CN102799187B - Spraying breakpoint continuing method for unmanned helicopter - Google Patents
Spraying breakpoint continuing method for unmanned helicopter Download PDFInfo
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- CN102799187B CN102799187B CN201210212915.XA CN201210212915A CN102799187B CN 102799187 B CN102799187 B CN 102799187B CN 201210212915 A CN201210212915 A CN 201210212915A CN 102799187 B CN102799187 B CN 102799187B
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Abstract
The invention belongs to a flight control technology and relates to improvement on a spraying breakpoint continuing method applicable to spraying operation of an unmanned helicopter. The method is characterized by comprising the following steps of: when a spraying breakpoint D is positioned on a spraying track, determining the position of a continuing point D'; when the spraying breakpoint D is positioned in a track end point range, setting a starting point of the subsequent planned spraying track as the continuing point D' of the spraying track; and when the spraying breakpoint D is positioned in a track starting point range, setting the starting point of the planned track as the continuing point D' of the spraying track. By adoption of the spraying breakpoint continuing method for the unmanned helicopter, continuing errors are reduced, and spraying quality and efficiency are improved.
Description
Technical field
The invention belongs to flight control technology, relate to depopulated helicopter is sprayed to the improvement that sprays breakpoint connecting method in operation.
Background technology
When utilizing depopulated helicopter to spray operation, usually because oil plant or medicine are finished or break down, cause spraying interruption, need to wait giving an encore, supplement material or fix a breakdown after proceed to spray operation.So just there is a problem that continues that sprays breakpoint.Current connecting method is: rely on terrestrial operation personnel to adopt visual type to determine the terrestrial reference at unmanned helicopter flight breakpoint place, using the position of this terrestrial reference as aircraft splicing point, its shortcoming is: the error that the first, continues is large, easily causes drain spray or resprays, and impact sprays quality.The second, because range estimation error is large, what need enters often, and efficiency is low.
Summary of the invention
The object of the invention is: propose a kind of depopulated helicopter and spray breakpoint connecting method, to reduce the error that continues, improve and spray quality and efficiency.
Technical scheme of the present invention is: a kind of depopulated helicopter sprays breakpoint connecting method, the planning of depopulated helicopter sprays flight path and is comprised of one group of parallel rectilinear path P1～Pn, on adjacent flight path, the heading of depopulated helicopter is contrary, the starting point that makes the first flight path P1 is P1a, terminal is P1b, by that analogy, the starting point of n flight path Pn is Pna, terminal is Pnb, flight path from the terminal of odd number flight path to the starting point of even numbers flight path and the flight path from the terminal of even numbers flight path to the starting point of odd number flight path are and turn to flight path, depopulated helicopter implements to spray operation spraying on flight path, on flight path, stop spraying operation turning to, it is characterized in that, the subsequent steps that sprays breakpoint is as follows:
1, when spraying breakpoint D, be positioned at while spraying on flight path, subsequent steps is:
1.1, determine that splicing point D ' sprays the position on flight path in planning: splicing point D ' is defined as: certain actual breakpoint D that sprays spraying on flight path sprays the mapping point on flight path in corresponding planning, using this mapping point as the splicing point of aerial spray flight path, and splicing point D ' method for determining position is as follows:
1.1.1, record sprays the information of breakpoint D: utilize GPS device on depopulated helicopter to record the positional information that sprays breakpoint D of aircraft, comprise that the planning of longitude, latitude and height and depopulated helicopter current flight sprays flight path Pi, i=1,2 ... n;
1.1.2, determine that splicing point D ' sprays the position on flight path in planning:
By spraying breakpoint D, to planning, spray flight path Pi and do vertical line, intersection point is D ', the starting point Pia that makes this planning spray flight path is d1 to the distance that sprays breakpoint D, the terminal Pib that this planning sprays flight path is d2 to the distance that sprays breakpoint D, the length that this planning sprays flight path Pi is d, and the position calculation of splicing point D ' is as follows:
L
D’=d1*(d1
2+d
2-d2
2)*(L
Pib-L
Pia)/2*d1*d2+L
Pia;………………………(1)
B
D’=d1*(d1
2+d
2-d2
2)*(B
Pib-B
Pia)/2*d1*d2+B
Pia;………………………(2)
H
D’=H
D;…………………………………………………………………(3)
In formula, L
d ', B
d ', H
d 'be respectively longitude, latitude and the height of splicing point D '; L
pia, B
piabe respectively longitude and the latitude of planning the starting point Pia that sprays flight path; L
pib, B
pibbe respectively longitude and the latitude of planning the terminal Pib that sprays flight path; H
dfor spraying the height of breakpoint D;
2, when spraying breakpoint D and be positioned at flight path terminal except the starting point P1a of the first flight path and the terminal Pnb of n flight path or flight path and play point range, subsequent steps is:
2.1, determine the scope of flight path terminal and flight path starting point: the scope definition of flight path terminal and flight path starting point is: take this actual flight path corresponding planning flight path terminal or flight path starting point is the center of circle, the border circular areas scope that the r of take is radius, r=0.2m～1.0m;
2.2, determine splicing point D ':
If when 2.2.1 spraying breakpoint D and being positioned at planning flight path terminal scope, using next rules and regulations draw spray flight path starting point as spraying flight path splicing point D ';
If 2.2.2 spray breakpoint D, be positioned at planning flight path while playing point range, using this planning flight path starting point as spraying flight path splicing point D ';
While 3, there is flight path breakpoint E on turning to flight path, using next rules and regulations draw spray flight path starting point as spraying flight path splicing point E '.
Advantage of the present invention is: proposed a kind of depopulated helicopter and sprayed breakpoint connecting method, reduced the error that continues, improved and sprayed quality and efficiency.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that depopulated helicopter is planned flight path while spraying operation.
Fig. 2 is the schematic diagram that occurs spraying breakpoint when spraying operation.
Embodiment
Below the present invention is described in further details.Referring to Fig. 1, 2, a kind of depopulated helicopter sprays breakpoint connecting method, the planning of depopulated helicopter sprays flight path and is comprised of one group of parallel rectilinear path P1～Pn, on adjacent flight path, the heading of depopulated helicopter is contrary, the starting point that makes the first flight path P1 is P1a, terminal is P1b, by that analogy, the starting point of n flight path Pn is Pna, terminal is Pnb, flight path from the terminal of odd number flight path to the starting point of even numbers flight path and the flight path from the terminal of even numbers flight path to the starting point of odd number flight path are and turn to flight path, depopulated helicopter implements to spray operation spraying on flight path, on flight path, stop spraying operation turning to, it is characterized in that, the subsequent steps that sprays breakpoint is as follows:
1, when spraying breakpoint D, be positioned at while spraying on flight path, subsequent steps is:
1.1, determine that splicing point D ' sprays the position on flight path in planning: splicing point D ' is defined as: certain actual breakpoint D that sprays spraying on flight path sprays the mapping point on flight path in corresponding planning, using this mapping point as the splicing point of aerial spray flight path, and splicing point D ' method for determining position is as follows:
1.1.1, record sprays the information of breakpoint D: utilize GPS device on depopulated helicopter to record the positional information that sprays breakpoint D of aircraft, comprise that the planning of longitude, latitude and height and depopulated helicopter current flight sprays flight path Pi, i=1,2 ... n;
1.1.2, determine that splicing point D ' sprays the position on flight path in planning:
By spraying breakpoint D, to planning, spray flight path Pi and do vertical line, intersection point is D ', the starting point Pia that makes this planning spray flight path is d1 to the distance that sprays breakpoint D, the terminal Pib that this planning sprays flight path is d2 to the distance that sprays breakpoint D, the length that this planning sprays flight path Pi is d, and the position calculation of splicing point D ' is as follows:
L
D’=d1*(d1
2+d
2-d2
2)*(L
Pib-L
Pia)/2*d1*d2+L
Pia;…………………………(1)
B
D’=d1*(d1
2+d
2-d2
2)*(B
Pib-B
Pia)/2*d1*d2+B
Pia;…………………………(2)
H
D’=H
D;……………………………………………………………………(3)
In formula, L
d ', B
d ', H
d 'be respectively longitude, latitude and the height of splicing point D '; L
pia, B
piabe respectively longitude and the latitude of planning the starting point Pia that sprays flight path; L
pib, B
pibbe respectively longitude and the latitude of planning the terminal Pib that sprays flight path; H
dfor spraying the height of breakpoint D;
2, when spraying breakpoint D and be positioned at flight path terminal except the starting point P1a of the first flight path and the terminal Pnb of n flight path or flight path and play point range, subsequent steps is:
2.1, determine the scope of flight path terminal and flight path starting point: the scope definition of flight path terminal and flight path starting point is: take this actual flight path corresponding planning flight path terminal or flight path starting point is the center of circle, the border circular areas scope that the r of take is radius, r=0.2m～1.0m;
2.2, determine splicing point D ':
If when 2.2.1 spraying breakpoint D and being positioned at planning flight path terminal scope, using next rules and regulations draw spray flight path starting point as spraying flight path splicing point D ';
If 2.2.2 spray breakpoint D, be positioned at planning flight path while playing point range, using this planning flight path starting point as spraying flight path splicing point D ';
While 3, there is flight path breakpoint E on turning to flight path, using next rules and regulations draw spray flight path starting point as spraying flight path splicing point E '.
Principle of work of the present invention is: utilize GPS device on depopulated helicopter to record the positional information of aerial spray breakpoint, according to the different situations that spray breakpoint, respectively splicing point is processed, obtain reasonable and effective splicing point, whole process is completed by ground control station and flight control computer completely, guarantee the high precision of splicing point in flight course, and the high-quality and the high-level efficiency that spray operation.
Embodiment
Suppose to have certain planning to spray flight path to be:
L
P1a=108.69261482,B
P1a=34.01126840,H
P1a=395.195m;
L
P1b=108.69321906,B
P1b=34.01418641,H
P1b=390.953m;
L
P2a=108.69305871,B
P2a=34.01416840,H
P2a=394.356m;
L
P2b=108.69245494,B
P2b=34.01128667,H
P2b=393.711m;
L
P3a=108.69222929,B
P3a=34.011330533,H
P3a=395.106m,……
r=0.8m；
1) when spraying breakpoint D, be positioned at while spraying on flight path;
When depopulated helicopter sprays operation along the second flight path P2, spraying breakpoint D drug depletion, need to give an encore and carry out medicine supply, now, utilize GPS device to record the positional information that D orders to be:
L
D=108.69295682,B
D=34.01356760,H
D=393.985m;
Spray the distance d1=71.2110m of the starting point P2a of breakpoint D and the second flight path P2, spray the distance d2=257.2722m of the terminal P2b of breakpoint D and the second flight path P2, length d=328.4205m of the second flight path P2, adopts formula (1), (2) and (3) known positional information that sprays splicing point D ' to be:
L
D’=108.69292765,B
D’=34.01356840,H
D’=393.985m；
2) when spraying breakpoint D, be positioned at when spraying flight path and playing point range;
When depopulated helicopter occurs certain fault spraying breakpoint D, the troubleshooting of need to giving an encore, now, utilizes GPS device to record the positional information that D orders to be:
L
D=108.69313980,B
D=34.01416840,H
D=394.680m;
Spray the distance d1=0.5831m of the starting point P2a of breakpoint D and the second flight path P2, due to d1<r, the positional information that obtains splicing point D ' is:
L
D’=108.69305871,B
D’=34.01416840,H
D’=394.680m;
3) when spraying breakpoint D, be positioned at while spraying flight path terminal scope;
When depopulated helicopter exhausts spraying breakpoint D oil plant, need to give an encore and carry out POL supply, now, utilize GPS device to record the positional information that D orders to be:
L
D=108.69245051,B
D=34.01129156,H
D=394.010m;
Spray the distance d2=0.5831m of the terminal P2b of breakpoint D and the second flight path P2, due to d2<r, the positional information that obtains splicing point D ' is:
L
D’=108.69229288,B
D’=34.01130533,H
D’=394.010m；
4) when flight path breakpoint E is positioned at while turning on flight path;
When depopulated helicopter occurs certain fault at flight path breakpoint E, the troubleshooting of need to giving an encore, now, utilizes GPS device to record the positional information that E orders to be:
L
e=108.69238874,B
e=34.01128788,H
e=395.264m;
The distance s1=5.0m of the terminal P2a of flight path breakpoint E and the second flight path P2, the distance s2=9.1m of the starting point P3a of flight path breakpoint E and the 3rd flight path P3, due to s1>r, s2>r, the positional information that obtains splicing point E ' is:
L
e’=108.69229288,B
e’=34.01130533,H
e’=395.264m。
Claims (1)
1. a depopulated helicopter sprays breakpoint connecting method, the planning of depopulated helicopter sprays flight path and is comprised of one group of parallel rectilinear path P1～Pn, on adjacent flight path, the heading of depopulated helicopter is contrary, the starting point that makes the first flight path P1 is P1a, terminal is P1b, by that analogy, the starting point of n flight path Pn is Pna, terminal is Pnb, flight path from the terminal of odd number flight path to the starting point of even numbers flight path and the flight path from the terminal of even numbers flight path to the starting point of odd number flight path are and turn to flight path, depopulated helicopter implements to spray operation spraying on flight path, on flight path, stop spraying operation turning to, it is characterized in that, the subsequent steps that sprays breakpoint is as follows:
1.1, when spraying breakpoint D, be positioned at while spraying on flight path, subsequent steps is:
1.1.1, determine that splicing point D ' sprays the position on flight path in planning: splicing point D ' is defined as: certain actual breakpoint D that sprays spraying on flight path sprays the mapping point on flight path in corresponding planning, using this mapping point as the splicing point of aerial spray flight path, and splicing point D ' method for determining position is as follows:
1.1.1.1, record sprays the information of breakpoint D: utilize GPS device on depopulated helicopter to record the positional information that sprays breakpoint D of aircraft, comprise that the planning of longitude, latitude and height and depopulated helicopter current flight sprays flight path Pi, i=1,2 ... n;
1.1.1.2, determine that splicing point D ' sprays the position on flight path in planning:
By spraying breakpoint D, to planning, spray flight path Pi and do vertical line, intersection point is D ', the starting point Pia that makes this planning spray flight path is d1 to the distance that sprays breakpoint D, the terminal Pib that this planning sprays flight path is d2 to the distance that sprays breakpoint D, the length that this planning sprays flight path Pi is d, and the position calculation of splicing point D ' is as follows:
L
D’＝d1*(d1
2+d
2-d2
2)*(L
Pib-L
Pia)/2*d1*d
2+L
Pia；………………………(1)
B
D’＝d1*(d1
2+d
2-d2
2)*(B
Pib-B
Pia)/2*d1*d
2+B
Pia；………………………(2)
H
D’＝H
D；…………………………………………………………………(3)
In formula, L
d ', B
d ', H
d 'be respectively longitude, latitude and the height of splicing point D '; L
pia, B
piabe respectively longitude and the latitude of planning the starting point Pia that sprays flight path; L
pib, B
pibbe respectively longitude and the latitude of planning the terminal Pib that sprays flight path; H
dfor spraying the height of breakpoint D;
1.2, when spraying breakpoint D and be positioned at flight path terminal except the starting point P1a of the first flight path and the terminal Pnb of n flight path or flight path and play point range, subsequent steps is:
1.2.1, determine the scope of flight path terminal and flight path starting point: the scope definition of flight path terminal and flight path starting point is: the actual flight path of take corresponding planning flight path terminal or flight path starting point are the center of circle, the border circular areas scope that the r of take is radius, r=0.2m～1.0m;
1.2.2, determine splicing point D ':
If when 1.2.2.1 spraying breakpoint D and being positioned at planning flight path terminal scope, using next rules and regulations draw spray flight path starting point as spraying flight path splicing point D ';
If 1.2.2.2 spray breakpoint D, be positioned at planning flight path while playing point range, using this planning flight path starting point as spraying flight path splicing point D ';
While 1.3, there is flight path breakpoint E on turning to flight path, using next rules and regulations draw spray flight path starting point as spraying flight path splicing point E '.
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| CN103950540B (en) * | 2014-04-01 | 2016-02-03 | 东北农业大学 | A kind of plant protection unmanned plane based on wireless sensor network sprays operational method |
| CN104155993B (en) * | 2014-08-11 | 2017-07-25 | 江苏恒创软件有限公司 | A kind of hillside fields region crops operational method based on depopulated helicopter |
| CN104792313B (en) * | 2015-03-31 | 2017-10-03 | 深圳一电航空技术有限公司 | The mapping control method of unmanned Reconnaissance system, apparatus and system |
| CN105159315B (en) * | 2015-09-01 | 2017-10-31 | 西北工业大学 | The target approaches process robust planning control method of space-oriented Sheng Xi robots |
| CN106371457A (en) * | 2016-10-26 | 2017-02-01 | 广州极飞科技有限公司 | Operation method and device for plant protection unmanned aerial vehicle |
| CN108205326B (en) * | 2016-12-16 | 2019-11-26 | 广州极飞科技有限公司 | The method and device of unmanned machine operation |
| CN108073186B (en) * | 2017-12-18 | 2021-02-23 | 北京富地勘察测绘有限公司 | Breakpoint endurance control method and system of gyroplane |
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| US6871796B2 (en) * | 2002-07-26 | 2005-03-29 | Jones Air Pty Ltd | Aircraft and spray booms for aircraft |
| CN100495275C (en) * | 2006-11-24 | 2009-06-03 | 中国科学院沈阳自动化研究所 | Autonomous flight control system of small unmanned helicopter |
| CN101718615B (en) * | 2009-10-28 | 2011-04-06 | 农业部南京农业机械化研究所 | Agricultural spraying operation wind field test equipment of movable unmanned helicopter and test method |
| CN101963806B (en) * | 2010-10-15 | 2012-06-27 | 农业部南京农业机械化研究所 | Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation |
| CN102507131B (en) * | 2011-09-26 | 2013-12-11 | 中国航空工业第六一八研究所 | Method for acquiring unknown pneumatic parameters in UAV (Unmanned Aerial Vehicle) mathematical model |
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