CN102122173A - Unmanned plane route planning method based on SAR radar imaging - Google Patents
Unmanned plane route planning method based on SAR radar imaging Download PDFInfo
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Abstract
The invention discloses an unmanned plane route planning method based on SAR (Synthetic Aperture Radar) radar imaging, which is used for solving the problem that data of the wind in the air cannot be accurately obtained, the variation of the wind causes that a drift angle of the unmanned plane exceeds limit of an operating angle range in the direction of a SAR radar stable platform, and the radar imaging is influenced. With the method provided by the invention, according to primary wind speed and wind direction data, the minimum number of planning routes is determined based on a relation among the airspeed, the ground speed and the wind, and a working range in the direction of the stable platform, so that the aim of planning a plurality of groups of effective standby routes in advance is implemented; moreover, by the method, capability of the unmanned plane to deal with the variation of the wind in the air can be improved, probability of being prone to making mistakes caused temporarily planning large amount of routes is avoided, flight safety is improved, and simultaneously flight time is saved and efficiency of finishing tasks is improved.
Description
Technical field
The invention belongs to unmanned plane navigational guidance and control field, specifically, be meant a kind of unmanned plane flight course planning method that is applied to unmanned plane at the SAR radar imagery.
Background technology
Airborne synthetic aperture radar (SAR) is the advanced person's that grows up the end of the sixties a radar-probing system.Airborne synthetic aperture radar can not only provide broad supervision spatial domain, the resolution and the Automatic Target Tracking ability of superelevation, and the imaging and the map of near-photographic can also be provided.
Why synthetic-aperture radar is subjected to the very big attention of domestic and international radar circle, its reason be exactly its resolution be that the normal image radar is too far behind to catch up under the same conditions.The resolution of SAR and visible light take a picture what do not differ from, but it has many important advantages than the visible light photograph.The signal that at first is SAR can real-time Transmission and application (as being used for pattern matching guidance), is not subjected to the restriction of night or cloud layer again, is a kind of round-the-clock remote sensing technology; SAR finds also that microwave energy sees through and scenery that the impervious shelter of visible light is blocking, as tank artillery in the forest etc.When being used for pattern matching guidance, except storage has the image information of target, also having a little SAR pickup image on the guided missile, and use with the target image contrast of storage and to reach the guidance purpose.
When SAR radar being carried out the theory and technology analysis, all suppose radar with respect to done the at the uniform velocity translation motion of straight line by the zone of imaging.Can not accomplish this point fully in the practical flight, carrier of radar departs from this ideal state always more or less.SAR radar has strict requirement to the state of flight of carrier aircraft, and carrier aircraft remains level, straight line, flies at a constant speed in the process of work, and keeps the stable of carrier aircraft flight attitude simultaneously.Because the influence of air-flow and the restriction of carrier aircraft performance, in fact the state of flight of carrier aircraft can not reach the requirement of harshness like this, always departs from the nominal course line more or less and rotates, and promptly produces kinematic error.The kinematic error of carrier aircraft can be divided three classes: 1) carrier aircraft departs from the angular error of ideal pose, 2) carrier aircraft departs from the translation error of Desired Track, 3) carrier aircraft is along the velocity error of Desired Track.The main effect of stable platform is exactly the angular motion of isolating carrier aircraft, makes controlling antenna wave beam to point stable, eliminates the influence that carrier aircraft course and attitude change, and provides simultaneously that carrier aircraft departs from the translation error of Desired Track and along the speed of Desired Track.
According to different requirements to the resolution and the operating distance of image, the SAR radar generally has multiple mode of operation: pack irradiation mode, band irradiation mode, ground moving target imaging pattern, relevant change-detection pattern etc., because the image-forming principle of SAR radar, it becomes image is that a band and a band are spliced, unmanned plane need carry out the complete image that parallel reciprocal flight could obtain the task imaging area, and therefore the amount of the course line destination number of planning is all bigger in advance.
Stable platform has reduced the SAR radar to a certain extent to carrier aircraft motion and the stable harsh requirement of flight attitude, but in concrete the application, owing to be subjected to stable platform influence to working range in pitching, roll and orientation, when carrying out height-lock control, if occur bigger wind in the air, exceed the working range of stable platform, will cause the SAR radar to work, can not finish the work, cause mission failure.Such as generally speaking, the stability requirement of aircraft self all can be satisfied the working range of SAR stable platform, attitude stabilization precision (mean square deviation) as certain unmanned plane is: pitching＜2 °, roll＜2 °, course＜3 °, the SAR stable platform working range of its loading is: the angle of pitch ± 8 °, roll angle ± 70 °, position angle ± 18 °.If under quiet landscape condition, the air speed of this unmanned plane and ground velocity overlap, and plane nose points to course-and-bearing, and the SAR radar can operate as normal, and as shown in Figure 1, this moment, the requirement that the unmanned plane of SAR radar imagery is executed the task to imaging target area can be satisfied in this group course line; If normal value wind (wind speed is arranged in the air, wind direction keeps wind within the specific limits), because vertically general the employing decided high control, stablizing of the angle of pitch is no problem, and the roll angle scope of stable platform is very big, also no problem, if aircraft right on the course adopt be course angle control rather than flight-path angle control the time, then because the anemotropism effect of course angle control, aircraft is along airline operation, but its head will depart from the preset flight path direction, and wind is big more, and it is just big more that head departs from flight path, as shown in Figure 2, because the existence of south wind causes air speed and ground velocity to have an angle, promptly head departs from the angle of flight path, be also referred to as drift angle, when orientation that this drift angle surpasses SAR radar stable platform during to working range, the SAR radar is normally imaging just, can't operate as normal, at this moment, the requirement of SAR radar imagery can not have been satisfied in this group course line.
A kind of method that solves is to obtain to execute the task the weather data that wind speed and direction on the time period cruising altitude distributes in advance, can plan the one group of course line that adapts to aerial wind facies in advance according to wind speed and direction like this, reduce drift angle, evaded this problem, the prerequisite of this method is to obtain weather data very accurately before flight, if the weather data of can not get or weather prognosis are wrong, this method has just lost meaning; Another kind method is can not meet the demands in this group course line of finding to have planned the time, flight course planning personnel plan that in real time another group can adapt to the course line of wind speed and direction at that time, this method needs unmanned plane need possess the function of real-time flight course planning, in addition, because the imaging characteristic of SAR radar, the course line of planning is many parallel course lines, the destination data volume is big, so the planning amount is also big, and is not only consuming time, under high-strung situation, also make mistakes easily, bring hidden danger to flight safety.
Summary of the invention
The objective of the invention is in order to solve the defective of above-mentioned two kinds of methods, propose a kind of unmanned plane flight course planning method, utilize this method, can tackle the variation of aerial wind speed and direction flexibly based on the SAR radar imagery, more help the SAR radar and finish the work, the raising task is finished efficient.
A kind of unmanned plane flight course planning method based on the SAR radar imagery comprises following step:
Step 1: obtain preliminary wind speed and direction;
According to the tentative prediction of airport meteorological department, the wind speed V on the flying height of acquisition unmanned plane execution imaging task
wWith wind direction Ψ
w, this wind should satisfy Safety of Flight Requirements in the wind loading rating scope of unmanned plane;
Step 2: obtain minimum planning course line number;
With wind speed V
wBe decomposed into vertical component and horizontal component along the course line, obtain the drift angle of unmanned plane, with drift angle and SAR stable platform orientation to working range compare, determine the minimum course line number of needs planning according to result relatively;
Step 3: determine to carry out enroute area, finish flight course planning;
According to the restrictive condition in the area of executing the task, determine enroute area, promptly aircraft is carried out the fly able zone of imaging task, then according to the imaging task requirement of assigning, utilizes flight course planning software or manually carries out the destination layout, finishes flight course planning.
The advantage based on the unmanned plane flight course planning method of SAR radar imagery that the present invention proposes is:
(1) be applicable to the unmanned plane that has loaded the SAR radar system, the stable platform orientation that particularly has a SAR radar system to the situation of working range restriction, can improve unmanned plane and tackle the ability that aerial wind changes, save the flight time, the raising task is finished efficient;
(2) at can not accurately obtaining wind speed, wind direction weather prognosis data conditions, can before taking off, carry out sufficient planning and preparation, avoid causing the possibility of easily makeing mistakes,, improve flight safety for aircraft flight provides safeguard because of a large amount of course lines of interim planning.
Description of drawings
Fig. 1 is the unmanned plane during flying route map of SAR radar imagery under the quiet landscape condition in the background technology;
Fig. 2 is the unmanned plane during flying route map that SAR radar imagery under the landscape condition is arranged in the background technology;
Fig. 3 is the synoptic diagram that apoplexy of the present invention is decomposed at course-and-bearing;
Fig. 4 is a method flow diagram of the present invention;
Fig. 5 is that to count N be 2 o'clock planning synoptic diagram in the minimum planning of the present invention course line;
Fig. 6 is that to count N be 4 o'clock planning synoptic diagram in the minimum planning of the present invention course line;
Fig. 7 is that to count N be 8 o'clock planning synoptic diagram in the minimum planning of the present invention course line;
Fig. 8 is the planning synoptic diagram that the present invention is applied to certain certain imaging task of unmanned plane;
Embodiment
Below in conjunction with example and accompanying drawing the present invention is described in further detail.
Fig. 3 is the synoptic diagram that wind decomposes at course-and-bearing, below in conjunction with Fig. 3 thinking of the present invention is described.As shown in Figure 3, at first utilize air speed V
k, ground velocity V
d, wind speed V
wRelation, i.e. ground velocity V
dBe wind speed V
wWith air speed V
kVector and, with wind speed V
wDecompose along course-and-bearing, be divided into vertical component V
W1With horizontal component V
W2, vertical component V
W1Size directly influenced the degree that plane nose departs from the flight path direction, therefore according to V
W1With air speed V
kObtain drift angle α, if drift angle α in the orientation of SAR radar stable platform in working range, then the SAR radar can imaging work; Otherwise the SAR radar can not imaging work.
A kind of unmanned plane flight course planning method based on the SAR radar imagery provided by the invention, flow process realize by following step as shown in Figure 4:
Step 1: obtain preliminary wind speed and direction;
According to the tentative prediction of airport meteorological department, the wind speed V on the flying height of acquisition unmanned plane execution imaging task
wWith wind direction Ψ
w, this wind should satisfy Safety of Flight Requirements in the wind loading rating scope of unmanned plane;
Step 2: obtain minimum planning course line number;
With wind speed V
wBe decomposed into vertical component and horizontal component along the course line, utilize wind speed, ground velocity and air speed three's relation, calculate the drift angle of unmanned plane under the wind effect, compare to working range with the SAR radar bearing, determine the minimum course line number that needs are planned according to the size of fiducial value, specifically comprise following two steps:
(a) at first wind speed is decomposed into vertical component and horizontal component along east-west direction course line and North and South direction course line, as shown in Figure 5, the east-west direction course line represents with positive north orientation angle to be one group of course line (being included in the course line group in parallel of imaging target area symmetric position) of 90 ° or 270 °; The North and South direction course line represents with positive north orientation angle to be one group of course line (being included in the course line group in parallel of imaging target area symmetric position) of 0 ° or 180 °, obtains two components of wind speed according to (1) formula and (2) formula;
V
11＝|V
wcos(Ψ
w)| (1)
V
12＝|V
wsin(Ψ
w)| (2)
Wherein, V
wExpression wind speed size, unit is m/s, Ψ
wExpression wind direction, unit be °, when decomposing in the east-west direction course line, and V
11Be vertical component, V
12Be horizontal component; When decomposing in the North and South direction course line, V
11Be horizontal component, V
12Be vertical component;
With V
11And V
12In the smaller give V
⊥, i.e. V
⊥=min (V
11, V
12), can obtain corresponding drift angle α according to (3) formula:
α＝arcsin(V
⊥/V
k) (3)
Wherein, α represents drift angle, and unit is °; V
kThe expression air speed, unit is m/s;
If α satisfies (4) formula:
β-α≥2° (4)
Wherein: β represents SAR stable platform orientation to working range, promptly ± and β °;
It is 2 groups that N is counted in the minimum course line that then needs to plan, promptly east-west direction course line and North and South direction course line go to step 3; If do not satisfy (4) formula, then go to (b);
(b) similar with step (a), as shown in Figure 6, wind speed is decomposed into vertical component and horizontal component along 135 ° of direction course lines and 45 ° of direction course lines, wherein 135 ° of direction course lines represent with positive north orientation angle to be one group of course line (being included in the course line group in parallel of imaging target area symmetric position) of 135 ° or 315 °, and 45 ° of direction course lines represent with positive north orientation angle to be one group of course line (being included in the course line group in parallel of imaging target area symmetric position) of 45 ° or 225 °; Obtain two components of wind speed respectively according to (5) formula and (6) formula:
V
21＝|V
wcos(Ψ
w+135)| (5)
V
22＝|V
wsin(Ψ
w+135)| (6)
Wherein: when when wind speed decomposes along 135 ° of direction course lines, V
21Be vertical component, V
22Be horizontal component, when when wind speed decomposes along 45 ° of direction course lines, V
21Be horizontal component, V
22Be vertical component; With V
21And V
22In the smaller give V
⊥, i.e. V
⊥=min (V
21, V
22), calculate α according to (3), and with β relatively, if satisfy (4) formula, it is 4 groups that N is counted in the course line that then needs to plan, promptly east-west direction course line, North and South direction course line, 135 ° of direction course lines and 45 ° of direction course lines go to step 3; If still do not satisfy (4) formula, no longer continue down planning, because need the course line of planning to be at least 8 groups on the one hand, as shown in Figure 7, the planning amount increases a lot, and the wind speed and direction under this height is unfavorable for flight safety very much on the other hand, the suggestion change flying height or the change departure time, restart planning from step 1, to obtain less course line number.
Step 3: determine to carry out enroute area, finish flight course planning;
According to the restrictive conditions such as regional geography, spatial domain of executing the task, determine enroute area, promptly aircraft is carried out the fly able zone of imaging task, is location, solid line course line or location, dotted line course line; Then according to the imaging task requirement of assigning, as image-forming range, track spacing, finish subject etc., utilize existing flight course planning software or manually carry out the destination layout, finish flight course planning.
Embodiment:
Below further specify flight course planning method provided by the invention by specific embodiment and data.
The present invention is applied to the flight course planning of certain type unmanned plane, the orientation of the SAR radar stable platform that this unmanned plane loads is ± 22 ° to working range, i.e. β=22 °, its certain once carry out imaging task flying height be 4000m, air speed is 40m/s, realizes that concrete steps of the present invention are:
Step 1: tentatively determine wind speed and direction;
Owing to the restriction of airport meteorological department condition, can't obtain the data of the high-rise wind of 4000m at that time, the forecast of meteorological department is: the wind speed 25m/s of 3000m high level, 138 ° of wind directions, and, estimate that the wind direction of 4000m high level can change to some extent according to the Seasonal Characteristics of this area's wind, wind speed changes little; Situation according to weather report, the high-rise wind speed of 3000m satisfies Safety of Flight Requirements in the wind loading rating scope of unmanned plane, therefore earlier carry out flight course planning based on the data according to 3000m wind, determines V
w=25m/s, Ψ
w=138 °;
Step 2: determine the minimum planning of planning course line number;
The relative course-and-bearing of wind speed is decomposed into vertical component and horizontal component, obtain track deviation angle, and will be worth with SAR stable platform orientation to working range compare, the minimum course line number according to result relatively determines needs planning specifically comprises two steps:
(a) wind is decomposed into vertical component and horizontal component along east-west direction course line and North and South direction course line, obtains corresponding vertical component respectively according to formula (1) and (2); Wherein the east-west direction course line represents with positive north orientation angle to be one group of course line of 90 ° or 270 °, and the North and South direction course line represents with positive north orientation angle to be one group of course line of 0 ° or 180 °;
V
11＝|V
wcos(Ψ
w)|＝18.58m/s
V
12＝|V
wsin(Ψ
w)|＝16.7m/s
With V
11And V
12In the smaller give V
⊥, i.e. V
⊥=min (V
11, V
12)=16.7m/s can obtain corresponding drift angle α according to formula (3):
α＝arcsin(V
⊥/V
k)＝24.7°
Then according to (4) formula:
β-α＝-2.7°
Do not satisfy the requirement of (4) formula, go to step (b);
(b) similar with step (a), wind is decomposed into vertical component and horizontal component along 135 ° of direction course lines and 45 ° of direction course lines, obtain corresponding vertical component respectively according to (5) formula and (6) formula:
V
21＝|V
wcos(Ψ
w+135)＝1.31m/s
V
22＝|V
wsin(Ψ
w+135)|＝24.97m/s
With V
21And V
22In the smaller give V
⊥, i.e. V
⊥=min (V
21, V
22)=1.31m/s obtains α according to (3):
α＝arcsin(V
⊥/V
k)＝1.2°
According to (4) formula:
β-α＝20.8°
Satisfy the requirement of (4), need then to determine the course line of planning to count N=4 group, i.e. east-west direction course line, North and South direction course line, 135 ° of direction course lines and 45 ° of direction course lines;
Step 3: determine to carry out enroute area, finish flight course planning;
Because the zone in the south of imaging target area is the urban district, the east southeast face is being declared outside the spatial domain, therefore carries out the solid line enroute area in the solid line enroute area that enroute area is course line, thing course, the solid line enroute area in North and South direction course line, 135 ° of direction course lines, the dotted line enroute area in 45 ° of direction course lines; Requirement according to imaging task utilizes existing flight course planning software or manually carries out the destination layout then, finishes flight course planning.
The enroute chart that Fig. 8 is planned for this flight course planning method of application, four groups of course lines comprise 43 destinations for every group, all be bound into four groups of course lines in the flight control computer before taking off, earlier default the 2nd group of course line (the solid line enroute areas in 135 ° of direction course lines) is target pattern, and whether the back of taking off arrives task height and change according to the situation decision of aerial wind; When unmanned plane arrives 3500m, wind speed changes little, but wind direction has some changes, roughly parallel with east-west direction, so the operator is replaced by the 1st group of course line with target pattern, when unmanned plane climbs 4000m, wind direction is basic parallel with the east-west direction course line, so just make can be in its restricting condition for use normal imaging work of SAR radar,, guaranteed that this time imaging task is in time successfully finished owing in time adjusted the task course line.
Claims (4)
1. the unmanned plane flight course planning method based on the SAR radar imagery is characterized in that, comprises following step:
Step 1: obtain preliminary wind speed and direction;
According to the tentative prediction of airport meteorological department, the wind speed V on the flying height of acquisition unmanned plane execution imaging task
wWith wind direction Ψ
w, this wind should satisfy Safety of Flight Requirements in the wind loading rating scope of unmanned plane;
Step 2: obtain minimum planning course line number;
With wind speed V
wBe decomposed into vertical component and horizontal component along the course line, obtain the drift angle of unmanned plane, with drift angle and SAR stable platform orientation to working range compare, determine the minimum course line number of needs planning according to result relatively;
Step 3: determine to carry out enroute area, finish flight course planning;
According to the restrictive condition in the area of executing the task, determine enroute area, promptly aircraft is carried out the fly able zone of imaging task, then according to the imaging task requirement of assigning, utilizes flight course planning software or manually carries out the destination layout, finishes flight course planning.
2. a kind of unmanned plane flight course planning method based on the SAR radar imagery according to claim 1 is characterized in that described step 2 specifically comprises following step:
(a) wind speed is decomposed into vertical component and horizontal component along east-west direction course line and North and South direction course line, according to two components of (1) formula and (2) formula acquisition wind speed;
V
11＝|V
wcos(Ψ
w)| (1)
V
12＝|V
wsin(Ψ
w)| (2)
Wherein, V
wExpression wind speed size, unit is m/s, Ψ
wExpression wind direction, unit be °, when decomposing in the east-west direction course line, and V
11Be vertical component, V
12Be horizontal component; When decomposing in the North and South direction course line, V
11Be horizontal component, V
12Be vertical component;
With V
11And V
12In the smaller give V
⊥, i.e. V
⊥=min (V
11, V
12), can obtain corresponding drift angle α according to (3) formula:
α＝arcsin(V
⊥/V
k) (3)
Wherein, α represents drift angle, and unit is °; V
kThe expression air speed, unit is m/s;
If α satisfies (4) formula:
β-α≥2° (4)
Wherein: β represents SAR stable platform orientation to working range, promptly ± and β °;
It is 2 groups that N is counted in the minimum course line that then needs to plan, promptly east-west direction course line and North and South direction course line go to step 3; If do not satisfy (4) formula, then go to (b);
(b) wind speed is decomposed into vertical component and horizontal component along 135 ° of direction course lines and 45 ° of direction course lines, obtains two components of wind speed according to (5) formula and (6) formula respectively:
V
21＝|V
wcos(Ψ
w+135)| (5)
V
22＝|V
wsin(Ψ
w+135)| (6)
Wherein: when when wind speed decomposes along 135 ° of direction course lines, V
21Be vertical component, V
22Be horizontal component, when when wind speed decomposes along 45 ° of direction course lines, V
21Be horizontal component, V
22Be vertical component; With V
21And V
22In the smaller give V
⊥, i.e. V
⊥=min (V
21, V
22), calculate α according to (3), and with β relatively, if satisfy (4) formula, it is 4 groups that N is counted in the course line that then needs to plan, promptly east-west direction course line, North and South direction course line, 135 ° of direction course lines and 45 ° of direction course lines go to step 3; If still do not satisfy (4) formula, the change flying height or the change departure time, return step 1 and restart planning.
3. a kind of unmanned plane flight course planning method according to claim 2 based on the SAR radar imagery, it is characterized in that, it is one group of course line of 90 ° or 270 ° that described east-west direction course line is represented with positive north orientation angle, is included in the course line group in parallel of imaging target area symmetric position; It is one group of course line of 0 ° or 180 ° that the North and South direction course line is represented with positive north orientation angle, is included in the course line group in parallel of imaging target area symmetric position.
4. a kind of unmanned plane flight course planning method according to claim 2 based on the SAR radar imagery, it is characterized in that, it is one group of course line of 135 ° or 315 ° that described 135 ° of direction course lines are represented with positive north orientation angle, is included in the course line group in parallel of imaging target area symmetric position; It is one group of course line of 45 ° or 225 ° that 45 ° of direction course lines are represented with positive north orientation angle, is included in the course line group in parallel of imaging target area symmetric position.
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