CN105045277B - A kind of multiple no-manned plane manipulates information display system - Google Patents
A kind of multiple no-manned plane manipulates information display system Download PDFInfo
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Abstract
Information display system is manipulated the invention discloses a kind of multiple no-manned plane, receive Flight Condition Data and view data from airborne sensor including a data receipt unit, and storage is sorted data into the corresponding memory cell of each unmanned plane, again by control option of the processing unit according to the state of flight information of each unmanned plane, topographic database information and control unit in memory cell, generation intergrated information display collection is calculated, a display unit combination display parameters integrally show intergrated information display collection.The present invention can with the relative position of the multiple unmanned planes of synthesis display, when highlighting unmanned plane low-latitude flying and the relativeness between landform and ground obstacle, effectively enhancing operator situational awareness, be particularly suitable for use in many depopulated helicopter cluster applications.
Description
Technical field
The invention belongs to unmanned plane manipulation field of information display, and in particular to a kind of multiple no-manned plane manipulation presentation of information system
System.
Background technology
Unmanned plane cluster fight has become following Development of UAV and the inexorable trend in application field.At present, for
The manipulation of unmanned plane is mainly by means of UAV ground control station, and it is by showing the state of flight information of unmanned plane, Jin Erzhi
Hold control of the operator to unmanned plane.
Traditional UAV ground control station can only typically control single unmanned plane, show its state of flight information and task
Information, while in order to ensure mobility and flexibility, UAV ground control station often exists in vehicle-mounted form.And general feelings
Under condition, vehicle is limited to the factors such as volume, weight, it is impossible to many set UASs of equipment, and also have can for the presence of many set systems
The problems such as data are disturbed can be triggered.Therefore, with current technology means, realize that multiple no-manned plane cluster fight task still will be relied on
Multiple discrete single UAV ground control stations are manipulated, it is clear that such mode can not be provided for operator to whole nothing
The perception of people's group of planes and situation of battlefield, it is also difficult to complete multiple no-manned plane collaboration and control task.
In addition, for the extreme low-altitude cluster fight task of some depopulated helicopters, depopulated helicopter is in low-latitude flying
Complex environment can be faced, is easily touched with ground obstacle, and then triggers aircraft accident, influence clustered control is with fighting
Efficiency, and existing unmanned plane manipulation information does not indicate that the relativeness between unmanned plane and landform, it is impossible to strong support is more
Unmanned plane hedge-hopping mission.
The content of the invention
For the deficiency of prior art, the present invention discloses a kind of multiple no-manned plane manipulation information display system, and it can be real-time
The state of flight information and its onboard image sensor information of at most six frame unmanned planes are shown, can be with all unmanned planes of overview display
Geographical position and relativeness, while the locus of each unmanned plane, user can also be identified in three-dimensional virtual map
Observation visual angle can be adjusted by button, realized to unmanned aerial vehicle group multi-angle, comprehensive observation, and then in visual mode
Perceive the relation between unmanned plane and landform, particularly with need to carry out low latitude, hedgehopping depopulated helicopter group, nobody
The displaying of relativeness can effectively strengthen the situational awareness of operator between helicopter and landform, realize to unmanned aerial vehicle group
Effective control.
To achieve the above object, the present invention provides a kind of multiple no-manned plane manipulation information display system, it is characterised in that：Including
One data receipt unit is used to receive the view data of Flight Condition Data and airborne sensor from airborne sensor, and
Storage is sorted data into the corresponding memory cell of each unmanned plane；
One processing unit is according to each unmanned plane during flying status information, topographic database information and control in memory cell
The control option of unit processed, calculates generation intergrated information display collection；
One display unit combination display parameters integrally shows intergrated information display collection.
It is empty that described intergrated information display collection includes unmanned plane during flying status page, the Two-dimensional electron map page and three-dimensional
Intend the map page.
Described unmanned plane during flying status page be used to showing the state of flights of multiple UAVs, airborne sensor image and
Mechanical parameter information.
Described unmanned plane during flying status information includes speed symbol, height symbol, course symbol, current unmanned plane mark
Knowledge, wind speed and direction information, temporal information, latitude and longitude information.
Speed symbol with the current flying speed of the combination displaying unmanned plane of speed scale and designator, unit be mile/
Hour (mi/h), while showing the digital value of present speed and pre-selection speed with digital display frame.
Height symbol is with the current flying height of the combination displaying unmanned plane of altitude scale and designator, and unit is foot
(ft), while showing the digital value of present level and pre-selected height with digital display frame.
Course symbol includes course scale, current bearing indication symbol, Pre-select Heading value, current course value, and course unit is
Degree, current bearing indication symbol indicates course value above the scale of course, and the left side and the right of course scale are aobvious with digital display frame respectively
Show Pre-select Heading value and current course value.
Current unmanned plane mark includes an aircraft symbol and unmanned plane numbering.Wind speed and direction information indicates current unmanned plane
The wind speed and direction of local environment, unit degree of being respectively and rice/per second.
Temporal information then indicates the current time.Latitude and longitude information indicates the geographical position of current unmanned plane, and unit is degree.
Described airborne sensor image is shown in unmanned plane during flying status page center, the view data of airborne sensor
From airborne visible ray or infrared sensor, the scene state in front of current unmanned plane is indicated.
Described mechanical parameter information includes：Engine torque information, turbine temperature information, oil mass information, propeller
Rotary speed information.Engine torque information is represented with " TQ ", indicates the torque value of engine, and unit is Newton meter (Nm).Turbine
Temperature information is represented with " TT ", indicates the temperature of engine turbine, and unit is degree (DEG C).Oil mass information is represented with " FU ", is indicated
The oil mass information of unmanned plane, unit is kilogram (Kg).Revolution speed of propeller information is represented with " PR ", revolution speed of propeller is indicated, with hundred
Divide and rotating speed per minute is shown than (%).This four symbols represent total amount with circle, represent currency or consumption with fan-shaped,
Corresponding digital value is shown respectively in circular both sides.
Described Two-dimensional electron map sheet face includes two dimensional navigation map, airplane option information, mission bit stream；Described
Two dimensional navigation map includes unmanned plane position symbol, target area symbol, flight path symbol, two dimensional navigation map displaying nothing
The geography information of people's group of planes mission area.Position of the unmanned plane position symbol instruction unmanned plane on two dimensional navigation map, and with
Numeral is identified as the sequence number of unmanned plane, and target area symbol indicates the Operation Target of unmanned aerial vehicle group, can be one on map
Individual point or a piece of scope, are represented with the combination of circular and cross；Flight path symbol is represented by dashed line, and indicates that unmanned plane is flown over
Routing information；Described airplane option information shows the list of current unmanned aerial vehicle group, and each single item includes aircraft symbol, unmanned plane
Numbering navigation frequency corresponding with the unmanned plane, unit is megahertz (MHz)；Described mission bit stream, the exhibition in the form of word
Show the aerial mission information of unmanned plane, including task type, flying distance, target conditions.
The described three-dimensional virtual map page includes three-dimensional map, aircraft symbol, viewing angle control module；Wherein, it is three-dimensional
Map is built according to unmanned aerial vehicle station topographic database, terrain scene can be shown in three dimensions, and highlight nobody
Position and posture of the machine in terrain scene；Aircraft symbol represents that its display location indicates aircraft in real time with three-dimensional model aircraft
Current physical location；Viewing angle control module includes input frame and sliding button, and input frame is used to input observation station position, controlled
System observation visual angle, is made up of the partial value of X, Y, Z tri-, and the X and Y value of observation station can also be directly by operators in two dimensional navigation
Determined on figure, sliding button is then used for control observation visual angle, including direction, pitching and rolling, is represented respectively with H, P and R, with cunning
Dynamic button dragging can realize the change at observation visual angle.
The advantage of the invention is that：, can be with the sky of the multiple unmanned planes of synthesis display for the application of multiple no-manned plane system
Between position, highlight the relativeness between unmanned plane and landform, while can realize that two-dimensional map is corresponding with three-dimensional scenic,
And then strengthen control ability of the operator to unmanned aerial vehicle group, strengthen the situational awareness of operator, with this ancillary terrestrial
Operator carries out multiple no-manned plane collaboration and control task.In addition, the present invention can reduce the size of display device, many nothings are improved
The mobility of man-machine system and flexibility.
The present invention is described in further detail below in conjunction with drawings and examples：
Brief description of the drawings
Fig. 1 is the structured flowchart that a kind of multiple no-manned plane manipulates information display system.
Fig. 2 is the display distribution map of intergrated information display collection.
Fig. 3 is single unmanned plane during flying view in unmanned plane during flying status page.
Fig. 4 is the schematic diagram of the unmanned plane Two-dimensional electron map page.
Fig. 5 is the schematic diagram of the no-manned plane three-dimensional virtual map page
Embodiment
Fig. 1 gives the structured flowchart that a kind of multiple no-manned plane manipulates information display system, including a data receipt unit
102 receive Flight Condition Data and view data from airborne sensor 101, and data receipt unit 102 is again by the number received
According to classification storage into memory cell 103, its detailed process is that the data of each unmanned plane individual are sorted out, and is stored in one
Rise.Again by a processing unit 106 according to the state of flight information of each unmanned plane, topographic database 104 in memory cell 103
In Virtual Terrain information and control unit 105 control option, calculate generation intergrated information display collection, it is finally single by display
Member 107 is overall to show intergrated information display collection.
Airborne sensor 101 can detect the state of flight information of unmanned plane, including speed, height, course, wind speed and wind
To, time, geographical position and mechanical parameter, wherein mechanical parameter include again the engine torque related to unmanned plane during flying,
Turbine temperature, oil mass, revolution speed of propeller, these information are received successively by data receipt unit 102.Memory cell 103 is access
The memory of speed, and then support the classification storage and quick reading of data.Control unit 105 is by mouse, keyboard and many
Individual control handle is constituted, and wherein mouse and keyboard are used for the observed parameter for setting three-dimensional virtual map, and each handle is then distinguished
One frame unmanned plane of correspondence, for controlling its flight attitude.Topographic database 104 has prestored the dimensionally figurate number of the theater of war
According to the texture with monochromatic or trellis state can reflect landform and characters of ground object.Display unit 107 receives processing unit 106
The intergrated information display collection of generation exports final display picture, and display unit is made up of three liquid crystal displays.
Fig. 2 gives the display distribution map of intergrated information display collection, that is, the display style that display unit 107 is exported.
Wherein display unit 107 is made up of three displays, and putting position is as illustrated, display content includes unmanned plane during flying state
The page 201, the Two-dimensional electron map page 202, the three-dimensional virtual map page 203.Wherein, unmanned plane during flying status page 201 to
The state of flight of six frame unmanned planes can be shown more, and such as 204 indicate the state of flight of a wherein frame unmanned plane, and six frame unmanned planes fly
The display arrangement of row state is arranged using the row of two row three.
Fig. 3 gives single unmanned plane during flying view in unmanned plane during flying status page, i.e., content shown in 204,
Include state of flight information, airborne sensor information and mechanical parameter information, wherein 301~304 indicate the speed letter of aircraft
Breath, including speed scale 303 (10 miles per scale), the speed indicator 302, (unit of present speed numerical value 303：Mile/small
When), preselect velocity amplitude 304.311~314 indicate the elevation information of aircraft, including altitude scale 313 (1000 feet per scale),
The elevation indicators 312, (unit of current level value 314：Foot), pre-selected height value 311.321~324 indicate the heading device of aircraft
Breath, including course scale 322 (1 degree per scale), bearing indication symbol 323, the current (unit of course value 324：Degree), Pre-select Heading value
321 (units：Degree).
Current unmanned plane mark 331 is made up of an aircraft symbol and unmanned plane numbering, and wind speed and direction information 332 is then by wind
Fast numerical value and wind direction numerical value is constituted, its unit degree of being respectively and metre per second (m/s).Temporal information 333 is exported in the way of 24 hours make to be worked as
The preceding time, include the display of Hour Minute Second.Latitude and longitude information 334 then indicates the geographical position of Current observation unmanned plane, unit
For degree.
Airborne sensor image 354 is obtained by the visible light sensor on unmanned plane, is indicated in front of unmanned plane
Outer scene information.Here it can also show infrared image, but need support and the processing unit 104 of airborne sensing equipment
Imaging is supported.
Mechanical parameter information includes 341~344.Wherein engine torque information 341 indicates that the engine of unmanned plane is turned round
Square, is represented with " TQ ", and left side shows maximum limit, and right scale is current engine torque value, and unit is Newton meter (Nm)；Whirlpool
The turbine temperature that temperature information 342 indicates unmanned plane is taken turns, is represented with " TT ", left side shows maximum limit, and right scale is current
Turbine temperature value, unit is degree Celsius (DEG C)；Oil mass information 343 indicates the oil mass of unmanned plane, represents that left side is shown always with " FU "
Oil mass value, right side shows remaining oil value, and unit is kilogram (Kg)；Revolution speed of propeller information 344 indicates the propeller of unmanned plane
Rotating speed, is represented with " PR ", and rotating speed per minute is shown with percentage (%), and left side shows reference value, and right side shows current rotating speed
Value.
Fig. 4 gives the schematic diagram of the unmanned plane Two-dimensional electron map page, includes two dimensional navigation map, airplane option letter
Breath, mission bit stream, there is illustrated four frame unmanned planes.Wherein, two dimensional navigation map is mainly constituted by 401~405, including two dimension
Navigation map 401, indicates unmanned aerial vehicle group mission area；Target area symbol 402, indicates the task object position of unmanned plane, by
Cross and circular combination are formed；Unmanned plane position symbol 403, indicates position of the unmanned plane on two-dimensional map, uses aircraft symbol
Represent, while indicating unmanned plane sequence number in digital form in aircraft symbol afterbody；Flight path symbol 404, indicates that unmanned plane flies
The path passed through, is shown with dashed lines；Map scale 405, indicates the engineer's scale of two dimensional navigation map, is here 1:20 English
In.
Airplane option information is constituted by 406~409, including airplane option window 406, shows the institute in the UAS
There are the numbering and its navigation frequency information of unmanned plane；Navigation of Pilotless Aircraft frequency 407, is represented, the unit of specific frequency values with " NAV "
For megahertz (MHz)；Unmanned plane symbol 408, is represented with aircraft symbol；Unmanned plane numbering 409, with printed words " UAV " addend word table
Show, the different unmanned plane for distinguishing, while mutually corresponding with the unmanned plane numbering in two dimensional navigation map 401.
Mission bit stream 410, shows mission bit stream, including task type, flying distance, target conditions in the form of word
Deng.
Fig. 5 gives the three-dimensional virtual map page, including three-dimensional virtual scene 501, aircraft symbol 502, observation station
Setup module 503, it includes tri- input frames of X, Y, Z again, can be keyed in and observed by the keyboard equipment in control unit 105
The coordinate value of point.Pitch control module 504, rolling control module 505, towards control module 506, here with towards control module
Exemplified by each symbol of the specific explanations module implication, H is represented towards symbol, represents total towards span towards scale 507,
By -180 degree to+180 degree, indicate that the numerical value beside current direction, H represents specific towards value towards designator 508, towards change
Change designator 509 to indicate that mouse device dragging can be utilized towards designator 508 to two towards the direction increased, i.e. operator
End movement, one end of mark "+" can increase direction, and one section of mark "-" can reduce direction.Pitch control module 504 with
Each symbol implication of rolling control module 505 is similar, no longer redundant later herein.
It is exemplified as above be only to the present invention for example, do not constitute the limitation to protection scope of the present invention, it is all
It is to be belonged to the same or analogous design of the present invention within protection scope of the present invention.The portion that the present embodiment is not described in detail
Part and structure belong to the well-known components and common structure or conventional means of the industry, do not describe one by one here.
Claims (3)
1. a kind of multiple no-manned plane manipulates information display system, it is characterised in that：It is used to receive to come including a data receipt unit
From the Flight Condition Data and the view data of airborne sensor of airborne sensor, and storage is sorted data into each unmanned plane
In corresponding memory cell；One processing unit is according to each unmanned plane during flying status information, topographic database in memory cell
The control option of information and control unit, calculates generation intergrated information display collection；One display unit combination display parameters is whole
Body display intergrated information display collection；Described intergrated information display collection is with including unmanned plane during flying status page, Two-dimensional electron
Diagram page and the three-dimensional virtual map page；Described unmanned plane during flying status page is used for the flight shape for showing multiple UAVs
State, airborne sensor image and mechanical parameter information；Described unmanned plane during flying status information includes speed symbol, height and accorded with
Number, course symbol, current unmanned plane mark, wind speed and direction information, temporal information, latitude and longitude information；Described airborne sensor
Image is shown in unmanned plane during flying status page center, and the view data of airborne sensor is derived from airborne visible ray or infrared sensing
Device, indicates the scene state in front of current unmanned plane；Described mechanical parameter information includes：Engine torque information, turbine
Temperature information, oil mass information, revolution speed of propeller information；Engine torque information is represented with " TQ ", indicates the moment of torsion number of engine
Value, unit is Newton meter；Turbine temperature information with " TT " represent, indicate engine turbine temperature, unit for DEG C；Oil mass information
With " FU " represent, indicate unmanned plane oil mass information, unit for kilogram；Revolution speed of propeller information is represented with " PR ", indicates spiral
Oar rotating speed, with the rotating speed that percentages show is per minute；This four symbols with circle represents total amount, with it is fan-shaped represent currency or
Consumption, corresponding digital value is shown in circular both sides respectively.
2. a kind of multiple no-manned plane manipulation information display system according to claim 1, it is characterised in that：Described two dimension electricity
Sub- map sheet face includes two dimensional navigation map, airplane option information, mission bit stream；Described two dimensional navigation map includes nothing
Man-machine position symbol, target area symbol, flight path symbol, two dimensional navigation map show the geography of unmanned aerial vehicle group mission area
Information；Unmanned plane position symbol indicates position of the unmanned plane on two dimensional navigation map, and is used as using numeral the sequence number of unmanned plane
Mark, target area symbol indicates the Operation Target of unmanned aerial vehicle group, can be a point or a piece of scope on map, with circle
The combination of shape and cross is represented；Flight path symbol is represented by dashed line, and indicates the routing information that unmanned plane is flown over；Described aircraft
Option information shows the list of current unmanned aerial vehicle group, and it is corresponding with the unmanned plane that each single item includes aircraft symbol, unmanned plane numbering
Navigation frequency, unit for megahertz；Described mission bit stream, shows the aerial mission information of unmanned plane, bag in the form of word
Include task type, flying distance, target conditions.
3. a kind of multiple no-manned plane manipulation information display system according to claim 1, it is characterised in that：Described three-dimensional
The virtual map page includes three-dimensional map, aircraft symbol, viewing angle control module；Wherein, three-dimensional map is according to unmanned plane
What face station topographic database was built, terrain scene can be shown in three dimensions, and highlights position of the unmanned plane in terrain scene
Put and posture；Aircraft symbol represents that its display location indicates the current physical location of aircraft in real time with three-dimensional model aircraft；Visual angle
Control module includes input frame and sliding button, and input frame is used to input observation station position, control observation visual angle, by X, Y, Z
Three partial value are constituted, X the and Y values of observation station can also directly be determined that slip is pressed by operator on two dimensional navigation map
Button is then used for control observation visual angle, including direction, pitching and rolling, is represented respectively with H, P and R, can with sliding button dragging
To realize the change at observation visual angle.
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