CN101256411A - Method for switching multi-height types - Google Patents
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Abstract
The invention provides a switch method of multiple height types for an unmanned aerial vehicle. With multiple height sensors being installed, safe and reliable switch of multiple height types is realized by setting switch dead zones, the effects of various height types of height information on fight control are exerted by reasonable switch, safety hidden troubles brought by single threshold switch are totally avoided, the flight safety is guaranteed, thus the method has important engineering application value.
Description
Technical field
The present invention relates to a kind of method for switching multi-height types, belong to the unmanned plane automation field.
Background technology
Flying height is meant the aircraft vertical range of a certain reference field of distance aloft.Because the reference field difference of selected measurement, the height of measuring are also different.Chang Yong height has three kinds in-flight: absolute altitude, true altitude, relative height.Absolute altitude is meant the vertical range between aircraft and the sea level, generally is also referred to as the height above sea level barometer altitude; True altitude is meant the vertical range between aircraft and the terrain object (mountain top, ground etc.); Relative height is meant the vertical range between aircraft and the airport ground.The method of measuring height is a lot, and commonly used having is several: a kind of is to utilize electromagnetic reflection measurement height.Electromagnetic wave is aloft with light velocity propagation and run into ground and can reflect, after radio transmitter on the loading aircraft is transmitted into ground with electromagnetic wave, the antenna of receiver receives reflection wave through the Δ t time on the machine, just can measure the Live Flying height of aircraft according to Δ t.Radio altimeter is exactly around this principle to work; A kind of is to utilize aircraft vertical direction acceleration and integral measurement aircraft altitude, this measuring method is used in inertial navigation system, but because the drift error of gyro, the height in the time of can not being used for flying is for a long time measured, and need utilize other means to revise and compensate; Also have a kind of be according to atmospheric pressure with the rule measuring height that highly raises and reduce, this is the method for present widespread usage.The vapour-pressure type height sensor is exactly around this principle to work.
Radio altimeter and vapour-pressure type height sensor are owing to its principle of work separately, and the scope of each self-application is also different.The true altitude of radio altimeter survey aircraft generally is used for low clearance and measures, and the height when taking off landing as aircraft is measured.And vapour-pressure type height sensor general measure is absolute altitude, and promptly the height above sea level barometer altitude is used for cruising flight.Also have relative height, generally be used for the inflight phase (as five limit airline operations) between takeoff and landing flight and the cruising flight, be beneficial to flying ferry like this, adapt to the airport of different altitude height.
Along with the development of unmanned plane technology, still be all to have brought into play remarkable effect on civilian from the principal mode unmanned plane in military affairs, obtained people's favor.Flying height needs multiple height sensor could satisfy accurate, the safe and reliable high request of its Autonomous Control as the important parameter in the unmanned plane during flying.Traditional changing method that elevation information uses, normally with single handoff threshold as switching condition, if flying height just near this thresholding, is easy to cause frequent switching, bring potential safety hazard.In the face of polytype elevation information, how to use the effect that just can give full play to various elevation informations, do not switch when using again and cause potential safety hazard at elevation information, ensure flight safety, be problem to be solved by this invention.
Summary of the invention
The invention provides a kind of method for switching multi-height types that is applied to unmanned plane, under the situation that multiple height sensor has been installed, switch the dead band by being provided with, realize the safe and reliable switching of multiple height types, give full play to the effect of various elevation informations, can avoid single thresholding to switch the potential safety hazard of bringing fully, ensure flight safety.
In order to reach above purpose, design of the present invention is:
The first, according to user demand, height types is divided into three kinds: radio altitude type FHR, height above sea level barometer altitude type FHS, relative height type FHA.Three kinds of height types, the corresponding elevation information that uses is respectively radio altitude HR, height above sea level barometer altitude HS and relative airport height H A.HR is the flying height that radio altimeter is measured, i.e. true altitude; HS is the measured height of vapour-pressure type sensor (as air data computer), i.e. absolute altitude; HA is the height above sea level barometer altitude on the relative airport of aircraft, i.e. difference between the height above sea level barometer altitude on the height above sea level barometer altitude of aircraft and airport.
The second, the concrete condition of switching according to differing heights is provided with the switching dead band, and the height types before keeping entering the dead band in switching the dead band can avoid adopting single thresholding to switch the phenomenon that easily causes near frequent switching thresholding like this.The switching dead band that needs to be provided with has two, is respectively: switching dead band SQA, the FHA of FHR and FHA and the switching dead band SQB of FHS; The bound of SQA is respectively: SQAH, SQAL, the bound of SQB is respectively: SQBH, SQBL.Wherein, SQBH＞SQBL＞SQAH＞SQAL.
According to above design, multi-height types information using method provided by the invention comprises following three steps:
Step 1: be provided with and switch the dead band:
1) the switching dead band SQA codomain of radio altitude type and relative height type chooses.
SQA chooses the influence that will take all factors into consideration airfield runway surrounding ground situation, flying quality (as deciding high precision etc.).If the glide paths tracking accuracy of aircraft is δ, prevent frequent switching, under the situation of reserving certain surplus, then SQA should choose between 3 δ～5 δ.Simultaneously, can or dwindle SQA according to concrete needs expansion, the glide paths tracking accuracy is high more, and promptly δ is more little, and then SQA is more little;
According to gliding angle computing machine formula: tan β=SQAH/L, can get the upper limit SQAH=Ltan β of SQA, wherein, L is that plane reservation point to the runway center extended line direction of landing does not have the maximum distance on the smooth ground of buildings, β is a gliding angle; The SQAH that calculates also reserves the surplus of about 20m～40m.Wherein, plane reservation landing point is meant the glide paths of design in advance and the intersection point of runway centerline, and gliding angle is meant the glide paths of design in advance and the angle of runway centerline.
According to the SQA and the SQAH that determine, can get the lower limit SQAL=SQAH-SQA of SQA.
2) the switching dead band SQB codomain of relative height type and height above sea level barometer altitude type chooses.
Choosing of SQB will be taken all factors into consideration In-Flight Performance, as the climb rate, rate of descent, decide high precision, flying speed etc.If the height measuring accuracy of aircraft when climbing or descend is ε 1, the high precision (containing height measuring accuracy, control accuracy etc.) of deciding when fixed high is ε 2, ε is the higher value among ε 1 and the ε 2, then to prevent frequent switching, under the situation of reserving certain surplus, SQB should choose between 3 ε～5 ε.Simultaneously, can enlarge or dwindle SQB according to concrete needs, height measuring accuracy or to decide high precision high more, promptly ε is more little, and then SQB is more little;
Choosing of the lower limit SQBL of SQB is relevant with the climb rate, the flying speed of aircraft.After near aircraft flies away from the airport, beginning to cruise, need to use the height above sea level barometer altitude, therefore at this moment need relative airport height types is switched to height above sea level barometer altitude type.If the climb rate of aircraft is η, flying speed is v, the airport that then flies out promptly is the center in the neighbourhood with the airport, r is the circle zone of radius, r is value between 15km～30km generally, the time t=r/v that needs, the then residing flying height h=r η/v of aircraft this moment, on the basis of h, reserve the surplus of 100m～200m, just can obtain SQBL;
According to the SQB and the SQBL that determine, can get the upper limit SQBH=SQBL+SQB of SQB.
Step 2: the switching between radio altitude type and the relative height type:
When flying height H＜SQAL, if height types is FHR, then height types remains FHR, uses HR; If height types is FHA, then height types switches to FHR, uses HR;
When flying height H＞SQAH, if height types is FHR, then height types switches to FHA, uses HA; If height types is FHA, then height types remains FHA, uses HA;
When SQAL≤H≤SQAH, promptly flying height is in the switching dead band of radio altitude HR and relative height HA, if height types is FHR, then height types remains FHR, uses HR; If height types is FHA, then height types remains FHA, uses HA.
Step 3: the switching between relative height type and the height above sea level barometer altitude type:
As flying height H＜SQBL, if height types is FHA, then height types remains FHA, uses HA; If height types is FHS, then height types switches to FHA, uses HA;
As flying height H＞SQBH, if height types is FHA, then height types switches to FHS, uses HS; If height types is FHS, then height types remains FHS, uses HS;
As SQBL≤H≤SQBH, promptly flying height is in the switching dead band of relative height and HA height above sea level barometer altitude HS, if height types is FHA, then height types remains FHA, uses HA; If height types is FHS, then height types remains FHS, uses HS.
The invention has the advantages that:
1) by rationally switching, the elevation information of having brought into play various height types participates in the effect of flight control;
2) use the method for switching the dead band, avoided the potential safety hazard of using single handoff threshold to exist.
Description of drawings
Fig. 1 is the schematic block diagram of method for switching multi-height types of the present invention;
The process synoptic diagram of Fig. 2 for switching between radio altitude type in the method for switching multi-height types of the present invention and the relative height type;
The process synoptic diagram of Fig. 3 for switching between relative height type in the method for switching multi-height types of the present invention and the height above sea level barometer altitude type;
Fig. 4 is the synoptic diagram that SQAH selects in the method for switching multi-height types of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and the specific embodiments.
Fig. 1 is the schematic block diagram of method for switching multi-height types of the present invention.As shown in Figure 1, will switch dead band SQA and SQB be provided with finish after, just can carry out the switching between radio altitude type, relative height type and the height above sea level barometer altitude type.Switching between radio altitude type and the relative height type is by comparison unmanned plane current flying height and the upper and lower bound that switches dead band SQA, and carries out the switching of height types according to current height types; Equally, the switching between relative height type and the height above sea level barometer altitude type is by comparison unmanned plane current flying height and the upper and lower bound that switches dead band SQB, and carries out the switching of height types according to current height types.Along with the variation of flying height, the switching meeting between the height types in twos transforms mutually.
Fig. 2 is the process synoptic diagram that switches between radio altitude type and the relative height type in the method for switching multi-height types of the present invention.As shown in Figure 2, upper limit SQAH and lower limit SQAL have defined one and have switched dead zone range, and dotted line is represented the highly direction of increase with the arrow in zone, a left side, and below SQAL, height types is FHR; Along with highly increasing, before flying height was increased to SQAH, height types remained FHR; After flying height was crossed SQAH, height types switched to FHA.Dotted line is represented the direction that highly reduces with the arrow in right zone, and more than SQAH, height types is FHA; Along with highly reducing, before flying height was reduced to SQAL, height types remained FHA; After flying height was lower than SQAL, height types switched to FHR.
The process synoptic diagram of Fig. 3 for switching between relative height type in the method for switching multi-height types of the present invention and the height above sea level barometer altitude type.As shown in Figure 3, similar with Fig. 2, upper limit SQBH and lower limit SQBL have defined one and have switched dead zone range, and dotted line is represented the highly direction of increase with the arrow in zone, a left side, and below SQBL, height types is FHA; Along with highly increasing, before flying height was increased to SQBH, height types remained FHA; After flying height was crossed SQBH, height types switched to FHS.Dotted line is represented the direction that highly reduces with the arrow in right zone, and more than SQBH, height types is FHS; Along with highly reducing, before flying height was reduced to SQBL, height types remained FHS; After flying height was lower than SQBL, height types switched to FHA.
As seen, when near no matter flying height is switching the upper limit in dead band or lower limit, changing, the height types of height types in switching the dead band remains the height types before entering the dead band, can not cause frequent switching like this, by such changing method, can avoid single thresholding to switch the potential safety hazard of being brought like this.
Below be applied to an embodiment of certain type unmanned plane for the present invention.This unmanned plane is from the principal mode unmanned plane, and autonomous flight entirely is to independence and security requirement height.This unmanned plane has been installed radio altimeter, air data computer equal altitudes sensor.The range of radio altimeter is 0～300m, and the range of air data computer height is-500m～9000m.According to request for utilization, three kinds of height types: FHR, FHA, FHS have been divided equally.
The specific implementation step of method for switching multi-height types of the present invention is as follows:
Step 1: be provided with and switch the dead band:
1) the switching dead band SQA's of radio altitude type and relative height type chooses.
SQA chooses the influence that will take all factors into consideration airfield runway surrounding ground situation, flying quality (as deciding high precision etc.).The glide paths tracking accuracy δ of this type unmanned plane is about 5m/s, should choose between 3 δ～5 δ according to SQA, and can get δ should choose between 15m～25m, therefore selects SQA=20m;
Fig. 4 is the synoptic diagram that SQAH selects in the method for switching multi-height types of the present invention.On landing direction as shown in Figure 4, aircraft glides along the glide paths of design in advance, gliding angle β is 2.5 °, plane reservation landing point to runway center extended line direction does not have the maximum distance L on the smooth ground of buildings to be about 3km, according to SQAH=Ltan β, can calculate SQAH and be about 130m, consider that selection SQAH is 100m under the situation that leaves 20m～40m surplus;
SQAL=SQAH-SQA=80m then.
2) the switching dead band SQB's of relative height type and height above sea level barometer altitude type chooses.
The choosing of SQB will be taken all factors into consideration In-Flight Performance (climb rate, rate of descent, decide high precision, flying speed etc.).This type unmanned plane climb or the height measuring error ε 1 when descending is about, the high precision ε 2 that decides when fixed high is 50m, then ε=50 should be chosen between 3 ε～5 ε according to SQB, can get SQB should choose between 150m～250m, then get SQB=200m.
Choosing of the lower limit SQBL of SQB is relevant with the climb rate, the flying speed of aircraft.After near aircraft flies away from the airport, beginning to cruise, need to use the height above sea level barometer altitude, therefore at this moment need relative airport height types is switched to height above sea level barometer altitude type.The climb rate η of this type unmanned plane is about 2m/s, flying speed v is about 150km/h, then according to t=r/v, flying out with the airport is the center, and radius r is the circle zone of 20km, the time t that needs is 480s, then according to h=r η/v, h is 960m as can be known, so, on the basis of h, reserve the surplus of 100m～200m, just can obtain SQBL=1100m;
SQBH=SQBL+SQB=1300m then.
In sum, two of setting switch dead band SQA and SQB is respectively:
SQAL＝80m，SQAH＝100m，SQBL＝1100m，SQBH＝1300m。
Step 2: the switching between radio altitude type and the relative height type:
As flying height H＜SQAL (80m), if height types is FHR, then height types remains FHR, uses HR; If height types is FHA, then height types switches to FHR, uses HR;
As flying height H＞SQAH (100m), if height types is FHR, then height types switches to FHA, uses HA; If height types is FHA, then height types remains FHA, uses HA;
As SQAL (80m)＜flying height H＜SQAH (100m), promptly flying height is in the switching dead band of radio altitude and relative height, if height types is FHR, then height types remains FHR, uses HR; If height types is FHA, then height types remains FHA, uses HA.
Step 3: the switching between relative height type and the height above sea level barometer altitude type:
As flying height H＜SQBL (1100m), if height types is FHA, then height types remains FHA, uses HA; If height types is FHS, then height types switches to FHA, uses HA;
As flying height H＞SQBH (1300m), if height types is FHA, then height types switches to FHS, uses HS; If height types is FHS, then height types remains FHS, uses HS;
As SQBL (1100m)＜flying height H＜SQBH (1300m), promptly flying height is in the switching dead band of relative height and height above sea level barometer altitude, if height types is FHA, then height types remains FHA, uses HA; If height types is FHS, then height types remains FHS, uses HS.
The present invention illustrates that by the enforcement of the autonomous flight control of above-mentioned model unmanned plane this method is respond well, can avoid single thresholding to switch the potential safety hazard of bringing fully, ensures flight safety, has important engineering application value.
Claims (4)
1. a method for switching multi-height types is characterized in that, this method comprises following three steps:
Step 1: be provided with and switch the dead band:
1) choosing of the switching dead band SQA codomain of radio altitude type and relative height type: the glide paths tracking accuracy of supposing aircraft is δ, and then SQA should choose between 3 δ～5 δ, and the glide paths tracking accuracy is high more, and promptly δ is more little, and the SQA that then chooses is more little;
The upper limit SQAH=Ltan β of SQA, wherein, L is the maximum distance that plane reservation landing point to runway center extended line direction does not have the smooth ground of buildings, β is a gliding angle; The SQAH that calculates also should reserve the surplus of about 20m～40m;
According to the SQA and the SQAH that determine, can get the lower limit SQAL=SQAH-SQA of SQA;
2) choosing of the switching dead band SQB codomain of relative height type and height above sea level barometer altitude type: suppose that the height measuring accuracy of aircraft when climbing or descend is ε 1, the high precision of deciding when fixed high is ε 2, ε is the higher value among ε 1 and the ε 2, then SQB should choose between 3 ε～5 ε, height measuring accuracy or to decide high precision high more, be that ε is more little, the SQB that then chooses is more little;
The lower limit SQBL of SQB chooses: the climb rate of general hypothesis aircraft is η, and flying speed is v, and the airport that flies out needs time t=r/v in the neighbourhood, wherein, the airport is meant with the airport to be the center in the neighbourhood, and r is the circle zone of radius, and r is value between 15km～30km generally; Then this moment aircraft residing flying height h=r η/v, on the basis of h, reserve the surplus of 100m～200m, just can obtain SQBL;
According to the SQB and the SQBL that determine, can get the upper limit SQBH=SQBL+SQB of SQB;
Step 2: the switching between radio altitude type and the relative height type:
When flying height H＜SQAL, if height types is FHR, then height types remains FHR, uses HR; If height types is FHA, then height types switches to FHR, uses HR;
When flying height H＞SQAH, if height types is FHR, then height types switches to FHA, uses HA; If height types is FHA, then height types remains FHA, uses HA;
When SQAL≤H≤SQAH, promptly flying height is in the switching dead band of radio altitude HR and relative height HA, if height types is FHR, then height types remains FHR, uses HR; If height types is FHA, then height types remains FHA, uses HA;
Step 3: the switching between relative height type and the height above sea level barometer altitude type:
As flying height H＜SQBL, if height types is FHA, then height types remains FHA, uses HA; If height types is FHS, then height types switches to FHA, uses HA;
As flying height H＞SQBH, if height types is FHA, then height types switches to FHS, uses HS; If height types is FHS, then height types remains FHS, uses HS;
As SQBL≤H≤SQBH, promptly flying height is in the switching dead band of relative height and HA height above sea level barometer altitude HS, if height types is FHA, then height types remains FHA, uses HA; If height types is FHS, then height types remains FHS, uses HS.
2. a kind of method for switching multi-height types according to claim 1 is characterized in that: the scope of the switching dead band SQA of described radio altitude type of step 1 and relative height type is determined by upper limit SQAH and lower limit SQAL.
3. a kind of method for switching multi-height types according to claim 1 is characterized in that: the scope of the switching dead band SQB of described relative height type of step 1 and height above sea level barometer altitude type is determined by upper limit SQBH and lower limit SQBL.
4. according to claim 2 and 3 described a kind of method for switching multi-height types, it is characterized in that: between the upper limit SQBH of the upper limit SQAH of described SQA, lower limit SQAL and SQB, the lower limit SQBL following relation: SQBH＞SQBL＞SQAH＞SQAL is arranged.
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| CN103197682A (en) * | 2013-03-22 | 2013-07-10 | 北京航空航天大学 | Unmanned aerial vehicle airport-entering landing gliding channel design and gliding path adjustment method |
| CN104049636A (en) * | 2014-05-27 | 2014-09-17 | 北京航空航天大学 | Navigation altitude obtaining method combining relative altitude and absolute altitude |
| CN105242687A (en) * | 2015-10-29 | 2016-01-13 | 桂林创研科技有限公司 | Remote control method of unmanned plane |
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| CN103197682A (en) * | 2013-03-22 | 2013-07-10 | 北京航空航天大学 | Unmanned aerial vehicle airport-entering landing gliding channel design and gliding path adjustment method |
| CN104049636A (en) * | 2014-05-27 | 2014-09-17 | 北京航空航天大学 | Navigation altitude obtaining method combining relative altitude and absolute altitude |
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| CN109085849B (en) * | 2018-08-28 | 2021-08-03 | 成都飞机工业（集团）有限责任公司 | Autonomous control method for fixed-point landing of carrier-borne unmanned aerial vehicle |
| CN110069069B (en) * | 2019-04-09 | 2022-04-29 | 中国海洋大学 | Height fixing component |
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| CN110262551A (en) * | 2019-06-24 | 2019-09-20 | 陕西飞机工业（集团）有限公司 | A kind of high and low empty cruise pre-selected height benchmark switching method in aircraft sea |
| CN114630373A (en) * | 2020-12-08 | 2022-06-14 | 中国联合网络通信集团有限公司 | Switching method and device |
| CN114630373B (en) * | 2020-12-08 | 2023-08-08 | 中国联合网络通信集团有限公司 | Switching method and device |
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