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1
“华兴通盛”地面站-飞行管理平台使用手册
目 录
第一部分:地面站使用
.................................................................................................................... 1
1. 地面站简介
................................................................................................................................... 1
2. 基本功能介绍
............................................................................................................................... 4
2.1 功能区
................................................................................................................................. 5
2.2 状态显示区域
..................................................................................................................... 9
2.3 飞行操作区
....................................................................................................................... 10
2.4 飞控参数设置
................................................................................................................... 18
3 使用教程
...................................................................................................................................... 19
3.1 系统启动
........................................................................................................................... 19
3.2 界面调整
........................................................................................................................... 21
3.3 外置驾驶杆设置使用
....................................................................................................... 24
3.4 航线规划
........................................................................................................................... 26
3.5 飞手考证培训应用
........................................................................................................... 29
3.6 编队飞行
........................................................................................................................... 32
3.7 自动航线
........................................................................................................................... 35
3.7.1 规划多边形区域
.................................................................................................... 35
3.7.2.环形航线
................................................................................................................. 39
3.7.3 曲线航线
................................................................................................................. 41
3.7.4 .设置网格
................................................................................................................ 43
3.7.5 特殊航线(文本)
................................................................................................ 45
3.8 协同搜索
........................................................................................................................... 46
3.9 其他常用功能
................................................................................................................... 48
3.9.1 烧写固件
................................................................................................................ 48
3.9.2 震动检测
................................................................................................................ 49
3.9.3 调试
........................................................................................................................ 49
3.9.4 日志的下载和分析
................................................................................................ 51
![](https://csdnimg.cn/release/download_crawler_static/89645244/bg2.jpg)
2
3.9.5 将日志文件转化成用于 MATLAB 分析格式
..................................................... 73
3.9.6 生成 excel 文件
......................................................................................................74
3.9.7 连接 RTK
............................................................................................................... 74
3.9.8 参数设置
................................................................................................................ 75
3.9.10 录屏
...................................................................................................................... 75
3.9.11 系统设置
.............................................................................................................. 77
4 常用功能设置
.............................................................................................................................. 78
4.1 .电流电压检测设置
........................................................................................................... 78
4.2 FFT 分析与配置
................................................................................................................ 78
4.3 电子围栏
........................................................................................................................... 79
4.4 降落伞
............................................................................................................................... 81
4.5 自动调参
........................................................................................................................... 82
4.6 固定翼自动起飞
............................................................................................................... 86
4.7 垂起无人机调试
............................................................................................................... 89
4.8 固定翼自动着陆
............................................................................................................... 93
4.9 激光雷达使用
................................................................................................................. 102
4.10 UAVCAN 电调
..............................................................................................................104
4.11 连接 ELRS 和 CRSF 接收机
....................................................................................106
4.12 飞控网口设置说明
....................................................................................................... 108
5 飞控疑难杂症解决方法汇总
.................................................................................................... 109
5.1 无法解锁(黄灯闪烁)
................................................................................................. 109
5.2 电台连接缓慢,或者有很大概率连接失败
.................................................................110
5.3 悬停掉高(或者叫定高不好,上下浮动)
.................................................................110
5.4 定点定不住
..................................................................................................................... 111
5.5 起飞瞬间飞机转头
......................................................................................................... 111
5.6 地面站失控保护(GCS Failsafe)
............................................................................... 112
5.7 推油门飞机起不来
......................................................................................................... 112
5.8 起飞瞬间侧翻
................................................................................................................. 113
5.9 舵面输出反向
................................................................................................................. 113
5.10 飞控不启动
................................................................................................................... 114
![](https://csdnimg.cn/release/download_crawler_static/89645244/bg3.jpg)
3
5.11 飞控自动锁定时间太长或者太短
............................................................................... 114
5.12 遥控器无法校准
........................................................................................................... 114
5.13 机头方向和飞控前向不一致
....................................................................................... 115
5.14 日志不正常
................................................................................................................... 115
5.15 无法刷固件
................................................................................................................... 116
5.16 地面站打不开
............................................................................................................... 117
5.17 提示“Bad AHRS”
..........................................................................................................117
5.18 插上数传电台后鼠标乱跑
........................................................................................... 117
5.19 固定翼舵机抖动
........................................................................................................... 117
5.20 PixHawk、PX4 固件、APM 固件三者的关系
........................................................... 118
6 数传配置方法
............................................................................................................................ 119
6.1 数传配置主要命令
......................................................................................................... 119
6.2 进入配置模式
................................................................................................................. 120
6.3 点对点
.............................................................................................................................. 121
6.4 点对点加中继
................................................................................................................. 121
6.5 点对点多级中继
............................................................................................................. 123
6.6 点对多
............................................................................................................................. 124
6.7 点对多及中继
................................................................................................................. 126
7 板载数传及 RTK 配置
.............................................................................................................. 126
7.1 内置电台配置步骤:
..................................................................................................... 127
7.2 内置 RTK 配置步骤
........................................................................................................ 128
8 和芯 N4 产品星历加注使用
..................................................................................................... 128
8.1 功能介绍
.......................................................................................................................... 128
8.2 使用条件
......................................................................................................................... 128
8.3 测试流程
.......................................................................................................................... 129
8.4 N4 产品 AGNSS 使用总结
............................................................................................. 132
第二部分 飞行管理平台
.............................................................................................................. 133
1. 系统简介
................................................................................................................................... 133
1.1 编写目的
.......................................................................................................................... 133
2. 系统概述
................................................................................................................................... 133
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4
2.1 系统简介
.......................................................................................................................... 133
2.2 系统功能
.......................................................................................................................... 133
3. 主页介绍
................................................................................................................................... 133
4. 无人机平台操作说明
............................................................................................................... 135
4.1. 登录
................................................................................................................................ 135
4.1.1 功能介绍
.............................................................................................................. 135
4.1.2 操作步骤
.............................................................................................................. 135
4.2. 注册
................................................................................................................................ 136
4.3. 退出
................................................................................................................................ 138
4.4. 实时轨迹
........................................................................................................................ 139
4.4.1 功能介绍
.............................................................................................................. 139
4.4.2 操作步骤
.............................................................................................................. 139
4.5. 无人机
............................................................................................................................ 143
4.5.1 功能介绍
.............................................................................................................. 143
4.5.2 操作步骤
.............................................................................................................. 143
4.6. 飞行任务
........................................................................................................................ 147
4.6.1 飞行任务
............................................................................................................... 147
4.6.2 飞行航线
.............................................................................................................. 150
4.6.3 航线上传和执行
................................................................................................... 153
4.7. 飞手
................................................................................................................................ 154
4.7.1 功能介绍
.............................................................................................................. 154
4.7.2 操作步骤
.............................................................................................................. 154
4.8. 数据管理
........................................................................................................................ 155
4.8.1 用户管理
.............................................................................................................. 155
4.8.2 公司管理
.............................................................................................................. 159
4.8.3 飞手管理
.............................................................................................................. 161
4.8.4 无人机管理
.......................................................................................................... 163
4.9. 公司使用说明
................................................................................................................ 165
4.10. 工具栏使用说明
.......................................................................................................... 166
第三部分 附录
.............................................................................................................................. 154
![](https://csdnimg.cn/release/download_crawler_static/89645244/bg5.jpg)
5
附录 1 固定翼全部参数及意义
........................................................................................... 154
附件 2 常见的故障警告信息含义
....................................................................................... 336
附件 3 应急保护
................................................................................................................... 337
附 3.1.数传链路断开
..................................................................................................... 337
附 3.2.遥控器失效保护
................................................................................................. 338
附 3.3.电池低压保护
..................................................................................................... 339
附 3.4.EKF / DCM 检查故障安全
................................................................................ 340
附件 4 故障保护相关设置参数
........................................................................................... 341
附 5 数据融合算法和控制实现
........................................................................................... 343
附 5.1 软件的基本组成
................................................................................................ 343
附 5.2 算法数据来源和融合
........................................................................................345
附 5.3 卡尔曼滤波融合算法(EKF)
........................................................................ 352
附 5.4 相关参数及意义
................................................................................................ 354
附 6 L1 制导律及其工程应用
...............................................................................................366
附 6.1.工程上常用的制导方法及其特点
.....................................................................366
附 6.2.L1 制导律基本内容
............................................................................................367
附 6.2.1 L1 制导律基本思想
.........................................................................................367
附 6.2.2 直线路径
.......................................................................................................... 368
附 6.2.3 曲线路径
......................................................................................................... 369
附 6.2.4 圆形路径
......................................................................................................... 369
附 6.3.稳定性证明
......................................................................................................... 371
附 6.4. L1、PD、比例导引制导律之间的关系
.......................................................... 373
附 6.5.L1 频域分析和参数设计
....................................................................................374
附 6.5.1 频域分析
.......................................................................................................... 374
附 6.5.2 参数设计
......................................................................................................... 377
附 6.6 总结
..................................................................................................................... 377
附 7 总能量控制(TECS)及其实现
.......................................................................................378
附 7.1 概述
..................................................................................................................... 378
附 7.2 总能量控制公式推导
........................................................................................378
附 7.3 总能量控制方法的实现
.................................................................................... 380
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