RU2523613C2 - Remote control over drone and drone system - Google Patents

Abstract

FIELD: instrumentation.

SUBSTANCE: set of inventions relates to control and measurement system for wide range of drones. Drone flight remote control consists in data transmission via radio channel. Control station transmits the data on barometric pressure to drone at its landing site. Said transmitted data is used by drone to define barometric in-flight altitude relative to landing site for flight altitude to be controlled thereby. Invention covers also the drone system with control station which allows determination and transmission to drone via radio channel the barometric pressure at drone landing site. Note here that said drone can be automatically controlled with due allowance for said data.

EFFECT: higher flight safety in drone systems.

2 cl, 3 dwg

Description

The proposed group of inventions relates to measuring and control means for a wide class of unmanned systems, and in particular for unmanned aircraft systems.

When creating unmanned aerial systems having a flight time of 3 or more hours, it becomes necessary to fly to a landing position, taking into account changes in atmospheric pressure at its location.

A known system and method for remote control of UAV flight (USA Patent 6,377,875 from 04/23/2002). According to this method, UAVs fly along a pre-programmed path when it is necessary to remotely control UAV flight.

The disadvantage of this method is that information about the atmospheric pressure at the UAV landing position is not taken into account when flying UAVs to the landing position. This significantly reduces the possibility of an accident-free landing / rescue UAV.

The basis of the invention is the solution to the problem of improving the safety of UAV flight in unmanned aircraft systems.

This goal is achieved by the fact that in the method of remote control of UAV flight from the control point by transmitting control data to the UAV over the air and transmitting flight data from the UAV to the control point, in which UAVs fly along a pre-programmed path, when necessary, remote flight control is performed UAVs, according to the invention, determine the atmospheric pressure at the UAV landing position, transmit data on the atmospheric pressure at the UAV landing position from the control point In the UAV via a radio channel, taking into account these data, the barometric flight altitude relative to the UAV landing position, on which the UAV flight altitude is controlled, is determined on board the UAV.

The described method for the remote control of UAV flight is implemented using an unmanned aerial system containing UAVs, a control point, with a UAV landing position, interconnected via a radio channel, according to the invention, the control point is configured to detect and transmit atmospheric pressure data to the UAV via a radio channel UAV landing position, and UAV is made with the possibility of autonomous flight control, taking into account these data.

The claimed invention is illustrated by the attached graphic materials, which depict:

- Figure 1. - Block diagram of an unmanned aircraft system.

- Figure 2. - The flight path in a vertical plane.

- Figure 3. - Flight path in the horizontal plane.

According to the proposed method for remote control of UAV flight from a control point by transmitting control data to the UAV over the air and transmitting flight data from the UAV to a control point at which UAVs fly along a pre-programmed path, when necessary, remote control of UAV flight is performed, atmospheric pressure is determined at the UAV landing position, transmit data on the atmospheric pressure at the UAV landing position from the control point to the UAV through the radio channel, taking into account the These data determine on board the UAV the barometric flight altitude relative to the UAV landing position, by which the UAV flight altitude is controlled.

Unmanned aircraft system (see figure 1) contains a UAV 1 and a control point

2.

UAV 1 contains on-board sensors 3, trajectory control computer 4, communication means 5, autopilot 6. Trajectory control computer 4 contains means for storing flight data (predetermined flight path) 7.

Control point 2 contains a landing position 8, a communications complex 9, a weather station 10, a satellite navigation system 11, a control post 12.

The first and second outputs of the on-board sensors 3 are connected to the first inputs of the trajectory control computer 4 and the autopilot 6, respectively. The first and second outputs of the communication means 5 are connected to the second inputs of the computer trajectory control 4 and autopilot 6, respectively. The first and second inputs of the communication means 5 are connected to the first output of the trajectory control unit 4 and the third output of the onboard sensors 3, respectively. The second output of the trajectory control computer 4 is connected to the third input of the autopilot 6. The communication means 5 communicate (receive / transmit information) with the control point 2.

The outputs of the weather station 10, satellite navigation system 11 are connected to the first and second inputs of the control station 12, respectively. The first and second outputs of the control station 12 are connected to the inputs of the landing position 8 and the communication complex 9, respectively. The output of the communication complex 9 is connected to the third input of the control station 12. The communication complex 9 communicates (receiving / transmitting information) with the UAV 1.

The possibility of carrying out the invention is illustrated by the example of an unmanned aircraft system. This example should not be construed either as limiting the scope of the invention or as the preferred form of its implementation for all cases.

In the satellite navigation system 11, the coordinates of the location of the control point 2 are formed with the rescue position 8.

Weather station 10 provides atmospheric pressure.

In control room 12, containing the operator’s workplace, UAV 1 flight path planning is carried out. When UAV 1 flight path planning is performed, the coordinates of UAV launch and landing positions, coordinates, heights of intermediate route points (MRP), end point of the route (KPM), control method are entered (route, track, combined), based on the flight mission, for example, monitoring of certain objects.

The flight path, in the form of an array of flight data (MTD), is transmitted through communication complex 9 to UAV 1 during pre-flight preparation. The specified MTD comes through communication 5 to the means for storing flight data 7, where it is remembered.

Also, in the process of preflight preparation, UAV 1 transmits data on atmospheric pressure from weather station 10 through control station 12 and communication complex 9. These data are received through communication means 5 to means for storing flight data 7, where they are stored.

During the flight, in the control station 12, if necessary, remote control signals can be generated in the form of specified values: heading angle, flight altitude, instrument speed, which are transmitted through the communication channel (blocks 9, 5) to the autopilot 6. Also during the flight to the UAV 1 transmitted: data on the current pressure of the atmosphere from the weather station 10 through the control station 12 and the communications complex 9.

Airborne sensors 3 contain aerometric information sensors: (static, total pressure) and navigation information sensors: current UAV location coordinates, parameters of angular position, angular velocities and accelerations.

From the output 1 of block 3, 4 parameters are input to the block of trajectory control:

- static pressure;

- total pressure;

- air flow temperature;

- current UAV location coordinates.

From the output 2 of block 3, the parameters are input to the autopilot 6:

- parameters of the angular position, angular velocities and accelerations. The means for storing flight data 7 stores: coordinates of the PPM, KPM location and landing position 8, control method (route, track, combined), data on the direction of wind disturbances, circle height (Figure 2) entered during the preflight preparation of UAV 1. When flying KPM in block 7, according to a one-time command from block 4, the current data on the atmospheric pressure at the UAV rescue position received from the weather station 10 is stored through block 12, the communication channel (blocks 9, 5) and block 4. In case of loss communication with the control center to pr summer CPM in block 7 is performed by a single command from the unit 4, saves the last transmitted on the communication channel on the atmospheric pressure data on the landing UAV position 8.

In block 4, the following are formed: absolute barometric altitude, barometric altitude with respect to the landing position, high-pressure head and instrument speed received by the autopilot 6. The barometric altitude of the flight relative to the landing position is formed according to the data on: static pressure and temperature from block 3, atmospheric pressure at the landing position from block 7 and the parameters of the "standard atmosphere", also stored in block 7.

In the block of trajectory control 4 in accordance with the data stored in block 7, the signals of the trajectory control of the UAV 1 are generated, arriving at the autopilot 6:

- flight mode (route, return, landing);

- in the side channel - a given angle of course;

- in the longitudinal channel - the set value of the absolute barometric altitude in the Route mode, the specified value of the vertical displacement (deviation of the current value of the relative barometric altitude from the set) in the Return mode, the set value of the relative barometric altitude in the Landing mode;

- in the speed channel - the set value of the instrument speed. The UAV 1 flight path includes a flight section in the Route mode, including PPM, KPM, a flight section in the Return mode: from KPM to the UAV entering the “landing course” (direction of the UAV landing strip) and the flight section in the “Landing” mode - after the exit to the "landing course".

The flight path in the Return mode in the vertical plane represents a decrease to a point that is 1-2 km horizontal from the third turn point to the height of the "circle" (100-200 m) (Figure 2).

In the Return mode in the horizontal plane, an exit is made to a point spaced at a given distance (2-4 km) from landing position 8 with a given direction (landing strip) to it (Figure 3).

The formation of a predetermined course angle for the implementation of such a trajectory is carried out in block 4 on the basis of a combined control method and using data on the current position of the UAV from block 3, the coordinates of the location of the landing position 8 and the direction of the landing strip from block 7. Flight to the third turning point, along the tangent to the circle of the 3-4th turn, it is carried out along the shortest distance (track method of trajectory control), then the 3rd and 4th turns are carried out with the UAV going to a point located at a given distance about t UAV landing position and with direction to the UAV landing position.

In the “Landing” mode, the set course angle is set equal to the “landing course”, in the longitudinal channel, the UAV is lowered to the strip of the landing position. At the same time, at the final section of descent (from a height of 30 m), height control is carried out by working out (in autopilot 6) the specified relative barometric height, which is formed in block 4 in the form of an exponentially decreasing function. In the speed channel, the instrument speed is reduced to a minimum value.

In autopilot 6, the autonomous mode of processing control signals from block 4 is regularly implemented, taking into account the sign of the flight mode (Route, Return, Landing).

Upon receipt of the remote control signals 6 at the second input of the autopilot (flight mode, set course, altitude, instrument speed) from unit 5, the autopilot 6 enters the remote control mode with the development of these signals.

The semi-natural testing of the system showed its effectiveness.

Claims (2)

1. A method for remote control of UAV flight from a control point by transmitting control data to the UAV over the air and transmitting flight data from the UAV to a control point at which UAVs fly along a pre-programmed path, when necessary, remote control of UAV flight is performed, characterized in that they determine the atmospheric pressure at the UAV landing position, transmit data on the atmospheric pressure at the UAV landing position from the control point to the UAV through the radio channel, taking into account this x data determined on board UAV barometric altitude of the UAV relative to a landing position at which administers UAV flight height. 2. An unmanned aerial system containing UAVs, a control point with a UAV landing position interconnected via a radio channel, characterized in that the control point is capable of detecting and transmitting to the UAV over the radio channel data on atmospheric pressure at the UAV landing position, and the UAV is made with the possibility of autonomous flight control based on these data.

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