CN205563277U - Evaluation system based on compass positioning system is to flying to control hand flight quality - Google Patents

Abstract

The utility model discloses an evaluation system based on compass positioning system is to flying to control hand flight quality, including compass positioning system, unmanned aerial vehicle, ground satellite station and data wireless transmitting module and data wireless receiving module, compass positioning system includes movement station and reference station, and movement station and data wireless transmitting module set up on unmanned aerial vehicle, and the movement station is connected with data wireless transmitting module, and reference station and data wireless receiving module setting are in the ground satellite station, and the reference station is connected with data wireless transmitting module, and the ground satellite station is connected with the reference station. The utility model discloses can fly to control the flight quality evaluation of hand to unmanned aerial vehicle, evaluation result is true, accurate, flies to control hand flight quality evaluation examination in -process at unmanned aerial vehicle and has important reference value.

Description

Based on BEI-DOU position system to flying to control the evaluation system of hands flight reappearance

Technical field

This utility model relates to a kind of unmanned plane and flies to control the evaluation system of hands flight reappearance, is specifically related to a kind of based on the Big Dipper Alignment system is to flying to control the evaluation system of hands flight reappearance.

Background technology

In recent years, rapidly growing along with unmanned plane, cause its application in multiple fields, particularly lead in agricultural Territory.Have that operating cost is low, assault ability strong owing to agricultural unmanned plane sprays, operation safety and not limited by Grain Growth Situation Etc. advantage, the agricultural unmanned plane as one of the important symbol of agricultural aviation apparatus has obtained rapid application and development.

Along with agricultural unmanned plane job area and the gradually expansion of field of operation, the manipulation hands appearance gradually of agricultural unmanned plane The phenomenon that supply falls short of demand, this phenomenon causes increasing people to be responded in the case of manipulation level does not reaches specialty requirement On duty, carry out agricultural unmanned plane operation for user.The consequence caused is had by this: one is can continually during agricultural operation Occur falling machine, the generation of aircraft bombing phenomenon；Two is that operation level does not reaches job requirements, in unmanned plane operation process, and flight speed Spend uneven, flying height is unstable, the operation location phenomenon such as inaccurate causes operation prevention effect not reach ideal effect.This Do not only result in during user charge laborious, but also to suffer bigger economic loss.And in the market do not have the most a set of accurately Unmanned plane flies to control hands flight reappearance evaluation system and method and carries out evaluation to flying control hands, makes to fly to control hands manipulation level and reaches special Industry requirement.

Utility model content

For technical problem present in prior art, the purpose of this utility model is: provides a kind of and positions based on the Big Dipper System is to flying to control the evaluation system of hands flight reappearance.

The purpose of this utility model is achieved through the following technical solutions: one is flown to flying control hands based on BEI-DOU position system The evaluation system of quality, including BEI-DOU position system, unmanned plane, earth station and data wireless transmitter module with data are wireless connects Receiving module, it is unmanned that described BEI-DOU position system includes that movement station and base station, movement station and data wireless transmitter module are arranged on On machine, movement station is connected with data wireless transmitter module, and base station and data wireless receiving module are arranged on earth station, base station Being connected with data wireless transmitter module, earth station is connected with base station, and movement station is for detecting the flying quality of unmanned plane and inciting somebody to action Flying quality transmission is to data wireless transmitter module, and data wireless reception module is for receiving what data wireless transmitter module sent Flying quality is also sent to base station by flying quality, and base station calculates the coordinate data of movement station also by flying quality Coordinate data is sent to earth station, and earth station draws practical flight data according to the coordinate data collected, and flies actual Row data contrast with Standard Flight Data.

Preferably, described movement station is multiple, and movement station arranges formation for detecting unmanned plane during flying appearance around unmanned plane The Attitute detecting device of state.

Preferably, described movement station is four, four movement stations be separately positioned on the front end of unmanned plane, rear end, left side and Right side.

Preferably, the barrier being arranged in the line of flight presetting unmanned plane, BEI-DOU position system pair are also included Barrier carries out positioning and the coordinate data obtained being sent to earth station.

A kind of based on BEI-DOU position system to fly control hands flight reappearance evaluation methodology, including: unmanned plane during flying attitude is commented The step of valency, the step of unmanned plane during flying course line evaluation or the step of unmanned plane obstacle flight evaluation or two steps of any of the above Or the combination of three above step；

The step of described unmanned plane during flying attitude evaluation is:

A. earth station presets the line of flight of unmanned plane by software；

B. multiple movement stations are arranged around unmanned plane respectively；Control unmanned plane and carry out flight operation；

C. earth station is by the mobile data of the movement station on the unmanned plane in BEI-DOU position system collection state of flight also Display；

D., after having flown by the line of flight presetting unmanned plane, unmanned plane has been tested and has landed；

E. the mobile data collected are carried out unmanned plane during flying attitude evaluation with canonical parameter contrast；

The step that unmanned plane during flying course line is evaluated is:

A. earth station presets the line of flight of unmanned plane by software；

B. movement station is arranged on unmanned plane；Control unmanned plane and carry out flight operation；

C. earth station is by the mobile data of the movement station on the unmanned plane in BEI-DOU position system collection state of flight；Root It is depicted as actual course line according to the mobile data collected；

D., after having flown by the line of flight presetting unmanned plane, unmanned plane has been tested and has landed；

E. the line of flight of unmanned plane is commented with the line of flight presetting unmanned plane by the actual course line of contrast Valency；

The step of described unmanned plane obstacle flight evaluation is:

One, preset the line of flight of unmanned plane, and in the line of flight of unmanned plane, preset barrier；

Two, recorded the space coordinates of barrier by BEI-DOU position system, and be plotted in earth station；

Three, movement station is arranged on unmanned plane；Control unmanned plane and carry out flight operation；

Four, earth station is by the mobile data of the movement station on the unmanned plane in BEI-DOU position system collection state of flight； It is depicted as actual course line track according to the mobile data collected；

Five, after having flown by the line of flight presetting unmanned plane, unmanned plane has been tested and has landed；

Described unmanned plane obstacle flight evaluation is by calculating the actual course line track of aloft unmanned plane and barrier Between distance size evaluate unmanned plane obstacle flight.

Preferably, described movement station is four, is separately positioned on the front end of unmanned plane, rear end, left side and right side.

Preferably, the contrast of the mobile data collected and canonical parameter is carried out unmanned plane during flying attitude evaluation particularly as follows: Earth station is by the course line track of the movement station on the unmanned plane in BEI-DOU position system collection state of flight with mobile data also Display, the mobile data that described BEI-DOU position system collects include flight speed data, the altitude data of unmanned plane, fly Row used time t and geographic coordinate information, unmanned plane during flying attitude evaluation index includes flight attitude situation of change, wherein:

BEI-DOU position system measures flight speed v of unmanned plane, flying height h, flight used time t and geographical coordinate letter in real time Breath；

Flight attitude situation of change is calculated by following steps: set be in the front end of unmanned plane under state of flight, after The coordinate of the movement station on end, left side and right side is: front end (x1, y1, z1), rear end (x2, y2, z2), left side (x3, y3, z3), the right side Side (x4, y4, z4),

Owing to the angle of pitch α of unmanned plane meets:

Therefore the angle of pitch α of unmanned plane has:

The rolling angle beta that in like manner can obtain unmanned plane has:

Course angle γ of unmanned plane can judge to obtain by the course line track of unmanned plane.

Preferably, described unmanned plane during flying attitude evaluation index also include unmanned plane flight speed change uniformity coefficient with And flying height situation of change；

The unmanned plane planar movement that the flight speed change uniformity coefficient of unmanned plane is detected by BEI-DOU position system Coordinate distribution situation judges；

The coordinate distribution of the unmanned plane height change that the height change situation of unmanned plane is detected by BEI-DOU position system Situation judges.

Preferably, the flight of unmanned plane is navigated by the described line of flight by contrasting actual course line and preset unmanned plane Line is evaluated particularly as follows: the line of flight evaluation of described unmanned plane is the actual course line gained drawn by earth station, in fact Course line, border can be two dimensional surface track and the three dimensions track in unmanned plane during flying course line, the evaluation index master of two dimensional surface track Will be for the extent of deviation in actual course line with the line of flight presetting unmanned plane, the evaluation index of three dimensions track is actual Course line degree of stability under a certain height.

Preferably, described unmanned plane obstacle flight evaluation be by calculate aloft unmanned plane actual course line track with Distance size between barrier evaluates the flight of unmanned plane obstacle, and its concrete evaluation methodology is:

Before being located at unmanned plane practical flight, described BEI-DOU position system is measured the coordinate figure of barrier in the line of flight and is x1,y1,z1；Calculate by choosing on the track of actual course line the coordinate points (x2, y2, z2) close to barrier and compare both Between distance；Wherein, distance includes plan range L and space length S,

Plan range $L=\sqrt{{(x2-x1)}^2+{(y2-y1)}^2}$ Or $L=\sqrt{{(x2-x1)}^2+{(z2-z1)}^2}$ Or $L=\sqrt{{(y2-y1)}^2+{(z2-z1)}^2},$

Space length $S=\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2},$

Choose course line distance value L or S nearer with barrier as the quality evaluating the flight of unmanned plane obstacle.

This utility model has such advantages as relative to prior art and effect:

1, high accuracy aviation BEI-DOU position system is applied in unmanned plane during flying quality evaluation by this utility model, enters one Step ensure that data accuracy, and this utility model can measure unmanned plane during flying attitude, unmanned plane during flying course line in flight environment of vehicle Or unmanned plane obstacle distance between unmanned plane and barrier in-flight, and navigated by unmanned plane during flying attitude, unmanned plane during flying The combination of line or unmanned plane obstacle distance between unmanned plane and barrier in-flight or any of the above or above three comes The flight reappearance that unmanned plane flies to control hands is evaluated, and evaluation result is true, accurate, flies to control hands flight reappearance evaluation at unmanned plane There is during examination important reference value.

Accompanying drawing explanation

Fig. 1 is schematic diagram of the present utility model.

Fig. 2 is the two dimensional surface trajectory diagram in the unmanned plane during flying course line that this utility model is drawn when evaluating.

Fig. 3 is the three dimensions trajectory diagram in the unmanned plane during flying course line that this utility model is drawn when evaluating.

Detailed description of the invention

Below in conjunction with embodiment and accompanying drawing, this utility model is described in further detail, but enforcement of the present utility model Mode is not limited to this.

Embodiment one:

A kind of based on BEI-DOU position system to fly control hands flight reappearance evaluation methodology, including: unmanned plane during flying attitude is commented The step of valency, the step of unmanned plane during flying course line evaluation or the step of unmanned plane obstacle flight evaluation or two steps of any of the above Or the combination of three above step；

The step of described unmanned plane during flying attitude evaluation is:

A. earth station presets the line of flight of unmanned plane by software；

B. multiple movement stations are arranged around unmanned plane respectively；Control unmanned plane and carry out flight operation；

C. earth station is by the mobile data of the movement station on the unmanned plane in BEI-DOU position system collection state of flight also Display；

D., after having flown by the line of flight presetting unmanned plane, unmanned plane has been tested and has landed；

E. the mobile data collected are carried out unmanned plane during flying attitude evaluation with canonical parameter contrast；

The step that unmanned plane during flying course line is evaluated is:

A. earth station presets the line of flight of unmanned plane by software；

B. movement station is arranged on unmanned plane；Control unmanned plane and carry out flight operation；

C. earth station is by the mobile data of the movement station on the unmanned plane in BEI-DOU position system collection state of flight；Root It is depicted as actual course line according to the mobile data collected；

D., after having flown by the line of flight presetting unmanned plane, unmanned plane has been tested and has landed；

E. the line of flight of unmanned plane is commented with the line of flight presetting unmanned plane by the actual course line of contrast Valency；

The step of described unmanned plane obstacle flight evaluation is:

One, preset the line of flight of unmanned plane, and in the line of flight of unmanned plane, preset barrier；

Two, recorded the space coordinates of barrier by BEI-DOU position system, and be plotted in earth station；

Three, movement station is arranged on unmanned plane；Control unmanned plane and carry out flight operation；

Four, earth station is by the mobile data of the movement station on the unmanned plane in BEI-DOU position system collection state of flight； It is depicted as actual course line track according to the mobile data collected；

Five, after having flown by the line of flight presetting unmanned plane, unmanned plane has been tested and has landed；

Described unmanned plane obstacle flight evaluation is by calculating the actual course line track of aloft unmanned plane and barrier Between distance size evaluate unmanned plane obstacle flight.

Preferably, described four movement stations are separately positioned on the front end of unmanned plane, rear end, left side and right side.

Preferably, the contrast of the mobile data collected and canonical parameter is carried out unmanned plane during flying attitude evaluation particularly as follows: Earth station is by the course line track of the movement station on the unmanned plane in BEI-DOU position system collection state of flight with mobile data also Display；

The mobile data that described BEI-DOU position system collects include the flight speed data of unmanned plane, flying height number According to, flight used time t and geographic coordinate information, unmanned plane during flying attitude evaluation index includes flight attitude situation of change, wherein:

BEI-DOU position system measures flight speed v of unmanned plane, flying height h, flight used time t and geographical coordinate letter in real time Breath；

Flight attitude situation of change is calculated by following steps: set be in the front end of unmanned plane under state of flight, after The coordinate of the movement station on end, left side and right side is: front end (x1, y1, z1), rear end (x2, y2, z2), left side (x3, y3, z3), the right side Side (x4, y4, z4),

Owing to the angle of pitch α of unmanned plane meets:

Therefore the angle of pitch α of unmanned plane has:

The rolling angle beta that in like manner can obtain unmanned plane has:

Course angle γ of unmanned plane can judge to obtain by the course line track of unmanned plane.

Preferably, described unmanned plane during flying attitude evaluation index also include unmanned plane flight speed change uniformity coefficient with And flying height situation of change；

The unmanned plane planar movement that the flight speed change uniformity coefficient of unmanned plane is detected by BEI-DOU position system Coordinate distribution situation judges；As shown in Figure 2: judged by the distribution situation of each coordinate of plane, i.e. by between coordinate Distance to flight speed change uniformity coefficient judge.

The coordinate distribution of the unmanned plane height change that the height change situation of unmanned plane is detected by BEI-DOU position system Situation judges；As shown in Figure 3: judged by the distribution situation of plane each seat coordinate, i.e. by the distance between coordinate The height change situation of unmanned plane is judged.

Preferably, the flight of unmanned plane is navigated by the described line of flight by contrasting actual course line and preset unmanned plane Line is evaluated particularly as follows: the line of flight evaluation of described unmanned plane is the actual course line gained drawn by earth station, in fact Course line, border can be two dimensional surface track and the three dimensions track in unmanned plane during flying course line, the evaluation index master of two dimensional surface track Will be for the extent of deviation in actual course line with the line of flight presetting unmanned plane, the evaluation index of three dimensions track is actual Course line degree of stability under a certain height.

Preferably, described unmanned plane obstacle flight evaluation be by calculate aloft unmanned plane actual course line track with Distance size between barrier evaluates the flight of unmanned plane obstacle, and its concrete evaluation methodology is:

Before being located at unmanned plane practical flight, described BEI-DOU position system is measured the coordinate figure of barrier in the line of flight and is x1,y1,z1；Calculate by choosing on the track of actual course line the coordinate points (x2, y2, z2) close to barrier and compare both Between distance；Wherein, distance includes plan range L and space length S,

Plan range $L=\sqrt{{(x2-x1)}^2+{(y2-y1)}^2}$ Or $L=\sqrt{{(x2-x1)}^2+{(z2-z1)}^2}$ Or $L=\sqrt{{(y2-y1)}^2+{(z2-z1)}^2},$

Space length $S=\sqrt{{(x2-x1)}^2+{(y2-y1)}^2+{(z2-z1)}^2},$

Choose course line distance value L or S nearer with barrier as the quality evaluating the flight of unmanned plane obstacle.

Embodiment two:

A kind of based on BEI-DOU position system to flying to control the evaluation system of hands flight reappearance, including BEI-DOU position system, unmanned Machine 1, earth station 2 and data wireless transmitter module 3 and data wireless receiving module 4, described BEI-DOU position system includes mobile Stand 5 and base station 6, movement station and data wireless transmitter module be arranged on unmanned plane, movement station and data wireless transmitter module Connecting, base station and data wireless receiving module are arranged on earth station, and base station is connected with data wireless transmitter module, earth station Being connected with base station, movement station is for detecting the flying quality of unmanned plane and transmitting flying quality to data wireless transmit mould Block, data wireless reception module is for receiving flying quality that data wireless transmitter module sends and sending flying quality to base Quasi-station, base station calculates the coordinate data of movement station by flying quality and coordinate data is sent to earth station, ground Stand and draw practical flight data according to the coordinate data collected, and practical flight data and Standard Flight Data are carried out right Ratio.

Preferably, described movement station is multiple, and movement station arranges formation for detecting unmanned plane during flying appearance around unmanned plane The Attitute detecting device of state.Multiple movement station is set in order to record unmanned plane during flying attitude, and only need to enable under other states One movement station.

Preferably, described movement station is four, four movement stations be separately positioned on the front end of unmanned plane, rear end, left side and Right side.

Preferably, the barrier being arranged in the line of flight presetting unmanned plane, BEI-DOU position system pair are also included Barrier carries out positioning and the coordinate data obtained being sent to earth station.

The average speed obtaining unmanned plane through flight test is 3.38284m/s, average height 1.25415m, always Used time 427s, flying distance 1444.47m.

Above-described embodiment is this utility model preferably embodiment, but embodiment of the present utility model is not by above-mentioned The restriction of embodiment, other any without departing from the change made under spirit of the present utility model and principle, modify, replace In generation, combine, simplify, all should be the substitute mode of equivalence, within being included in protection domain of the present utility model.

Claims (4)

1. one kind based on BEI-DOU position system to fly control hands flight reappearance evaluation system, it is characterised in that: include that the Big Dipper positions System, unmanned plane, earth station and data wireless transmitter module and data wireless receiving module, described BEI-DOU position system includes Movement station and base station, movement station and data wireless transmitter module are arranged on unmanned plane, movement station and data wireless transmit mould Block connects, and base station and data wireless receiving module are arranged on earth station, and base station is connected with data wireless transmitter module, ground Standing and be connected with base station, movement station is for detecting the flying quality of unmanned plane and transmitting flying quality to data wireless transmit mould Block, data wireless reception module is for receiving flying quality that data wireless transmitter module sends and sending flying quality to base Quasi-station, base station calculates the coordinate data of movement station by flying quality and coordinate data is sent to earth station, ground Stand and draw practical flight data according to the coordinate data collected, and practical flight data and Standard Flight Data are carried out right Ratio.

The most according to claim 1 based on BEI-DOU position system to fly control hands flight reappearance evaluation system, its feature exists In: described movement station is multiple, and movement station arranges formation for the attitude detection detecting unmanned plane during flying attitude around unmanned plane Device.

The most according to claim 2 based on BEI-DOU position system to fly control hands flight reappearance evaluation system, its feature exists In: described movement station is four, and four movement stations are separately positioned on the front end of unmanned plane, rear end, left side and right side.

The most according to claim 1 based on BEI-DOU position system to fly control hands flight reappearance evaluation system, its feature exists In: also including the barrier being arranged in the line of flight presetting unmanned plane, barrier is carried out fixed by BEI-DOU position system The coordinate data obtained also is sent to earth station by position.