Programmable aircraft attitude control ip core

Abstract

The invention discloses a programmable aircraft attitude control IP core, which comprises a first on-chip peripheral, a first DMA channel, a filtering arithmetic unit for respectively performing filtering processing on triaxial acceleration, triaxial angular velocity and triaxial magnetic field data, an attitude fusion computing cluster which is connected with the filtering arithmetic unit and is used for performing attitude fusion on the filtered triaxial acceleration, triaxial angular velocity and triaxial magnetic field data to comput and output an Euler angle of an aircraft, a PID arithmetic cluster connected with the attitude fusion computing cluster, a second DMA channel, and a second on-chip peripheral for transferring the Euler angle transferred from the second DMA channel to the aircraft. The attitude of the aircraft is correspondingly controlled by a hardware mode, the reaction delay of a control system is substantially reduced by the use of a special circuit compared with a singlechip microcomputer or CPU control, and the singlechip microcomputer or CPU which is originally in an attitude control state is freed from an algorithm.

Description

technical field [0001] The invention relates to the field of aircraft attitude control, in particular to a programmable aircraft attitude control IP core. Background technique [0002] When the aircraft is flying according to the track and the spacecraft is running in orbit, in order to complete the tasks it undertakes, it must have a certain attitude. For example, when the quadrotor is hovering, it needs to keep the attitude parallel to the reference plane. For an aircraft, when it is in flight, the attitude control system needs to obtain the deflection angles of each axis of the aircraft, and then filter and process each sensor data through a filtering algorithm to obtain the stable data of each sensor, and then use attitude fusion The algorithm performs zero-drift correction and fusion for each sensor, integrates the quaternion and Euler angle of the aircraft, and finally corrects the propulsion system of the aircraft through the PID algorithm; the aforementioned sensors ...

AI Technical Summary

Problems solved by technology

Using this method means that the general-purpose CPU needs to acquire A / D samples, filter sensor data, fuse attitudes, calculate PID control parameters, and output D / A all the time. For general embedded processors, this The amount of calculation is very large, and the processor often cannot be redistributed to other applications, so some designs and architectures have to use more than two general-purpose CPUs, one for attitude control and the other for airborne applications; At the same time, for the attitude control process, the sensor data has obvious producer-consumer data characteristics, and the existing general-purpose CPU cannot process these data streams in parallel for control-intensive applications, so the processing efficiency of the entire system is greatly improved. Reduce; some of the attitude control systems in the prior art adopt the design of general-purpose CPU+hardware PID, this design can only relieve the calculation pressure of the PID part, and has little effect on improving the entire attitude control system

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