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The system was developed for full automatic
flight control of unmanned aerial vehicles. It
consists of DSP processing module, inertial
sensors module, magnetic sensors, absolute and
differential pressure sensors (for altitude and
airspeed measuring), GPS navigation module.
The built in block of micro-mechanical inertial
sensors is able to measure object angular
velocities and linear accelerations. Object
attitude (Roll, Pitch, Heading) is estimated by
internal software.
AP-ST includes flexible control system, which
allows user to configure different control
loops. Object control is provided by
software-based control loops based on PID
controllers with self-turning feature. Also
AP-ST has PID Self-Turning function, that able
to reduce autopilot development time. The system
configuration is set by means of special
software. It is able to construct control loops
by junction basic blocks (inputs, outputs, PID
controllers, logical blocks and so on), as well
as make a configuration of blocks and flight
programming. GPS/INS with aided AHRS backup for
graceful degradation in GPS denied environments.
Several control circuits can be configured and
stored in internal memory. Control circuits are
switched by autopilot system or by the user
commands. Special programming technique able to
control any measured or calculated parameters
and external sensors findings. The external
sensors and devices (fuel-depth gauge,
ultrasonic altimeters and others) can be
connected to AP-ST via RS-485 interface.
External sensors expand the set of measuring
parameters.
AP-ST includes advanced autopilot system, which
allow to program different flight duties such as
waypoint following, automatic take-off and
landing, and many others. AP-ST can be used to
control different type of unmanned aerial
vehicles (aircrafts, helicopters and other).
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1.
Architecture
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● Built-in Sensors: 3 - accelerometers,
3 - gyroscopes, 3 - magnetic sensors, Absolute
pressure sensor, Differential pressure sensor, GPS
receiver,
Temperature sensor
● I/O: 7 - PWM input, 6 - PWM output, 2
- ADC, 2 - Frequency measurement, 8 - Binary packet,
Control signal switch device
● RS-232 and RS-485 interfaces
● External devices interfaces: RS-485 X
4 ( ABIP binary protocols ), RS-232 X
2 ( NMEA protocols )
● External devices: ALT -
electronic altimeter and air speed gauge, URM
-
ultrasound altimeter, PWM
-
former
(
8 additional servos
), FRW -
flight data
recorder,
FLM
-
liquid fuel level gauge,
GPS receiver
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2.
Specifications
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- Roll angle measurement range: ±180°, resolution:
0.1°
-
Pitch angle measurement range: ±90°, resolution:
0.1°
-
Heading angle measurement range: ±180°, resolution:
0.3°
- Maximum
angular rate measurement range: ±150°/s
- Maximum
acceleration
range:
±10 g
- Altitude measurement range: -1000…11000 m,
resolution: 0.3 m
- Airspeed measurement range: 0…300 km/h,
resolution: 2 km/h
- Climb measurement resolution: 0.25 m/s
- Atmosphere pressure measurement range: 15…115 KPa,
resolution: 0.0033 KPa
- Differential pressure measurement range: 0…4 KPa,
resolution: 0.0008 KPa
- Temperature measurement range: - 25…+70°Ñ,
accuracy: ±3°Ñ
- Processing frequency: 73 Hz
- Data update: 0.01372 sec
- Operating voltage: 5.5…6.0 VDC, input voltage:
6.0…16 VDC
- Power consumption: 300±10% mA
- RS-232 and RS-485 interfaces bit rate: 4800…115200
Baud
- Case dimensions: 115x65x40 mm
- Dimensions (without case): 104õ57õ13 mm
- Weight in case: 150 g
- Weight without case (as a board): 25 g
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3. Performance
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• Angles attitude measurement (roll, pitch)
• Magnetic Heading angle measurement
• RS-232 and RS-485 interfaces
•
Data Communication Protocols
NMEA, ABIP (binary)
• 7 Pulse-Width Modulation channels (PWM) (5 V) for
servo drives control
• 6 channels of PWM signals capture (5 V) for signal
input from the external control unit
• Possibility of external devices connection via
RS-485 interface
•
Number of
RS-232 interfaces X2
•
Number of
RS-485 interfaces X4
•
Number of ADC channels X2
•
Number of Frequency measurement channels X2
• Till 4 flight programs
• In each flight programs, includes 64 flight
program states (programmed waypoints), each flight
program state includes 16 Autopilot Output command
• In each flight programs, includes configurable
control circuits with PID controllers, supporting
till 32 configurations
• In each flight programs, includes different ways
of flight program fulfillment (4-interference of an
operator, 10-conditional jumps, looping execution)
• User friendly PC software for simple configuration
• Remote software updating
• In waterproof case or without case |
4.
Block Diagram
5.
Constructor
( Click to view larger image )
6.
Module Principle
7.
Measured Parameter
8.
Number of Module
( Click to view
larger image )
9.
Example of CSC Creating
( Click to view
larger image )
10.
Flight Chart, Reference Frame & Routes
( Click to view
larger image )
11.
Way Point & Flight Task
( Click to view
larger image )
12.
Multipurpose Windows
( Click to view
larger image )
13.
Setup, Data Send & Commands
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