lbc Autopilot

1   System Introduction

1.1 System Overview

S60 is the flight control and navigation system specifically designed for compound UAVs (vertical takeoff and landing fixed wing), which is also suitable for an air with the conventional fixed wing+quadrotor configuration. It internally integrates the flight control computer and micro-assembly navigation system (GPS/INS). Simply one-key action, it is capable of enabling automatic takeoff, landing, hovering, circling, homing, altitude holding and parachute opening. Meanwhile, it is also capable of various autonomous cruise functions based on the pre-set route. Besides, S60 has the flight status monitoring & alarm functions and a sophisticated emergency protection mechanism, to ensure operational safety of the system.

1.2 Scope of Application

Compound UAVs with fixed wing+ quadrotor configuration, including the fixed-wing aircraft with conventional tail & V-tail and the quadrotor aircraft with “X” configuration.

Conventional fixed-wing UAV, with conventional tail and V-tail;

Conventional multi-rotor UAV

1.3 System Features

Sensor configuration:

◆  GPS/MINS combined with navigation micro-system provides the navigation and control information, which covers 3D position, three-axis attitude and three-axis acceleration; the accuracy of pitch attitude and roll attitude is 0.25°, heading accuracy with 1.0° and speed accuracy with 0.1m/s.

◆  Pneumatic altimeter, with resolution ratio of 0.1m and range of -500~30,000m;

◆  Difference-pressure air speedometer, with resolution ratio of 1m/s and range of 0~100m/s;

◆  2-circuit pulse-width engine speed tachometer, with resolution ratio of 1rpm;

Flight control:

◆  It supports three types of UAVs: fixed-wing, multirotor and compound (vertical takeoff and landing) UAVs;

◆  To control the compound UAV, the flight mode can be switched by the RC remotely or automatically;

◆  Flight control modes: manual (by the RC remote controller), semi-auto (attitude and throttle lever are remotely controlled by the RC remote controller) and full-auto (flight in the pre-set route);

◆  It can control aileron, elevator, rudder, throttle, parachute, shutter and other servos, with refresh frequency of 50Hz;

◆  It can control the engine of a conventional quadrotor or multirotor UAV, with refresh frequency of 200Hz;

◆  With one-key action, it can enable takeoff, landing, hovering, circling, altitude holding and parachute opening, which provides easy operation for user;

◆  When a fix-wing UAV swerves, the elevator enables feed-forward compensation, to avoid altitude decrease;

◆  When a multirotor UAV hovers, the aircraft nose is kept in one direction (or the course angle can be changed remotely); during flight in a route, the aircraft nose is automatically aligned with the route direction;

◆  Sophisticated flight status monitoring and automatic protection;

Mission navigation:

◆  It provides 8 user routes and each route can contain 800 waypoints;

◆  It can automatically generate the circling route and the circling point; the circling radius and circling rounds are programmable;

◆  It can automatically generate the homing route, or the user may plot the homing route and homing is automatically executed in the user plotted route;

◆  The longitude, latitude, altitude, speed and mission of a are programmable;

◆  After reaching a waypoint, it can automatically switch to circling, homing or landing;

◆  It can enable parachute opening or shutter controlling upon arrival at a waypoint;

◆  It can execute regular-interval photographing mission in a flight segment;

Protection setting:

◆  Protection against low voltage, low oil level and low rotation speed;

◆  Protection against abnormal attitude;

◆  Protection against abnormal altitude;

◆  Protection against low accuracy of GPS positioning;

◆  Protection against failure of combined navigation system;

◆  Protection against breach of maximum control radius;

◆  Protection against breach of safety limit of the route;

◆  100 emergency landing points can be preset, so that the aircraft can land at the nearest landing point in case of an emergency;

◆  Protection can be executed as automatic homing, automatic landing or parachute opening;

RC remote controller:

◆  It compatible with the conventional Sbus interfaced RC remote controller and receiver;

◆  The manual/autonomous modes can be switched by the RC remote controller;

◆  The fixed-wing and multirotor modes can be switched by the RC remote controller;

◆  The FailSafe status of the RC remote controller is under monitoring;

◆  The RC remote controller can be used for registration of the control surfaces;

◆  The RC remote controller can execute unlocking, to prevent misoperation of the motor;

Airborne data recording:

◆  Flight information and mission information are recorded and downloaded separately;

◆  The recording frequency and downloading frequency are selectable in the range of 1Hz~10Hz;

◆  Flight information recording time can be 9 hours;

◆  7,000 mission information logs can be recorded (on photographing locations);

Ground station software:

◆  The route plotting function can change or switch the route during flight;

◆  Updating and registration of background electronic map;

◆  Legible and comprehensible flight instruments;

◆  Easy execution of key commands; protection against misoperation;

◆  Adjustment of integrated control parameters, calibration of sensors, protection setting;

◆  Display, alerting, recording and playback of telemetry data; the formats of the log files are compatible with Office;

◆  The ground station software is capable of fine adjustment of the horizontal position, altitude and heading of multirotor UAV, without remote control of the RC remote controller;

Data link interface:

◆  Electric standard: RS-232C;

◆  Baud rate: several optional Baud rats, default 9600, N, 8, 1;

Physical parameter:

◆  Size: 109mm*56mm*53mm (length* width* height) (after installation of the airborne flight control and navigation system);

◆  Weight: 165g;

◆  Power supply: 250mA@4.5V~9.0VDC