CN102707306A - Combined navigation method applicable to unmanned aerial vehicle in glide landing stage - Google Patents
Combined navigation method applicable to unmanned aerial vehicle in glide landing stage Download PDFInfo
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Abstract
The invention provides a combined navigation method applicable to an unmanned aerial vehicle in a glide landing stage, and aims to provide a combined navigation method which is low in cost and simple in engineering implementation. According to the technical scheme, the method comprises the following steps of: (1) in an airport for glide test or flying, inputting a precise positioning measurement data point serving as reference data into calculation software of a differential global positioning system (GPS) ground station; (2) when an onboard differential GPS antenna receives GPS signals of three or more satellites, intersecting a position information coordinate of the unmanned aerial vehicle by the onboard differential GPS antenna, correcting the coordinate information of the unmanned aerial vehicle, which is measured by the onboard differential GPS antenna in real time, according to pseudo-range information emitted by the differential GPS ground station in real time, and eliminating a common error; and (3) sending the corrected coordinate information of the real-time position of the unmanned aerial vehicle to an independent inertia navigation system on an airplane through an RS232 signal, correcting state data such as the position, the speed and the attitude angle of the airplane, which are measured by the inertia navigation system in real time, by the inertia navigation system, sending the precise position information to a flying control computer through RS422, and performing precise control over glide landing of the airplane.
Description
Technical field
The present invention relates to the Combinated navigation method of a kind of unmanned plane in the glide landing stage.
Background technology
The glide landing stage is that unmanned plane is controlled automatically, the most key sport technique segment in the autonomous landing, and precise navigation and guidance system are the important assurances that unmanned plane is realized the automatic safe landing.The landing guidance method and apparatus of research precise and safety always is an important field of research of aeronautical chart.
The prior art instrument landing system (ILS) is that the instrumented data that the pilot relies on aircraft to install in the aircraft glide landing stage is operated aircraft; But unmanned plane has unpiloted characteristics, so use needs when traditional instrument landing system (ILS) can not satisfy unmanned plane glide landing.Microwave landing system (MLS) is the huge system of a cover, generally is to be based upon in the fixing airport, and construction cost is expensive, generally needs millions of dollars of cost.Unmanned plane has relative low price, needs often transition, and equipment sets up does not need fixed-site, and the characteristics on the regular airport of not fixing are so microwave landing system (MLS) can not be given full play to the characteristics of unmanned plane in dirigibility.Make a general survey of the Landing Guidance System that in the past used both at home and abroad in guidance system, bootstrap technique commonly used has two kinds of instrument landing system (ILS) and microwave landing system (MLS)s, and these two kinds of Landing Guidance Systems can both satisfy the approach requirement of aircraft; But exist precision low, reliability is relatively poor relatively, costs an arm and a leg; System is huge; Can not satisfy the unmanned plane high reliability, high precision, the requirement of cheap, frequent transition etc.
(Global Positioning System when GPS) utilizing Navsat to survey and range finding, has the new generation satellite navigation positioning system of comprehensive real-time three-dimensional navigation and station-keeping ability in sea, land and sky to Global Positioning System (GPS).Confirm the method for some position according to finding range in the surveying to cross, utilize the GPS receiver to receive the information of three above satellite transmissions simultaneously, topocentric three-dimensional coordinate crosses.Gps satellite sends two kinds of sign indicating numbers at present: thick catch code (C/A sign indicating number) and smart sign indicating number (P sign indicating number).The C/A sign indicating number is civilian, and the P sign indicating number is the encrypted code that is limited to the user's use that supplies U.S. army and allied forces and U.S. government's approval.Our present using system utilizes the C/A yardage to calculate the location, and single-point horizontal location precision is 10 m, the request for utilization when such precision can not satisfy unmanned plane glide landing.GPS (GPS) error occurs inevitably in the transmission of signal and receiving course; These errors can be divided into systematic error and accidental error according to its character, and wherein systematic error is still all much bigger than accidental error to the influence of positioning result from its size.Systematic error is to have certain rules to follow, and for those receiver users and the common error of base station, is eliminated or obviously minimizing through differential mode.Differential GPS (DGPS) is that using at present the widest is the pseudo range difference technology; Its principle of work is that the pseudorange error that subscriber station utilizes the base station of known location coordinate to obtain is come the pseudorange of calibration oneself; Utilize the pseudorange after correcting to solve position own; Just can eliminate common error, improve bearing accuracy.
Inertial navigation system (INS) is a kind of autonomous navigational system fully; This system's energy measurement goes out the location positioning that carrier comprises height; It is to measure flying height through the linear acceleration of survey aircraft vertical ground motion; This system has and does not rely on advantages such as external information, good concealment, radiation resistance be strong, round-the-clock, is the important navigator that multiple navigational parameter can be provided in the airborne equipment.But its positioning error accumulates in time; First navigation hour (CEP) under the state that normal compass is aimed at of its bearing accuracy is 1.5 nautical miles; Navigate six hours be 6 nautical miles, well below the bearing accuracy (1m) of differential global positioning system, the error of the back accumulation of working long hours is increasing; Make inertial navigation system should not do remote guidance, accurate positional information can't be provided for the glide landing of unmanned plane.Differential global positioning system has higher navigation accuracy; But this system can not provide like navigational parameters such as attitude of carrier, and when flight is used on the carrier, because the motion of automobile of carrier; Often make receiver be difficult for catching the carrier signal with tracking satellite, even the signal losing lock to having followed the tracks of.
Kalman (Kalman) filtering is a kind of linear recursion minimum variance estimate; Algorithm has recursion property; User mode space law designing filter in time domain; Be suitable for multidimensional stochastic process (stably, non-stationary) is estimated to have continuously and discrete two types of algorithms, be convenient to realize on computers.The develop rapidly of Along with computer technology, the Kalman filtering theory is widely used in every field as a kind of most important estimation theory, and the design of integrated navigation system is that it uses a more successful aspect.
Summary of the invention
The objective of the invention is weak point to above-mentioned prior art existence; A kind of high precision is proposed, low price, Project Realization is simple; Inertial navigation system is independent, and what do not receive the Kalman filter effects is applicable to the Combinated navigation method of unmanned plane in the glide landing stage.
The technical solution adopted for the present invention to solve the technical problems is: a kind of unmanned plane is at the Combinated navigation method in glide landing stage, and its characteristic comprises the steps:
(1) take off or slide the airport at unmanned plane, selected accurate localization measurement data points is with the longitude of this data point; Latitude, altitude information are as reference data, and input difference GPS land station resolves in the software; To obtain pseudorange, the transmission antennas transmit pseudorange information of differential GPS land station;
(2) with being loaded on the airborne differential GPS antenna on the unmanned plane, when receiving three or above Satellite GPS signal, the positional information coordinate of the aircraft location that crosses solves the real position coordinates of unmanned plane.Airborne differential GPS radio station is modified to the coordinate information of unmanned plane glide landing in real time with the pseudorange information of the differential GPS land station emission that receives;
(3) airborne differential GPS antenna sends to the real position coordinates of the unmanned plane that solves through one road RS232 and is installed on the aircraft independently inertial navigation system.The aircraft-position information data that GPS is recorded; The INS data sync that obtains through the mechanics layout time domain Kalman wave filter of making a gift to someone; State variables such as one group of position that will obtain after treatment, speed, attitude angle; Revise the aircraft-position information of inertial navigation system actual measurement; Inertial navigation system sends to the flight-control computer of unmanned plane with status datas such as the position of revised unmanned plane, speed, attitude angle through one road RS422 again, flight-control computer according to accurate unmanned plane position, speed, attitude angle data message to unmanned plane glide landing channeling conduct.
The present invention has following beneficial effect than prior art.
The characteristics that the present invention is complementary according to the navigation feature of inertial navigation system and differential global positioning system; Autonomous fully inertial navigation system and high-precision differential global positioning system are formed integrated navigation system combination becoming differential GPS/INS integrated navigation system; Guiding unmanned plane glide landing improves the overall navigation precision, navigation performance of system, the ability of aiming at and aiming in the air.The GPS receiver can improve and catch, follows the tracks of and capture ability down the auxiliary of inertial navigation position and velocity information, and at satellite distribution condition difference or it is thus clear that the excessive remarkable advantage of the unlikely decline of navigation accuracy under the few situation of star.The bearing accuracy of differential global positioning system reaches 1m; Improved the bearing accuracy of inertial navigation system; The invention solves unmanned plane in the precise navigation in glide landing stage and the problem of guiding, important assurance is provided, guaranteed the safety of unmanned plane in the glide landing stage for the unmanned plane automatic safe lands; Improved the reliability of whole UAS; And more traditional air navigation aid has high reliability, and high precision is cheap, can satisfy the often specific (special) requirements of transition etc. of UAS needs.
Description of drawings
Below in conjunction with accompanying drawing and embodiment present technique is further specified.
Fig. 1 is the composition structural representation of differential GPS of the present invention/INS integrated navigation system.
Embodiment
Consult Fig. 1.Introduce the embodiment of differential GPS/INS integrated navigation system in conjunction with certain type unmanned plane.The airborne differential global positioning system of one cover is installed on certain type unmanned plane; One cover is autonomous inertial navigation system and flight-control computer fully; This three part is formed closed loop; The airfield runway of fly at unmanned plane, sliding race being tested is provided with a cover differential GPS land station, forms differential GPS/INS integrated navigation system jointly.Differential global positioning system is made up of with the differential GPS land station two parts that are arranged at the airfield runway reference point the airborne difference of the GPS radio station that is installed on the unmanned plane jointly, and the precision of differential global positioning system can reach 1m.The performing step of invention comprises:
(1) unmanned plane take off or the airfield runway of coasting test on selected base value strong point; Utilize high-precision marine satellite orientator; The measuring accuracy of this orientator can reach centimetre-sized, this data point is carried out accurate localization measure, and records the longitude of this location point; Latitude, altitude information is as reference data.
(2) when unmanned plane flies or slides the race test; Differential GPS land station in the differential global positioning system is placed on the base value strong point, open differential GPS land station and receive, reach three or three when above at the receiving satellite order from the Satellite GPS signal; Differential GPS land station just can cross the real-time positioning data at base value strong point; Promptly to this longitude, latitude, three data of height are measured in real time; The reference position data input difference GPS land station that high-precision marine satellite orientator is recorded resolves in the software, obtains pseudorange.The emitting antenna of differential GPS land station is launched the pseudorange information that calculates.
(3) receiving antenna that is installed on the airborne differential global positioning system on the unmanned plane receives from the Satellite GPS signal, reaches three or three when above at the receiving satellite order, airborne differential global positioning system just can cross the positional information coordinate of aircraft location; The radio station receiving antenna of airborne differential global positioning system receives the pseudorange information of the transmission antennas transmit of differential GPS land station, eliminates common error, revises the airborne differential global positioning system location coordinate information of the unmanned plane of measurement in real time.
(4) airborne differential GPS antenna sends to the unmanned plane positional information of actual measurement and is installed on the aircraft independently inertial navigation system through one road RS232.The aircraft-position information data that GPS is recorded; The INS data sync that obtains through the mechanics layout time domain Kalman wave filter of making a gift to someone; The optimal value of state variables such as one group of position that will obtain after treatment, speed, attitude angle, thus the aircraft-position information that inertial navigation system is surveyed revised.Inertial navigation system sends to flight-control computer with status datas such as the position of revised unmanned plane, speed, attitude angle through one road RS422 again, flight-control computer according to accurate unmanned plane position, speed, attitude angle data message to unmanned plane glide landing channeling conduct.
Claims (3)
1. a unmanned plane comprises the steps: at the Combinated navigation method in glide landing stage
(1) take off or slide the airport at unmanned plane, selected accurate localization measurement data points is with the longitude of this data point; Latitude, altitude information are as reference data, and input difference GPS land station resolves in the software; To obtain pseudorange, the transmission antennas transmit pseudorange information of differential GPS land station;
(2) with being loaded on the airborne differential GPS antenna on the unmanned plane; With three that receive or above Satellite GPS signal; The positional information coordinate of aircraft location crosses; Solve the real position coordinates of unmanned plane, the pseudorange information of simultaneously differential GPS land station being found the solution is launched through antenna, for the coordinate information that is modified to unmanned plane glide landing in real time provides the correction foundation;
(3) airborne differential GPS radio station receives the pseudorange information real-time correction aircraft-position information of differential GPS land station emission; Through send to installation independently inertial navigation system aboard at one road RS232; Aircraft-position information by inertial navigation system correction actual measurement; Inertial navigation system sends to flight-control computer with position, speed, the attitude angle data of revised unmanned plane through one road RS422 again, and the accurate unmanned plane position of flight-control computer basis, speed, attitude angle data message are to the unmanned plane channeling conduct.
2. unmanned plane as claimed in claim 1 is at the Combinated navigation method in glide landing stage; It is characterized in that differential global positioning system is made up of with the differential GPS land station two parts that are arranged at the airfield runway reference point the airborne differential GPS that is installed on the unmanned plane jointly.
3. unmanned plane as claimed in claim 1 is at the Combinated navigation method in glide landing stage; It is characterized in that; The radio station receiving antenna of airborne differential global positioning system receives the pseudorange information of the transmission antennas transmit of differential GPS land station; Eliminate common error, revise the airborne differential global positioning system location coordinate information of the unmanned plane of measurement in real time.
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| CN103353601A (en) * | 2013-07-01 | 2013-10-16 | 唐粮 | System and method for unmanned aerial vehicle accurate navigation based on GNSS real-time difference technology |
| CN104501779A (en) * | 2015-01-09 | 2015-04-08 | 中国人民解放军63961部队 | High-accuracy target positioning method of unmanned plane on basis of multi-station measurement |
| CN104590576A (en) * | 2014-12-04 | 2015-05-06 | 南京航空航天大学 | Flight control system and method for ship-borne unmanned aerial vehicle autonomous landing |
| CN104850130A (en) * | 2015-04-14 | 2015-08-19 | 深圳市华信天线技术有限公司 | Method and system for calculating flight parameters |
| CN105388908A (en) * | 2015-12-11 | 2016-03-09 | 国网四川省电力公司电力应急中心 | Machine vision-based unmanned aerial vehicle positioned landing method and system |
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| CN106093987B (en) * | 2016-08-10 | 2019-01-01 | 深圳供电局有限公司 | Low-cost differential GPS system applied to unmanned aerial vehicle and implementation method thereof |
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| CN109917812B (en) * | 2019-04-13 | 2021-10-08 | 成都飞机工业（集团）有限责任公司 | High-altitude high-speed unmanned aerial vehicle landing state control method |
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| CN110632628A (en) * | 2019-08-28 | 2019-12-31 | 中国民用航空中南地区空中交通管理局 | Space signal measuring system and method for air traffic control navigation equipment, electronic equipment and medium |
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| CN110989673B (en) * | 2019-12-16 | 2023-05-05 | 西安因诺航空科技有限公司 | Autonomous tracking take-off and landing system of unmanned rotor platform and control method |
| CN110989673A (en) * | 2019-12-16 | 2020-04-10 | 西安因诺航空科技有限公司 | Autonomous tracking take-off and landing system of rotor unmanned aerial vehicle mobile platform and control method |
| CN112180952A (en) * | 2020-08-21 | 2021-01-05 | 成都飞机工业（集团）有限责任公司 | Height redundancy management method for small wheeled take-off and landing unmanned aerial vehicle |
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| CN113219500A (en) * | 2021-03-31 | 2021-08-06 | 成都飞机工业（集团）有限责任公司 | Satellite signal forwarding system used in semi-closed environment |
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Application publication date: 20121003 |