CN102298389A - System fully controlled and taken over by ground station during takeoff and landing stages of unmanned plane - Google Patents
System fully controlled and taken over by ground station during takeoff and landing stages of unmanned plane Download PDFInfo
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- CN102298389A CN102298389A CN2011101550132A CN201110155013A CN102298389A CN 102298389 A CN102298389 A CN 102298389A CN 2011101550132 A CN2011101550132 A CN 2011101550132A CN 201110155013 A CN201110155013 A CN 201110155013A CN 102298389 A CN102298389 A CN 102298389A
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- steering wheel
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
A system fully controlled and taken over by a ground station during takeoff and landing stages of an unmanned plane, which belongs to the unmanned plane technology field, is characterized in that: the system comprises an unmanned plane control department and a ground station control department, wherein the unmanned plane control department comprises a airborne sensor group, a flight control computer, a steering gear adapter, a steering group, a downlink data link transmitter and an uplink data link receiver and the ground station control department comprises a ground station, a downlink data link receiver, an uplink data link transmitter, a takeoff and landing platform and a takeoff and landing platform sensor group; during the takeoff and landing stages of the unmanned plane, the flight control computer sends flight data to the ground station by using the downlink data link; the ground station continues to calculate unmanned plane steering commands according to a relative movement relation between the unmanned plane and the takeoff and landing platform and controls the unmanned plane through the uplink data link so that the unmanned plane can complete takeoff and landing which are fully controlled by the ground station. By using the invention, security of the takeoff and landing stages of the unmanned plane can be raised and application occasions can be expanded.
Description
Technical field
The present invention is used to control the device that unmanned plane takes off automatically and lands, and can automatically guide and handle unmanned plane taking off and land under complex environment.Be mainly used in technical fields such as Aero-Space, unmanned plane and robot.
Background technology
Taking off and landing of unmanned plane is the stage occurred frequently of air crash accident, and when unmanned plane (as narrow and small area or motion platform) under complex environment took off and lands, accident rate was higher.Taking off automatically and landing of unmanned plane can only be finished under such as good landing conditions such as broad smooth places usually, and many based on remote control mode under complex environment.In addition, when unmanned plane lands on mobile landing platforms such as warship and vehicle, because attitude, position and the speed of landing platform constantly change, unmanned plane needs to adjust rapidly, exactly self attitude keeping and being synchronized with the movement of mobile landing platform, and its landing process is difficulty and dangerous very.Therefore unmanned plane take-off and landing mode danger in the past is high, applicable situation is few, is difficult to satisfy present unmanned plane application demand.
The present invention utilizes land station to contrast the relative motion of unmanned plane and landing platform in real time, continues to calculate steering order and the directly flight of full powers control unmanned plane, make unmanned plane can be under complex environment automatically, take off safely and land.Take off with traditional unmanned plane and to compare with landing method, advantage of the present invention is full-automatic landing, safe and accommodation is extensive.Not only can make unmanned plane revise the course line in real time according to the indication of land station, in time evade barrier and safe take-off or landing at complicated ground (between high building); And can make unmanned plane in real time, promptly follow the motion of landing platform (as the warship in advancing, vehicle etc.), finish taking off and land on mobile landing platform.The present invention can significantly improve the flight safety that unmanned plane takes off and lands under complex environment, and can expand the equipment scope of application of unmanned plane.
Summary of the invention
The object of the present invention is to provide a kind of system that unmanned plane independently takes off and lands that is used under complex environment.
The invention is characterized in, contain: unmanned aerial vehicle (UAV) control portion and ground station control portion, wherein:
Unmanned aerial vehicle (UAV) control portion, contain: airborne sensor group, flight-control computer, steering wheel adapter, steering wheel group, downlink data link transmitter and up data link receiver, wherein:
The airborne sensor group, be integrated with: 3 shaft angle rate gyroscopes, 3 axis accelerometer meters, 3 magnetometers, ultrasonic height meter and GPS receivers, with the volume coordinate of real-time measurement unmanned plane, 3 axis angular rates, 3 axis accelerometers, 3 Eulerian angle and ultrasound wave relative height, be expressed as flying quality
And send to flight-control computer:
γ
A=[x
A(t), y
A(t), z
A(t)]
TBe the volume coordinate of unmanned plane,
∏
A=[p
A(t), q
A(t), r
A(t)]
TBe 3 axis angular rates of unmanned plane,
Λ
A=[u
A(t), v
A(t), w
A(t)]
TBe 3 axial velocities of unmanned plane,
Ξ
A=[φ
A(t), θ
A(t), ψ
A(t)]
TBe 3 Eulerian angle of unmanned plane,
Δ h is the ultrasound wave relative height;
Flight-control computer is provided with: the flying quality signal input part of described airborne sensor group output, send flying quality η to the downlink data link transmitters
A(t) output terminal, and fly to control steering wheel instruction δ according to what predefined flight path and flight control algorithm generated
Fly control(t)=[δ
Fly to control 1(t), δ
Fly to control 2(t), L, δ
Fly to control n(t)]
T, n is the steering wheel number, wherein:
The flight path of expectation is expressed as Г
C=[x
C(t), y
C(t), z
C(t)]
T, wherein, x
C(t), y
C(t), z
C(t) volume coordinate for setting, t=1,2 ...., L, the flight time length of L for setting, unit is second;
Fly control instruction δ
Fly to control i(t) expression formula is:
Wherein,
With
Be the controller parameter of flight-control computer, wherein
Be scale-up factor,
Be integral coefficient,
Be differential coefficient, be setting value;
The steering wheel adapter is made of the PIC single-chip microcomputer, is provided with:
Steering wheel control command signal input end receives and to fly control instruction δ from described flight-control computer
Fly control(t)=[δ
Fly to control 1(t), δ
Fly to control 2(t), L, δ
Fly to control n(t)]
T, span is [100,100], i ∈ [1, n];
Land station's instruction input end receives the instruction δ of land station from described up data link receiver
Land station(t)=[δ
Land station 1(t), δ
Land station 2(t), L, δ
The n of land station(t)]
T, span is [100,100], i ∈ [1, n];
The described control instruction δ that flies
Fly control(t) and land station instruction δ
Land station(t) all adopt RS232 serial signal form, wherein fly control instruction δ
Fly control(t) frame head is defined as DB9033, the instruction δ of land station
Land station(t) frame head is defined as DB9053, and δ is instructed in land station
Land station(t) priority level initializing flies control instruction δ for being higher than
Fly control(t) priority;
Described steering wheel adapter only is converted into n road steering wheel PWM pulse-width signal to the current the highest command signal of priority of receiving, the n road steering wheel that is used to control the steering wheel group instructs pairing PWM pulse-width signal to carry out deflection according to current limit priority; Described steering wheel adapter flies control instruction δ by the frame head that detects the instruction of receiving with identification
Fly control(t) and land station instruction δ
Land station(t);
Downlink data link transmitter is provided with the flying quality receiving end, receives the flying quality η from described flight-control computer output
A(t), and immediately send flying quality η to the downlink data link receiver
A(t);
Ground station control portion, contain: land station, downlink data link receiver, up data link transmitter, landing platform and landing platform sensor groups, wherein:
The landing platform is fixed with land station, landing platform sensor groups, downlink data link receiver and up data link transmitter, wherein:
Landing platform sensor groups, be integrated with described 3 shaft angle rate gyroscopes, 3 axis accelerometer meters, 3 magnetometers, and the GPS receiver, with volume coordinate, 3 axis angular rates, 3 axis accelerometers and 3 Eulerian angle of real-time measurement landing platform, be expressed as the exercise data of landing platform
And send to land station:
γ
G=[x
G(t), y
G(t), z
G(t)]
TBe the volume coordinate of landing platform,
∏
G=[p
G(t), q
G(t), r
G(t)]
TBe 3 axis angular rates of landing platform,
Λ
G=[u
G(t), v
G(t), w
G(t)]
TBe 3 axial velocities of landing platform,
Ξ
G=[φ
G(t), θ
G(t), ψ
G(t)]
T3 Eulerian angle for the landing platform;
h
0Relative height for the landing platform is set at 0;
Land station is a PC, receives the flying quality η that sends from the described downlink data link of unmanned plane transmitter by described downlink data link receiver
A(t), and by described up data link transmitter send the instruction δ of land station that land station calculates in real time to unmanned plane
Land station(t);
Under the normal flight state, by the flight of flight-control computer control unmanned plane, the state of flight of unmanned plane is judged by described land station by the relative position of contrast unmanned plane and landing platform:
Wherein, D is predefined ground station control scope: when unmanned plane flies outside D, think the normal flight state; When unmanned plane flies within D, think to take off/the landing state; D is a setting value, gets 100 meters;
Described flight-control computer is according to the flying quality η from described airborne sensor group
A(t), fly control instruction δ according to default flight control algorithm generation
Fly control(t), the serial signal that and with the frame head is DB9033 sends to described steering wheel adapter; Described steering wheel adapter is the described control instruction δ that flies
Fly control(t) be converted into n road steering wheel PWM pulse-width signal, be used to control the n road steering wheel of steering wheel group according to δ
Fly control(t) pairing PWM pulse-width signal carries out deflection, to handle unmanned plane according to predetermined flight path Г
CFlight;
Taking off/the landing state under, the flight of taking over the control unmanned plane by land station full powers, and judge that by following formula the unmanned plane current state is standby for takeoff or prepares to land:
Wherein, when land station detects unmanned plane and flies within D, confirm that unmanned plane enters to take off/the landing state; Flight intention is further judged by predefined state judgment threshold d by land station: when unmanned plane enter when taking off/land state and the landing platform apart from greater than d, then think to prepare landing state; Otherwise, then think the standby for takeoff state; D is a setting value, gets 10 meters;
Then, described land station is according to the flying quality η of unmanned plane
A(t) and the exercise data η of landing platform
G(t), and current standby for takeoff or preparation landing state, calculating frame head in real time is the instruction δ of land station of DB9053
Land station (T), and by the up data link transmitter send to up data link receiver on the unmanned plane; The instruction δ of land station
Land station(t) expression formula is:
Wherein,
With
Be the controller parameter of land station, wherein
Be scale-up factor,
Be integral coefficient,
Be differential coefficient, be setting value;
Described up data link receiver is with the instruction δ of land station that receives
Land station(t) send to the steering wheel adapter; Because the instruction δ of land station
Land station(t) priority is higher than and flies control instruction δ
Fly control(t) therefore priority worked as the steering wheel adapter and detected the instruction δ of land station that frame head is DB9053
Land station(t) after, change into immediately δ is instructed in land station
Land station(t) be converted into n road steering wheel PWM pulse-width signal, be used to control the n road steering wheel of steering wheel group according to δ
Land station(t) pairing PWM pulse-width signal carries out deflection, so the time the taking off or land of unmanned plane fully by ground station control; Unmanned plane is constantly revised self state of flight under land station handles in real time, gradually away from or near the landing platform, finally finish and on the landing platform, take off automatically or land; And after unmanned plane flew out ground station control scope D, land station stopped to send the instruction δ of land station
Land station(t), described steering wheel adapter changes into flight-control computer is flown control instruction δ
Fly control(t) be converted into the n road steering wheel PWM pulse-width signal of steering wheel group, unmanned plane is automatically switched under the control of flight-control computer, thereby realizing that land station takes in landing/landing stage full powers unmanned plane controls.The invention has the advantages that: unmanned plane can be realized full-automatic landing, safe, wide accommodation.Not only can make unmanned plane revise the course line in real time according to the indication of land station, in time evade barrier and safe take-off or landing at complicated ground (between high building); And can make unmanned plane in real time, promptly follow the motion of mobile landing platform (as the warship in advancing, vehicle etc.), finish taking off and land on mobile platform; The present invention can significantly improve the flight safety that unmanned plane takes off and lands under complex environment, and effectively expands the equipment scope of application of unmanned plane.
Description of drawings
Fig. 1 is that the take off land station full powers in landing stage of unmanned plane are taken over the schematic diagram of control system.
Among Fig. 1,1. unmanned plane, 2. airborne sensor group, 3. flight-control computer, 4. steering wheel adapter, 5. steering wheel group, 6. downlink data link transmitter, 7. downlink data link receiver, 8. land station, 9. up data link transmitter, 10. up data link receiver, 11. the landing platform, 12. landing platform sensor groups.
Embodiment
The take off land station full powers in landing stage of unmanned plane are taken over control system and are used to control unmanned plane 1 and finish at landing platform 11 and automatically take off and land, and total system is made up of unmanned aerial vehicle (UAV) control portion and ground station control portion, wherein:
Unmanned aerial vehicle (UAV) control portion, contain: airborne sensor group 2, flight-control computer 3, steering wheel adapter 4, steering wheel group 5, downlink data link transmitter 6 and up data link receiver 7, wherein:
Airborne sensor group 2, be integrated with: 3 shaft angle rate gyroscopes, 3 axis accelerometer meters, 3 magnetometers, ultrasonic height meter and GPS receivers, with the volume coordinate of real-time measurement unmanned plane 1,3 axis angular rates, 3 axis accelerometers, 3 Eulerian angle and ultrasound wave relative height, be expressed as flying quality
And send to flight-control computer 3:
γ
A=[x
A(t), y
A(t), z
A(t)]
TBe the volume coordinate of unmanned plane 1,
∏
A=[p
A(t), q
A(t), r
A(t)]
TBe 3 axis angular rates of unmanned plane 1,
Λ
A=[u
A(t), v
A(t), w
A(t)]
TBe 3 axial velocities of unmanned plane 1,
Ξ
A=[φ
A(t), θ
A(t), ψ
A(t)]
TBe 3 Eulerian angle of unmanned plane 1,
Δ h is the ultrasound wave relative height;
Flight-control computer 3 is provided with: the flying quality signal input part of described airborne sensor group 2 outputs, send flying quality η to downlink data link transmitters 6
A(t) output terminal, and fly to control steering wheel instruction δ according to what predefined flight path and flight control algorithm generated
Fly control(t)=[δ
Fly to control 1(t), δ
Fly to control 2(t), L, δ
Fly to control n(t)]
T, n is the steering wheel number, wherein:
The flight path of setting is expressed as Г
C=[x
C(t), y
C(t), z
C(t)]
T, wherein, x
C(t), y
C(t), z
C(t) volume coordinate for setting, t=1,2 ...., L, the flight time length of L for setting, unit is second;
Fly control instruction δ
Fly to control i(t) expression formula is:
Wherein,
With
Be the controller parameter of flight-control computer 2, wherein
Be scale-up factor,
Be integral coefficient,
Be differential coefficient, be setting value;
Steering wheel adapter 4 is made of the PIC single-chip microcomputer, is provided with:
Steering wheel control command signal input end receives and to fly control instruction δ from described flight-control computer 3
Fly control(t)=[δ
Fly to control 1(t), δ
Fly to control 2(t), L, δ
Fly to control n(t)]
T, span is [100,100], i ∈ [1, n];
Land station's instruction input end receives the instruction δ of land station from described up data link receiver 10
Land station(t)=[δ
Land station 1(t), δ
Land station 2(t), L, δ
The n of land station(t)]
T, span is [100,100], i ∈ [1, n];
The described control instruction δ that flies
Fly control(t) and land station instruction δ
Land station(t) all adopt RS232 serial signal form, wherein fly control instruction δ
Fly control(t) frame head is defined as DB9033, the instruction δ of land station
Land station(t) frame head is defined as DB9053, and δ is instructed in land station
Land station(t) priority level initializing flies control instruction δ for being higher than
Fly control(t) priority;
4 of described steering wheel adapters are converted into n road steering wheel PWM pulse-width signal to the current the highest command signal of priority of receiving, the n road steering wheel that is used to control steering wheel group 5 instructs pairing PWM pulse-width signal to carry out deflection according to current limit priority; Described steering wheel adapter 4 flies control instruction δ by the frame head that detects the instruction of receiving with identification
Fly control(t) and land station instruction δ land station (t);
Downlink data link transmitter is provided with the flying quality receiving end, receives the flying quality η from described flight-control computer output
A(t), and immediately send flying quality η to the downlink data link receiver
A(t);
Ground station control portion, contain: land station 8, downlink data link receiver 7, up data link transmitter 9, landing platform 11 and landing platform sensor groups 12, wherein:
The landing platform is fixed with land station, landing platform sensor groups, downlink data link receiver and up data link transmitter, wherein:
Landing platform sensor groups 12, be integrated with described 3 shaft angle rate gyroscopes, 3 axis accelerometer meters, 3 magnetometers, and the GPS receiver, with volume coordinate, 3 axis angular rates, 3 axis accelerometers and 3 Eulerian angle of real-time measurement landing platform 11, be expressed as the exercise data of landing platform 11
And send to land station 8:
γ
G=[x
G(t), y
G(t), z
G(t)]
TBe the volume coordinate of landing platform 11,
∏
G=[p
G(t), q
G(t), r
G(t)]
TBe 3 axis angular rates of landing platform 11,
Λ
G=[u
G(t), v
G(t), w
G(t)]
TBe 3 axial velocities of landing platform 11,
Ξ
G=[φ
G(t), θ
G(t), ψ
G(t)]
T3 Eulerian angle for landing platform 11;
h
0Relative height for the landing platform is set at 0;
Land station 8 is PCs, receives the flying quality η that sends from unmanned plane 1 described downlink data link transmitter 6 by described downlink data link receiver 7
A(t), and by described up data link transmitter 9 send the instruction δ of land station that land station 8 calculates in real time to unmanned plane 1
Land station(t);
Under the normal flight state, by the flight of flight-control computer 3 control unmanned planes 1, the state of flight of unmanned plane 1 is judged by described land station 8 by the contrast unmanned plane 1 and the relative position of landing platform 11:
Wherein, D is predefined ground station control scope: when unmanned plane 1 flies outside D, think the normal flight state; When unmanned plane 1 flies within D, think to take off/the landing state; D is a setting value, gets 100 meters;
Described flight-control computer 3 is according to the flying quality η from described airborne sensor group 2
A(t), fly control instruction δ according to default flight control algorithm generation
Fly control(t), the serial signal that and with the frame head is DB9033 sends to described steering wheel adapter 4; Described steering wheel adapter 4 is the described control instruction δ that flies
Fly control(t) be converted into the n road steering wheel PWM pulse-width signal of steering wheel group 5, be used to control n road steering wheel according to δ
Fly control(t) pairing PWM pulse-width signal carries out deflection, to handle unmanned plane 1 according to predetermined flight path Г
CFlight;
Taking off/the landing state under, the flight of taking over control unmanned plane 1 by land station 8 full powers, and judge that by following formula unmanned plane 1 current state is standby for takeoff or prepares to land:
Wherein, when land station 8 detects unmanned plane and flies within D, confirm that unmanned plane 1 enters to take off/the landing state; Flight intention is further judged by predefined state judgment threshold d by land station 8: when unmanned plane 1 enter when taking off/land state and landing platform 11 apart from greater than d, then think to prepare landing state; Otherwise, then think the standby for takeoff state; D is a setting value, gets 10 meters;
Then, described land station 8 is according to the flying quality η of unmanned plane 1
A(t) and the exercise data η of landing platform 11
G(t), and current standby for takeoff or preparation landing state, calculating frame head in real time is the instruction δ of land station of DB9053
Land station(t), and by up data link transmitter 9 send to up data link receiver 10 land stations instructions δ on the unmanned plane 1
Land station(t) expression formula is:
Wherein,
With
Be the controller parameter of land station 8, wherein
Be scale-up factor,
Be integral coefficient,
Be differential coefficient, be setting value;
Described up data link receiver 10 is with the instruction δ of land station that receives
Land station(t) send to steering wheel adapter 4; Because the instruction δ of land station
Land station(t) priority is higher than and flies control instruction δ
Fly control(t) therefore priority worked as steering wheel adapter 4 and detected the instruction δ of land station that frame head is DB9053
Land station(t) after, change into immediately δ is instructed in land station
Land station(t) be converted into n road steering wheel PWM pulse-width signal, be used to control the n road steering wheel of steering wheel group 5 according to δ
Land station(t) pairing PWM pulse-width signal carries out deflection, so the time the taking off or land fully of unmanned plane 1 by land station's 8 controls; Unmanned plane 1 is constantly revised self state of flight under land station 8 handles in real time, gradually away from or near landing platform 11, finally finish and on landing platform 11, take off automatically or land; And after unmanned plane 1 flew out the 8 range of control D of land station, land station 8 stopped to send the instruction δ of land station
Land station(t), described steering wheel adapter 4 changes into flight-control computer 3 is flown control instruction δ
Fly control(t) be converted into n road steering wheel PWM pulse-width signal, unmanned plane 1 is automatically switched under the control of flight-control computer 3, thereby realize that 8 pairs of unmanned planes 1 of land station are in landing/landing stage full powers adapter control.
Claims (1)
1. the take off land station full powers in landing stage of unmanned plane are taken over control system, it is characterized in that, contain: unmanned aerial vehicle (UAV) control portion and ground station control portion, wherein:
Unmanned aerial vehicle (UAV) control portion, contain: airborne sensor group, flight-control computer, steering wheel adapter, steering wheel group, downlink data link transmitter and up data link receiver, wherein:
The airborne sensor group, be integrated with: 3 shaft angle rate gyroscopes, 3 axis accelerometer meters, 3 magnetometers, ultrasonic height meter and GPS receivers, with the volume coordinate of real-time measurement unmanned plane, 3 axis angular rates, 3 axis accelerometers, 3 Eulerian angle and ultrasound wave relative height, be expressed as flying quality
And send to flight-control computer:
γ
A=[x
A(t), y
A(t), z
A(t)]
TBe the volume coordinate of unmanned plane,
∏
A=[p
A(t), q
A(t), r
A(t)]
TBe 3 axis angular rates of unmanned plane,
Λ
A=[u
A(t), v
A(t), w
A(t)]
TBe 3 axial velocities of unmanned plane,
Ξ
A=[φ
A(t), θ
A(t), ψ
A(t)]
TBe 3 Eulerian angle of unmanned plane,
Δ h is the ultrasound wave relative height;
Flight-control computer is provided with: the flying quality signal input part of described airborne sensor group output, send flying quality η to the downlink data link transmitters
A(t) output terminal, and fly to control steering wheel instruction δ according to what predefined flight path and flight control algorithm generated
Fly control(t)=[δ
Fly to control 1(t), δ
Fly to control 2(t), L, δ
Fly to control n(t)]
T, n is the steering wheel number, wherein:
The flight path of expectation is expressed as Γ
C=[x
C(t), y
C(t), z
C(t)]
T, wherein, x
C(t), y
C(t), z
C(t) volume coordinate for setting, t=1,2 ..., L, the flight time length of L for setting, unit is second;
Fly control instruction δ
Fly to control i(t) expression formula is:
Wherein,
With
Be the controller parameter of flight-control computer, wherein
Be scale-up factor,
Be integral coefficient,
Be differential coefficient, be setting value;
The steering wheel adapter is made of the PIC single-chip microcomputer, is provided with:
Steering wheel control command signal input end receives and to fly control instruction δ from described flight-control computer
Fly control(t)=[δ
Fly to control 1(t), δ
Fly to control 2(t), L, δ
Fly to control n(t)]
T, span is [100,100], i ∈ [1, n];
Land station's instruction input end receives the instruction δ of land station from described up data link receiver
Land station(t)=[δ
Land station 1(t), δ
Land station 2(t), L, δ
The n of land station(t)]
T, span is [100,100], i ∈ [1, n];
The described control instruction δ that flies
Fly control(t) and land station instruction δ
Land station(t) all adopt RS232 serial signal form, wherein fly control instruction δ
Fly control(t) frame head is defined as DB9033, the instruction δ of land station
Land station(t) frame head is defined as DB9053, and δ is instructed in land station
Land station(t) priority level initializing flies control instruction δ for being higher than
Fly control(t) priority;
Described steering wheel adapter only is converted into n road steering wheel PWM pulse-width signal to the current the highest command signal of priority of receiving, the n road steering wheel that is used to control the steering wheel group instructs pairing PWM pulse-width signal to carry out deflection according to current limit priority; Described steering wheel adapter flies control instruction δ by the frame head that detects the instruction of receiving with identification
Fly control(t) and land station instruction δ
Land station(t);
Downlink data link transmitter is provided with the flying quality receiving end, receives the flying quality η from described flight-control computer output
A(t), and immediately send flying quality η to the downlink data link receiver
A(t);
Ground station control portion, contain: land station, downlink data link receiver, up data link transmitter, landing platform and landing platform sensor groups, wherein:
The landing platform is fixed with land station, landing platform sensor groups, downlink data link receiver and up data link transmitter, wherein:
Landing platform sensor groups, be integrated with described 3 shaft angle rate gyroscopes, 3 axis accelerometer meters, 3 magnetometers, and the GPS receiver, with volume coordinate, 3 axis angular rates, 3 axis accelerometers and 3 Eulerian angle of real-time measurement landing platform, be expressed as the exercise data of landing platform
And send to land station:
γ
G=[x
G(t), y
G(t), z
G(t)]
TBe the volume coordinate of landing platform,
∏
G=[p
G(t), q
G(t), r
G(t)]
TBe 3 axis angular rates of landing platform,
Λ
G=[u
G(t), v
G(t), w
G(t)]
TBe 3 axial velocities of landing platform,
Ξ
G=[φ
G(t), θ
G(t), ψ
G(t)]
T3 Eulerian angle for the landing platform;
h
0Relative height for the landing platform is set at 0;
Land station is a PC, receives the flying quality η that sends from the described downlink data link of unmanned plane transmitter by described downlink data link receiver
A(t), and by described up data link transmitter send the instruction δ of land station that land station calculates in real time to unmanned plane
Land station(t);
Under the normal flight state, by the flight of flight-control computer control unmanned plane, the state of flight of unmanned plane is judged by described land station by the relative position of contrast unmanned plane and landing platform:
Wherein, D is predefined ground station control scope: when unmanned plane flies outside D, think the normal flight state; When unmanned plane flies within D, think to take off/the landing state; D is a setting value, gets 100 meters;
Described flight-control computer is according to the flying quality η from described airborne sensor group
A(t), fly control instruction δ according to default flight control algorithm generation
Fly control(t), the serial signal that and with the frame head is DB9033 sends to described steering wheel adapter; Described steering wheel adapter is the described control instruction δ that flies
Fly control(t) be converted into n road steering wheel PWM pulse-width signal, be used to control the n road steering wheel of steering wheel group according to δ
Fly control(t) pairing PWM pulse-width signal carries out deflection, to handle unmanned plane according to predetermined flight path Γ
CFlight;
Taking off/the landing state under, the flight of taking over the control unmanned plane by land station full powers, and judge that by following formula the unmanned plane current state is standby for takeoff or prepares to land:
Wherein, when land station detects unmanned plane and flies within D, confirm that unmanned plane enters to take off/the landing state; Flight intention is further judged by predefined state judgment threshold d by land station: when unmanned plane enter when taking off/land state and the landing platform apart from greater than d, then think to prepare landing state; Otherwise, then think the standby for takeoff state; D is a setting value, gets 10 meters;
Then, described land station is according to the flying quality η of unmanned plane
A(t) and the exercise data η of landing platform
G(t), and current standby for takeoff or preparation landing state, calculating frame head in real time is the instruction δ of land station of DB9053
Land station(t), and by the up data link transmitter send to up data link receiver on the unmanned plane; The instruction δ of land station
Land station(t) expression formula is:
Wherein,
With
Be the controller parameter of land station, wherein
Be scale-up factor,
Be integral coefficient,
Be differential coefficient, be setting value;
Described up data link receiver is with the instruction δ of land station that receives
Land station(t) send to the steering wheel adapter; Because the instruction δ of land station
Land station(t) priority is higher than and flies control instruction δ
Fly control(t) therefore priority worked as the steering wheel adapter and detected the instruction δ of land station that frame head is DB9053
Land station(t) after, change into immediately δ is instructed in land station
Land station(t) be converted into n road steering wheel PWM pulse-width signal, be used to control the n road steering wheel of steering wheel group according to δ
Land station(t) pairing PWM pulse-width signal carries out deflection, so the time the taking off or land of unmanned plane fully by ground station control; Unmanned plane is constantly revised self state of flight under land station handles in real time, gradually away from or near the landing platform, finally finish and on the landing platform, take off automatically or land; And after unmanned plane flew out ground station control scope D, land station stopped to send the instruction δ of land station
Land station(t), described steering wheel adapter changes into flight-control computer is flown control instruction δ
Fly control(t) be converted into the n road steering wheel PWM pulse-width signal of steering wheel group, unmanned plane is automatically switched under the control of flight-control computer, thereby realizing that land station takes in landing/landing stage full powers unmanned plane controls.
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