CN100587402C - No-manned plane fixed radius convolved navigation method - Google Patents

Abstract

The invention discloses an unmanned aircraft fixed radius circling navigation method. The position and height of the aircraft and the ground speed information are gained according to the given circling radius, anticipant circling type and a sensor, the navigation parameters such as lateral deviation and lateral deviation velocity, etc., of the anticipant track of the aircraft continuously calculated in real time, together with the aircraft gesture motion information gained by a gesture motion sensor, are input into a lateral control circuit to obtain a rudder deflection instruction, and the aircraft is finally guided to fly along the anticipant flight course. The navigation method provided by the invention can realize guiding the aircraft to carry out the cycling flying with fixed radius and avoids the frequent shifting of straight flying and turning motion in the broken-line flying process; the aircraft body bears small overload, and can fly according to the anticipant track under thesituation of wind interference.

Description

A kind of no-manned plane fixed radius convolved navigation

Technical field

The invention belongs to the unmanned plane navigation field, specifically, be meant a kind of unmanned plane radii fixus navigator's technology of spiraling.

Background technology

Owing to seldom be subjected to the restriction of weather conditions, can slip into enemy's target sky scouts round the clock, and transmit real-time target image and information exactly to combat operations center, make the battlefield commanding officer in time grasp battlefield situation and formulation operation plan, unmanned plane has demonstrated its huge power gradually in the local war in modern age.

The basic task of unmanned plane navigation is accurately to determine the locus of aircraft, and it can be flown along the track of expectation.Present area navigation method can allow aircraft to fly by any desired flight path in the standard station coverage of stylobate navigator or in independent navigation capacity of equipment limited range or under both cooperations.Stylobate navigator wherein, comprise traditional based on land station continental rise navigation equipment and based on the satellite-based navigation equipment of satellite navigation system.On route structure, the course line of area navigation is exactly the line of being made up of way point series, and these way points are disengaging platform location, radio station and any geographic position of setting up on their own; On localization method, what area navigation was fixed is aircraft absolute position on earth; On navigation algorithm, area navigation is transformed into the course line coordinate by the aircraft plan, calculates the Distance To Go of way point flight forwards and the laterally offset of flight path, and all calculating is all carried out on great circle route.

In unmanned plane was executed the task process, orbit was that aircraft centers on the maneuver that often carries out when spot is scouted for a long time, as shown in Figure 1.Usually the course line of area navigation is made up of way point series, be to be formed by connecting by some straight-line segments, the method that some SUAV (small unmanned aerial vehicle) adopt is that way point is set to the spatial point in the spiral path, its line of flight as shown in Figure 2, this moment, aircraft flew according to broken line, did not in fact describe, and just aircraft can be according to approximate round track flight, and frequent flying nonstop to the turning action switching makes that the airframe overload is bigger in the process of aircraft flight, is unfavorable for flight safety.

In addition, also have to utilize and decide the method that roll angle spirals, its control structure synoptic diagram as shown in Figure 3.Roll angle expectation value and the unmanned plane attitude motion information that is obtained by the attitude motion sensor input to the roll angle control loop together, and the roll angle control loop is exported the corresponding rudder degree of bias and instructed to the rudder loop, finally controls unmanned plane and flies with a certain fixedly roll angle.Utilizing fixedly the roll angle degree of bias to make aircraft center on a certain center of circle describes, but being subjected to crosswind in if spiral disturbs, because aircraft is not controlled self-position, therefore aircraft will can not be difficult to acquisition and scout the result accurately along the track flight of expectation.

Summary of the invention

The objective of the invention is to propose a kind of no-manned plane fixed radius convolved navigation, can carry out orbit by vector aircraft, and still fly having under the air-dry condition of disturbing along desired trajectory.

The no-manned plane fixed radius convolved navigation that the present invention proposes can be according to the mode of spiraling of set turn circle radius, expectation and aircraft position, height and the ground velocity information that is obtained by sensor, lateral deviation and the lateral deviation of calculating the aircraft desired trajectory in real time moved navigational parameters such as speed continuously, and together input to the side direction control loop with the aspect movable information that obtains by the attitude motion sensor and obtain the instruction of the rudder degree of bias, realize that finally vector aircraft flies along desired course.

Concrete implementation step is:

Step 1: calculate earth principal radius of curvature R in the aircraft current location meridian ellipse _mAnd the earth principal radius of curvature R in the current location meridian ellipse vertical plane _n, the home position when calculating aircraft then and spiraling and the geographic longitude departure Δ L and the geographic latitude departure Δ B of current aircraft position:

$\left\{\begin{array}{c}{R}_m=R_a\×(1-2\×f+3\×f{\×\sin }^{2}B)\\ R_n=R_a\×(1+f\×{\sin }^{2}B)\end{array}\right.$

$\left\{\begin{array}{c}\mathrm{\ΔL}=\frac{\mathrm{Rturn}\·V_{\mathrm{dn}}}{\sqrt{V_{\mathrm{dn}}^2+V_{\mathrm{de}}^2}\·R_m\·\cos B}\\ \mathrm{\ΔB}=\frac{\mathrm{Rturn}\·V_{\mathrm{de}}}{\sqrt{V_{\mathrm{dn}}^2+V_{\mathrm{de}}^2}\·R_n}\end{array}\right.$

Parameter in the following formula is according to the WGS_84 coordinate system, semimajor axis of ellipsoid R _a=6378137.0m, the ellipse degree of bias f=0.003352811 of the earth; Rturn is set turn circle radius, V _DnBe the north orientation ground velocity of aircraft, V _DeBe the east orientation ground velocity of aircraft, B is the geographic latitude of aircraft.

Step 2: resolve corresponding circling round heart reason longitude L according to the difference of the instruction of spiraling of receiving _CWith geographic latitude B _C

According to Δ B in the step 1 and Δ L, calculating dial rounding heart reason longitude L _CWith circling round heart reason latitude B _CFor:

Wherein B is the geographic latitude of aircraft, and L is the geographic longitude of aircraft.

Step 3: according to circling round heart reason latitude B _CCalculating dial revolves the earth's core radius R of circle centre position _p, geocentric latitude B _ECCAnd the geocentric latitude B of aircraft _EC:

$R_p=R_a\·\{1+\frac{f^2}{2}\·[\frac{1}{1+(1-f^2)\·\mathrm{tg}{B}_C}-1\left]\right\}$

$B_{\mathrm{EC}}=\mathrm{arctg}[{\left(\frac{H+R_b}{H+R_a}\right)}^2\·\mathrm{tgB}]$

$B_{\mathrm{ECC}}=\mathrm{arctg}[{\left(\frac{H+R_b}{H+R_a}\right)}^2\·\mathrm{tg}{B}_C]$

Wherein, semiminor axis of ellipsoid R _b=6356752.3m, major semi-axis R _a=6378137.0m, H and B are respectively aircraft altitude and latitude;

Step 4: calculate aircraft to the lateral deviation of the distance D in the center of circle of spiraling and aircraft apart from D _Z

$D=\sqrt{{\mathrm{\Δx}}^2+\mathrm{\Δ}{y}^2},$ Wherein $\begin{array}{c}\mathrm{\Δx}=R_p\·\cos B_{\mathrm{ECC}}\·\mathrm{\ΔL}\\ \mathrm{\Δy}=R_p\·(B_{\mathrm{EC}}-B_{\mathrm{ECC}})\end{array}$

D _Z＝D-Rturn

Step 5: calculate and move speed D to the vector of aircraft current location and angle α, the lateral deviation of east orientation from the center of circle of spiraling _Zd

α＝arctg(Δy/Δx)

Step 6: with the lateral deviation of the aircraft that obtains in step 4 and the step 5 apart from D _ZAnd lateral deviation is moved speed D _ZdExport the side direction control loop to and obtain the instruction of the rudder degree of bias, realize that finally vector aircraft flies along desired course.

The advantage of the no-manned plane fixed radius convolved navigation that the present invention proposes is:

(1) can realize that vector aircraft carries out the radii fixus orbit;

When (2) aircraft carries out orbit by this method, avoided frequent flying nonstop to and the turning action switching in the broken line flight course, the overload that airframe bore is less, helps flight safety;

(3) disturb under the situation air-dry, because the lateral deviation that this method provides provides input apart from controlled quentity controlled variable for the side direction control loop, aircraft still flies according to desired trajectory;

(4) this method has considered that in computation process the earth is a spheroid, and has adopted geocentric latitude to calculate, and result of calculation is accurate.

Description of drawings

Flight path synoptic diagram when Fig. 1 is the unmanned plane orbit;

Flight path synoptic diagram when Fig. 2 is broken line flight;

Fig. 3 is a system works principle schematic when deciding roll angle and spiraling;

System works principle schematic when Fig. 4 is unmanned plane orbit of the present invention;

Fig. 5 is the synoptic diagram that concerns between different vertical lines and the latitude.

Embodiment

Below in conjunction with accompanying drawing no-manned plane fixed radius convolved navigation of the present invention is described further.

The principle of work of the no-manned plane fixed radius convolved navigation that the present invention proposes as shown in Figure 4, described method of navigation is according to the mode of spiraling of set turn circle radius, expectation and aircraft position, height and the ground velocity information that is obtained by sensor, lateral deviation and the lateral deviation of calculating the aircraft desired trajectory in real time moved navigational parameters such as speed continuously, and together input to the side direction control loop with the aspect movable information that obtains by the attitude motion sensor and obtain the instruction of the rudder degree of bias, realize that finally vector aircraft flies along desired course.

No-manned plane fixed radius convolved navigation of the present invention may further comprise the steps:

Step 1: calculate earth principal radius of curvature R in the unmanned plane current location meridian ellipse _mAnd the earth principal radius of curvature R in the current location meridian ellipse vertical plane _n, and the home position when calculating aircraft and spiraling and the geographic longitude departure Δ L and the geographic latitude departure Δ B of current aircraft position.

In order to describe the position of the relative earth of aircraft, carry out the navigator fix of aircraft, at first carry out choosing of reference ellipsoid system.Because the development of satellite technology and telemetry, the way that can utilize satellite to measure at present obtains global geodetic surveying data, thereby fits out global earth coordinates.The global earth coordinates that the WGS_84 coordinate system was formulated in 1984 just are adapted to global location.Choose the WGS_84 coordinate system, promptly determined the ellipse degree of bias parameter of the semimajor axis of ellipsoid and the earth, according to this coordinate system, semimajor axis of ellipsoid R _a=6378137.0m, minor semi-axis R _b=6356752.3m, the ellipse degree of bias f=0.003352811 of the earth.

Radius-of-curvature is to describe the speed of certain moving point on the curved surface and the parameter of the relation between the angular velocity, can obtain earth principal radius of curvature R in the current location meridian ellipse according to the current geographic latitude B of aircraft by formula (1) _mAnd the earth principal radius of curvature R in the current location meridian ellipse vertical plane _n:

$\left\{\begin{array}{c}{R}_m=R_a\×(1-2\×f+3\×f{\×\sin }^{2}B)\\ R_n=R_a\×(1+f\×{\sin }^{2}B)\end{array}\right.---\left(1\right)$

Obtain the radius-of-curvature parameters R _mAnd R _nAfter, the home position in the time of just can calculating aircraft and spiral and the geographic longitude departure Δ L and the geographic latitude departure Δ B of current aircraft position, suc as formula (2):

$\left\{\begin{array}{c}\mathrm{\ΔL}=\frac{\mathrm{Rturn}\·V_{\mathrm{dn}}}{\sqrt{V_{\mathrm{dn}}^2+V_{\mathrm{de}}^2}\·R_m\·\cos B}\\ \mathrm{\ΔB}=\frac{\mathrm{Rturn}\·V_{\mathrm{de}}}{\sqrt{V_{\mathrm{dn}}^2+V_{\mathrm{de}}^2}\·R_n}\end{array}\right.---\left(2\right)$

Rturn is set turn circle radius in the formula (2), is the home position and initially enter the distance of spiraling between the aircraft position constantly of spiraling, and need be determined by aircraft circling performance and aircraft reconnaissance mission.V _DnBe the north orientation ground velocity of aircraft, V _DeBe the east orientation ground velocity of aircraft, B is the geographic latitude of aircraft, and these data can be obtained by the respective sensor of aircraft.

Step 2: the geographic longitude L that resolves corresponding home position according to the difference of the instruction of spiraling of receiving _CWith latitude B _C

The instruction of spiraling of receiving in the aircraft flight process comprises " spiraling in a left side " and " spiraling in the right side ", and as shown in Figure 1, according to the difference of the instruction of spiraling, the home position that is calculated is also different.

Aircraft is received when spiraling instruction, according to geographic longitude departure Δ L, the latitude departure Δ B of home position and current aircraft position, the geographic longitude L of calculating dial rounding heart position _CWith latitude B _C:

Wherein B is the geographic latitude of aircraft, and L is the geographic longitude of aircraft.

Step 3: according to the geographic latitude B in the center of circle of spiraling _C, calculating dial revolves the earth's core radius R of circle centre position _p, geocentric latitude B _ECCAnd the geocentric latitude B of aircraft _EC

The earth's core radius R of circle centre position spirals _p:

$R_p=R_a\·\{1+\frac{f^2}{2}\·[\frac{1}{1+(1-f^2)\·\mathrm{tg}{B}_C}-1\left]\right\}---\left(5\right)$

Vertical line and latitude that earth surface point is commonly used have: geographic vertical and geographic latitude, geometric vertical and geocentric latitude.Wherein, geographic vertical is meant the normal at certain some place on the reference ellipsoid, and the angle of geographic vertical and equatorial plane is a geographic latitude; Geometric vertical is meant that certain puts the line of ground ball center on the reference ellipsoid, and the angle of geometric vertical and equatorial plane is a geocentric latitude, as shown in Figure 5.The center of circle is C if spiral, and the earth's core is O, and CA is a geographic vertical among Fig. 5, and geographic latitude is B _C, CO is geometric vertical the earth's core radius R just _p, geographic latitude is B _ECC

According to aircraft altitude H, the circle centre position geographic latitude of spiraling B _C, aircraft geographic latitude B can calculate calculating dial rounding heart heart latitude B _ECCAnd the geocentric latitude B of aircraft _EC, suc as formula (6):

$\left\{\begin{array}{c}{B}_{\mathrm{EC}}=\mathrm{arctg}[{\left(\frac{H+R_b}{H+R_a}\right)}^2\·\mathrm{tgB}]\\ B_{\mathrm{ECC}}=\mathrm{arctg}[{\left(\frac{H+R_b}{H+R_a}\right)}^2\·\mathrm{tg}{B}_C]\end{array}\right.---\left(6\right)$

Wherein, aircraft altitude H is obtained by height sensor on the machine.

Step 4: calculate aircraft to the lateral deviation of the distance D in the center of circle of spiraling and aircraft apart from D _Z

Localization method in the navigation, except special circumstances such as short distance navigation or landing flight adopt the relative positioning method, be initial point all with ground ball center, the coordinate system that the employing and the earth connect firmly generally adopts rectangular coordinate system in space localization method and longitude and latitude and height positioning method as the localization method of benchmark.Between 2 of computer memories apart from the time, longitude and latitude and elevation information need be converted in the rectangular coordinate system in space and resolve.Geographic longitude departure Δ L, circling round heart heart latitude B according to circling round heart reason longitude and current aircraft _ECC, aircraft geocentric latitude B _ECAnd the earth's core radius R of the circle centre position that spirals _p, calculate space vector rectangular coordinate system in space in east component Δ x and the north component Δ y of aircraft current location to the center of circle of spiraling:

$\left\{\begin{array}{c}\mathrm{\Δx}=R_p\·\cos B_{\mathrm{ECC}}\·\mathrm{\ΔL}\\ \mathrm{\Δy}=R_p\·(B_{\mathrm{EC}}-B_{\mathrm{ECC}})\end{array}\right.---\left(7\right)$

By the distance between two points formula as can be known the aircraft current location can obtain by following formula to the distance D in the center of circle of spiraling:

$D=\sqrt{{\mathrm{\Δx}}^2+{\mathrm{\Δy}}^2}---\left(8\right)$

Apart from spiraling the distance D in the center of circle and set turn circle radius Rturn, calculate the lateral deviation of aircraft apart from D according to aircraft by formula (9) _Z:

D _Z＝D-Rturn (9)

Step 5: calculate from the center of circle of spiraling to the space vector of aircraft current location and the angle α of east orientation, and according to this angle α calculation side migration velocity D _Zd

The center of circle to the space vector of aircraft current location and the angle α of east orientation is from spiraling:

α＝arctg(Δy/Δx) (10)

According to the difference of the instruction of spiraling, it is also different that the lateral deviation that is calculated is moved speed, suc as formula (11):

Step 6: with the lateral deviation of the aircraft that obtains in step 4 and the step 5 apart from D _ZAnd lateral deviation is moved speed D _ZdExport the side direction control loop to and obtain the instruction of the rudder degree of bias, realize that finally vector aircraft flies along desired course.Disturb under the situation air-dry, because the lateral deviation that this method provides provides input apart from controlled quentity controlled variable for the side direction control loop, aircraft still flies according to desired trajectory.

Claims (1)

1, a kind of no-manned plane fixed radius convolved navigation is characterized in that comprising the steps:

Step 1: calculate earth principal radius of curvature R in the aircraft current location meridian ellipse _mAnd the earth principal radius of curvature R in the current location meridian ellipse vertical plane _n, the home position when calculating aircraft then and spiraling and the geographic longitude departure Δ L and the geographic latitude departure Δ B of current aircraft position:

$\left\{\begin{array}{c}{R}_m=R_a\×(1-2\×f+3\×f\×{\sin }^{2}B)\\ R_n=R_a\×(1+f\×{\sin }^{2}B)\end{array}\right.$

$\left\{\begin{array}{c}\mathrm{\ΔL}=\frac{\mathrm{Rturn}\·V_{\mathrm{dn}}}{\sqrt{V_{\mathrm{dn}}^2+V_{\mathrm{de}}^2}\·R_m\·\cos B}\\ \mathrm{\ΔB}=\frac{\mathrm{Rturn}\·V_{\mathrm{de}}}{\sqrt{V_{\mathrm{dn}}^2+V_{\mathrm{de}}^2}\·R_n}\end{array}\right.$

Parameter in the following formula is according to the WGS_84 coordinate system, semimajor axis of ellipsoid R _a=6378137.0m, the ellipse degree of bias f=0.003352811 of the earth; Rturn is set turn circle radius, V _DnBe the north orientation ground velocity of aircraft, V _DeBe the east orientation ground velocity of aircraft, B is the geographic latitude of aircraft;

Step 2: aircraft resolves corresponding circling round heart reason longitude L according to the difference of the instruction of spiraling of receiving _CWith geographic latitude B _C

According to Δ B in the step 1 and Δ L, calculating dial rounding heart reason longitude L _CWith circling round heart reason latitude B _CFor:

Wherein B is the geographic latitude of aircraft, and L is the geographic longitude of aircraft;

Step 3: the earth's core radius R that revolves circle centre position according to circling round heart reason latitude BC calculating dial _p, geocentric latitude B _ECCAnd the geocentric latitude B of aircraft _EC:

$R_p=R_a\·\{1+\frac{f^2}{2}\·[\frac{1}{1+(1-f^2)\·\mathrm{tg}{B}_C}-1\left]\right\}$

$B_{\mathrm{EC}}=\mathrm{arctg}[{\left(\frac{H+R_b}{H+R_a}\right)}^2\·\mathrm{tgB}]$

$B_{\mathrm{ECC}}=\mathrm{arctg}[{\left(\frac{H+R_b}{H+R_a}\right)}^2\·\mathrm{tg}{B}_C]$

Wherein, semiminor axis of ellipsoid R _b=6356752.3m, major semi-axis R _a=6378137.0m, H and B are respectively aircraft altitude and geographic latitude;

Step 4: calculate aircraft to the lateral deviation of the distance D in the center of circle of spiraling and aircraft apart from D _Z:

$D=\sqrt{\mathrm{\Δ}{x}^2+\mathrm{\Δ}{y}^2},$ Wherein $\begin{array}{c}\mathrm{\Δx}=R_p\·\cos B_{\mathrm{ECC}}\·\mathrm{\ΔL}\\ \mathrm{\Δy}=R_p\·(B_{\mathrm{EC}}-B_{\mathrm{ECC}})\end{array}$

D _Z＝D-Rturn；

Step 5: calculate and move speed D to the vector of aircraft current location and angle α, the lateral deviation of east orientation from the center of circle of spiraling _Zd:

α＝arctg(Δy/Δx)

Step 6: with the lateral deviation of the aircraft that obtains in step 4 and the step 5 apart from D _Z, lateral deviation moves speed D _ZdAnd export the side direction control loop to by the aspect movable information that the attitude motion sensor obtains and obtain the instruction of the rudder degree of bias, realize that finally vector aircraft flies along desired course.

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