CN101261520A - Middle and small sized no-manned machine reclaiming positioning apparatus - Google Patents
Middle and small sized no-manned machine reclaiming positioning apparatus Download PDFInfo
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- CN101261520A CN101261520A CNA200810104073XA CN200810104073A CN101261520A CN 101261520 A CN101261520 A CN 101261520A CN A200810104073X A CNA200810104073X A CN A200810104073XA CN 200810104073 A CN200810104073 A CN 200810104073A CN 101261520 A CN101261520 A CN 101261520A
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Abstract
The invention discloses a small and medium-sized unmanned aerial vehicle recycling and positioning device, which is applied in the recycling and positioning of the small and medium-sized unmanned aerial vehicles after the parachute landing. The device comprises a vehicle-carrying GPS receiver, a vehicle-carrying wireless mobile communication module, a recycling controller and a parachute landing recycling device which are arranged on an unmanned aerial vehicle and a ground GPS receiver, a ground wireless mobile communication module and a ground processing display module of a ground recycling and poisoning device, as well as a radio beacon on the unmanned aerial vehicle and a radio direction finding device of the ground recycling and positioning device. The small and medium-sized unmanned aerial vehicle recycling and positioning device utilizes the vehicle-carrying wireless mobile communication module and the ground wireless mobile communication module and uses a civil wireless mobile communication network to expand the coverage of the transmission of the recycling and the positioning information; the radio direction finding positioning is adopted to solve the problem that the positioning is unable when the GPS receiver works abnormally after the parachute landing of the unmanned aerial vehicle; the small and medium-sized unmanned aerial vehicle recycling and positioning device can reduce the recycling working amount of the unmanned aerial vehicle, accelerate the recycling speed and have a wide coverage and low cost of the device, which can not only be applied independently, but also be combined with the prior art for application.
Description
Technical field
The present invention relates to a kind of middle-size and small-size no-manned machine reclaiming positioning apparatus, belong to communication technical field.
Background technology
Middle-size and small-size unmanned plane all has purposes widely in the military and civilian field, as military surveillance, pipe laying inspection, city planning, atmospheric environment monitoring etc.Middle-size and small-size unmanned plane carries out remote control by ground control station, carry out communication by two-way observing and controlling link between the two, ground control station is uploaded various instruction control unmanned planes, and the data that unmanned plane obtains the various parameters on the machine and task device through airborne computer earthward control station send, airborne computer on the unmanned plane, land station's computing machine of airborne observing and controlling radio station and ground control station, the ground observing and controlling radio station constitutes the remote control telemetering system of unmanned plane, its system construction drawing can be referring to Fig. 1: the unmanned plane operating personnel send various steering orders by land station's computing machine 7, these steering orders send to airborne observing and controlling radio station 3 through ground observing and controlling radio station 6, be sent to airborne computer 2 then, the flight and the action of control unmanned plane 5 after decoding, the parachute landing recovery device of for example controlling on the unmanned plane 54 is finished parachute-opening; The data that various parameters on the unmanned plane 5 and task device obtain, the for example position data of the unmanned plane 5 that obtains of Airborne GPS receiver 1 and the state of parachute landing recovery device 4, after collecting coding, airborne computer 2 sends airborne observing and controlling radio station 3 to, airborne observing and controlling radio station 3 sends it to ground observing and controlling radio station 6, be sent to land station's computing machine 7 then, after 7 decodings of land station's computing machine, be shown to the operating personnel of unmanned plane 5.The observing and controlling chain pipeline equipment that middle-size and small-size unmanned plane adopts is to be made of airborne and two special-purpose observing and controlling radio station ground.Airborne observing and controlling radio station is subjected to the restriction of aspects such as volume, weight, power, its emissive power is limited, therefore also directly influenced and the ground observing and controlling radio station between communication distance, the zone that can directly carry out communication between the two is generally around ground control station in the radius 100km scope.Middle-size and small-size unmanned plane usually adopts and launches or the lift-off of taking off of mode such as rocket assist, and employing parachuting mode reclaims.In order to ensure the parachute-opening success, the parachuting action is finished by special parachute landing recovery device, and this mechanism is controlled by the airborne computer of middle-size and small-size unmanned plane usually.
Middle-size and small-size unmanned plane generally uses the GPS receiver to carry out navigator fix, can obtain longitude, latitude, geographical height, time and east orientation, north orientation, day to the data such as ground velocity of three directions.The GPS location is a kind of high precision, round-the-clock location technology, by the signal that GPS gps satellite that receiver is received sends, can accurately measure the residing position of GPS receiver.During the GPS operation of receiver, must guarantee that the signal that can receive 4 above satellites in its antenna receives the scope at the elevation angle just can normally locate.The gps antenna of unmanned plane all is installed in the upper surface of fuselage, makes antenna receive the elevation angle upwards.After unmanned aircraft parachute descent ground connection, fuselage may be overturned, and can not guarantee the state that gps antenna makes progress, and usually can not keep good receiving angle because of gps antenna is blocked maybe by other position of unmanned plane, causes the GPS receiver normally to locate.
Radio direction finding (RDF) is the omnidirectional radio beacon (ORB) signal that receives the radio beacon set emission at two on the acceptance point of certain distance, then according to the orientation of this signal measuring Radio Beacon, cross two acceptance points and draw straight line respectively, determine the method for Radio Beacon position by the intersection point of two straight lines according to the Radio Beacon position angle of measuring separately.Usually owing to the restriction of emissive power, its signal only can be received in distance Radio Beacon certain limit radio beacon set, is not suitable for remote location.
Along with developing rapidly of civilian radio mobile communication industry, GPRS and cdma network have covered most of zone on China territory.GPRS and cdma network not only can two-way transmission voice, and can transmit data.GPRS or CDMA communication module are installed on unmanned plane, can be realized gapless lasting two-way data communication between unmanned plane and the ground within the border substantially in China.
In the prior art,, be subjected to opening altitude and Effect of Environmental such as local wind speed, wind direction, be difficult to accurately land in appointed positions when unmanned plane carries out the parachuting mode when reclaiming.Because the position of unmanned plane is sent to the unmanned aerial vehicle control station in real time by the observing and controlling link, if land after the unmanned plane ground connection in the reach of observing and controlling link and GPS can operate as normal, then can know the earthing position of unmanned plane by ground control station.But when overturn because of fuselage after the unmanned plane ground connection etc. reason cause GPS can't operate as normal or parachuting after when descending slowly and lightly outside the communication reach of ground control station, can only be according to position of sending parachute-opening when instruction unmanned plane and the approximate range that opening altitude is determined ground connection, need to arrange the recovery personnel back and forth to be patrolled to find and to reclaim unmanned plane in this zone then, this work is not only time-consuming but also require great effort.
Summary of the invention
The purpose of this invention is to provide a kind of middle-size and small-size no-manned machine reclaiming positioning apparatus, utilize this device can realize following function:
1) the communication coverage of the recovery locating information behind the unmanned aircraft parachute descent can not be subjected to the restriction of airborne measuring and controlling equipment emissive power;
When 2) the GPS receiver can't operate as normal after unmanned aircraft parachute descent ground connection, the recovery personnel can accurately locate the unmanned plane earthing position.
The land station's computing machine, the ground observing and controlling radio station that comprise airborne computer, airborne observing and controlling radio station and ground control station on the unmanned plane in the existing no-manned machine distant control telemetry system are used for the remote measurement of parameter and device data on the remote control of unmanned plane and the unmanned plane machine; Remote control telemetering system does not belong to the scope of the invention.The present invention has designed a kind of middle-size and small-size no-manned machine reclaiming positioning apparatus, is mainly used in the accurate location when reclaiming behind the unmanned aircraft parachute descent, and its function is independent of above-mentioned no-manned machine distant control telemetry system.This device comprises ground GPS receiver, terrestrial wireless mobile communication module, the floor treatment display module of Airborne GPS receiver, airborne wireless mobile communication module, recovery controller, parachute landing recovery device and ground recovery locating device on the unmanned plane, especially, this device comprises that also radio beacon set on the unmanned plane and ground reclaims the radio direction finding equipment of locating device.Recovery controller wherein has two kinds of implementations: when recovery controller was present in the whole UAS with the form of independent particle system, the function of recovery controller was by independently single-chip microcomputer or single board computer are realized; When recovery controller and prior art scheme were merged, the function of recovery controller was finished by airborne computer.
Wherein, the Airborne GPS receiver on the unmanned plane sends the GPS locator data to recovery controller, and recovery controller will reclaim locator data and send airborne wireless mobile communication module to; Recovery controller is controlled the unlatching of airborne radio mobile communication module and radio beacon set or is closed also parachute-opening of may command parachute landing recovery device or not parachute-opening simultaneously; The airborne wireless communication module will reclaim locator data through civilian radio mobile communication network and send to the terrestrial wireless mobile communication module that locating device is reclaimed on ground, and terrestrial wireless mobile communication module will reclaim locator data and send the floor treatment display module to; The ground GPS receiver is measured ground and is reclaimed the current position of locating device; Radio direction finding equipment receives the signal of radio beacon set, measures the position angle of the relative ground recovery of the signal locating device current location of radio beacon set; Ground is reclaimed locating device and is carried by ground recovery personnel, uses when unmanned plane reclaims.When not using airborne wireless mobile communication module and radio beacon set, it is closed, can save the electric energy on the unmanned plane.
In use, after unmanned plane arrive to be specified the recovery zone or received the parachuting instruction that ground control station sends, airborne computer sent the parachute-opening instruction to recovery controller; Recovery controller receives that the parachute landing recovery device of this instruction back control unmanned plane carries out parachute-opening then, then the continuous towards periphery transmitting radio beacon signal of open wireless electricity Radio Beacon.Recovery controller is opened airborne wireless mobile communication module simultaneously, and the current unmanned plane positional information that the Airborne GPS receiver obtains regularly is transmitted to airborne wireless mobile communication module, be sent to the terrestrial wireless mobile communication module that locating device is reclaimed on ground by civilian radio mobile communication network then.
Terrestrial wireless mobile communication module is decoded and demonstration by the floor treatment display module after receiving the unmanned plane current position information, and ground is reclaimed personnel and gone to this place according to the positional information that shows.If the GPS receiver is still in operate as normal after the unmanned aircraft parachute descent ground connection, then recovery personnel in ground directly just can find unmanned plane to reclaim according to display message soon.But when reason such as overturning when causing GPS receiver cisco unity malfunction because of fuselage after the unmanned aircraft parachute descent ground connection, radio beacon set still can to around the transmitting radio beacon signal, so personnel arrive unmanned aircraft parachute descent ground connection earlier according to the unmanned plane positional information of passing back before the GPS receiver fault approximate region is reclaimed on ground, select two points of about 500 meters apart then arbitrarily, on these two points, use radio direction finding equipment to receive the signal of radio beacon set, measure the position angle at radio beacon set place, cross measurement point with the position angle that records and draw straight line respectively, article two, the intersection point of straight line is the position of radio beacon set, can find unmanned plane to reclaim very soon near this point.
The invention has the advantages that:
1) reclaims that locating information sends wide coverage, is not subjected to airborne measuring and controlling equipment transmission power limit, equipment cost is cheap;
2) pass through radio beacon set, GPS receives can't operate as normal the time after unmanned aircraft parachute descent ground connection, can near the approximate region of unmanned aircraft parachute descent ground connection, use the exact position of the method fast measuring unmanned plane ground connection of radio direction finding (RDF), reduce the recovery operation amount, accelerate recovery speed;
3) both can use separately, also can carry out comprehensively with the prior art scheme well.
Description of drawings
Fig. 1 is the structural representation of prior art scheme;
Fig. 2 is the structural representation of system described in the present invention;
Fig. 3 is with the structural representation behind the present invention and the prior art schemes synthesis;
Fig. 4 is a typical GPS receiver locator data frame structure synoptic diagram;
Fig. 5 is for reclaiming locator data frame structure synoptic diagram among the present invention;
The radio direction finding (RDF) positioning principle synoptic diagram of Fig. 6 for adopting among the present invention.
Among the figure: 1. Airborne GPS receiver 2. airborne computers
3. airborne observing and controlling radio station 4. parachute landing recovery devices, 5. unmanned planes
6. ground observing and controlling radio station 7. land station's computing machines 8. ground control stations
9. recovery controller 10. airborne wireless mobile communication modules 11. radio beacon sets
12. locating device 14. radio direction finding equipments are reclaimed on civilian radio mobile communication network 13. ground
15. terrestrial wireless mobile communication module 16. ground GPS receivers 17. floor treatment display modules
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is further described:
The middle-size and small-size no-manned machine reclaiming positioning apparatus of the present invention design comprises that Airborne GPS receiver 1, airborne wireless mobile communication module 10, recovery controller 9 and ground on the unmanned plane 5 reclaims ground GPS receiver 16, terrestrial wireless mobile communication module 15, the floor treatment display module 17 of locating device 13, also comprises the radio direction finding equipment 14 that locating device 13 is reclaimed on radio beacon set 11 on the unmanned plane 5 and ground.Relation between above-mentioned each equipment is: the Airborne GPS receiver 1 on the unmanned plane 5 sends the GPS locator data to recovery controller 9, and recovery controller 9 will reclaim locator data and send airborne wireless mobile communication module 10 to; The unlatching of recovery controller 9 may command airborne wireless mobile communication modules 10 and radio beacon set 11 simultaneously or close also may command parachute landing recovery device 4 parachute-opening or not parachute-openings; Airborne wireless communication module 10 will reclaim locator data through civilian radio mobile communication network and send to the terrestrial wireless mobile communication module 15 that locating device 13 is reclaimed on ground, and terrestrial wireless mobile communication module 15 will reclaim locator data and send floor treatment display module 17 to; Ground GPS receiver 16 is measured ground and is reclaimed the current position of locating device 13; Radio direction finding equipment 14 receives the signal of radio beacon set 11, measures the position angle of the relative ground recovery of signal locating device 13 current locations of radio beacon set 11; Ground is reclaimed locating device 13 and is carried by the recovery personnel, uses when unmanned plane 5 reclaims.Ground observing and controlling radio station 6, land station's computing machine 7 of the airborne computer 2 on the unmanned plane 5, airborne observing and controlling radio station 3 and ground control station 8 belong to the no-manned machine distant control telemetry system, be mainly used in the remote measurement of parameter and device data on the remote control of unmanned plane and the unmanned plane machine, the function of the recovery locating device that its function and the present invention are designed is separate.
The present invention mainly contains two kinds of embodiments: a kind of is when recovery controller is present in the whole UAS with the form of independent particle system, and the function of recovery controller 9 is by independently single-chip microcomputer or single board computer realize that system architecture as shown in Figure 2; Another kind of mode is that the function of recovery controller 9 is finished by airborne computer 2 when recovery controller and prior art scheme are merged, and system architecture as shown in Figure 3.The less-restrictive that is subjected to when adopting first kind of embodiment, total system can work alone; Adopt second kind of embodiment then to make full use of the extendability of airborne computer 2 in the prior art scheme, can reduce cost.
As shown in Figure 2, relation among the figure between each equipment is: the unmanned plane operating personnel send various control commands at land station's computing machine 7 of ground control station 8, be sent to the airborne observing and controlling radio station 3 of unmanned plane 5 through ground observing and controlling radio station 6, carry out by being sent to airborne computer 2 decodings again; The parameter of unmanned plane 5 and the state of each equipment are given the unmanned plane operating personnel by passing land station's computing machine 7 decoding and displaying back with above-mentioned opposite path again after airborne computer 2 is collected coding.Airborne computer 2 exports the parachute-opening instruction to recovery controller 9, controls signal to parachute landing recovery device 4 by recovery controller 9 output parachute-openings again; Recovery controller 9 output unlatchings or out code are to airborne wireless mobile communication module 10, and Airborne GPS receiver 1 exports the Current GPS locator data to recovery controller 9, and recovery controller 9 will reclaim locator data and export airborne wireless mobile communication module 10 to; Airborne wireless mobile communication module 10 will reclaim locator data through civilian radio mobile communication network 12 and be sent to the terrestrial wireless mobile communication module 15 that locating device 13 is reclaimed on ground; The recovery locator data that terrestrial wireless mobile communication module 15 will receive exports floor treatment display module 17 to and decodes and be shown to ground and reclaim personnel; Recovery controller 9 output unlatchings or out code are to radio beacon set 11; Radio beacon set 11 to around transmitting radio beacon signal, the radio direction finding equipment 14 that reclaims locating device 13 through ground receives; Radio direction finding equipment 14 is measured and position angle to the floor treatment display module 17 of output radio beacon set 11 is shown to ground recovery personnel.
When the present invention implements in first kind of mode, after unmanned plane 5 enters predetermined recovery zone or receives the recovery command that ground control station 8 sends, airborne computer 2 sends parachute-openings and instructs recovery controller 9, recovery controller 9 receives, decodes and carries out this instruction, and control parachute landing recovery device 4 carries out the parachute-opening action; Recovery controller 9 is opened airborne wireless mobile communication module 10 and radio beacon set 11 simultaneously.
Recovery controller 9 regularly receives the data from Airborne GPS receiver 1, it is carried out decoding processing obtain current longitude, latitude and geographical altitude information and the information such as duty of Airborne GPS receiver 1.The data output format that the Airborne GPS receiver 1 that the concrete form of GPS receiver locator data frame adopts during according to the invention process is provided with determines that particular content can be found in the operation instruction handbook of Airborne GPS receiver.The structural drawing of a typical GPS receiver locator data frame as shown in Figure 4, in each Frame, comprise frame head, verification and, postamble and time, longitude, latitude, highly, east orientation ground velocity, north orientation ground velocity, day to ground velocity, GPS state and out of Memory.
After recovery controller 9 is opened airborne wireless mobile communication module 10, the duty of current longitude, latitude and geographical altitude information, Airborne GPS receiver 1 and the deployed condition coding of parachute landing recovery device 4 are generated recovery locator data frame, and by the 10 outside timed sending of airborne wireless mobile communication module, the transmission cycle is consistent with the output cycle of Airborne GPS receiver 1 data.The structural drawing of recovery locator data frame as shown in Figure 5, have frame head, verification and, postamble and longitude, latitude, highly, subitem such as GPS state and deployed condition, the requirement that the content of subitem is used according to reality is determined, for example: frame head is the sexadecimal number " 55AA " of double byte, the sexadecimal number " EE FF " that postamble is double byte, verification and in the Frame except that frame head, postamble, verification and other all bytes add up and a minimum byte; Longitude, latitude, highly, the GPS state can directly come the copy of the corresponding data section in the Airborne GPS receiver 1 locator data frame, the explanation of corresponding data is by the regulation of Airborne GPS receiver data layout; Do not control parachute landing recovery device 4 when recovery controller 9 and carry out parachute-opening when action, deployed condition is the sexadecimal number " 00 " of byte, and when recovery controller 9 control parachute landing recovery devices 4 carried out the parachute-opening action, deployed condition was the sexadecimal number " 11 " of byte.When Airborne GPS receiver 1 duty just often, transmit current longitude, latitude and height; And unusual when Airborne GPS receiver 1 duty, in the time of can't locating, transmit longitude, latitude and height that last Airborne GPS receiver 1 obtains when working properly.
Reclaiming the locator data frame is delivered on the terrestrial wireless mobile communication module 15 of ground recovery locating device 13 through civilian mobile radio communication net 12, again by therefrom obtaining the current longitude of unmanned plane 5, latitude and geographical height, GPS operation of receiver state and deployed condition information after floor treatment display module 17 decoding processing, and be shown to ground and reclaim personnel.Personnel are reclaimed according to the display message on the ground processes and displays module 17 in ground, judge the state of current unmanned plane 5: when the longitude that receives, latitude and highly substantially no longer change, Airborne GPS receiver 1 duty is for just often, then ground connection and Airborne GPS receiver 1 are still in operate as normal for unmanned plane 5, and going to current display position is recyclable unmanned plane; When the longitude that shows, latitude and highly substantially no longer change, when the duty of Airborne GPS receiver 1 is unusual, then ground connection and Airborne GPS receiver 1 can't operate as normal for unmanned plane 5, the position that show this moment is unmanned plane 5 ground connection place roughly, then can further adopt the radio direction finding (RDF) positioning principle to carry out the recovery location of unmanned plane.As shown in Figure 6, after ground recovery personnel go to this place, select arbitrarily two observation station A and B, on these two points, open radio direction finding equipment 14 at a distance of about 500 meters.Antenna direction is beacon signal strong and weak different of the radio beacon set that detects of radio direction finding equipment 14 11 emissions simultaneously not, and wherein the direction of intensity maximum is orientation, unmanned plane 5 place.Measure the angle (supposing to be respectively α and β) of observation station A and the relative direct north in the last unmanned plane orientation, 5 place of B respectively, reclaim the ground GPS receiver 16 of locating device 13 simultaneously by ground, record longitude and the latitude of observation station A and B.Observation station A and B are marked on the map by its longitude and latitude, cross these two observation stations and make two straight lines by its corresponding orientation angle α and β respectively, the intersection point of these two straight lines is the exact position of unmanned plane ground connection.
When the present invention implements with the second way, as shown in Figure 3, the function of recovery controller 9 is realized by airborne computer 2, it is the subfunction that the function of recovery controller 9 becomes airborne computer 2, after unmanned plane 5 entered predetermined recovery zone or receives the recovery command that ground control station 8 sends, airborne computer 2 control parachute landing recovery devices 4 carried out the parachute-opening action; Airborne computer 2 is opened airborne wireless mobile communication module 10 and radio beacon set 11 simultaneously.Airborne computer 2 regularly receives the data from Airborne GPS receiver 1, it is carried out decoding processing obtain current longitude, latitude and geographical altitude information and the information such as duty of Airborne GPS receiver 1.After airborne computer 2 is opened airborne wireless mobile communication module 10, the duty coding of current longitude, latitude and geographical altitude information and Airborne GPS receiver 1 is generated the recovery locator data, and by the 10 outside timed sending of airborne wireless mobile communication module, the transmission cycle is consistent with the output cycle of Airborne GPS receiver 1 data usually.When Airborne GPS receiver 1 duty just often, transmit current longitude, latitude and height; And unusual when Airborne GPS receiver 1 duty, in the time of can't locating, transmit longitude, latitude and height that last Airborne GPS receiver 1 obtains when working properly.
Reclaiming the locator data frame is delivered on the terrestrial wireless mobile communication module 15 of ground recovery locating device 13 through civilian mobile radio communication net 12, again by therefrom obtaining the current longitude of unmanned plane 5, latitude and geographical height, GPS receiver 1 duty and deployed condition information after floor treatment display module 17 decoding processing, and be shown to ground and reclaim personnel.Personnel are reclaimed according to the display message on the ground processes and displays module 17 in ground, judge the state of current unmanned plane 5: when the longitude that receives, latitude and highly substantially no longer change, Airborne GPS receiver 1 duty is for just often, then ground connection and Airborne GPS receiver 1 are still in operate as normal for unmanned plane 5, and going to current display position is recyclable unmanned plane 5; When the longitude that shows, latitude and highly substantially no longer change, when the duty of Airborne GPS receiver 1 is unusual, then ground connection and Airborne GPS receiver 1 can't operate as normal for unmanned plane 5, the position that show this moment is unmanned plane 5 ground connection place roughly.As shown in Figure 6, after ground recovery personnel go to this place, select arbitrarily two observation station A and B, on these two points, open radio direction finding equipment 14 at a distance of about 500 meters.Antenna direction is beacon signal strong and weak different of the radio beacon set that detects of radio direction finding equipment 14 11 emissions simultaneously not, and wherein the direction of intensity maximum is orientation, unmanned plane 5 place.Measure the angle (supposing to be respectively α and β) of observation station A and the relative direct north in the last unmanned plane orientation, 5 place of B respectively, reclaim the ground GPS receiver 16 of locating device 13 simultaneously by ground, record longitude and the latitude of observation station A and B.Observation station A and B are marked on the map by its longitude and latitude, cross these two observation stations and make two straight lines by its corresponding orientation angle α and β respectively, the intersection point of these two straight lines is the exact position of unmanned plane ground connection.
Claims (3)
1, a kind of middle-size and small-size no-manned machine reclaiming positioning apparatus, comprise that Airborne GPS receiver on the unmanned plane, airborne wireless mobile communication module, recovery controller, parachute landing recovery device and ground reclaims ground GPS receiver, terrestrial wireless mobile communication module, the floor treatment display module of locating device, it is characterized in that: also comprise the radio direction finding equipment that locating device is reclaimed on radio beacon set on the unmanned plane and ground:
Airborne GPS receiver (1) on the unmanned plane (5) sends the GPS locator data to recovery controller (9), and recovery controller (9) will reclaim locator data and send airborne wireless mobile communication module (10) to; The unlatching of recovery controller (9) may command airborne wireless mobile communication module (10) and radio beacon set (11) simultaneously or close also may command parachute landing recovery device (4) parachute-opening or not parachute-opening;
Airborne wireless communication module (10) will reclaim locator data through civilian radio mobile communication network (12) and send to the terrestrial wireless mobile communication module (15) that locating device (13) is reclaimed on ground, terrestrial wireless mobile communication module (15) will reclaim locator data and send floor treatment display module (17) to, be shown to ground and reclaim personnel after floor treatment display module (17) decoding processing;
Ground GPS receiver (16) is measured ground and is reclaimed the current position of locating device (13);
Radio direction finding equipment (14) receives the signal of radio beacon set (11), measures the position angle of the relative ground recovery of signal locating device (13) current location of radio beacon set (11);
Ground is reclaimed locating device (13) and is carried by ground recovery personnel, uses when unmanned plane (5) reclaims.
2, a kind of middle-size and small-size unmanned aircraft parachute descent according to claim 1 reclaims locating device, and it is characterized in that: described recovery controller (9) has two kinds of implementations:
First kind, when recovery controller was present in the whole UAS with the form of independent particle system, the function of recovery controller (9) was by independently single-chip microcomputer or single board computer are realized;
After unmanned plane (5) enters predetermined recovery zone or receives the recovery command that ground control station (8) sends, airborne computer (2) sends parachute-opening and instructs recovery controller (9), recovery controller (9) receives, decodes and carries out this instruction, and control parachute landing recovery device (4) carries out the parachute-opening action; Recovery controller (9) is opened airborne wireless mobile communication module (10) and radio beacon set (11) simultaneously;
Recovery controller (9) regularly receives the data from Airborne GPS receiver (1), it is carried out decoding processing obtain current longitude, latitude and geographical altitude information and the information such as duty of Airborne GPS receiver (1); The concrete form of GPS receiver locator data frame is determined according to the data output format that Airborne GPS receiver (1) is provided with; After recovery controller (9) is opened airborne wireless mobile communication module (10), the duty of current longitude, latitude and geographical altitude information, Airborne GPS receiver (1) and the deployed condition coding of parachute landing recovery device (4) are generated recovery locator data frame, and by outwards timed sending of airborne wireless mobile communication module (10), the transmission cycle is consistent with the output cycle of Airborne GPS receiver (1) data; When Airborne GPS receiver (1) duty just often, transmit current longitude, latitude and height; And unusual when Airborne GPS receiver (1) duty, in the time of can't locating, transmit longitude, latitude and height that last Airborne GPS receiver (1) obtains when working properly;
Reclaiming the locator data frame is delivered on the terrestrial wireless mobile communication module (15) of ground recovery locating device (13) through civilian radio mobile communication net (12), again by therefrom obtaining the current longitude of unmanned plane (5), latitude and geographical height, GPS operation of receiver state and deployed condition information after floor treatment display module (17) decoding processing, and be shown to ground and reclaim personnel;
Personnel are reclaimed according to the display message on the ground processes and displays module (17) in ground, judge the state of current unmanned plane (5): when the longitude that receives, latitude and highly substantially no longer change, Airborne GPS receiver (1) duty is for just often, then ground connection and Airborne GPS receiver (1) are still in operate as normal for unmanned plane (5), and going to current display position is recyclable unmanned plane; When the longitude that shows, latitude and highly substantially no longer change, when the duty of Airborne GPS receiver (1) is unusual, then ground connection and Airborne GPS receiver (1) can't operate as normal for unmanned plane (5), the position that show this moment is unmanned plane (5) ground connection place roughly, then can further adopt the radio direction finding (RDF) positioning principle to carry out the recovery location of unmanned plane;
Second kind, when recovery controller and prior art scheme were merged, the function of recovery controller (9) was finished by airborne computer (2), and promptly the function of recovery controller (9) becomes a subfunction of airborne computer (2);
After unmanned plane (5) entered predetermined recovery zone or receives the recovery command that ground control station (8) sends, airborne computer (2) control parachute landing recovery device (4) carried out the parachute-opening action; Airborne computer (2) is opened airborne wireless mobile communication module (10) and radio beacon set (11) simultaneously;
Airborne computer (2) regularly receives the data from Airborne GPS receiver (1), it is carried out decoding processing obtain current longitude, latitude and geographical altitude information and the information such as duty of Airborne GPS receiver (1); After airborne computer (2) is opened airborne wireless mobile communication module (10), the duty coding of current longitude, latitude and geographical altitude information and Airborne GPS receiver (1) is generated the recovery locator data, and by outwards timed sending of airborne wireless mobile communication module (10), the transmission cycle is consistent with the output cycle of Airborne GPS receiver (1) data usually; When Airborne GPS receiver (1) duty just often, transmit current longitude, latitude and height; And unusual when Airborne GPS receiver (1) duty, in the time of can't locating, transmit longitude, latitude and height that last Airborne GPS receiver (1) obtains when working properly;
Reclaiming the locator data frame is delivered on the terrestrial wireless mobile communication module (15) of ground recovery locating device (13) through civilian radio mobile communication net (12), again by therefrom obtaining the current longitude of unmanned plane (5), latitude and geographical height, Airborne GPS receiver (1) duty and deployed condition information after floor treatment display module (17) decoding processing, and be shown to ground and reclaim personnel;
Personnel are reclaimed according to the display message on the ground processes and displays module (17) in ground, judge the state of current unmanned plane (5): when the longitude that receives, latitude and highly substantially no longer change, Airborne GPS receiver (1) duty is for just often, then ground connection and Airborne GPS receiver (1) are still in operate as normal for unmanned plane (5), and going to current display position is recyclable unmanned plane (5); When the longitude that shows, latitude and highly substantially no longer change, when the duty of Airborne GPS receiver (1) is unusual, then ground connection and Airborne GPS receiver (1) can't operate as normal for unmanned plane (5), the position that show this moment is unmanned plane (5) ground connection place roughly, then can further adopt the radio direction finding (RDF) positioning principle to carry out the recovery location of unmanned plane.
3, a kind of middle-size and small-size unmanned aircraft parachute descent according to claim 1 reclaims localization method, it is characterized in that: airborne wireless mobile communication module (10), civilian radio mobile communication network (12), terrestrial wireless mobile communication module (15), radio beacon set (11) and radio direction finding equipment (14) are located in conjunction with the recovery that is applied to unmanned plane (5);
Utilize airborne wireless mobile communication module (10) to transmit the recovery locating information of unmanned plane (5) by civilian radio mobile communication network (12) radio mobile communication module earthward (15):
Relation between the related equipment is: Airborne GPS receiver (1) exports unmanned plane (5) current GPS positioning data to recovery controller (9); Recovery controller (9) output unlatching or out code are to airborne wireless mobile communication module (10); Recovery controller (9) will reclaim locator data and export airborne wireless mobile communication module (10) to; Airborne wireless mobile communication module (10) will reclaim locator data through civilian radio mobile communication network (12) and be sent to the terrestrial wireless mobile communication module (15) that locating device (13) is reclaimed on ground; The recovery locator data that terrestrial wireless mobile communication module (15) will receive exports floor treatment display module (17) to and carries out decoding and displaying;
In use, after parachute landing recovery device (4) parachute-opening of recovery controller (9) control unmanned plane (5), open airborne wireless mobile communication module (10), and transmit unmanned plane by civilian radio mobile communication network (12) radio mobile communication module earthward (15) and reclaim locating information; After unmanned plane (5) ground connection, if Airborne GPS receiver (1) still can operate as normal, then unmanned plane (5) current location information that obtains of Airborne GPS receiver (1) regularly is transmitted to airborne wireless mobile communication module (10) through recovery controller (9), be sent to terrestrial wireless mobile communication module (15) by civilian radio mobile communication network (12) then, be shown to recovery personnel in ground by floor treatment display module (17);
Standby recovery positioning means in the time of can't operate as normal after utilizing radio beacon set (11) and radio direction finding equipment (14) as Airborne GPS receiver (1) ground connection:
Relation between the related equipment is: recovery controller (9) the output parachute-opening on the unmanned plane (5) controls signal to parachute landing recovery device (4); Recovery controller (9) output unlatching or out code are to radio beacon set (11); Radio beacon set (11) to around transmitting radio beacon signal, the radio direction finding equipment (14) that reclaims locating device (13) through ground receives; Radio direction finding equipment (14) is measured and position angle to the floor treatment display module (17) of output radio beacon set (11) shows;
In use, after parachute landing recovery device (4) parachute-opening of recovery controller (9) control unmanned plane (5), open wireless electricity Radio Beacon (11) to around the transmitting radio beacon signal; After unmanned plane (5) ground connection, if Airborne GPS receiver (1) cisco unity malfunction, the position of beaming back during the last operate as normal of the Airborne GPS receiver (1) that shows by floor treatment display module (17) then, ground recovery personnel utilize radio direction finding equipment (14) to determine unmanned plane (5) earthing position accurately according to the beacon signal of radio beacon set (11) by the method for radio direction finding (RDF) location after arriving near this point.
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