EnglishforUnmannedaerialvehicle無人機(jī)專業(yè)英語Project

6:6.1TheBasicOperationofMissionPlannerIntroductionDesktopGCSTablet/SmartphoneGCSMissionPlannerOverviewMissionPlanningcopter[?k?pt?(r)]n.<口>直升飛機(jī)rover [?r??v?(r)]n.漫游者;地面車輛AntennaTrackern.天線追蹤器waypoint[?we?p??nt]n.航路點(diǎn)dropdown[dr?p'da?n]n.下拉式（列表），下拉式（菜單）orthophoto[?:θ?'f??t??]n.正色攝影chevron[??evr?n]n.波浪飾NewWordsAgroundstationistypicallyasoftwareapplication,runningonaground-basedcomputer,thatcommunicateswithyourUAVviawirelesstelemetryorMicro-USBcable.Itdisplaysreal-timedataontheUAV’sperformanceandpositionandcanserveasa“virtualcockpit”,showingmanyofthesameinstrumentsthatyouwouldhaveifyouwereflyingarealplane.AGCScanalsobeusedtocontrolaUAVinflight,uploadingnewmissioncommandsandsettingparameters.ItisoftenalsousedtomonitorthelivevideostreamsfromaUAV’scameras.地面站通常是在地面計(jì)算機(jī)上運(yùn)行的應(yīng)用軟件，通過數(shù)傳或Micro-USB電纜與您的無人機(jī)進(jìn)行通信。它實(shí)時(shí)顯示無人機(jī)性能和位置數(shù)據(jù)，可以用作“虛擬駕駛艙”，能顯示與真實(shí)飛機(jī)飛行時(shí)相同的儀表。GCS還可用于控制飛行中的無人機(jī)，上傳新任務(wù)命令及設(shè)置的參數(shù)。它通常還用于監(jiān)控來自無人機(jī)攝像機(jī)的實(shí)時(shí)視頻流。Part0----IntroductionMissionPlannerPart1----DesktopGCSAuthor:MichaelObornePlatform:Windows,MacOSX(UsingMono)Licence:

Opensource

(GPLv3)APMPlanner2.0APMPlanner2.0,thebestautopilotforuseonMACandLinuxplatforms,hasasmalleruserbaseandareducedfeaturesetwhencomparedwithMissionPlanner.Itisanopen-sourcegroundstationapplicationforMAVlinkbasedautopilotsincludingAPMandPX4/PixhawkthatcanberunonWindows,MacOSX,andLinux.Part1----DesktopGCSMAVProxyMAVProxy,writteninPythonandextensibleviapythonmodules,isakindofLinuxGCSandoftenusedbyPlanedevelopers.Itprimarilyuseacommandlinetointerfacewithgraphicalmodulesformapandmissionediting.Part1----DesktopGCSQGroundControlQGroundControlworkwithMAVLinkcapableautopilots.ItsmainfocusoriginallyhasbeenPX4FlightStack,butitnowalsocomeswithcompletesupportforArduPilotbasedautopilots.It’suniqueamongtheGCSofferingsasitrunsonallplatformsdesktopandmobile.Part1----DesktopGCSQGroundControl和基于MAVLink協(xié)議的自動駕駛儀一起工作。其主要核心起初是PX4飛控棧，但現(xiàn)在也完全支持基于ArduPilot的自駕儀，在GCS中，QGroundControl是獨(dú)特的，因?yàn)樗苓\(yùn)行在所有的平臺上。UgCS-UniversalGroundControlStationUgCS,intendedforenthusiastsaswellasprofessionalusers,isuniversalandeasytousegroundcontrolstationwitha3Dinterface.ItsupportsAPM,PixhawkaswellasdronesfromothermanufacturerssuchasDJI,Mikrokopterandmore.Itiscapableofcommunicatingwithandcontrollingmultipledronessimultaneously.

UgCS本是為發(fā)燒友和專業(yè)用戶而生，現(xiàn)在得到普遍使用，并且有3D交互界面，是一款很容易使用的地面站。它支持APM,Pixhawk以及來自其他諸如大疆、Mikrokopter等廠商生產(chǎn)的無人機(jī)。它能同時(shí)控制多架無人機(jī)，并和它們進(jìn)行通信。Part1----DesktopGCSUgCS-UniversalGroundControlStationUgCSsupportsmultiplemaplayersaswellasdifferentmapproviders.SomeofthefeaturesofUgCSinclude-DEMImport,ADS-Btransponderandreceiversupport,Click&Gomode,Joystickmode,imagegeotaggingandvideorecording.UgCSalsocomeswithatelemetryplayer,allowingthereplayofallflights.

UgCS支持多圖層和不同的地圖。UgCS的一些特征包括：DEM輸入、ADS-B應(yīng)答、接收機(jī)支持、點(diǎn)擊模式、游戲桿模式、圖像地理標(biāo)簽及視頻記錄。UgCS也自帶遙測播放器，允許重放所有航線。Part1----DesktopGCSTowerTower(a.k.a.“DroidPlanner3”)isanAndroidGCSforphonesandtablets.Itisintendedforendusersandenthusiasts,andincludesfeatureslikefollow-me,“dronies”(i.e.“selfies”buttakenwithadrone)andspecialmissionsfor3Dmapping.Part2----Tablet/SmartphoneGCSTowerToweris3DR’spowerfulandintuitiveflightcontrolprogram.3DRobotics,thelargestU.S.-baseddronemanufacturer,developedtheopen-sourceTowerflightcontrolappfordronecoptersandplanesonAndroidphonesandtablets.Theappgivesusersafenewwaystotalktotheirdrones,butfarmoreimportantly,itoffersdevelopersanewwaytobuildnewfeaturesfordronesintotheappwithouthavingtoreinventthewheelbystartingfromscratch.Tower是3DR強(qiáng)大而直觀的飛行控制程序。3DRobotics是美國最大的無人機(jī)制造商，在Android手機(jī)和平板電腦上為無人直升機(jī)和飛機(jī)開發(fā)了開源Tower飛行控制軟件。該應(yīng)用程序?yàn)橛脩籼峁┝艘恍┡c無人機(jī)交流的新方法，但更重要的是，它為開發(fā)人員提供了一種新方法，可以將無人機(jī)新特性構(gòu)建到應(yīng)用程序中，而無需從頭開始重新開發(fā)。Part2----Tablet/SmartphoneGCSMAVPilot1.4MAVPILOTisaGroundControlStationforiOSthatsupportspredominantlyArduPilotautopilotoniPhone/iPad.MAVPILOTsupportsforPlane,Copter&Rovervehicletypes.ItalsosupportsArDrone2.0withFlightRecorderandPX4FlightStack.Youcanmonitorthevehiclesstatusandplanandexecutefullyautonomousmissions.Part2----Tablet/SmartphoneGCSFeaturesLoadthefirmware(thesoftware)intotheautopilot(APM,PX4...)thatcontrolsyourvehicle.Setup,configure,andtuneyourvehicleforoptimumperformance.Plan,saveandloadautonomousmissionsintoyouautopilotwithsimplepoint-and-clickway-pointentryonGoogleorothermaps.Downloadandanalyzemissionlogscreatedbyyourautopilot.InterfacewithaPCflightsimulatortocreateafullhardware-in-the-loopUAVsimulator.Part3----MissionPlannerOverviewFeaturesWithappropriatetelemetryhardwareyoucan:Monitoryourvehicle’sstatuswhileinoperation.Recordtelemetrylogswhichcontainmuchmoreinformationthetheon-boardautopilotlogs.Viewandanalyzethetelemetrylogs.OperateyourvehicleinFPV(firstpersonview)Part3----MissionPlannerOverviewPlanningaMissionwithWaypointsandEvents1)SettingtheHomePosition

ForCopter,thehomepositionissetasthelocationwherethecopterwasarmed.ThismeansifyouexecuteanRTLinCopter,itwillreturntothelocationwhereitwasarmed,soarmyourcopterinthelocationyouwantittoreturnto.

ForPlane,thehomepositionisthelocationoftheplanewheretheGPSwaslocked.ThismeansifyouexecuteanRTLinPlane,itwillreturntothelocationwhereitfirstacquiredtheGPSlock,soonlypowerupyourplaneinthelocationyouintendittoreturntowhenperforminganRTL.Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents2)Instructions

Inthescreenshotbelow,aCoptermissionstartswithanautotakeoffto20metersattitude.Afterthat,itgoestoWP2risingto100metersaltitudeontheway,thenwaits10seconds.Atlast,thecraftwillproceedtoWP3(descendingto50metersaltitudeontheway),thenreturnstolaunch.Sincethedefaultaltitudeis100meters,thereturntolaunchwillbeat100meters.Afterreachingthelaunchposition,thecraftwillland.Themissionassumesthatthelaunchpositionissetatthehomeposition.

Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents2)Instructions

Youcanenterwaypointsandothercommands.Inthedropdownmenusoneachrow,selectthecommandyouwant.Thecolumnheadingwillchangetoshowyouwhatdatathatcommandrequires.LatandLoncanbeenteredbyclickingonthemap.Altitudeisrelativetoyourlaunchaltitude/homeposition,soifyouset100m,forexample,itwillfly100maboveyou.

你可以輸入航路點(diǎn)和其他命令。在每一行的下拉菜單中，選擇你想要的命令。列名將會改變，以顯示命令所需的數(shù)據(jù)。經(jīng)緯度數(shù)據(jù)可以通過在地圖上點(diǎn)擊來輸入。高度是相對你的起飛/回家點(diǎn)，因此如果你設(shè)置了100米，飛機(jī)飛行高度是離你有100米。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents2)Instructions

DefaultAltisthedefaultaltitudewhenenteringnewwaypoints.IfyouhaveHoldDefaultALTchecked,it’salsothealtitudethatRTLmodewillflyat;ifyoudon’thavethatchecked,youraircraftwilltrytomaintainthealtitudeitwasatwhenyouswitchedonRTL.

默認(rèn)高度是你輸入新航路點(diǎn)的缺省高度。如果你勾選了HoldDefaultALT，默認(rèn)高度也是返航模式飛行的高度；如果你沒有勾選，那么飛機(jī)將試著維持在切換到返航模式下的飛行高度上。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents2)Instructions

VerifyheightmeansthattheMissionPlannerwilluseGoogleEarthtopologydatatoadjustyourdesiredaltitudeateachwaypointtoreflecttheheightofthegroundbeneath.So,ifyourwaypointisonahillandthisoptionisselected,theMissionPlannerwillincreaseyourALTsettingbytheheightofthehill.Thisisagoodwaytomakesureyoudon’tcrashintomountains!

高度檢查意味著MissionPlanner將使用谷歌地球的拓?fù)鋽?shù)據(jù)來調(diào)整每個(gè)航路點(diǎn)你所期望的高度，以反映基于地表的真實(shí)高度。因此，如果你的航路點(diǎn)在山上，且選擇了高度檢查選項(xiàng)，MissionPlanner將基于山的高度增加你的高度設(shè)置。這是一種很好的方法，能確保飛機(jī)不會撞到山上。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents3)TipsPrefetch:Youcancachemapdatasoyoudon’tneedInternetaccessatthefield.ClickthePrefetchbuttonandholddownAlttodrawaboxtodownloadtheselectedimageryofalocation.Prefetch：你可以緩存地圖數(shù)據(jù)，這樣在野外就不需要接入網(wǎng)絡(luò)。點(diǎn)擊Prefetch按鈕并且按下ALT鍵來用鼠標(biāo)拖動繪制矩形區(qū)域，以下載選擇的位置點(diǎn)的圖像。

Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents3)TipsGrid:Thisallowsyoutodrawapolygon(rightclick)andautomaticallycreatewaypointsovertheselectedarea.Notethatitdoesnotdo“islanddetection”,whichmeansifyouhaveabigpolygonandalittleoneinsideofthat,thelittleonewillnotbeexcludedfromthebigone.Also,inthecaseofanypolygonthatpartiallydoublesbacksonitself(liketheletterU),theopenareainthecenterwillbeincludedaspartoftheflyover.你可以畫一個(gè)多邊形，這會自動產(chǎn)生所選區(qū)域的航路點(diǎn)。注意這不會進(jìn)行“孤島檢測”，意味著如果在大的多邊形里面有一個(gè)小的多邊形，小多邊形不會從大多邊形里排除在外。另外，在任意部分雙背靠背的多邊形情況下，中心開口區(qū)域?qū)⒈话诶锩?，作為飛行區(qū)域的一部分。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents4)AutogridYoucanalsohavetheMissionPlannercreateamissionforyou,whichisusefulforfunctionlikemappingmissions,wheretheaircraftshouldjustgobackandforthina“l(fā)awnmower”patternoveranareatocollectphotographs.你也可以用MissionPlanner為自己創(chuàng)建一個(gè)任務(wù)，這對于像地圖測繪之類的功能來說是有用的，飛機(jī)應(yīng)該往返飛行以生成“割草機(jī)”軌跡，從而收集照片。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents5)MissioncommandsMissionPlannerprovidesafilteredlistofthecommandsappropriateforthecurrentvehicletypeandaddscolumnheadingsfortheparametersthatneeduser-suppliedvalues.Theseincludenavigationcommandstotraveltowaypointsandloiterinthevicinity,DOcommandstoexecutespecificactions(forexampletakingpictures),andconditioncommandsthatcancontrolwhenDOcommandsareabletorun.Part4----MissionPlanningMissionPlanner提供了適合當(dāng)前飛機(jī)類型的指令列表，并增加一列需要用戶提供參數(shù)的列名。這些指令包括：導(dǎo)航到航點(diǎn)，臨近盤旋，執(zhí)行特殊動作（如拍照等）和條件指令。MissionPlannerFeatures1)ConnectToestablishaconnection,youmustfirstchoosethecommunicationmethod/channelyouwanttouse,andthensetupthephysicalhardwareandWindowsdevicedrivers.YoucanconnectthePCandautopilotusingUSBcables,TelemetryRadios,Bluetooth,IPconnectionsetc.BesurethatthedriverforyourconnectionhardwaremustbepresentonWindowsasthismakesyourconnection’sCOMportanddefaultdatarateavailabletoMissionPlanner.Part4----MissionPlanningMissionPlannerFeatures1)ConnectOnceyou’veattachedtheUSBorTelemetr