小型无人机自动驾驶仪控制系统的研究

自动驾驶仪是无人机飞行控制系统的核心装置。本文设计的自动驾驶仪采用了两个处理器,且导航控制系统与姿态控制系统控制是分开的。它不仅具有高精度、高效率的性能,同时还具有通用性。文中对所设计的自动驾驶仪的结构和主要部件进行了介绍,同时着重分析了自主飞行模块。最后对飞行姿态进行仿真分析,仿真结果表明该系统满足性能要求。     

高精度小型无人机气压高度测量系统的设计

介绍了一种基于MPX4115传感器和C8051F352单片机的小型无人机高度测量系统的设计及实现过程,详细论述了系统软硬件的设计原理,对传感器性能进行了分析并利用压力校验仪对其压力、温度补偿系数进行修正,保证测量准确度;通过硬件设计增加抗干扰能力并设计软件滤波算法提高输出稳定性;对高度-气压公式进行了插值拟合,解决了单片机计算能力不足的问题,提高计算性能;该系统具有小型化、功耗低、结构简单、精度高,稳定性和抗干扰能力强等优点。     

无人机组合导航系统信息融合方法研究

针对小型无人机通常采用的无线电导航,综合考虑无人机具体情况以及其它导航方式的特点,提出了一种将无线电导航系统(RP)、全球导航星系统(GN SS)、多普勒导航系统(DN S)、地形辅助导航系统(TAN)和景象匹配导航系统(SMN)组合起来,取长补短,构成基于联邦卡尔曼滤波器的DR/RP/GN SS/DN S/TAN/SMN组合导航系统。仿真结果表明,该方法完全可以满足导航精度的要求。     

基于智能Agent的小型无人机自主飞行任务管理器的设计

自主飞行是先进无人机的重要特征。基于智能A gent技术,采用分层的混合型A gent结构,进行了小型无人机自主飞行任务管理器的设计与实现。该设计方案在吸收各领域专家及操纵手的专门知识和丰富经验的基础上,建立了一套基于认知型A gent结构的顶层自主任务管理推理机制和策略,以及基于反应型A gent结构的任务规划执行底层的规则集。对基于该任务管理器的全自主飞行、半自主飞行模式进行了几十架次的飞行试验验证。试验结果充分表明了其推理机制和策略的有效性以及对应急事件响应的快速性。     

无人机载荷图像仿真平台的设计与实现

无人机有效载荷图像仿真平台为无人机操作员训练、地面站建设、以及指挥控制和通信系统提供必要的模拟数据和模拟环境，是研制无人机系统及其测控与通信系统的重要部分。该文讨论了如何基于相对低成本的PC机和图像处理与传输技术构建一个完整的无人机有效载荷图像仿真平台。该平台可以接收无人机及其指挥控制系统的各种状态参数以及控制指令，通过图像处理，模拟实际情况生成有效载荷图像数据，并实时下传，以验证无人机及其指挥控制和通信系统的概念结构和工作过程。     

无人机飞控设备检测系统

介绍了一种无人机飞控设备检测系统,给出了系统的组成和硬件配置,讨论了系统软件设计和测试原理。该系统可以自动检测和校准无人机各种传感器、机载计算机及舵机的输出参数,具有一定的可靠性和准确性。     

无人机虚拟现实仿真的设计与实现

讨论了在PC机上实现无人机虚拟现实仿真的系统结构、实现平台、模型和仿真数据库的组织实现方法。讨论了图形仿真各个子模块的实现方法，交解决了无人机模型的位姿自动校准问题。     

Application of robotics in onshore oil and gas industry—A review Part I

With ever increasing global demand and depleting resources for fossil fuels, oil and gas industry is now positively looking for advanced robotic solutions to increase their productivity and safety. With time easy resources of the fossil fuels are shrinking and newly searched reservoirs, to feed supply demands of global consumption, are mostly located in extreme environmental conditions such as hot deserts, deep water and arctic zone etc. Production of the fossil fuels, in such inhospitable environmental conditions, poses difficult challenges to health, safety and environment (HSE). Tragic incidents like Exxon Valdez and Deepwater Horizon oil spills are examples of such challenges. Therefore, oil and gas industry has lot to learn from successful implementation of robotics and automation for dull, dirty and dangerous (3D) tasks of manufacturing industry. Most of the robotics technologies, currently used in the oil and gas industry, are mainly focused on inspection, maintenance and repair (IMR) of plant facilities with higher frequency and accuracy. Fundamental idea, involved in the automatization of these processes, is based on the principle of teleoperation with skilled operator. Automation of 3D tasks not only improves HSE standards but also lead to much needed economic efficiency by reducing production cycle, floor space and number of staff members required for continuous inspection and manipulation of plant facilities. Considering the risks involved in this industry usage of completely autonomous robots, first without achieving very high reliability, is still a far fetch choice. Therefore, semi-autonomous robots, where actions are performed by robots but cognitive decisions are still taken by skilled operator, is an excellent choice for this industry as a near future solution. In the onshore oil and gas industry robotic solutions are used both in upstream and downstream processes, such as site survey, drilling, production and transportation, mainly focused in the form of in-pipe inspection robots (IPIRs), tank inspection robots (TIRs), unmanned aerial vehicles (UAVs) and wireless sensor networks (WSNs) etc. This paper presents the state of art robotic solutions currently used in onshore oil and gas facilities.     

Governance assessment of UAV implementation in Kenyan land administration system

The ‘fit-for-purpose’ (FFP) approach was developed to respond to the challenges that the creation of a sustainable land administration system (LAS) faces. FFP has proved its value in integrating technological innovations such as unmanned aerial vehicles (UAVs) in LAS. Technological innovations need to consider the governance context when being implemented. Understanding the relevance of the FFP approach and acknowledging the importance of the governance context, this research applies the ‘Fit-for-purpose governance assessment framework’ (FGAF). FGAF helps to understand the challenges that the implementation of UAVs can face in the LAS in Kenya. This governance assessment is based on 16 semi-structured in-depth interviews, three one-day workshops with local stakeholders and UAVs pilot studies to test the technology. The findings suggest that there are major and minor challenges concerning different attributes of FFP qualities. The governance context across counties is fragmented with a high degree of uncertainty and uneven capacity conditions. There are overlapping responsibilities and trust issues among the different actors. Participation of private and non-governmental actors is limited. Yet, steps have been taken toward the adoption of innovative approaches. Although financial resources are limited, the diversity of local and international stakeholders can work as a leverage point to support the implementation of UAVs in the mid and long-term.     

无人机地面站综合检测台设计

本文针对目前无人机系统地面站生产阶段缺少检测设备的问题,提出了地面站综合检测台.在硬件方面,以成熟CPU模块为核心,通过扩展外围接口卡,来满足硬件接口测试需求.在软件方面,采用VC的MFC为基础框架,通过内嵌成熟的仿真模块、实现对地面站各监控软件的功能性检测.经过长期的测试,测试结果表明:本检测台能够对地面站软硬件进行综合性、系统性的检测,是地面站生产阶段不可缺少的设备.