CN104361770B - Precision approach autocontrol method for traffic information collection unmanned plane - Google Patents
Precision approach autocontrol method for traffic information collection unmanned plane Download PDFInfo
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- CN104361770B CN104361770B CN201410657785.XA CN201410657785A CN104361770B CN 104361770 B CN104361770 B CN 104361770B CN 201410657785 A CN201410657785 A CN 201410657785A CN 104361770 B CN104361770 B CN 104361770B
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- unmanned plane
- light source
- control station
- earth station
- led light
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
- G08G5/025—Navigation or guidance aids
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of precision approach autocontrol method for traffic information collection unmanned plane, comprises the following steps: S1 unmanned plane flies primary target position according to GPS；S2, unmanned plane are set up LAWN local area wireless network with ground control station and are connected；S3, unmanned plane control station earthward sends two-stage positioning request, opens video location simultaneously；Ground control station opens the first positioned light source after receiving two-stage positioning request；The unmanned plane position by video capture the first positioned light source, obtains the positional information of the first positioned light source, flight to Secondary objective position by image processing method；S4, unmanned plane control station earthward sends three grades of Location Requests, and ground control station opens the second positioned light source after receiving three grades of Location Requests；The unmanned plane position by video capture the second positioned light source, is obtained the positional information of the second positioned light source, drop to earth station by image processing method.The present invention can automatically control the landing of unmanned plane the most accurately.
Description
Technical field
The present invention relates to field of traffic and airmanship, be specifically related to a kind of precision approach autocontrol method for traffic information collection unmanned plane.
Background technology
Unmanned plane is a kind of for observing ground target or throwing in the airflight platform of small article, is widely used in military information and scouts.Owing to being characterized in disposing flexibly, equipment is simple, low cost, is widely used in the microcosmic traffic information such as collection vehicle running orbit, has a extensive future.But the pinpoint landing of a unmanned plane always difficult problem, it is extremely difficult to the purpose of precision approach.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of precision approach autocontrol method for traffic information collection unmanned plane, it is possible to automatically control the landing of unmanned plane the most accurately.
The present invention solves that the technical scheme that above-mentioned technical problem is taked is: a kind of precision approach autocontrol method for traffic information collection unmanned plane, it is characterised in that: it comprises the following steps:
S1, one-level position:
Unmanned plane flies primary target position according to GPS；
S2, unmanned plane are set up LAWN local area wireless network with ground control station and are connected；
S3, two-stage positioning:
Unmanned plane control station earthward sends two-stage positioning request, opens video location simultaneously；Ground control station opens the first positioned light source after receiving two-stage positioning request；The unmanned plane position by video capture the first positioned light source, obtains the positional information of the first positioned light source, flight to Secondary objective position by image processing method；
S4, three grades of location:
Unmanned plane control station earthward sends three grades of Location Requests, and ground control station opens the second positioned light source after receiving three grades of Location Requests；The unmanned plane position by video capture the second positioned light source, is obtained the positional information of the second positioned light source, drop to earth station by image processing method.
As stated above, the first described positioned light source is one group of LED light pearl group, flashes according to certain time interval rule.
As stated above, one group of described LED light pearl group is 5, sets up separately on 4 angles at earth station top and central point bottom earth station；
Ground control station receives two-stage positioning asks rear 5 LED light pearls to flash simultaneously, and now unmanned plane captures a fuzzy bright spot；Unmanned plane constantly declines, and when the more than one bright spot that the image caught in photographic head shows, the LED light pearl being positioned at the central point bottom earth station is extinguished, 4 the LED light pearl Chang Liang being positioned on 4 angles at earth station top；Unmanned plane continues to decline, until 4 the LED light pearls being positioned on 4 angles at earth station top disappear in the picture that unmanned plane catches, unmanned plane arrives Secondary objective position.
As stated above, the second described positioned light source is positioned at the central point bottom earth station.
As stated above, the selection principle of described primary target position is: the LAWN local area wireless network of ground control station can cover.
The invention have the benefit that and first use GPS to carry out Primary Location, it is accurately positioned by twice vision positioning method again, both can avoid owing to the impact of GPS accuracy cannot position in little scope, can avoid again because light problem cannot distinguish ground icon, thus automatically control the landing of unmanned plane the most accurately, LAWN local area wireless network is utilized to carry out information interactive speed faster, the feature having low cost, hi-Fix, strong robustness and daytime simultaneously and being all suitable for evening.
Accompanying drawing explanation
Fig. 1 is unmanned plane landing schematic diagram.
Fig. 2 is earth station's light source schematic diagram.
Fig. 3 is the light source variation diagram that video capture arrives.
Fig. 4 is earth station's LED actual change figure.
In figure: 1-unmanned plane, 2-video camera, 3-the first positioned light source, 4-the second positioned light source, 5-earth station.
Detailed description of the invention
The present invention will be further described with instantiation below in conjunction with the accompanying drawings.
As it is shown in figure 1, a kind of precision approach autocontrol method for traffic information collection unmanned plane that the present invention provides, comprise the following steps:
S1, one-level position: unmanned plane 1 flies primary target position according to GPS, and including longitude and latitude and elevation information, the selection principle of primary target position is: the LAWN local area wireless network of ground control station can cover.
S2, unmanned plane 1 are set up LAWN local area wireless network with ground control station and are connected.
S3, two-stage positioning: unmanned plane 1 control station earthward sends two-stage positioning request, opens video location (obtaining light source image by the video camera 2 on unmanned plane 1) simultaneously；Ground control station opens the first positioned light source 3 after receiving two-stage positioning request；The unmanned plane 1 position by video capture the first positioned light source 3, obtains the positional information of the first positioned light source 3, flight to Secondary objective position by image processing method.
Owing to unmanned plane can collect large-area light source image, for avoiding noise when shooting, it is preferred that the first positioned light source flashes according to certain time interval rule.First positioned light source is one group of LED light pearl group, one group of LED light pearl group is 5, setting up separately on 4 angles at earth station top and central point bottom earth station, a middle LED light pearl is the intensity in order to increase light source, in order to video camera can capture target clearly from eminence；When so setting, as shown in Figure 3, when unmanned plane starts two-stage positioning, owing to it is the highest, the spacing of one group of LED light pearl group is much smaller than the height of unmanned plane, therefore can only see a fuzzy bright spot, after determining the general orientation of this group LED light pearl group, unmanned plane slowly declines, finally can catch the light source of one group of LED light pearl group clearly, as shown in Figure 2, when the more than one bright spot that the image caught in unmanned plane photographic head shows, the LED light pearl being positioned at the central point bottom earth station is extinguished, 4 the LED light pearl Chang Liang being positioned on 4 angles at earth station top；Unmanned plane continues to decline, until 4 the LED light pearls being positioned on 4 angles at earth station top disappear in the picture that unmanned plane catches, unmanned plane arrives Secondary objective position.
S4, three grades of location:
Unmanned plane 1 control station earthward sends three grades of Location Requests, and ground control station opens the second positioned light source 4 after receiving three grades of Location Requests；The unmanned plane position by video capture the second positioned light source 4, is obtained the positional information of the second positioned light source 4, drop to earth station 5 by image processing method.
In the present embodiment, the second positioned light source 4 is positioned at the central point bottom earth station 5.
Unmanned plane is in descent, (fading away in the picture that unmanned plane catches) when 4 point sources in camera views are close to image border, unmanned plane sends three grades of Location Requests by LAWN local area wireless network, after earth station receives information, close the first positioned light source, open the second positioned light source.
In order to accurately judge the height of unmanned plane during flying, it is also possible to set up baroceptor on unmanned plane.
When video camera is to earth station's image recognition, first passes through shooting and colour picture is carried out gray proces, then set up rectangular histogram, carry out threshold value equilibrating, make coloured image become the most black and white picture.In position fixing process, owing to infrared LED light pearl can flash, therefore can form connected region in black and white region, by the infrared lamp scintillation time situation of change of 0.5 second arranged, the connected region of image can produce change, can determine that, according to this variable condition unmanned plane, the place that earth station is this time landing.
Above example is merely to illustrate design philosophy and the feature of the present invention, its object is to make those skilled in the art will appreciate that present disclosure and implement according to this, and protection scope of the present invention is not limited to above-described embodiment.So, all equivalent variations made according to disclosed principle, mentality of designing or modification, all within protection scope of the present invention.
Claims (2)
1. the precision approach autocontrol method for traffic information collection unmanned plane, it is characterised in that: it comprises the following steps:
S1, one-level position:
Unmanned plane flies primary target position according to GPS；
S2, unmanned plane are set up LAWN local area wireless network with ground control station and are connected；
S3, two-stage positioning:
Unmanned plane control station earthward sends two-stage positioning request, opens video location simultaneously；Ground control station opens the first positioned light source after receiving two-stage positioning request；The unmanned plane position by video capture the first positioned light source, obtains the positional information of the first positioned light source, flight to Secondary objective position by image processing method；
S4, three grades of location:
Unmanned plane control station earthward sends three grades of Location Requests, and ground control station opens the second positioned light source after receiving three grades of Location Requests；The unmanned plane position by video capture the second positioned light source, is obtained the positional information of the second positioned light source, drop to earth station by image processing method；
The first described positioned light source is one group of LED light pearl group, flashes according to certain time interval rule；
One group of described LED light pearl group is 5, sets up separately on 4 angles at earth station top and central point bottom earth station；
Ground control station receives two-stage positioning asks rear 5 LED light pearls to flash simultaneously, and now unmanned plane captures a fuzzy bright spot；Unmanned plane constantly declines, and when the more than one bright spot that the image caught in photographic head shows, the LED light pearl being positioned at the central point bottom earth station is extinguished, 4 the LED light pearl Chang Liang being positioned on 4 angles at earth station top；Unmanned plane continues to decline, until 4 the LED light pearls being positioned on 4 angles at earth station top disappear in the picture that unmanned plane catches, unmanned plane arrives Secondary objective position；
The second described positioned light source is positioned at the central point bottom earth station；
When video camera is to earth station's image recognition, first passes through shooting and colour picture is carried out gray proces, then set up rectangular histogram, carry out threshold value equilibrating, make coloured image become the most black and white picture；In position fixing process, owing to LED light pearl can flash, therefore can form connected region in black and white region, by the LED light pearl scintillation time situation of change of 0.5 second arranged, the connected region of image can produce change, determines, according to this variable condition unmanned plane, the place that earth station is this time landing.
Precision approach autocontrol method for traffic information collection unmanned plane the most according to claim 1, it is characterised in that: the selection principle of described primary target position is: the LAWN local area wireless network of ground control station can cover.
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| CN201410657785.XA CN104361770B (en) | 2014-11-18 | 2014-11-18 | Precision approach autocontrol method for traffic information collection unmanned plane |
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| CN201410657785.XA CN104361770B (en) | 2014-11-18 | 2014-11-18 | Precision approach autocontrol method for traffic information collection unmanned plane |
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| CN104361770A CN104361770A (en) | 2015-02-18 |
| CN104361770B true CN104361770B (en) | 2017-01-04 |
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| CN105182994B (en) * | 2015-08-10 | 2018-02-06 | 普宙飞行器科技（深圳）有限公司 | A kind of method of unmanned plane pinpoint landing |
| CN105059533A (en) * | 2015-08-14 | 2015-11-18 | 深圳市多翼创新科技有限公司 | Aircraft and landing method thereof |
| EP3353706A4 (en) | 2015-09-15 | 2019-05-08 | SZ DJI Technology Co., Ltd. | System and method for supporting smooth target following |
| EP3368957B1 (en) | 2015-10-30 | 2022-02-09 | SZ DJI Technology Co., Ltd. | Systems and methods for uav path planning and control |
| CN105691617B (en) * | 2016-02-03 | 2017-10-13 | 山东翔鸿电子科技有限公司 | Unmanned plane express system |
| CN105652887A (en) * | 2016-03-22 | 2016-06-08 | 临沂高新区翔鸿电子科技有限公司 | Unmanned aerial vehicle landing method adopting two-level graph recognition |
| CN105857630A (en) * | 2016-03-30 | 2016-08-17 | 乐视控股（北京）有限公司 | Parking apron device, aircraft and aircraft parking system |
| CN105867397B (en) * | 2016-04-13 | 2018-08-07 | 中国计量学院 | A kind of unmanned plane exact position landing method based on image procossing and fuzzy control |
| CN107544550B (en) * | 2016-06-24 | 2021-01-15 | 西安电子科技大学 | Unmanned aerial vehicle automatic landing method based on visual guidance |
| CN106494632B (en) * | 2016-09-05 | 2019-11-29 | 珠海市磐石电子科技有限公司 | The mobile landing system of aircraft and mobile landing method |
| CN106542105B (en) * | 2016-09-05 | 2019-12-10 | 珠海市磐石电子科技有限公司 | Aircraft moving landing method and system |
| CN106371447B (en) * | 2016-10-25 | 2020-07-07 | 南京奇蛙智能科技有限公司 | Control method for all-weather accurate landing of unmanned aerial vehicle |
| CN106598076A (en) * | 2016-11-24 | 2017-04-26 | 苏州佳世达电通有限公司 | Unmanned carrier control method and unmanned carrier control system |
| FR3062720B1 (en) * | 2017-02-08 | 2019-03-15 | Airbus Helicopters | SYSTEM AND METHOD FOR AIDING THE LANDING OF AN AIRCRAFT, AND THE AIRCRAFT CORRESPONDING |
| CN107330657B (en) * | 2017-07-12 | 2023-08-25 | 勾瑞 | Distribution system and distribution method |
| WO2020051791A1 (en) * | 2018-09-12 | 2020-03-19 | 深圳市大疆创新科技有限公司 | Base station, control method for unmanned aerial vehicle, and unmanned aerial vehicle system |
| CN109407700A (en) * | 2018-11-05 | 2019-03-01 | 周口师范学院 | A kind of unmanned plane independent landing method and its implementing device guided using image |
| CN110244749A (en) * | 2019-04-22 | 2019-09-17 | 西北农林科技大学 | A kind of agricultural unmanned plane mobile platform independently precisely lands control system and method |
| CN110239677A (en) * | 2019-06-21 | 2019-09-17 | 华中科技大学 | A kind of unmanned plane autonomous classification target simultaneously drops to the method on the unmanned boat of movement |
| CN112455705B (en) * | 2020-12-04 | 2024-05-03 | 南京晓飞智能科技有限公司 | Unmanned aerial vehicle autonomous accurate landing system and method |
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| US4532512A (en) * | 1982-11-22 | 1985-07-30 | Tanner Jesse H | Omnidirectional approach slope indicator system |
| SE523828C2 (en) * | 2002-02-08 | 2004-05-25 | Saab Ab | Method and system for calculating a flight route |
| JP5775354B2 (en) * | 2011-04-28 | 2015-09-09 | 株式会社トプコン | Takeoff and landing target device and automatic takeoff and landing system |
| CN102991681A (en) * | 2012-12-25 | 2013-03-27 | 天津工业大学 | Ground target identification method in unmanned aerial vehicle vision landing system |
| US9058742B2 (en) * | 2013-02-12 | 2015-06-16 | Ge Aviation Systems, Llc | Methods for illustrating aircraft situational information |
| CN103991553B (en) * | 2013-02-19 | 2016-02-24 | 成都海存艾匹科技有限公司 | The accurate Landing Assist Device of aircraft |
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