MANAGEMENT SYSTEM unmanned aerial vehicles with complex measurement devices flight altitude

摘要

A useful model to systems management position and heading of unmanned aerial vehicles (UAV) designed for high-precision drive the given point of the marine and terrestrial surface, in particular for the delivery of goods to affected areas or meet the challenges of environmental and industrial monitoring.; Technical result of utility model is to improve the accuracy of the UAV control system while flying at low altitudes, in adverse weather conditions.; Summary of the utility model is that the control system of an unmanned aerial vehicle (UAV) comprising a detection system and a tracking facility monitoring and traffic management system (DMS), which contains the electronic computer (PC) ECU, the actuator and parameter measurement device movement, which comprises radio altimeter, an inertial navigation unit (INU) UAV comprising gyrostabilized platform (SHG) from the attached position sensors platfor s, pendulum and string accelerometers, whose outputs are connected to respective inputs of the data processing unit meters, and includes a block generating signals exhibition SHG outputs are connected to inputs of the respective actuators GPS mechanisms and the block height and the vertical velocity correction, the inputs of which the signals of the current altitude and vertical velocity values ​​measured INU UAV, are connected to respective outputs of the data processing unit meters, the outputs of which the signals of the current values ​​spd spine, flight distance, heading angle, pitch and roll of the UAV, are connected to respective inputs ECU computer, which output the signal current value UAV airspeed and inputs the signal current value range monitoring object and signals angles mismatch at the rate and pitch are connected to respective input and outputs the detection and tracking system monitoring the object, and the computer outputs control signals for OVC flight altitude and heading angles, roll and pitch of the UAV connected to corresponding inputs of the executive Device -keeping, in the motion information measurement unit incorporated block the majority of processing and a block of angular velocity sensors, the outputs of which outputs a radio altimeter connected to respective inputs of the data processing unit meters, the outputs of which the signals of the angular UAV speeds are connected to respective inputs ECU computer, and outputs, in which signal generated current value of altitude, a radio altimeter measurement, and measurement reliability of the radio altimeter signal, are connected to respective inputs of the correction unit ii altitude and vertical speed, while block majority processing comprises determining unit median of the three signals, a determination unit median of five signals and two unit delay of one clock cycle and the integrator majority of the processing unit, wherein the first input unit determining the median of the three signals coupled to the output height correction block and the vertical velocity, which is formed by the corrected value of the vertical velocity, a second input coupled to an output data processing unit meters in which the current generated znach ix vertical velocity measured INU UAVs, and the third input via a first delay unit for one clock is connected to the output of the determination of the median of the three signals, on which is formed an estimate of vertical velocity, first and second inputs determination unit median five signals are connected to the outputs of the data processing unit measuring devices, which are formed on the current value of the height measured INU UAVs, and the current value of the height measured by the radio altimeter, a third input unit determining a median of five signals coupled to the output th block altitude and vertical velocity correction, which is formed by the corrected height value, a fourth input through the majority of the processing unit integrator connected to the output determination unit median of the three signals, and the fifth input via the second delay unit in one clock connected to the output determination unit median of five signals on which it is formed an estimate of the height, which, as the estimated value of the vertical speed of the output determination unit median of three signals transmitted to the computer ECU.