CN107515617A - A kind of fixed-wing unmanned plane course line takes over seamlessly control method - Google Patents
A kind of fixed-wing unmanned plane course line takes over seamlessly control method Download PDFInfo
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- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
- G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
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Abstract
The present invention relates to the control method that a kind of fixed-wing unmanned plane destination takes over seamlessly, course line is controlled to switch using the switching mode of " straight line circle straight line ", wherein guide unmanned plane from the source voyage point target voyage point that flies to be linear fashion, guiding unmanned plane from the target voyage point next destination of target voyage point that flies to be straight line, transition uses disk rotary control mode between two course lines, so that the handoff procedure between two course lines is natural, smoothly, avoid unmanned plane from wasting the flight time because of adjustment position, improve effective task time.
Description
Technical field
The present invention relates to unmanned plane field, more specifically, refers to the control that a kind of fixed-wing unmanned plane course line takes over seamlessly
Method processed.
Background technology
The skyborne flight of unmanned plane is carried out according to predetermined course line, and course line is usually to be connected by multiple using line segment
The destination to get up forms, and in flight course, unmanned plane switches over according to destination order, so as to realize that desired trajectory flies.
Existing destination switching mode is that unmanned plane flies to the overhead, then target point is switched into next destination, by
In the limitation of fixed-wing unmanned plane radius of turn, this mode occurs that flight path shakes, and its trajectory shape is shown in accompanying drawing 1.This method
The time of unmanned plane adjustment posture can be increased, and shorten the duration that unmanned plane can perform task.
Also a kind of method for switching destination, it is before unmanned plane reaches target destination, gives fixed aileron control
Amount processed, control unmanned plane are spiraled, and destination is switched into next destination again afterwards.The shortcomings that this method be in-flight two boat
Line linking transition is unsmooth, and is easily disturbed by crosswind, influences the execution precision of task.
The content of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes the control that a kind of fixed-wing unmanned plane destination takes over seamlessly
Method processed, the smooth, quick of unmanned plane destination handoff procedure is realized, shorten the time of aircraft adjustment posture, increase unmanned plane is held
The effective time of row task, and can ensure that unmanned plane is flown by desired flight path in the case where crosswind disturbs.
Technical scheme
The control method that a kind of fixed-wing unmanned plane destination takes over seamlessly, it is characterised in that step is as follows：
Step 1：Obtain source voyage point latitude, the longitude coordinate (B in the course line section of fixed-wing unmanned plane current flights,
Ls), target voyage point latitude, longitude coordinate (Bt,Lt) and the next destination latitude of target voyage point, longitude coordinate (Bn,Ln), and root
Latitude, the longitude coordinate (B of unmanned plane are obtained according to satellite fix resultu,Lu)；
Step 2：According to Gauss coordinate conversion formula, four position coordinateses in step 1 are converted into rectangular co-ordinate successively
(Xs,Ys), (Xt,Yt), (Xn,Yn), (Xu,Yu)；By front three-point position, calculate source voyage point according to below equation and point to target boat
The azimuth angle theta of journey point1：
If (Yt-Ys)≥0
If (Yt-Ys) ＜ 0
Similarly calculate the azimuth angle theta that the next destination of target voyage point points to target voyage point2And target voyage point points to
The azimuth angle theta of the next destination of target voyage point3：
If (Yt-Yn)≥0
If (Yt-Yn) ＜ 0
If (Yn-Yt)≥0
If (Yn-Yt) ＜ 0
Step 3：By the θ calculated in step 21And θ2, the angle theta between two course lines is determined according to below equation：
According to following Formula of Coordinate System Transformation, the transition direction in two course lines is determined：
D=(Ys-Yt)·cos(θ3)-(Xs-Xt)·sin(θ3)
According to below equation, calculate virtual transition and spiral center position (Xv,Yv)：
Xv=Xt+cos(θl)·L
Yv=Yt+sin(θl)·L
If
If
Wherein, R is the minimum turn circle radius of unmanned plane, and the numerical value can be found on unmanned plane Performance Manual；If θ ＜
10, then do not recycle above formula to be calculated, and target voyage point is directly set to virtual transition orbit path position
Put；
Step 4：Guiding unmanned plane flies to target voyage point from source voyage point：The desired course of unmanned plane during flyingAccording to
Lower formula calculates：
Dd=(Yu-Yt)·cos(θ1)-(Xu-Xt)·sin(θ1)
Wherein, KpFor proportional control factor, KiFor integral control coefficient, DdFor course-line deviation amount；The expectation that will be calculated
Course exports to horizontal lateral controller and draws servos control amount, finally delivers to steering wheel and is performed；
Aircraft is calculated in real time in bootup process to the distance S of target voyage pointt：
Step 5：Relatively distance of the unmanned plane away from target voyage point is with proposing the minimum turning half of unmanned plane in real time in step 3
Footpath, its calculation formula are as follows：
Δ S=St-R-C
Wherein, C is a distance constant, and value is 2 seconds fly able distances of unmanned plane, for allowing unmanned plane to shift to an earlier date
Establish lateral attitude；If Δ S ＜ 0, into step 6, otherwise continue to guide unmanned plane during flying with the mode of step 4；
Step 6：If in step 3 gained transition direction be it is clockwise, guide unmanned plane into using virtual center point as
The center of circle, the clockwise circular spiral path using R as turn circle radius, unmanned plane is calculated to the distance D in the virtual center of circlev, azimuth angle thetav：
The desired course of unmanned plane during flyingCalculated according to below equation：
D′d=(Dv-R)
If the transition direction of gained is counterclockwise in step 3, guiding unmanned plane enters using virtual center point as the center of circle, with
R is the circular spiral path counterclockwise of turn circle radius, calculates unmanned plane to the distance D in the virtual center of circlev, azimuth angle thetav：
The desired course of unmanned plane during flyingCalculated according to below equation：
D′d=(Dv-R)
The desired course being calculated is exported to horizontal lateral controller and draws servos control amount, steering wheel is finally delivered to and enters
Row performs；
Step 7：The current course of unmanned plane is calculated in real timeWith θ3Difference, ifStep 8 is then transferred to, otherwise
Continue to perform guiding by step 7；
Step 8：Guiding unmanned plane flies to the next destination of target voyage point from target voyage point；The expectation boat of unmanned plane during flying
ToCalculated according to below equation：
D″d=(Yu-Yn)·cos(θ3)-(Xu-Xn)·sin(θ3)
The desired course being calculated is exported to horizontal lateral controller and draws servos control amount, steering wheel is finally delivered to and enters
Row performs.
Described KpFor -0.1~-1.
Described KiFor -0.01~-0.05.
Beneficial effect
The control method that a kind of fixed-wing unmanned plane destination proposed by the present invention takes over seamlessly, has the beneficial effect that：
1st, course line is controlled to switch using the switching mode of " straight line-circle-straight line " so that the switching between two course lines
Process is naturally, smoothly, avoiding unmanned plane from wasting the flight time because of adjustment position, improving effective task time.
2nd, the controlled quentity controlled variable computational methods of consecutive variations are employed, according to unmanned plane spiral ability and course line shape dynamic adjust
Course line switching time so that course line switching performs completion with prestissimo, and so that course line cut out and cut process smoothly may be used
Control.
3rd, disk rotary control mode is used in handoff procedure, servos control amount is according to distance of the unmanned plane with respect to the center of circle of spiraling
Calculated so that unmanned plane also can carry out orbit in the case where there is crosswind interference according to predetermined flight path.
Brief description of the drawings
Schematic diagram is realized in the existing destination switching flights of Fig. 1
Schematic diagram is realized in Fig. 2 destination switching flights of the present invention
Fig. 3 destinations switch implementation process figure
Fig. 4 destination switching control principles
Embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
Step 1：Obtain source voyage point latitude, the longitude coordinate (B in the course line section of unmanned plane current flights,Ls), target
Voyage point latitude, longitude coordinate (Bt,Lt) and the next destination latitude of target voyage point, longitude coordinate (Bn,Ln), and according to satellite
Positioning result obtains latitude, the longitude coordinate (B of unmanned planeu,Lu), all coordinates take the numerical value under WGS-84 coordinate systems.
Step 2：Gauss-Lv Ke projections are carried out to ginseng heart rectangular coordinate system in space, switch to Gaussian parabolic line system, will
Four position coordinateses in step 1 are converted to the position under rectangular co-ordinate, are defined as (X successivelys,Ys), (Xt,Yt), (Xn,Yn),
(Xu,Yu).Following computing is carried out under plane right-angle coordinate.
According to front three-point position, the azimuth angle theta according to below equation calculating source voyage point sensing target voyage point1。
If (Yt-Ys)≥0
If (Yt-Ys) ＜ 0
Similarly calculate the azimuth angle theta that the next destination of target voyage point points to target voyage point2And target voyage point points to
The azimuth angle theta of the next destination of target voyage point3。
If (Yt-Yn)≥0
If (Yt-Yn) ＜ 0
If (Yn-Yt)≥0
If (Yn-Yt) ＜ 0
Step 3：According to the θ calculated in step 21And θ2, the angle theta between two course lines is determined according to below equation.
According to data calculated above, and according to following Formula of Coordinate System Transformation, the transition direction in two course lines is determined.
D=(Ys-Yt)·cos(θ3)-(Xs-Xt)·sin(θ3)
According to data calculated above, and according to below equation, calculate virtual transition and spiral center position (Xv,
Yv)：
Xv=Xt+cos(θl)·L
Yv=Yt+sin(θl)·L
If
If
Wherein, R is unmanned plane min. turning radius, value 800.If θ ＜ 10, do not recycle above formula to be counted
Calculate, and virtual transition center position of spiraling directly is set to aiming spot.
Step 4：Guiding unmanned plane flies to target voyage point from source voyage point.The desired course of unmanned plane during flyingAccording to
Lower formula calculates：
Dd=(Yu-Yt)·cos(θ1)-(Xu-Xt)·sin(θ1)
Wherein, KpFor proportional control factor, value is -0.5, KiFor integral control coefficient, value is -0.02, DdFor flight path
Departure.The desired course being calculated is exported to horizontal lateral controller and draws servos control amount, steering wheel is finally delivered to and enters
Row performs, and ensures that unmanned plane is flown along given course.
Aircraft is calculated in real time in bootup process to the distance S of target voyage pointt, calculated according to below equation：
Step 5：Unmanned plane turn circle radius relatively is carried in distance and step 3 of the unmanned plane away from target voyage point in real time, its
Calculation formula is as follows：
Δ S=St-R-C
Wherein C is a distance constant, and the aircraft cruising speed is 150km/h, and distance constant takes 80, for allowing unmanned plane
Lateral attitude is established in advance.If Δ S ＜ 0, into step 6, otherwise continue to guide unmanned plane during flying with the mode of step 4.
Step 6：If in step 3 gained transition direction be it is clockwise, guide unmanned plane into using virtual center point as
The center of circle, the clockwise circular spiral path using R as turn circle radius, unmanned plane is calculated to the distance D in the virtual center of circlev, azimuth angle thetav：
The desired course of unmanned plane during flyingCalculated according to below equation：
Dd=(Dv-R)
If the transition direction of gained is counterclockwise in step 3, guiding unmanned plane enters using virtual center point as the center of circle, with
R is the circular spiral path counterclockwise of turn circle radius, calculates unmanned plane to the distance D in the virtual center of circlev, azimuth angle thetav：
The desired course of unmanned plane during flyingCalculated according to below equation：
Dd=(Dv-R)
Wherein, KpFor proportional control factor, value is -0.5, KiFor integral control coefficient, value is -0.02, will be calculated
The desired course gone out exports to horizontal lateral controller and draws servos control amount, finally delivers to steering wheel and is performed, ensures nobody
Machine is flown along given course.
Step 7：According to data calculated above, the current course of unmanned plane is calculated in real timeWith θ3Difference, ifStep 8 is then transferred to, otherwise continues to perform guiding by step 7.
Step 8：Guiding unmanned plane flies to the next destination of target voyage point from target voyage point.The expectation boat of unmanned plane during flying
ToCalculated according to below equation：
Dd=(Yu-Yn)·cos(θ3)-(Xu-Xn)·sin(θ3)
Wherein, KpFor proportional control factor, value is -0.5, KiFor integral control coefficient, value is -0.02, will be calculated
The desired course gone out exports to horizontal lateral controller and draws servos control amount, finally delivers to steering wheel and is performed, ensures nobody
Machine is flown along given course.
So as to realize that unmanned plane course line takes over seamlessly.
Claims (3)
1. the control method that a kind of fixed-wing unmanned plane destination takes over seamlessly, it is characterised in that step is as follows：
Step 1：Obtain source voyage point latitude, the longitude coordinate (B in the course line section of fixed-wing unmanned plane current flights,Ls), mesh
Mark voyage point latitude, longitude coordinate (Bt,Lt) and the next destination latitude of target voyage point, longitude coordinate (Bn,Ln), and according to defending
Star positioning result obtains latitude, the longitude coordinate (B of unmanned planeu,Lu)；
Step 2：According to Gauss coordinate conversion formula, four position coordinateses in step 1 are converted into rectangular co-ordinate (X successivelys,
Ys), (Xt,Yt), (Xn,Yn), (Xu,Yu)；By front three-point position, calculate source voyage point according to below equation and point to target voyage point
Azimuth angle theta1：
If (Yt-Ys)≥0
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The azimuth angle theta of the next destination of journey point3：
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Step 3：By the θ calculated in step 21And θ2, the angle theta between two course lines is determined according to below equation：
According to following Formula of Coordinate System Transformation, the transition direction in two course lines is determined：
D=(Ys-Yt)·cos(θ3)-(Xs-Xt)·sin(θ3)
According to below equation, calculate virtual transition and spiral center position (Xv,Yv)：
Xv=Xt+cos(θl)·L
Yv=Yt+sin(θl)·L
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If D >=0,
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Wherein, R is the minimum turn circle radius of unmanned plane, and the numerical value can be found on unmanned plane Performance Manual；If θ ＜ 10,
Do not recycle above formula to be calculated, and target voyage point is directly set to virtual transition and spiraled center position；
Step 4：Guiding unmanned plane flies to target voyage point from source voyage point：The desired course of unmanned plane during flyingAccording to following public affairs
Formula calculates：
Dd=(Yu-Yt)·cos(θ1)-(Xu-Xt)·sin(θ1)
Wherein, KpFor proportional control factor, KiFor integral control coefficient, DdFor course-line deviation amount；The desired course that will be calculated
Output is to horizontal lateral controller and draws servos control amount, finally delivers to steering wheel and is performed；
Aircraft is calculated in real time in bootup process to the distance S of target voyage pointt：
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<msub>
<mi>X</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>t</mi>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
Step 5：Unmanned plane min. turning radius relatively is put forward in distance and step 3 of the unmanned plane away from target voyage point in real time, its
Calculation formula is as follows：
Δ S=St-R-C
Wherein, C is a distance constant, and value is 2 seconds fly able distances of unmanned plane, for allowing unmanned plane to establish in advance
Lateral attitude；If Δ S ＜ 0, into step 6, otherwise continue to guide unmanned plane during flying with the mode of step 4；
Step 6：If the transition direction of gained is clockwise in step 3, guiding unmanned plane enters using virtual center point as the center of circle,
Clockwise circular spiral path using R as turn circle radius, unmanned plane is calculated to the distance D in the virtual center of circlev, azimuth angle thetav：
<mrow>
<msub>
<mi>D</mi>
<mi>v</mi>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mi>v</mi>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>v</mi>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
<mrow>
<msub>
<mi>&theta;</mi>
<mi>v</mi>
</msub>
<mo>=</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>g</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>Y</mi>
<mi>u</mi>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>v</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>X</mi>
<mi>u</mi>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>v</mi>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
The desired course of unmanned plane during flyingCalculated according to below equation：
D′d=(Dv-R)
If the transition direction of gained be counterclockwise in step 3, guide unmanned plane into using virtual center point as the center of circle, using R as
The circular spiral path counterclockwise of turn circle radius, unmanned plane is calculated to the distance D in the virtual center of circlev, azimuth angle thetav：
<mrow>
<msub>
<mi>D</mi>
<mi>v</mi>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>X</mi>
<mi>v</mi>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>Y</mi>
<mi>v</mi>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>u</mi>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
<mrow>
<msub>
<mi>&theta;</mi>
<mi>v</mi>
</msub>
<mo>=</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>g</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>Y</mi>
<mi>u</mi>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mi>v</mi>
</msub>
</mrow>
<mrow>
<msub>
<mi>X</mi>
<mi>u</mi>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mi>v</mi>
</msub>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
The desired course of unmanned plane during flyingCalculated according to below equation：
D′d=(Dv-R)
The desired course being calculated is exported to horizontal lateral controller and draws servos control amount, steering wheel is finally delivered to and is held
OK；
Step 7：The current course of unmanned plane is calculated in real timeWith θ3Difference, ifStep 8 is then transferred to, is otherwise continued
Guiding is performed by step 7；
Step 8：Guiding unmanned plane flies to the next destination of target voyage point from target voyage point；The desired course of unmanned plane during flying
Calculated according to below equation：
D″d=(Yu-Yn)·cos(θ3)-(Xu-Xn)·sin(θ3)
The desired course being calculated is exported to horizontal lateral controller and draws servos control amount, steering wheel is finally delivered to and is held
OK.
2. the control method that fixed-wing unmanned plane destination according to claim 1 takes over seamlessly, it is characterised in that described Kp
For -0.1~-1.
3. the control method that fixed-wing unmanned plane destination according to claim 1 takes over seamlessly, it is characterised in that described Ki
For -0.01~-0.05.
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| CN109945868A (en) * | 2019-03-07 | 2019-06-28 | 西安爱生技术集团公司 | A kind of unmanned plane target irradiation course line automatic planning |
| CN109945888A (en) * | 2019-03-11 | 2019-06-28 | 百度在线网络技术（北京）有限公司 | Generation method, device and the computer equipment of navigation guide line |
| CN111240360A (en) * | 2020-01-19 | 2020-06-05 | 西北工业大学 | Method, computer system, and medium for guiding a flying device to track a target |
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| CN115512572A (en) * | 2022-08-16 | 2022-12-23 | 西安爱生技术集团有限公司 | Method for controlling air route of arc-shaped runway of unmanned aerial vehicle |
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