trajectory of UAV, the software could calculate air miles. The distribution density of points on the whole original setting route was not uniform, and the software used a setting distance to process the route in order to get a uniformly distributed setting route. It could reduce the computation load and improve the accuracy of flight path deviation calculation. The software displayed the real-time route and the setting route of the UAV in one control at the same time, so the users could clearly see the difference between them from the system. The flight path deviation was the minimum distance between the real-time position and the corresponding position of setting route. By comparing the minimum distance and the offset distance between the real-time position and the corresponding position of the setting route, the system could also achieve and graphically display the flight path deviation of UAV. It showed the rest of the information as real-time value and saved all the data during the test. The system was tested in a university in China on September 15, 2015. The size of the test field was about 50 m × 70 m, and the coordinates of the test field were 23°09′76″N and 113°20′37″E. The UAV used in this test was WSZ-1805 electric octocopter which was designed for plant protection. The flight operator should control the UAV taking off, flying along the setting route, flight altitude keeping, hovering at a special location, and landing at another special location through vision. Results of the visual control test showed that the system software could display all the information clearly, the distances between the flight operator and the UAV were between 25 and 40 meters, the flight path deviation reached 5.2 m, the average position deviation of hovering reached 6.4 m, the average altitude deviation of height keeping flight reached 0.9 m, the fluctuation ranges of roll angle and pitch angle were both within 8°, and the temperature of the sensor dropped by 2 during the whole test. Outputs ℃ of the monitoring software were the same as the results of data analysis. The system is stable and reliable. It can be used to monitor, display, evaluate and record the flight status of the UAV real-timely. It can improve the accuracy of UAV flight status monitoring, and provide reference for further scientific assessment of UAV flight performance and training UAV flight operator.
GB/T 7714
张昆,张铁民,廖贻泳,等. 基于Labview的无人机飞行状态实时监测评估系统设计[J]. 农业工程学报,2016,32(18):183-189.
APA 张昆,张铁民,廖贻泳,&兰玉彬.(2016).基于Labview的无人机飞行状态实时监测评估系统设计.农业工程学报,32(18),183-189.
MLA 张昆,et al."基于Labview的无人机飞行状态实时监测评估系统设计".农业工程学报 32.18(2016):183-189.
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