CN102506899A - Ground experiment system for verifying of vision guidance landing algorithm of flight vehicle - Google Patents
Ground experiment system for verifying of vision guidance landing algorithm of flight vehicle Download PDFInfo
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- CN102506899A CN102506899A CN201110355836XA CN201110355836A CN102506899A CN 102506899 A CN102506899 A CN 102506899A CN 201110355836X A CN201110355836X A CN 201110355836XA CN 201110355836 A CN201110355836 A CN 201110355836A CN 102506899 A CN102506899 A CN 102506899A
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Abstract
The invention discloses a ground experiment system for verifying of vision guidance landing algorithm of a flight vehicle. The ground experiment system includes a motion drive platform and a main shaft arranged on the motion drive platform, wherein a battery and electronic equipment are arranged on the motion drive platform; a trace and course motion drive assembly is arranged at the lower end of the motion drive platform; a camera is arranged on the main shaft; a tilt-rotating platform is sleeved on the main shaft; the tilt-rotating and the main shaft are connected through a global hinge; and an attitude motion drive assembly is arranged at the lower end of the tilt-rotating platform. The ground experiment system utilizes the ground experiment equipment to simulate the flying attitude and trace variation of the flight vehicle in the air, so as to verify the vision guidance landing algorithm of the flight vehicle.
Description
Technical field
The present invention relates to a kind of aircraft ground experiment system, relate in particular to the ground experiment system that a cover is used for depopulated helicopter visual guidance landing proof of algorithm.
Background technology
Aircraft flight control implementation is varied, is exactly a kind of control mode of novelty wherein based on the unmanned vehicle independent flight guiding of visual guidance with landing.In aircraft guiding and landing mission; Vision has incomparable advantage: vision sensor and inertance element are combined into vision/inertia combined navigation system; Utilize Kalman filtering that vision measurement result and IMU measurement result are carried out data fusion, can be aircraft guiding Landing Control provides the high precision position attitude to estimate; Estimate that based on the camera motion of monocular vision can guide Landing Control for aircraft provides high precision position attitude estimated value, comprises vehicle rate, linear velocity, attitude angle and relative position (with respect to landing platform).
Unmanned vehicle is because the aircraft platform need not be considered driver safety and comfort problem; Help designs simplification; Can adopt the ideal platform of model plane aircraft as lift-launch of visual guidance landing equipment and proof of algorithm; But because model plane aircraft operating difficulty is relatively large, those skilled in the art are difficult to quick left-hand seat for the moment, have increased the difficulty of researchist for aircraft visual guidance Landing Control proof of algorithm virtually.Have again; Model plane aircraft cost is relatively still somewhat expensive; In case it is also not little to control the improper economic loss that causes, come the skyborne motion change of emulation unmanned vehicle like face mould draft experiment equipment practicably, will reduce to test risk greatly; Reduce technician's operation easier, what help to study carries out smoothly.
General processing mode can adopt 4 to take turns the platform of dolly as lift-launch of visual guidance landing equipment and proof of algorithm.This dolly can be realized turning to through changing the front-wheel direction, but does not possess horizontal locomotivity, and this carries for unmanned vehicle visual guidance landing equipment and the proof of algorithm platform is a significant deficiency.Simultaneously, unmanned vehicle also has the attitude motion variation characteristic aloft, and the attitude motion that traditional dolly can't reproduce unmanned vehicle changes, and is unfavorable for the theoretical research result of ground simulation checking unmanned vehicle visual guidance landing technology.
Summary of the invention
To the problem that exists in the research of aircraft visual guidance landing proof of algorithm; The ground experiment system that the purpose of this invention is to provide a kind of aircraft visual guidance landing proof of algorithm; Utilize native system can verify the visual pattern Processing Algorithm and based on the aircraft of visual pattern guiding landing algorithm; The skyborne sporting flying track of simulated flight device reproduces attitude of flight vehicle and changes the perhaps situation of change of auto-bank unit control surface, can reduce research cost and risk greatly; Shorten research cycle, improve the research precision.
For realizing above-mentioned purpose; Technical scheme of the present invention is: a kind of ground experiment system of aircraft visual guidance landing proof of algorithm; Comprise the motion drives platform and be arranged on the main shaft on the motion drives platform, described motion drives platform is provided with battery and electronic equipment, is provided with track and course motion driven unit in described motion drives platform lower end; Main shaft is provided with video camera; On described main shaft, be arranged with the platform that verts, this verts, and sphere is hinged between platform and the main shaft, is provided with the attitude motion driven unit in the lower end of the platform that verts.
Described spherical hinge is oscillating bearing, and this oscillating bearing is installed in the bearing fixed seat on the platform that verts, and on described main shaft, is arranged with linear bearing, and oscillating bearing and linear bearing are connected.
Described track and course motion driven unit comprise DC servo motor, tachometric survey code-disc, fixed pedestal, wheel and wheel shaft composition; Wheel is fixed on the wheel shaft; Wheel shaft links to each other with fixed pedestal through bearing, and fixed pedestal is fixed on the motion drives platform, and DC servo motor is fixed on the pedestal; The code-disc that tests the speed is fixed on the DC servo motor, and wheel is omnidirectional's wheel.
Described attitude motion driven unit comprises interior cover, overcoat, screw rod and stepper motor; Also be provided with oscillating bearing in interior set upper side, in be set in the overcoat, interior cover is connected with screw flight; Screw rod is connected with stepper motor; Stepper motor is fixed on the overcoat, and the attitude motion driven unit is connected with the platform that verts through the steering wheel engaging lug, is connected with the motion drives platform through the rotating shaft engaging lug.
Vehicle electronic device comprises embedded computer, magnetometer, GPS, ultrasonic transmission device and gyroscope.
The native system upper design has the platform that verts, and is used to reproduce that attitude changes or the auto-bank unit control surface changes, and in its bearing fixed seat oscillating bearing is housed; Oscillating bearing is connected by linear bearing; The bottom is designed with the platform of a support orbiting motion, i.e. motion drives platform, and the main shaft that video camera is installed is fixed on this platform; Limit main shaft through the linear bearing on the platform that verts, guaranteed to vert platform and this platform concentric.
The native system orbiting motion realizes that by the DC servo motor driven unit be installed in below the motion drives platform, driven unit is made up of DC servo motor, tachometric survey code-disc, fixed pedestal, wheel and wheel shaft.Wheel is fixed on the wheel shaft, and wheel shaft links to each other with fixed pedestal through bearing, and fixed pedestal is fixed in the motion drives platform, and DC servo motor is fixed on the fixed pedestal, and the code-disc that tests the speed is fixed on the DC servo motor, and wheel is omnidirectional's wheel.
Attitude or auto-bank unit control surface reproduce by the steering wheel assembly to be realized, is installed on the motion drives platform, is connected with the motion drives platform through the rotating shaft engaging lug; Steering wheel assembly upper end is connected with the platform that verts through engaging lug; The steering wheel assembly is made up of oscillating bearing, interior cover, overcoat, screw rod, stepper motor, and on the cover, interior cover was connected with screw rod in oscillating bearing was fixed in; Interior cover is realized the location through the linear bearing that is fixed in overcoat; Screw rod is connected with stepper motor, realizes the location through the bearing that is fixed in overcoat, and stepper motor is fixed on the overcoat.Through the rotating shaft attachment screw, can realize that the steering wheel assembly swings among a small circle.
The motion control electronic equipment is made up of embedded computer, magnetometer, GPS, ultrasonic transmission device and gyroscope.Embedded computer is used for signals collecting, control law calculates and control output; Drive the motion of DC servo motor and stepper motor; Visual pattern in the camera acquisition motion process obtains correlated characteristic information by the visual pattern Processing Algorithm, carries out data fusion with other signal data that collects; Obtain residing position of aircraft and attitude information, and can reach the Ground Control base station through network.
This experimental system is used for aircraft visual guidance flight landing control system ground experiment; Experimental system has double-deck motion structure; The motion drives platform is the three-degree-of-freedom motion platform; The orbiting motion control and the course attitude that realize experimental system change, and the platform that verts is the two degree-of-freedom motion platform, realize that the attitude motion of aircraft changes.
The invention has the beneficial effects as follows that the motion drives platform and the platform that verts can effectively intuitively reflect the performance index of control algolithm on this experimental system.Adopt the ground simulation mode can effectively reduce the experiment risk, have great help for visual guidance landing proof of algorithm.
Description of drawings
Fig. 1 is the ground experiment system architecture synoptic diagram of aircraft visual guidance landing proof of algorithm of the present invention.
Fig. 2 is motion drives platform motor of the present invention and wheel distribution schematic diagram.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further detailed description.
The present invention is directed to aircraft visual guidance landing proof of algorithm demand; Designed a kind of aircraft visual guidance landing proof of algorithm experimental system that can accomplish on ground; As shown in Figure 1, by main shaft 2, be located at video camera 1, motion drives platform 12, electronic equipment 11 and battery 10 on the main shaft, drive the steering wheel assembly of attitude or control surface motion and the platform 4 that verts that supported by attitude motion driven unit (also claiming the steering wheel assembly) etc. is formed.
The experimental system of design is used to verify aircraft visual guidance landing algorithm, and the motion of experimental system has its function singularity, for this reason; Is experimental system design two layers up and down; Lower floor is to be the motion drives platform 12 of actuating motor with the servomotor, is used to realize the motion of track and course, connects and supports with circular flat board; 4 DC servo motors 20 are installed in circular dull and stereotyped bottom uniformly-spaced (90 degree distribute), and DC servo motor directly drives omnidirectional's wheel 14.Omnidirectional's wheel 14 both can have been realized radial motion, also can realize axial rolling, experimental system not only can be seesawed, but also can carry out side-to-side movement.Rotating speed through control omnidirectional wheel just can Control Experiment System movement velocity and direction.
In motion drives platform 12 trains of mechanism of experimental system; DC servo motor holder 15 is significant components; It not only is fixed in each DC servo motor 20 on the motion drives platform 12, especially the moment of flexure that passes over through wheel 14 on the motor shaft is distributed to motion drives platform 12.
The disk that install at DC servo motor 20 rear portions is tachometric survey code-disc 19, and is as shown in Figure 2.Have the chequered with black and white striped of equally spaced many lattice on the code-disc 19, realize tachometric survey with the optocoupler components and parts.Code-disc is contained in 20 output terminals of DC servo motor, is not installed in wheel 14 ends of experimental system, and such design has certain advantage.Reason is that the experimental system translational velocity is relatively slow, if code-disc is contained in road wheel end, then optocoupler cycle of testing the speed long, frequency is lower, can cause bigger range rate error.DC servo motor 20 uses the 1:50 reduction gear boxes, and code-disc is contained in the motor shaft output terminal, makes the optocoupler frequency that tests the speed improve 50 times, helps reducing range rate error.
The platform that verts drives through the steering wheel assembly, and is as shown in Figure 1.The steering wheel assembly drives through stepper motor 16, and assembly overcoat 9 is connected with stepper motor 16 shells, and screw rod is connected with motor shaft, and its root is equipped with rolling bearing, drives in order to the location.Interior cover 8 and the supporting use of screw rod cooperate with overcoat 9 location through linear bearing.Top linear bearing and bottom rolling bearing have guaranteed cover 8 right alignmenies in the screw rod, and steering wheel is operated steadily.In cover 8 tops spherical plain bearing rod end 7 is housed, in order to the connection platform 4 that verts, the platform 4 of realizing verting verts.
When the platform 4 that verts verted, the steering wheel assembly produced certain inclination angle.For avoiding expansion link stressed, the steering wheel assembly adopts rotating shaft mechanism to be connected with motion drives platform 12, and as shown in Figure 1, steering wheel overcoat 9 roots have the rotating shaft mechanism abutment ring, have thoroughly solved the limited problem of verting.
Experimental system main shaft 2 is fixed on the motion drives platform 12; Main shaft 2 passes the platform 4 that verts through linear bearing 3 and oscillating bearing subassembly; Linear bearing 3 flexibility ratio that platform 4 moves downward that guaranteed to vert; The existence of oscillating bearing makes the platform 4 that verts can reproduce attitude to change, this grip assembly also guaranteed to vert right alignment of platform 4 and motion drives platform 12.
DC servo motor 20 driving governors 11 are installed on the motion drives platform 12 of experimental system, platform 4 motors 16 driving governors 11, embedded Control computing machine, visual pattern process computer, magnetometer, GPS, ultrasonic transmission device, gyroscope and battery supply 10 vert.The vert steering wheel assembly of platform 4 of driving is fixed on the motion drives platform 12 through rotating shaft mechanism rotating shaft attachment screw 17 and rotating shaft engaging lug 18; 3 cover steering wheel assemblies are 90 ° of cross symmetries and install; 4 cover DC servo motor assemblies are 90 ° of cross symmetries equally to be installed, and differs 45 ° of intervals between steering wheel assembly and the DC servo motor assembly.Vision collecting camera 1 is installed on the main shaft, has guaranteed that camera 1 is in the initial point of experimental system coordinate system always when the translation of experimental system track.
The experimental system steering order is come the Self Control base station, and experimental system is accomplished translation all around and rotation under the steering order effect, and vert platform 4 of upper strata reproduces the attitude change informations of aircraft, simulated flight device guiding flight and landing flight thus in real time.When simulated flight device guided procedure, the front and back translation simulated flight device of experimental system flies towards the guiding sign, left and right sides translation simulated flight device crabbing, and simulated flight device course change sways.When simulated flight device landing mission, the front and back translation simulated flight device vertical landing of experimental system flight, left and right sides translation simulated flight device crabbing, the simulated flight device lift-over of swaying changes.Vert platform 4 in aircraft flight guiding landing mission, and attitude of flight vehicle and height change information are reproduced in the variation of simulated flight device pitching all the time, lift-over and height in real time.
Claims (5)
1. the ground experiment system of an aircraft visual guidance landing proof of algorithm; Comprise motion drives platform (12) and be arranged on the main shaft (2) on the motion drives platform; Described motion drives platform (12) is provided with battery (10) and electronic equipment (11); Be provided with track and course motion driven unit in described motion drives platform (12) lower end, main shaft (2) is provided with video camera (1), on described main shaft (2), is arranged with the platform (4) that verts; Sphere is hinged between this platform that verts (4) and the main shaft (2), is provided with the attitude motion driven unit in the lower end of the platform that verts (4).
2. the ground experiment system of aircraft visual guidance landing proof of algorithm according to claim 1; It is characterized in that: described spherical hinge is oscillating bearing; This oscillating bearing is installed in the bearing fixed seat (6) on the platform that verts (4); On described main shaft (2), be arranged with linear bearing (3), oscillating bearing and linear bearing (3) are connected.
3. the ground experiment system of aircraft visual guidance landing proof of algorithm according to claim 1; It is characterized in that: described track and course motion driven unit; Comprise DC servo motor (20), tachometric survey code-disc (19), fixed pedestal (15), wheel (14) and wheel shaft (13) composition, wheel (14) is fixed on the wheel shaft (13), and wheel shaft (13) links to each other with fixed pedestal (15) through bearing; Fixed pedestal (15) is fixed on the motion drives platform (12); DC servo motor (20) is fixed on the pedestal (15), and the code-disc that tests the speed (19) is fixed on the DC servo motor (20), and wheel (14) is omnidirectional's wheel.
4. the ground experiment system of aircraft visual guidance landing proof of algorithm according to claim 1; It is characterized in that: described attitude motion driven unit comprises interior cover (8), overcoat (9), screw rod and stepper motor (16); Also be provided with oscillating bearing (7) in interior cover (8) upper end, interior cover (8) is arranged in the overcoat (9), and interior cover (8) is connected with screw flight; Screw rod is connected with stepper motor (16); Stepper motor (16) is fixed on the overcoat (9), and the attitude motion driven unit is connected with the platform that verts (4) through steering wheel engaging lug (5), is connected with motion drives platform (12) through rotating shaft engaging lug (18).
5. the ground experiment system of aircraft visual guidance landing proof of algorithm according to claim 1 is characterized in that: vehicle electronic device (11) comprises embedded computer, magnetometer, GPS, ultrasonic transmission device and gyroscope.
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| CN106742059A (en) * | 2016-12-28 | 2017-05-31 | 河南工程学院 | Jolt unmanned spacecraft landing simulation platform and method under environment |
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| CN110552966A (en) * | 2019-09-12 | 2019-12-10 | 南京工程学院 | Automatic assembling device for linear bearing |
| CN111127978A (en) * | 2020-01-19 | 2020-05-08 | 南京航空航天大学 | Three-degree-of-freedom flight control experiment table |
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Application publication date: 20120620 |