tompan
Mar 02, 2008, 03:03 PM
AP-ST UAV Flight Control System
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).
System Includes:
- 3 MEMS accelerometers
- 3 MEMS gyroscopes
- 3 magnetic sensors
- Absolute pressure sensor
- Differential pressure sensor
- GPS receiver
Measured and estimated parameters:
- Attitude (Roll, Pitch, Heading)
- Airspeed
- Altitude
- 3 Angular velocities
- 3 Accelerations
- GPS Speed (North, East and Up values)
- GPS Altitude
- GPS Heading
- Latitude and Longitude (1 Hz from GPS receiver and 72 Hz approximated values)
Performance:
• 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;
Technical:
- 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°С, accuracy: ±3°С
- 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): 104х57х13 mm
- Weight in case: 150 g
- Weight without case (as a board): 25 g
http://www.uavstar.com/STA/Product_AP_ST_E.htm
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).
System Includes:
- 3 MEMS accelerometers
- 3 MEMS gyroscopes
- 3 magnetic sensors
- Absolute pressure sensor
- Differential pressure sensor
- GPS receiver
Measured and estimated parameters:
- Attitude (Roll, Pitch, Heading)
- Airspeed
- Altitude
- 3 Angular velocities
- 3 Accelerations
- GPS Speed (North, East and Up values)
- GPS Altitude
- GPS Heading
- Latitude and Longitude (1 Hz from GPS receiver and 72 Hz approximated values)
Performance:
• 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;
Technical:
- 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°С, accuracy: ±3°С
- 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): 104х57х13 mm
- Weight in case: 150 g
- Weight without case (as a board): 25 g
http://www.uavstar.com/STA/Product_AP_ST_E.htm