CN104501813A - Course reversal method for safety protection of fuel quantity of unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a course reversal method for safety protection of fuel quantity of an unmanned aerial vehicle. The method comprises the following steps: setting an initial oil capacity in software of a flight control computer; setting a real-time residual fuel capacity calculating function according to a test relationship table of oil consumption of an engine, an accelerator and a pressure altitude; then combining the function with the existing GPS position and preset air route longitude and latitude information of the unmanned aerial vehicle to estimate the requested safe fuel quantity of the unmanned aerial vehicle which can continuously land to an airport along an air route and return to the airport along the air route; when a safety threshold value is achieved, automatically shielding an operator of the unmanned aerial vehicle by the flight control computer to implement the instruction for online air route adjustment and executing an emergent return task of the unmanned aerial vehicle which continuously flies to the airport along the preset air route or returns along the air route for safety protection of fuel quantity.

Description

The safeguard protection of a kind of UAV Fuel amount is maked a return voyage method

Technical field

The invention discloses a kind of unmanned plane automatic safe protective to make a return voyage method, particularly relate to a kind of method that unmanned plane Fuel Remained amount automatic safe protective makes a return voyage, belong to unmanned air vehicle technique field.

Background technology

Along with carrying out of unmanned plane application, present unmanned plane, except can flying according to predetermined air route, by artificial online air route adjustment instruction, can also be scouted the target caught sight of or hit.But in these real-time special duty processes, the grasp of Fuel Remained amount has just become a potential safety hazard.The unmanned plane had at present carries out the monitoring of Fuel Remained by the sensor installing amount of fuel, but owing to not having and getting back to oil mass needed for airport and carry out associating warning, and because unmanned plane sets up the communication with ground handling operator by radio or satellite, if there is communication failure, so this potential safety hazard of Fuel Remained amount just highlights more, and communication failure has become the most incidental fault in unmanned plane fault framework.

Summary of the invention

Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art; the safeguard protection of a kind of UAV Fuel amount is provided to make a return voyage method; unmanned plane Fuel Remained gauge can be calculated and return amount of fuel needed for airport and estimate to be associated; automatic identification amount of fuel is not enough to support that unmanned plane is according to the potential safety hazard arranging Route reform and go back to airport; and the factor of communication link fails can be overcome; realize automatic business processing, thus greatly improve the tasks secure of unmanned plane.

Technical solution of the present invention: the safeguard protection of a kind of UAV Fuel amount is maked a return voyage method, it is characterized in that comprising the following steps:

(1) obtained the matched curve of fuel consumption Fuel_Ex, throttle Thr_Eng and air pressure height H _ Adc by engine test, namely when unmanned plane is in certain barometer altitude interval, fuel consumption and throttle meet following linear relationship: work as x _n≤ H_Adc < x _n+1, meet Fuel_Ex=K _n× Thr_Eng+b _n, wherein n=1,2..., x are the concrete numerical value of barometer altitude, K _nfor matched curve coefficient, b _nfor side-play amount;

(2) before unmanned plane takes off, according to the image data of unmanned plane actual load oil mass and pressure altimeter, the matched curve that step (1) obtains, initial fuel quantity parameter Fuel_Ini and elemental height H_Ini are bound to flight-control computer in ground; A Fuel Oil Remaining computing function is set in flight-control computer simultaneously, Fuel Oil Remaining computing function Fuel_Var, Fuel_Var=Fuel_Ini-Fuel_Ex × Kt, Kt are time series, Fuel_Var is current residual amount of fuel, and Fuel_Ex obtains according to matched curve retrieval;

(3) in flight course, flight-control computer calculates the MIN FUEL Fuel_Aim that unmanned plane has flown needed for the predetermined air route of residue from current location in real time, and computing method are:

A () calculates unmanned plane slips down to elemental height estimated time from present level

${\hat{t}}_{\mathrm{div}e}=(H\_\mathrm{Adc}-H\_\mathrm{Ini})\&divide;\hat{V}{s}_{\mathrm{div}e}$

for unmanned aerial vehicle design decline rate;

B () calculates the required oil consumption Fuel_Ex of unmanned plane downslide process _dive:

Fuel_Ex _dive=K _x× Thr_Eng_Dive+b _x; Wherein K _x, b _xfor the parameter chosen according to current gas pressure height H _ Adc and downslide throttle Thr_Eng_Dive;

C () calculates unmanned plane and puts down the required oil consumption Fuel_Ex flying over journey _flat

Fuel_Ex _flat=K _y× Thr_Eng_Flat+b _y; Wherein Ky, b _yfor according to the peaceful parameter flying throttle Thr_Eng_Flat and choose of current gas pressure height H _ Adc;

D MIN FUEL Fuel_Aim that () calculates needed for the predetermined air route of the complete residue of unmanned plane during flying according to the result of calculation of step (a), (b), (c) is:

$\mathrm{Fuel}\_\mathrm{Aim}={\hat{t}}_{\mathrm{div}e}\&times;\mathrm{Fuel}\_E{x}_{\mathrm{div}e}+(S\_\mathrm{Aim}\&divide;\mathrm{Vd}-{\hat{t}}_{\mathrm{div}e})\&times;\mathrm{Fuel}\_E{x}_{\mathrm{flat}}$

Wherein: S_Aim is the flight path in the predetermined air route of residue of having flown, and obtains by being stored in the longitude degree information of each destination and the latitude and longitude information of current unmanned plane in the air route file in flight control computer;

Vd is ground velocity.

(4) in flight course, flight-control computer calculates unmanned plane in real time and to make a return voyage required MIN FUEL by the air route Yuan Lu flown over from current location, and computing method are:

(A) estimated time slipping down to elemental height from present level is calculated

${\hat{t}}_{\mathrm{div}e}=(H\_\mathrm{Adc}-H\_\mathrm{Ini})\&divide;\hat{V}{s}_{\mathrm{div}e}$

for unmanned aerial vehicle design decline rate;

(B) the required oil consumption Fuel_Ex of unmanned plane downslide process is calculated _dive:

Fuel_Ex _dive=K _x× Thr_Eng_Dive+b _x; Wherein K _x, b _xfor the parameter chosen according to current gas pressure height H _ Adc and downslide throttle Thr_Eng_Dive;

(C) calculate unmanned plane and put down the required oil consumption Fuel_Ex flying over journey _flat:

Fuel_Ex _flat=K _y× Thr_Eng_Flat+b _y; Wherein Ky, b _yfor according to the peaceful parameter flying throttle Thr_Eng_Flat and choose of current gas pressure height H _ Adc;

(D) calculating unmanned plane according to the result of calculation of step (A), (B), (C) by the former road MIN FUEL Fuel_Back flown back required for airport that makes a return voyage is:

$\mathrm{Fuel}\_\mathrm{Back}={\hat{t}}_{\mathrm{div}e}\&times;\mathrm{Fuel}\_E{x}_{\mathrm{div}e}+(S\_\mathrm{Back}\&divide;\mathrm{Vd}-{\hat{t}}_{\mathrm{div}e})\&times;\mathrm{Fuel}\_E{x}_{\mathrm{flat}}$

Wherein: S_Back is the flight path maked a return voyage in former road, obtain by being stored in the longitude degree information of each destination and the latitude and longitude information of current unmanned plane in the air route file in flight control computer;

Vd is ground velocity.

(5) flight-control computer judges the result of calculation of step (3), (4) in real time, if unmanned plane current residual amount of fuel be less than or equal to MIN FUEL that step (3) or step (4) calculate and Safety Redundancy threshold value and, then unmanned plane presets Route reform by make a return voyage flight or residue of former road.

The determination methods of described step (5) is:

Condition 1:Fuel_Var<=Fuel_Aim+Fuel_M

Condition 2:Fuel_Var<=Fuel_Back+Fuel_M

Wherein Fuel_M is Safety Redundancy threshold values;

The sequencing that flight-control computer Rule of judgment 1 and condition 2 meet, if condition 1 first meets, meets after condition 2, then unmanned plane to make a return voyage flight by former road, if condition 2 first meets, meet after condition 1, then unmanned plane is by the default Route reform of residue.

The present invention's beneficial effect is compared with prior art: the present invention arranges initial loading oil mass in flight control computer, according to engine consumption and throttle, the test relation table of barometer altitude, the computing function of a real-time Fuel Remained amount is set, again in conjunction with the current GPS location of unmanned plane and predetermined air route latitude and longitude information, carry out continuing dropping to down an airway airport and Yuan Lu to make a return voyage back the estimation of the safe oil mass required for airport, after reaching safe threshold, flight control computer automatic shield unmanned plane operating personnel carry out the instruction of online air route adjustment, perform and to continue fly back the promptly time field task of amount of fuel safeguard protection that airport or former road make a return voyage along presetting air route, the present invention can when there is data link fault in the unmanned plane during flying starting stage, automatically to make a return voyage recovery according to default air route Yuan Lu, decrease the flight time under data link loss state, thus reduce the possibility of aircraft accident, greatly improve the tasks secure of unmanned plane.

Accompanying drawing explanation

Fig. 1 is for realizing schematic diagram for of the present invention.

Embodiment

Below in conjunction with specific embodiment, further detailed description is done to the present invention:

The present invention includes following steps:

(1) obtained the matched curve of fuel consumption Fuel_Ex, throttle Thr_Eng and air pressure height H _ Adc by engine test, namely when unmanned plane is in certain barometer altitude interval, fuel consumption and throttle meet following linear relationship: work as x _n≤ H_Adc < x _n+1, meet Fuel_Ex=K _n× Thr_Eng+b _n, wherein n=1,2..., x are the concrete numerical value of barometer altitude, K _nfor matched curve coefficient, b _nfor side-play amount;

(2) before unmanned plane takes off, according to the image data of unmanned plane actual load oil mass and pressure altimeter, the matched curve that step (1) obtains, initial fuel quantity parameter Fuel_Ini and elemental height H_Ini are bound to flight-control computer in ground; A Fuel Oil Remaining computing function is set in flight-control computer simultaneously, Fuel Oil Remaining computing function Fuel_Var, Fuel_Var=Fuel_Ini-Fuel_Ex × Kt, Kt are time series, Fuel_Var is current residual amount of fuel, and Fuel_Ex obtains according to matched curve retrieval;

(3) in flight course, flight-control computer calculates the MIN FUEL Fuel_Aim that unmanned plane has flown needed for the predetermined air route of residue from current location in real time, and computing method are:

A () calculates unmanned plane slips down to elemental height estimated time from present level

${\hat{t}}_{\mathrm{div}e}=(H\_\mathrm{Adc}-H\_\mathrm{Ini})\&divide;\hat{V}{s}_{\mathrm{div}e}$

for unmanned aerial vehicle design decline rate;

B () calculates the required oil consumption Fuel_Ex of unmanned plane downslide process _dive:

Fuel_Ex _dive=K _x× Thr_Eng_Dive+b _x; Wherein K _x, b _xfor the parameter chosen according to current gas pressure height H _ Adc and downslide throttle Thr_Eng_Dive;

C () calculates unmanned plane and puts down the required oil consumption Fuel_Ex flying over journey _flat

Fuel_Ex _flat=K _y× Thr_Eng_Flat+b _y; Wherein Ky, b _yfor according to the peaceful parameter flying throttle Thr_Eng_Flat and choose of current gas pressure height H _ Adc;

D MIN FUEL Fuel_Aim that () calculates needed for the predetermined air route of the complete residue of unmanned plane during flying according to the result of calculation of step (a), (b), (c) is:

$\mathrm{Fuel}\_\mathrm{Aim}={\hat{t}}_{\mathrm{div}e}\&times;\mathrm{Fuel}\_E{x}_{\mathrm{div}e}+(S\_\mathrm{Aim}\&divide;\mathrm{Vd}-{\hat{t}}_{\mathrm{div}e})\&times;\mathrm{Fuel}\_E{x}_{\mathrm{flat}}$

Wherein: S_Aim is the flight path in the predetermined air route of residue of having flown, and obtains by being stored in the longitude degree information of each destination and the latitude and longitude information of current unmanned plane in the air route file in flight control computer;

Vd is ground velocity, i.e. the speed of unmanned plane under geographic coordinate system.

(4) in flight course, flight-control computer calculates unmanned plane in real time and to make a return voyage required MIN FUEL by the air route Yuan Lu flown over from current location, and computing method are:

(A) estimated time slipping down to elemental height from present level is calculated

${\hat{t}}_{\mathrm{div}e}=(H\_\mathrm{Adc}-H\_\mathrm{Ini})\&divide;\hat{V}{s}_{\mathrm{div}e}$

for unmanned aerial vehicle design decline rate;

(B) the required oil consumption Fuel_Ex of unmanned plane downslide process is calculated _dive:

Fuel_Ex _dive=K _x× Thr_Eng_Dive+b _x; Wherein K _x, b _xfor the parameter chosen according to current gas pressure height H _ Adc and downslide throttle Thr_Eng_Dive;

(C) calculate unmanned plane and put down the required oil consumption Fuel_Ex flying over journey _flat:

Fuel_Ex _flat=K _y× Thr_Eng_Flat+b _y; Wherein Ky, b _yfor according to the peaceful parameter flying throttle Thr_Eng_Flat and choose of current gas pressure height H _ Adc;

(D) calculating unmanned plane according to the result of calculation of step (A), (B), (C) by the former road MIN FUEL Fuel_Back flown back required for airport that makes a return voyage is:

$\mathrm{Fuel}\_\mathrm{Back}={\hat{t}}_{\mathrm{div}e}\&times;\mathrm{Fuel}\_E{x}_{\mathrm{div}e}+(S\_\mathrm{Back}\&divide;\mathrm{Vd}-{\hat{t}}_{\mathrm{div}e})\&times;\mathrm{Fuel}\_E{x}_{\mathrm{flat}}$

Wherein: S_Back is the flight path maked a return voyage in former road, obtain by being stored in the longitude degree information of each destination and the latitude and longitude information of current unmanned plane in the air route file in flight control computer;

Vd is ground velocity.

(5) flight-control computer judges the result of calculation of step (3), (4) in real time, if unmanned plane current residual amount of fuel be less than or equal to MIN FUEL that step (3) or step (4) calculate and Safety Redundancy threshold value and, then unmanned plane presets Route reform by make a return voyage flight or residue of former road.

The determination methods of step (5) is:

Condition 1:Fuel_Var<=Fuel_Aim+Fuel_M

Condition 2:Fuel_Var<=Fuel_Back+Fuel_M

Wherein Fuel_M is Safety Redundancy threshold values;

The sequencing that flight-control computer Rule of judgment 1 and condition 2 meet, if condition 1 first meets, meets after condition 2, then unmanned plane to make a return voyage flight by former road, if condition 2 first meets, meet after condition 1, then unmanned plane is by the default Route reform of residue.

As shown in Figure 1, unmanned plane to fly to airport C, when flying to position B from airport A; unmanned plane receives the instruction of interim on-line tuning air route D, and in the process of implementation, unmanned plane is according to calculating following three values in real time; the MIN FUEL X flown to needed for the C of airport; former road returns amount of fuel Y needed for the A of airport, and unmanned plane current residual amount of fuel Z, if Z is first less than X; after be less than Y; then unmanned plane no longer performs the air route D of on-line tuning, enters safeguard protection flow process, auto-returned airport A.If Z is first less than Y, after be less than X, then unmanned plane no longer performs the air route D of on-line tuning, enters safeguard protection flow process, and fly to airport C automatically.

The non-detailed description of the present invention is known to the skilled person technology.

Claims (2)

1. the safeguard protection of UAV Fuel amount is maked a return voyage a method, it is characterized in that comprising the following steps:

(1) obtained the matched curve of fuel consumption Fuel_Ex, throttle Thr_Eng and air pressure height H _ Adc by engine test, namely when unmanned plane is in certain barometer altitude interval, fuel consumption and throttle meet following linear relationship: work as x _n≤ H_Adc<x _n+1, meet Fuel_Ex=K _n× Thr_Eng+b _n, wherein n=1,2..., x are the concrete numerical value of barometer altitude, K _nfor matched curve coefficient, b _nfor side-play amount;

(2) before unmanned plane takes off, according to the image data of unmanned plane actual load oil mass and pressure altimeter, the matched curve that step (1) obtains, initial fuel quantity parameter Fuel_Ini and elemental height H_Ini are bound to flight-control computer in ground; A Fuel Oil Remaining computing function is set in flight-control computer simultaneously, Fuel Oil Remaining computing function Fuel_Var, Fuel_Var=Fuel_Ini-Fuel_Ex × Kt, Kt are time series, Fuel_Var is current residual amount of fuel, and Fuel_Ex obtains according to matched curve retrieval;

(3) in flight course, flight-control computer calculates the MIN FUEL Fuel_Aim that unmanned plane has flown needed for the predetermined air route of residue from current location in real time, and computing method are:

A () calculates unmanned plane slips down to elemental height estimated time from present level

${\hat{t}}_{\mathrm{div}e}=(H\_\mathrm{Adc}-H\_\mathrm{Ini})\&divide;{\hat{V}s}_{\mathrm{div}e}$

for unmanned aerial vehicle design decline rate;

B () calculates the required oil consumption Fuel_Ex of unmanned plane downslide process _dive:

Fuel_Ex _dive=K _x× Thr_Eng_Dive+b _x; Wherein K _x, b _xfor the parameter chosen according to current gas pressure height H _ Adc and downslide throttle Thr_Eng_Dive;

C () calculates unmanned plane and puts down the required oil consumption Fuel_Ex flying over journey _flat

Fuel_Ex _flat=K _y× Thr_Eng_Flat+b _y; Wherein Ky, b _yfor according to the peaceful parameter flying throttle Thr_Eng_Flat and choose of current gas pressure height H _ Adc;

D MIN FUEL Fuel_Aim that () calculates needed for the predetermined air route of the complete residue of unmanned plane during flying according to the result of calculation of step (a), (b), (c) is:

$\mathrm{Fuel}\_\mathrm{Aim}={\hat{t}}_{\mathrm{div}e}\&times;\mathrm{Fuel}\_E{x}_{\mathrm{div}e}+(S\_\mathrm{Aim}\&divide;\mathrm{Vd}-{\hat{t}}_{\mathrm{div}e})\&times;\mathrm{Fuel}\_E{x}_{\mathrm{flat}}$

Wherein: S_Aim is the flight path in the predetermined air route of residue of having flown, and obtains by being stored in the longitude degree information of each destination and the latitude and longitude information of current unmanned plane in the air route file in flight control computer;

Vd is ground velocity;

(4) in flight course, flight-control computer calculates unmanned plane in real time and to make a return voyage required MIN FUEL by the air route Yuan Lu flown over from current location, and computing method are:

(A) estimated time slipping down to elemental height from present level is calculated

${\hat{t}}_{\mathrm{div}e}=(H\_\mathrm{Adc}-H\_\mathrm{Ini})\&divide;{\hat{V}s}_{\mathrm{div}e}$

for unmanned aerial vehicle design decline rate;

(B) the required oil consumption Fuel_Ex of unmanned plane downslide process is calculated _dive:

Fuel_Ex _dive=K _x× Thr_Eng_Dive+b _x; Wherein K _x, b _xfor the parameter chosen according to current gas pressure height H _ Adc and downslide throttle Thr_Eng_Dive;

(C) calculate unmanned plane and put down the required oil consumption Fuel_Ex flying over journey _flat:

Fuel_Ex _flat=K _y× Thr_Eng_Flat+b _y; Wherein Ky, b _yfor according to the peaceful parameter flying throttle Thr_Eng_Flat and choose of current gas pressure height H _ Adc;

(D) calculating unmanned plane according to the result of calculation of step (A), (B), (C) by the former road MIN FUEL Fuel_Back flown back required for airport that makes a return voyage is:

$\mathrm{Fuel}\_\mathrm{Back}={\hat{t}}_{\mathrm{div}e}\&times;\mathrm{Fuel}\_E{x}_{\mathrm{div}e}+(S\_\mathrm{Back}\&divide;\mathrm{Vd}-{\hat{t}}_{\mathrm{div}e})\&times;\mathrm{Fuel}\_E{x}_{\mathrm{flat}}$

Wherein: S_Back is the flight path maked a return voyage in former road, obtain by being stored in the longitude degree information of each destination and the latitude and longitude information of current unmanned plane in the air route file in flight control computer;

Vd is ground velocity;

(5) flight-control computer judges the result of calculation of step (3), (4) in real time, if unmanned plane current residual amount of fuel be less than or equal to MIN FUEL that step (3) or step (4) calculate and Safety Redundancy threshold value and, then unmanned plane presets Route reform by make a return voyage flight or residue of former road.

2. a kind of UAV Fuel amount according to claim 1 safeguard protection is maked a return voyage method, it is characterized in that: the determination methods of described step (5) is:

Condition 1:Fuel_Var<=Fuel_Aim+Fuel_M

Condition 2:Fuel_Var<=Fuel_Back+Fuel_M

Wherein Fuel_M is Safety Redundancy threshold values;

The sequencing that flight-control computer Rule of judgment 1 and condition 2 meet, if condition 1 first meets, meets after condition 2, then unmanned plane to make a return voyage flight by former road, if condition 2 first meets, meet after condition 1, then unmanned plane is by the default Route reform of residue.