CN101419461A - Double-mode ground control system for coaxial dual-rotor helidrone - Google Patents
Double-mode ground control system for coaxial dual-rotor helidrone Download PDFInfo
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- CN101419461A CN101419461A CNA2008102268620A CN200810226862A CN101419461A CN 101419461 A CN101419461 A CN 101419461A CN A2008102268620 A CNA2008102268620 A CN A2008102268620A CN 200810226862 A CN200810226862 A CN 200810226862A CN 101419461 A CN101419461 A CN 101419461A
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Abstract
The invention discloses a ground manipulation system for a coaxial dual-rotor unpiloted helicopter. The system comprises a portable manipulation mechanism, a man-simulation machine manipulating mechanism, a manipulation mode switch, a first sensor, a second sensor, a first transmission medium, a second transmission medium, a DGPS apparatus unit, a data collection processing unit, a manipulation feedback unit, a monitoring storage unit, a simulated training unit and remote-control transmission unit. The invention takes the unpiloted helicopter as the remote aim; a fly manipulation operator utilizes manual manipulation and mode switch to accomplish the input of a proportion instruction and a switch instruction in different manipulation modes; and then a back end unit is used for processing so as to form effective uplink information to be transmitted to a remote control transmission apparatus so as to realize the remote control of the unpiloted helicopter or the self-fly guidance of the unpiloted helicopter. The system can be applied to manipulating the unpiloted helicopter in different environments, and the mode switch is flexible; and the system can improve the effectiveness and correctness of the action of ground manipulation manual remote control and shorten the training time.
Description
Technical field
The present invention relates to be used for the double mode ground control system of axle-shared double-rotary wing pilotless helicopter, belong to unmanned remote control system field.
Background technology
1, telecommand system
Axle-shared double-rotary wing pilotless helicopter has vertical takeoff and landing, hovering, the ability of motion all around, by the movement characteristic decision telecommand of fuselage should comprise vertically, laterally, course, total distance, throttle finely tune five tunnel steering orders.Vertically the angle of pitch of steering order control helicopter increases or reduces forward flight speed; Laterally steering order is controlled the pitch angle of helicopter, controlling level transverse velocity; Steering order control heading in course matches with horizontal steering order and finishes the helicopter turning; Total apart from finely tuning the mutual lift of coordinating to adjust helicopter with throttle, fine setting throttle fine setting steering order is adjusted the rotating speed of engine under the situation that total distance is fixed, and then adjusts rotor lift and stablize fuselage.
To import digital quantity and the DGPS corrected signal of remote control during the axle-shared double-rotary wing pilotless helicopter autonomous flight from the longitude of master switcher, flight track point, latitude, height.
2, DGPS positioning system
The DGPS positioning system, promptly differential Global Positioning System (Differential Global Position System) is to utilize differential technique to make the user can obtain higher precision from gps system on the basis of GPS.
In the DGPS system GPS receiver is placed on the point of accurately measuring the position, forms standard station.The standard station receiver is by receiving gps satellite signal, measure and calculate the pseudorange of satellite, pseudorange and known accurate distance are compared, try to achieve this pseudo range measurement error in gps system, again these errors are broadcast in the space by broadcasting platform with standard data format towards periphery as modified value.Near DGPS user receives the error correction information from standard station, revises the GPS measured value of self with this, thereby improves its bearing accuracy greatly.
3, virtual reality technology
Virtual reality (Virtual Reality) is the new and high technology that occurs in recent years.Virtual reality is a meta-synthetic engineering, relate to fields such as computer graphics, human-computer interaction technology, sensing technology, artificial intelligence, it generates sensations such as three-dimensional true to nature is looked, listened, sense of smell with computing machine, make the people pass through appropriate device, naturally virtual world is experienced and reciprocation as the participant.The nucleus equipment of virtual reality system is a computing machine.Its major function is the figure that generates virtual boundary, so be called graphics workstation again.Image display is the crucial peripheral hardware that is used to produce stereoscopic visual effect, and common product comprises light valve glasses, tripleplane's instrument and Helmet Mounted Display etc. at present.Its medium-to-high grade Helmet Mounted Display provides the virtual scene of high resolving power, big field angle, and has stereophone in the shielding real world, can make the people produce strong submergence sense.
When people need construct environment (exaggeration virtual reality) that current non-existent environment (rationally virtual reality), the mankind can not reach or the pure environment of fabricating (illusory virtual reality) of structure when needing costly true environment to replace, just can utilize virtual reality technology.
4, remote measuring and controlling communication system
In the pilotless helicopter system, telemetering and remote control system is one of design key point, guarantees that the telemetering and remote control system steady operation then needs to ensure the unobstructed of remote measuring and controlling link, could carry out Mission Operations by the long-distance remote control depopulated helicopter like this.
The remote measuring and controlling system has a variety of, and data base band modulation system commonly used is PCM; Multiple access technology commonly used is FDMA/DS-CDMA; Carrier modulation mode commonly used is BPSK/QPSK.With certain type pilotless helicopter is example, telechirics adopts PCM-DS-BPSK (Pulse Code Modulation-Direct Spreadspectrum-Binary Phase Shift Keying) communication system, so ground remote control digital coding unit should comprise the PCM modulating unit of remote-control data, the uplink information of formation sends to direct sequence spread spectrum machine unit in the remote transmitter with PCM serial code stream form.
5, ground control's control station and control system
Ground control's control station is called for short " land station ", has important role as the important component part of UAS.Its mission is to detect the state of flight of aircraft and the duty of airborne useful load, makes the terrestrial operation personnel effectively implement control to aircraft and useful load.Its major function comprises that mission planning, flight track show, the observing and controlling parameter shows, image shows and useful load management, system monitoring, data recording and communication and command.
Structured flowchart such as Fig. 1 of the land station 1 of prior art, land station form (land station that has also comprises control and monitor console 5) by control desk 2, guidance station 3 and transmission system 4 these three parts usually.Control desk 2, guidance station 3 and control and monitor console 5 are respectively three computing machines, wherein control desk 2 is finished the overall treatment of remote-control data and telemetry, guidance station 3 is finished resolving of navigation data in the telemetry, control and monitor console 5 is finished the remote-control data that sends and the telemetry of reception is carried out complete monitoring, the three carries out data interaction by ICP/IP protocol 8, transmission system 4 is made up of modulator-demodular unit 6 and transmitter 7, control desk 2 is sent to modulator-demodular unit 6 by udp protocol 9 with remote-control data, encode according to remote control system and host-host protocol through transmitter 7, encrypting and modulate the back is received by airborne remote control receiving equipment, after decoding and the deciphering, drive steering gear system and topworks and finish distant control function.
The core of the ground control system that is applied to no-manned machine distant control 12 of prior art is a computing machine, and the external hardware maneuvering device is simpler, and processing such as the fused filtering of remote-control data adopt software mode to realize usually.The shortcoming of this type systematic is:
(1) the ground controlling input can not be brought into play the driving habits of handling hand to greatest extent, also often needs to remember a large amount of instruction codes, and the training time is long.
(2) system architecture too relies on software implementation, and data processing speed is slow, and real-time is poor.
At present existing part type has man-machine maneuverability pattern transition to more meeting the imitative of manipulation hand driving habits on the ground controlling mode, and adopts more portable maneuvering device to realize that the mode of no-manned machine distant control also is in the exploratory stage.Still do not support at present two kinds or the above ground control system appearance that more meets manipulation hand driving habits.
Summary of the invention
The present invention is in order to solve the problem that existing unmanned aerial vehicle control system exists, a kind of double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter is provided, this double mode ground control system can strengthen pilotless helicopter ground controlling portability of equipment, the sensory faculty of hand is handled in performance to greatest extent, improve the validity and the accuracy of remote control actions, shorten the training time, and improve the real-time and the stability of ground control system data processing.
The double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter comprises portable catanator, imitative man-machine catanator, operating pattern change-over switch, first sensor, second sensor, first transmission medium, second transmission medium, DGPS unit, data acquisition process unit is arranged, handles feedback unit, monitor bit cell, simulated training unit and 13 parts of remote-controlled launch unit.The present invention is remote-control target with the pilotless helicopter, finishes the input of telecommand under the different operating patterns by ground controlling hand operation physical construction and change operating pattern; The positioning error update information of these input data and DGPS unit is carried out processing such as data fusion, smothing filtering in the data acquisition process unit, form effective remote-control data; Handle feedback unit effective remote-control data is carried out the demonstration of image specialty, the remote state of current operating pattern is fed back to the manipulation hand of implementing straighforward operation in real time; Monitor bit cell is finished the information processing computing machine that the remote-control data that current operating pattern is sent down uploads to ground control station synchronously, for upper computer software remote-control data is monitored and real-time storage; Simulated training unit by using virtual reality technology is finished and is handled hand and finish the volume frame and the coding of effective instruction data at the fly simulation training remote-controlled launch unit on ground, sends to the ground remote control transmitter with the form of serial pcm stream.
Manipulation among the present invention and mode switch element have imitative two kinds of man-machine operating pattern and the portable operating patterns that have.Portable operating pattern simulation model plane remote control mode is integrated in all instruction input mechanisms in the handheld device, and this equipment comprises 2 binary miniature push rods, 8 miniature slide switch and 1 transmitting set.The horizontal steering order of the miniature push rod side-to-side movement scalable in left side, the vertical steering order of the scalable that moves up and down; Miniature push rod side-to-side movement scalable course, right side steering order, the scalable that moves up and down collective pitch-throttle control instruction; 8 miniature slide switch are finished driving respectively, are cut-off, remote control is independently changed and other teleswitch steering orders inputs.First transmission medium can adopt wire transmission medium or wireless transmission medium.Wireless receiver in the portable catanator uses when first transmission medium adopts wireless transmission medium, finishes the modulate emission of telecommand.Imitative have man-machine operating pattern simulation have man-machine maneuverability pattern, its catanator comprise the collective pitch-throttle control device, in length and breadth to controller and direction controller.The collective pitch-throttle control device is finished the input function of total distance and throttle, finish the input function of vertical and horizontal in length and breadth to controller, the two manually finishes manipulation by handling hand, and direction controller (course pedal) produces left and course signal to the right for the pressure of pedal by pilot's both feet.The collective pitch-throttle control device, in length and breadth to controller and direction controller can finish vertically, laterally, the course, always finely tune the input of five tunnel steering orders apart from, throttle.Second transmission medium adopts the wire transmission medium.
Data acquisition process of the present invention unit has the portable and imitative structure that man-machine two kinds of operating patterns are arranged of support.It comprises wireless receiver, Acquisition Circuit, first double-port RAM, data handling machine and external interface assembly.Wireless receiver uses when first transmission medium of portable operating pattern adopts wireless transmission medium, finish the demodulate reception of telecommand, Acquisition Circuit is finished at different operating patterns and is given an order, sampling, the data fusion of RTE DATA and DGPS error correction information, and be stored to first double-port RAM, and regularly in data handling machine, finish smothing filtering according to the remote-control data update cycle (50ms) to original sampling data, handle the valid data that the back forms and send to each unit, rear end by the different agreement call format by the external interface assembly.
Manipulation feedback unit of the present invention has the portable and imitative structure that man-machine two kinds of operating patterns are arranged of support.Handling feedback unit can carry out imagery and specialized demonstration to the remote-control data under the current operating pattern on the display device according to current operating pattern, reflects the remote-control data of current operating pattern input in real time.When operating pattern switches, display interface also switches thereupon.
Monitor bit cell of the present invention has the portable and imitative structure that man-machine two kinds of operating patterns are arranged of support.Monitoring and storage unit are finished under different operating patterns the information processing computing machine that instruction and related data with current transmission upload to tracking telemetry and command station synchronously, for upper computer software remote-control data are monitored, and are stored in the mode of file.
Simulated training of the present invention unit has the portable and imitative structure that man-machine two kinds of operating patterns are arranged of support.After forming effective director data by the data acquisition process unit under the different operating patterns, be uploaded to Analogue Training Computer, the simulated training function that can utilize host computer simulated training software or eyes effect solid video picture technology to finish.
Remote-controlled launch unit of the present invention has supports the imitative structure that man-machine and portable two kinds of operating patterns are arranged.Remote-controlled launch unit is finished the volume frame and the coding of effective instruction data under different operating patterns, sends to the ground remote control transmitter with the form of serial pcm stream.Remote-controlled launch unit comprises main remote-controlled launch unit and backup remote-controlled launch unit.Main remote-controlled launch unit comprises data volume frame computing machine, coding circuit, remote transmitter and observing and controlling antenna; The backup remote-controlled launch unit comprises Backup Data volume frame computing machine, backup coding circuit, backup remote transmitter and backup observing and controlling antenna.
The invention has the advantages that:
(1) can be applied under the varying environment the controlling of depopulated helicopter, mode switch is flexible.
(2) can improve the validity and the accuracy of ground controlling hand remote control actions, shorten the training time.
(3) the whole unit of system all realize that by hardware data processing speed is faster.
Description of drawings
Fig. 1 is the land station of prior art and the structured flowchart of control system;
Fig. 2 is the double mode ground control system general structure of a present invention block diagram;
Fig. 3 is portable catanator composition frame chart among the present invention;
Fig. 4 has man-machine catanator composition frame chart for imitating among the present invention;
Fig. 5 is data acquisition process unit composition frame chart among the present invention;
Fig. 6 is remote-controlled launch unit composition frame chart among the present invention.
Among the figure: 1. land station's 2. control desks of prior art
3. guidance station 4. transmission systems 5. control and monitor consoles
6. modulator-demodular unit 7. data radio station 8.TCP/IP agreements
9.UDP agreement 10. hardware panels 11. software panels
12. the control system 14. portable catanators among control system 13. the present invention of prior art
15. imitate man-machine catanator 16. operating pattern change-over switches 17. first sensors are arranged
18. second sensor, 19. first transmission mediums, 20. second transmission mediums
24 simulated training unit, 25. remote-controlled launch units 26. are handled feedback unit
27. information processing computing machine 28. Analogue Training Computers 29. left miniature push rods
30. right miniature push rod 31. miniature slide switch groups 32. transmitting sets
33. collective pitch-throttle control device 34. is in length and breadth to controller 35. port tack controllers
36. starboard tack controller 37. wireless receivers 38. Acquisition Circuit
39. first dual-ported memory, 40. data handling machines, 41. external interface assemblies
42. second dual-ported memory 43. is compiled frame computing machine 44. coding circuits
45. the frame computing machine is compiled in 47. backups of remote transmitter 46. observing and controlling antennas
48. backup coding circuit 49. backup remote transmitters 50. backup observing and controlling antennas
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described.
Fig. 2 is a double mode ground control system general structure block diagram of the present invention.Overall system comprises portable catanator 14, imitating has man-machine catanator 15, operating pattern change-over switch 16, first sensor 17, second sensor 18, first transmission medium 19, second transmission medium 20, DGPS unit 21, data acquisition process unit 22, monitor bit cell 23, simulated training unit 24, remote-controlled launch unit 25 and manipulation feedback unit 26 these 13 parts, double mode ground control system has replaced prior art on function control desk can be realized the repertoire of telechirics, constitutes the important component part of pilotless helicopter ground control station telechirics.
The present invention is remote-control target with the pilotless helicopter, switch the input that operating pattern change-over switch 16 is finished the instruction under the different operating patterns by the ground controlling hand, and the change-over switch amount C of operating pattern change-over switch 16 is input to data acquisition process unit 22.Operating pattern is divided into portable operating pattern and imitates two kinds of man-machine operating patterns.When adopting portable operating pattern, the hand-holdable portable catanator 14 of ground controlling hand produces the pulse signal A of current each the road manipulated variable of reflection.First sensor 17 is selected fax numerical coding sensor for use, and it is output as the digital baseband signal A ' of certain coded system.First transmission medium 19 can adopt the wire transmission medium, as concentric cable or optical fiber etc., or wireless transmission medium, as the electromagnetic wave or the infrared ray of certain modulation system.When adopting the wire transmission medium, the digital baseband signal A ' of first sensor 17 outputs is directly inputted to data acquisition process unit 22 through wire medium; When adopting wireless transmission medium, transmitting set 32 in the portable catanator 14 at first carries out modulate emission with digital baseband signal A ', propagate through wireless transmission medium, the digital baseband signal A ' after 37 pairs of modulation of the wireless receiver of data acquisition process unit 22 carries out demodulate reception.
Imitative when man-machine operating pattern is arranged when adopting, the ground controlling hand can be sitting in the driving cabin of ground control station and handle the imitative man-machine catanator 15 that has, and produces the angle analog quantity B of current each the road manipulated variable of reflection.Second sensor 18 is selected photoelectric figure coding angular transducer for use, and effect is to gather the angle analog quantity B of each road manipulated variable, exports the numerical coding amount B ' of certain coded system.Second transmission medium 20 adopts the wire transmission medium, and as concentric cable or optical fiber etc., B ' is directly inputted into data acquisition process unit 22 with the numerical coding amount.
At portable operating pattern or imitative have under the man-machine operating pattern, input to the digital baseband signal A ' or the numerical coding amount B ' of data acquisition process unit 22 by first transmission medium 19 or second transmission medium 20, change-over switch amount C, the positioning error update information D that DGPS unit 21 produces carries out data fusion in data acquisition process unit 22, form original remote-control data K by the address storage, data handling machine 40 through data acquisition process unit 22 carries out processing such as smothing filtering, forms effective remote-control data E of different agreement call format through external interface assembly 41, F, G and H.
Fig. 3 is portable catanator 1 composition frame chart among the present invention, portable operating pattern simulation model plane remote control mode, all instruction input mechanisms are integrated in the handheld device of being made up of accurate electromechanical assembly, and this device external comprises miniature slide switch group, the transmitting sets 32 of two miniature push rods 29 in a binary left side, right miniature push rod 30 and eight miniature slide switch 31 compositions.The horizontal steering order of the miniature push rod 29 side-to-side movement scalable in a left side increases horizontal steering order left, reduces horizontal steering order to the right; The vertical steering order of the scalable that moves up and down upwards increases vertical steering order, reduces vertical steering order downwards; Right miniature push rod 30 side-to-side movement scalable course steering orders, increase the port tack steering order left, increase the starboard tack steering order to the right, the scalable that moves up and down collective pitch-throttle control instruction, upwards increase the collective pitch-throttle control instruction, reduce the collective pitch-throttle control instruction downwards; Eight miniature slide switch 31 of miniature slide switch group are finished driving respectively, are cut-off, remote control is independently changed and other teleswitch steering orders inputs.
Fig. 4 has a man-machine catanator composition frame chart for imitative among the present invention, this imitative by man-machine catanator 15 by collective pitch-throttle control device 33, form to controller 34, port tack pedal 35 and starboard tack pedal 36 in length and breadth.Collective pitch-throttle control device 33 is finished the input function of total distance and throttle, finished by a pull bar jointly, the angular displacement of pull bar apart from related, has a handle related with throttle adjustment with total on it, pull bar increases the collective pitch-throttle control instruction forward, reduces the collective pitch-throttle control instruction backward; Finish the input of vertical and horizontal in length and breadth to controller 34, produce by a binary push rod, push rod increases vertical steering order forward, reduce vertical steering order backward, increase horizontal steering order left, reduce horizontal steering order to the right, add vertically locking solenoid valve on the pull bar, can produce vertical locking signal.Direction controller comprises port tack pedal 35 and starboard tack pedal 36, produce left and course signal to the right for the pressure of pedal by pilot's both feet, increase port tack pedal 35 pressure and can increase the port tack instruction, increase starboard tack pedal 36 pressure and can increase the starboard tack instruction.
Fig. 5 comprises wireless receiver 37, Acquisition Circuit 38, first double-port RAM 39, data handling machine 40 and external interface assembly 41 for data acquisition process unit 22 composition frame charts among the present invention.The separating to be in harmonious proportion and receive of digital baseband signal A ' when wherein wireless receiver 37 is used under the portable operating pattern first transmission medium 19 and adopts wireless transmission mediums, digital baseband signal A ', numerical coding amount B ', change-over switch amount C and positioning error update information D finish collection in Acquisition Circuit 38.Acquisition Circuit 38 is also finished the fusion treatment to each road image data, form original remote-control data K, and be stored in first double-port RAM 39 by address mode, data handling machine 40 reads the original remote-control data K by the address mode storage in first double-port RAM 39, and according to (50ms) requirement of remote-control data update cycle, in the higher timing interrupt handling routine of data handling machine 40 medium priorities, finish processing such as level and smooth, the filtering of this remote-control data K and interpolation order numbers, form effective remote-control data L.External interface assembly 41 requires that according to the interface protocol of remote-controlled launch unit 25 effective remote-control data L is converted to remote-control data E and sends to remote-controlled launch unit 25, require that according to the interface protocol of monitor bit cell 23 effective remote-control data L is converted to remote-control data F and send to monitor bit cell 23, require that according to the interface protocol of simulated training unit 24 effective remote-control data L is converted to remote-control data G and send to simulated training unit 24, require that according to the interface protocol of handling feedback unit 26 effective remote-control data L is converted to remote-control data H and output in the display device of handling feedback unit 26.The timing interrupt handling routine that data handling machine 40 medium priorities are lower realizes handling the manipulation display algorithm of feedback unit 26.
Handling 26 couples of remote-control data H of feedback unit can be according to current operating pattern, on the display device the effective remote-control data H under the current operating pattern is being carried out imagery and specialized demonstration, the remote state of current operating pattern is being fed back to the manipulation hand of implementing straighforward operation in real time; When operating pattern switches, display interface also switches thereupon.
Remote-controlled launch unit 25 is finished volume frame and the coding of remote-control data E, and remote-control data E is sent to the ground remote control transmitter with the form of serial pcm stream.
Fig. 6 is remote-controlled launch unit 25 composition frame charts among the present invention, and described remote-controlled launch unit 25 comprises second double-port RAM 42, volume frame computing machine 43, coding circuit 44, remote transmitter 45, observing and controlling antenna 46, backup volume frame computing machine 47, backup coding circuit 48, backup remote transmitter 49 and backs up observing and controlling antenna 50.Wherein compile frame computing machine 43, coding circuit 44, remote transmitter 45 and observing and controlling antenna 46 and form main remote-controlled launch unit, backup is compiled frame computing machine 47, backup coding circuit 48, backup remote transmitter 49 and backup observing and controlling antenna 50 and is formed the backup remote-controlled launch unit.When main remote-controlled launch unit operate as normal, the backup remote-controlled launch unit is in idle condition, the remote-control data E of data acquisition process unit 22 stores by the address at second double-port RAM 39, compile frame computing machine 43 and read effective remote-control data E by the address, add frame head synchronously as the foundation of airborne remote-control receiver frame synchronization, add frame number as the Data Update sign, and in the framing process, add check bit, key in each frame instruction adding key and the airborne remote-control receiver in the crypto key memory is compared, and adopts three two error correcting systems of declaring to form parallel telecontrol frame sequence M.The coding circuit 44 telecontrol frame sequence M that will walk abreast converts the frame sequence N of serial pcm stream form to, and frame sequence N is input to remote transmitter 45, through observing and controlling antenna 46 remote-control data is sent to airborne receiving equipment.When main remote-controlled launch unit operation irregularity, can switch to the backup remote-controlled launch unit, backup remote-controlled launch unit principle of work is identical with main remote-controlled launch unit.
Claims (10)
1, be used for the double mode ground control system of axle-shared double-rotary wing pilotless helicopter, it is characterized in that:
Comprise portable catanator (14), first sensor (17), first transmission medium (19), imitative man-machine catanator (15), second sensor (18), second transmission medium (20), operating pattern change-over switch (16), DGPS unit (21), data acquisition process unit (22) arranged, handle feedback unit (26), monitor bit cell (23), simulated training unit (24) and remote-controlled launch unit (25);
The ground controlling hand is selected current operating pattern by operating pattern change-over switch (16), form change-over switch amount C and be input to data acquisition process unit (22), handle portable catanator (14) or imitative pulse signal A or the angle analog quantity B that has man-machine catanator (15) to produce current each the road manipulated variable of reflection, behind first sensor (17) or second sensor (18) capturing and coding, form digital baseband signal A ' or numerical coding amount B ', first transmission medium (19) or second transmission medium (20) are input to data acquisition process unit (22) with digital baseband signal A ' or numerical coding amount B ', DGPS unit (21) also is input to data acquisition process unit (22) with positioning error update information D simultaneously, the remote-control data E of data acquisition process unit (22) output different agreement call format, F, G and H; Wherein remote-control data E is input to the emission that remote-controlled launch unit (25) is finished remote-control data; Remote-control data F is input to monitor bit cell (23), and formation monitor data I finishes the real-time monitoring to control system (13) in information processing computing machine (27); Remote-control data G is input to simulated training unit (24), forms control simulation data J and finish training function on Analogue Training Computer (28); Remote-control data H is input to and handles feedback unit (26), and current operation state image is shown to feed back to the ground controlling hand.
2, the double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter according to claim 1, it is characterized in that: described portable catanator (14) handheld device that accurate electromechanical assembly is formed of serving as reasons, the outside comprises left miniature push rod (29), right miniature push rod (30), 8 miniature slide switch (31) and transmitting set (32).
3, the double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter according to claim 1 is characterized in that: described imitative have man-machine catanator (15) comprise collective pitch-throttle control device (33), in length and breadth to controller (34), port tack pedal (35) and starboard tack pedal (36); Wherein collective pitch-throttle control device (33) is finished the input function of total distance and throttle, finish the input function of vertical and horizontal in length and breadth to controller (34), the two manually finishes manipulation by handling hand, and port tack pedal (35) and starboard tack pedal (36) produce left and course signal to the right for the pressure of pedal by pilot's both feet.
4, the double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter according to claim 1 is characterized in that: described operating pattern is divided into imitative two kinds of man-machine operating pattern and the portable operating patterns that have.
5, the double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter according to claim 1, it is characterized in that: described DGPS unit (21) is as the ground base station of pilotless helicopter positioning system, position that the reception gps satellite signal is measured and our station known location are compared and are tried to achieve positioning error update information D, and this positioning error update information D is inputed to data acquisition unit (22) as correction data.
6, be used for the double mode ground control system of axle-shared double-rotary wing pilotless helicopter according to claim 1 or 5, it is characterized in that: described data acquisition process unit (22) comprises wireless receiver (37), Acquisition Circuit (38), first double-port RAM (39), data handling machine (40) and external interface assembly (41); Digital baseband signal A ', numerical coding amount B ', change-over switch amount C and update information D gather and finish fusion to each road image data through Acquisition Circuit (38), form original remote-control data K, and be stored in first double-port RAM (39) by address mode, data handling machine (40) reads the original remote-control data K that address mode stores that presses in first double-port RAM (39) by the address, and according to the requirement of remote-control data update cycle, in regularly interrupting, finishes high priority level and smooth to this original remote-control data K, filtering and interpolation order number are handled, form effective remote-control data L, and by the different agreement call format remote-control data E is sent to remote-controlled launch unit (25) by external interface assembly (41), remote-control data F is sent to monitor bit cell (23), remote-control data G is sent to simulated training unit (24); Remote-control data H is outputed in the display device of handling feedback unit (26); The timing interrupt handling routine that data handling machine (40) medium priority is lower realizes handling the manipulation display algorithm of feedback unit (26).
7, the double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter according to claim 1, it is characterized in that: described manipulation feedback unit (26) is realized on display device valid data being carried out imagery and specialized demonstration under two kinds of operating patterns, when switching operating pattern, finish the switching of the display mode of corresponding current operating pattern.
8, the double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter according to claim 1 is characterized in that: described monitor bit cell (23) is finished under two kinds of operating patterns the information processing computing machine (27) that instruction and related data with current transmission upload to tracking telemetry and command station synchronously.
9, the double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter according to claim 1, it is characterized in that: described simulated training unit (24) is finished and is utilized virtual reality technology to finish the fly simulation training of manipulation hand on ground under two kinds of operating patterns, and utilization runs on the simulated training software mode on the Analogue Training Computer (28) or utilizes eyes effect solid video picture mode to finish the simulated training function.
10, the double mode ground control system that is used for axle-shared double-rotary wing pilotless helicopter according to claim 1, it is characterized in that: described remote-controlled launch unit (25) is finished the volume frame and the coding of effective instruction data under two kinds of operating patterns, sends to the ground remote control transmitter with the form of serial pcm stream;
Described remote-controlled launch unit (25) comprises main remote-controlled launch unit and backup remote-controlled launch unit, and described main remote-controlled launch unit comprises data volume frame computing machine (43), coding circuit (44), remote transmitter (45) and observing and controlling antenna (46); Described backup remote-controlled launch unit comprises Backup Data volume frame computing machine (47), backup coding circuit (48), backup remote transmitter (49) and backup observing and controlling antenna (50).
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| CN200810226862A CN100587640C (en) | 2008-11-19 | 2008-11-19 | Double-mode ground control system for coaxial dual-rotor unmanned helicopter |
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| CN200810226862A CN100587640C (en) | 2008-11-19 | 2008-11-19 | Double-mode ground control system for coaxial dual-rotor unmanned helicopter |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976498A (en) * | 2010-09-30 | 2011-02-16 | 清华大学 | Double-receiver parallel dynamic parameter model identification system |
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