无人机专业英语 第二版 课件 6.1 The Basic Operation of Mission Planner

EnglishforUnmannedaerialvehicle无人机专业英语Project

6:6.1TheBasicOperationofMissionPlannerIntroductionDesktopGCSTablet/SmartphoneGCSMissionPlannerOverviewMissionPlanningcopter[ˈkɒptə(r)]n.<口>直升飞机rover [ˈrəʊvə(r)]n.漫游者;地面车辆AntennaTrackern.天线追踪器waypoint[ˈweɪpɔɪnt]n.航路点dropdown[drɒp'daʊn]n.下拉式（列表），下拉式（菜单）orthophoto[ɔ:θə'fəʊtəʊ]n.正色摄影chevron[ˈʃevrən]n.波浪饰NewWordsAgroundstationistypicallyasoftwareapplication,runningonaground-basedcomputer,thatcommunicateswithyourUAVviawirelesstelemetryorMicro-USBcable.Itdisplaysreal-timedataontheUAV’sperformanceandpositionandcanserveasa“virtualcockpit”,showingmanyofthesameinstrumentsthatyouwouldhaveifyouwereflyingarealplane.AGCScanalsobeusedtocontrolaUAVinflight,uploadingnewmissioncommandsandsettingparameters.ItisoftenalsousedtomonitorthelivevideostreamsfromaUAV’scameras.地面站通常是在地面计算机上运行的应用软件，通过数传或Micro-USB电缆与您的无人机进行通信。它实时显示无人机性能和位置数据，可以用作“虚拟驾驶舱”，能显示与真实飞机飞行时相同的仪表。GCS还可用于控制飞行中的无人机，上传新任务命令及设置的参数。它通常还用于监控来自无人机摄像机的实时视频流。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协议的自动驾驶仪一起工作。其主要核心起初是PX4飞控栈，但现在也完全支持基于ArduPilot的自驾仪，在GCS中，QGroundControl是独特的，因为它能运行在所有的平台上。UgCS-UniversalGroundControlStationUgCS,intendedforenthusiastsaswellasprofessionalusers,isuniversalandeasytousegroundcontrolstationwitha3Dinterface.ItsupportsAPM,PixhawkaswellasdronesfromothermanufacturerssuchasDJI,Mikrokopterandmore.Itiscapableofcommunicatingwithandcontrollingmultipledronessimultaneously.

UgCS本是为发烧友和专业用户而生，现在得到普遍使用，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以及来自其他诸如大疆、Mikrokopter等厂商生产的无人机。它能同时控制多架无人机，并和它们进行通信。Part1----DesktopGCSUgCS-UniversalGroundControlStationUgCSsupportsmultiplemaplayersaswellasdifferentmapproviders.SomeofthefeaturesofUgCSinclude-DEMImport,ADS-Btransponderandreceiversupport,Click&Gomode,Joystickmode,imagegeotaggingandvideorecording.UgCSalsocomeswithatelemetryplayer,allowingthereplayofallflights.

UgCS支持多图层和不同的地图。UgCS的一些特征包括：DEM输入、ADS-B应答、接收机支持、点击模式、游戏杆模式、图像地理标签及视频记录。UgCS也自带遥测播放器，允许重放所有航线。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强大而直观的飞行控制程序。3DRobotics是美国最大的无人机制造商，在Android手机和平板电脑上为无人直升机和飞机开发了开源Tower飞行控制软件。该应用程序为用户提供了一些与无人机交流的新方法，但更重要的是，它为开发人员提供了一种新方法，可以将无人机新特性构建到应用程序中，而无需从头开始重新开发。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.

你可以输入航路点和其他命令。在每一行的下拉菜单中，选择你想要的命令。列名将会改变，以显示命令所需的数据。经纬度数据可以通过在地图上点击来输入。高度是相对你的起飞/回家点，因此如果你设置了100米，飞机飞行高度是离你有100米。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents2)Instructions

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

默认高度是你输入新航路点的缺省高度。如果你勾选了HoldDefaultALT，默认高度也是返航模式飞行的高度；如果你没有勾选，那么飞机将试着维持在切换到返航模式下的飞行高度上。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents2)Instructions

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

高度检查意味着MissionPlanner将使用谷歌地球的拓扑数据来调整每个航路点你所期望的高度，以反映基于地表的真实高度。因此，如果你的航路点在山上，且选择了高度检查选项，MissionPlanner将基于山的高度增加你的高度设置。这是一种很好的方法，能确保飞机不会撞到山上。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents3)TipsPrefetch:Youcancachemapdatasoyoudon’tneedInternetaccessatthefield.ClickthePrefetchbuttonandholddownAlttodrawaboxtodownloadtheselectedimageryofalocation.Prefetch：你可以缓存地图数据，这样在野外就不需要接入网络。点击Prefetch按钮并且按下ALT键来用鼠标拖动绘制矩形区域，以下载选择的位置点的图像。

Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents3)TipsGrid:Thisallowsyoutodrawapolygon(rightclick)andautomaticallycreatewaypointsovertheselectedarea.Notethatitdoesnotdo“islanddetection”,whichmeansifyouhaveabigpolygonandalittleoneinsideofthat,thelittleonewillnotbeexcludedfromthebigone.Also,inthecaseofanypolygonthatpartiallydoublesbacksonitself(liketheletterU),theopenareainthecenterwillbeincludedaspartoftheflyover.你可以画一个多边形，这会自动产生所选区域的航路点。注意这不会进行“孤岛检测”，意味着如果在大的多边形里面有一个小的多边形，小多边形不会从大多边形里排除在外。另外，在任意部分双背靠背的多边形情况下，中心开口区域将被包含在里面，作为飞行区域的一部分。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents4)AutogridYoucanalsohavetheMissionPlannercreateamissionforyou,whichisusefulforfunctionlikemappingmissions,wheretheaircraftshouldjustgobackandforthina“lawnmower”patternoveranareatocollectphotographs.你也可以用MissionPlanner为自己创建一个任务，这对于像地图测绘之类的功能来说是有用的，飞机应该往返飞行以生成“割草机”轨迹，从而收集照片。Part4----MissionPlanningPlanningaMissionwithWaypointsandEvents5)MissioncommandsMissionPlannerprovidesafilteredlistofthecommandsappropriateforthecurrentvehicletypeandaddscolumnheadingsfortheparametersthatneeduser-suppliedvalues.Theseincludenavigationcommandstotraveltowaypointsandloiterinthevicinity,DOcommandstoexecutespecificactions(forexampletakingpictures),andconditioncommandsthatcancontrolwhenDOcommandsareabletorun.Part4----MissionPlanningMissionPlanner提供了适合当前飞机类型的指令列表，并增加一列需要用户提供参数的列名。这些指令包括：导航到航点，临近盘旋，执行特殊动作（如拍照等）和条件指令。MissionPlannerFeatures1)ConnectToestablishaconnection,youmustfirstchoosethecommunicationmethod/channelyouwanttouse,andthensetupthephysicalhardwareandWindowsdevicedrivers.YoucanconnectthePCandautopilotusingUSBcables,TelemetryRadios,Bluetooth,IPconnectionsetc.BesurethatthedriverforyourconnectionhardwaremustbepresentonWindowsasthismakesyourconnection’sCOMportanddefaultdatarateavailabletoMissionPlanner.Part4----MissionPlanningMissionPlannerFeatures1)ConnectOnceyou’veattachedtheUSBorTelemetr