Double-receiver parallel dynamic parameter model identification system

Abstract

The invention discloses a double-receiver parallel dynamic parameter model identification system, and belongs to the technical field of unmanned machine modeling. The system is characterized by comprising a remote control receiver of an unmanned plane, a remote control receiver of a ground station, a flying control computer of the unmanned plane, a flying control computer of the ground station, a data radio station of the unmanned plane, a data radio station of the ground station, the ground station and a remote control transmitter, wherein the remote control receiver of the unmanned machine and the remote control receiver of the ground station simultaneously wirelessly receive remote commands broadcasted by the remote control transmitter; the flying control computer of the unmanned plane sends dynamic response data of the unmanned machine to the ground station through the data radio station of the unmanned plane and the data radio station of the ground station while finishing the remote control flying; and the ground station simultaneously records the dynamic response data of the unmanned machine and the remote control commands detected by the ground station. The system can acquire synchronous, real and accurate experiment data in unmanned machine identification experiments, and ensures that the activity range of an operator is not limited by the length of a data wire so as to conveniently carry out the unmanned machine flying experiments.

Description

technical field [0001] The invention is a data sampling system for the identification of the dynamic model of the UAV, which can highly synchronously and accurately collect the remote control instructions and dynamic response data in the identification process of the UAV parameter model. It is mainly used in technical fields such as aerospace, UAV, robot identification and modeling. Background technique [0002] In the identification experiments of UAVs or other complex systems, it is necessary to read remote control commands in high real-time and correspond to the dynamic response of UAVs in real time. [0003] The traditional remote control command reading method is: use the data line to connect the remote control transmitter to the ground station, and directly collect the command signal inside the remote control through the ground station and decode it to obtain the remote control command. Since the command signal inside the remote control is collected before the remote ...

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Problems solved by technology

[0004] Therefore, if the signal is directly read from the remote control transmitter, there will be time deviation and quantization error between the obtained remote control command and the remote control command actually obtained by the UAV flight control computer.

In addition, due to the use of data cables to connect the remote controller and the ground station, the drone operator must work within a limited radius (data cable length) from the ground station

This is very inconvenient in drone debugging and flight experiments

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