CN104501813B - A kind of UAV Fuel amount safeguard protection is maked a return voyage method - Google Patents

A kind of UAV Fuel amount safeguard protection is maked a return voyage method Download PDF

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CN104501813B
CN104501813B CN201410746281.5A CN201410746281A CN104501813B CN 104501813 B CN104501813 B CN 104501813B CN 201410746281 A CN201410746281 A CN 201410746281A CN 104501813 B CN104501813 B CN 104501813B
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fuel
unmanned plane
flight
eng
thr
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CN104501813A (en
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王刚
步召杰
王德爽
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China Academy of Aerospace Aerodynamics CAAA
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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
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Abstract

Maked a return voyage method the invention discloses a kind of UAV Fuel amount safeguard protection, initial loading oil mass is set in flight control computer software, according to engine consumption and throttle, the experiment relation table of pressure altitude, the calculating function of one real-time Fuel Remained amount is set, in conjunction with the current GPS location of unmanned plane and predetermined air route latitude and longitude information, continued to drop to airport down an airway and Yuan Lu makes a return voyage back the estimation of the safe oil mass required for airport, after safe threshold is reached, flight control computer automatic shield unmanned plane operating personnel carry out the instruction of online air route adjustment, perform urgent time field task of the amount of fuel safeguard protection that airport or former road make a return voyage of continuing fly back along default air route.

Description

A kind of UAV Fuel amount safeguard protection is maked a return voyage method
Technical field
Maked a return voyage method, more particularly to a kind of unmanned plane Fuel Remained the invention discloses a kind of unmanned plane automatic safe protective The method that amount automatic safe protective makes a return voyage, belongs to unmanned air vehicle technique field.
Background technology
The development applied with unmanned plane, present unmanned plane in addition to it can be flown according to predetermined air route, The target caught sight of can also be scouted or hit by artificial online air route adjust instruction.But in these realities When special duty during, the grasp of Fuel Remained amount is just into a potential safety hazard.The unmanned plane having at present is by installing The sensor of amount of fuel carries out the monitoring of Fuel Remained, but is due to not and oil mass needed for returning to airport is associated alarm, And because unmanned plane is to set up communication with ground handling operator by radio or satellite, if there is communication failure, So this potential safety hazard of Fuel Remained amount is just more highlighted, and communication failure has become in unmanned plane failure framework and most held Incident failure.
The content of the invention
The technology of the present invention solves problem：Overcoming the deficiencies in the prior art, there is provided a kind of UAV Fuel amount safeguard protection Make a return voyage method, unmanned plane Fuel Remained amount can be calculated to associated, the automatic identification of required amount of fuel estimation with return airport Amount of fuel is not enough to support unmanned plane to return the potential safety hazard on airport according to setting Route reform, and can overcome communication link event The factor of barrier, realizes automatic business processing, so as to greatly improve the tasks secure of unmanned plane.
The technical solution of the present invention：A kind of UAV Fuel amount safeguard protection is maked a return voyage method, it is characterised in that including Following steps：
(1) fuel consumption Fuel_Ex, throttle Thr_Eng and pressure altitude H_Adc fitting song are obtained by engine test Line, i.e., when unmanned plane is in some pressure altitude interval, fuel consumption meets following linear relationship with throttle：Work as xn≤H_Adc ＜ xn+1, meet Fuel_Ex=Kn×Thr_Eng+bn, wherein n=1,2..., x is the concrete numerical value of pressure altitude, KnFor fitting Curve coefficients, bnFor offset；
(2) before unmanned plane takes off, according to unmanned plane actual load oil mass and the gathered data of pressure altimeter, ground to Matched curve, initial fuel quantity parameter Fuel_Ini and elemental height H_Ini that flight-control computer bookbinding step (1) is obtained； A Fuel Oil Remaining is set to calculate function in flight-control computer simultaneously, Fuel Oil Remaining calculates function Fuel_Var, Fuel_ Var=Fuel_Ini-Fuel_Ex × Kt, Kt are time series, and Fuel_Var is current residual amount of fuel, and Fuel_Ex is according to plan Curve retrieval is closed to obtain；
(3) in flight course, flight-control computer calculate in real time unmanned plane flown from current location it is remaining predetermined MIN FUEL Fuel_Aim needed for air route, computational methods are：
(a) the estimation time that unmanned plane slips down to elemental height from present level is calculated
For unmanned aerial vehicle design decrease speed；
(b) the required oil consumption Fuel_Ex of unmanned plane downslide process is calculateddive：
Fuel_Exdive=Kx×Thr_Eng_Dive+bx；Wherein Kx、bxFor according to current gas pressure height H_Adc and downslide The parameter that throttle Thr_Eng_Dive chooses；
(c) the flat required oil consumption Fuel_Ex for flying over journey of unmanned plane is calculatedflat
Fuel_Exflat=Ky×Thr_Eng_Flat+by；Wherein Ky, byTo be flown according to current gas pressure height H_Adc peace The parameter that throttle Thr_Eng_Flat chooses；
(d) according to needed for step (a), (b), (c) result of calculation calculate the complete remaining predetermined air route of unmanned plane during flying most Amount of fuel Fuel_Aim is less：
Wherein：S_Aim is the flight path in remaining predetermined air route of having flown, and passes through the air route being stored in flight control computer The longitude degree information of the destination of each in file is obtained with the latitude and longitude information of current unmanned plane；
Vd is ground velocity.
(4) in flight course, flight-control computer calculates unmanned plane from current location by the air route flown in real time Make a return voyage required MIN FUEL on former road, and computational methods are：
(A) the estimation time that elemental height is slipped down to from present level is calculated
For unmanned aerial vehicle design decrease speed；
(B) the required oil consumption Fuel_Ex of unmanned plane downslide process is calculateddive：
Fuel_Exdive=Kx×Thr_Eng_Dive+bx；Wherein Kx、bxFor according to current gas pressure height H_Adc and downslide The parameter that throttle Thr_Eng_Dive chooses；
(C) the flat required oil consumption Fuel_Ex for flying over journey of unmanned plane is calculatedflat：
Fuel_Exflat=Ky×Thr_Eng_Flat+by；Wherein Ky, byTo be flown according to current gas pressure height H_Adc peace The parameter that throttle Thr_Eng_Flat chooses；
(D) unmanned plane is calculated according to step (A), (B), (C) result of calculation maked a return voyage as former road and flown back required for airport MIN FUEL Fuel_Back is：
Wherein：S_Back is the flight path that former road is maked a return voyage, each by being stored in the air route file in flight control computer The longitude degree information of individual destination is obtained with the latitude and longitude information of current unmanned plane；
Vd is ground velocity.
(5) flight-control computer is judged step (3), the result of calculation of (4) in real time, if unmanned plane is currently remained Remaining 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 is pressed Make a return voyage flight or remaining default Route reform on former road.
The determination methods of the step (5) are：
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 are met, if condition 1 is first met, after condition 2 Meet, then unmanned plane makes a return voyage flight by former road, if condition 2 is first met, met after condition 1, then unmanned plane default navigates by remaining Fly on road.
Compared with the prior art, the invention has the advantages that：The present invention sets initial loading oil in flight control computer Amount, according to engine consumption and throttle, the experiment relation table of pressure altitude, sets the calculating letter of a real-time Fuel Remained amount Number, in conjunction with the current GPS location of unmanned plane and predetermined air route latitude and longitude information, continued to drop to down an airway airport with Former road is maked a return voyage back the estimation of the safe oil mass required for airport, after safe threshold is reached, flight control computer automatic shield nobody Machine operating personnel carry out the instruction of online air route adjustment, perform and continue fly back the fuel oil that airport or original road make a return voyage along default air route That measures safeguard protection promptly returns field task, and the present invention can be when occurring data link failure, certainly the unmanned plane during flying starting stage It is dynamic to be maked a return voyage recovery according to default air route Yuan Lu, the flight time under data link loss state is reduced, so as to reduce flight The possibility of accident, greatly improves the tasks secure of unmanned plane.
Brief description of the drawings
Fig. 1 is the realization principle figure of the present invention.
Embodiment
Further detailed description is done to the present invention with reference to specific embodiment：
The present invention comprises the following steps：
(1) fuel consumption Fuel_Ex, throttle Thr_Eng and pressure altitude H_Adc fitting song are obtained by engine test Line, i.e., when unmanned plane is in some pressure altitude interval, fuel consumption meets following linear relationship with throttle：Work as xn≤H_Adc ＜ xn+1, meet Fuel_Ex=Kn×Thr_Eng+bn, wherein n=1,2..., x is the concrete numerical value of pressure altitude, KnFor fitting Curve coefficients, bnFor offset；
(2) before unmanned plane takes off, according to unmanned plane actual load oil mass and the gathered data of pressure altimeter, ground to Matched curve, initial fuel quantity parameter Fuel_Ini and elemental height H_Ini that flight-control computer bookbinding step (1) is obtained； A Fuel Oil Remaining is set to calculate function in flight-control computer simultaneously, Fuel Oil Remaining calculates function Fuel_Var, Fuel_ Var=Fuel_Ini-Fuel_Ex × Kt, Kt are time series, and Fuel_Var is current residual amount of fuel, and Fuel_Ex is according to plan Curve retrieval is closed to obtain；
(3) in flight course, flight-control computer calculate in real time unmanned plane flown from current location it is remaining predetermined MIN FUEL Fuel_Aim needed for air route, computational methods are：
(a) the estimation time that unmanned plane slips down to elemental height from present level is calculated
For unmanned aerial vehicle design decrease speed；
(b) the required oil consumption Fuel_Ex of unmanned plane downslide process is calculateddive：
Fuel_Exdive=Kx×Thr_Eng_Dive+bx；Wherein Kx、bxFor according to current gas pressure height H_Adc and downslide The parameter that throttle Thr_Eng_Dive chooses；
(c) the flat required oil consumption Fuel_Ex for flying over journey of unmanned plane is calculatedflat
Fuel_Exflat=Ky×Thr_Eng_Flat+by；Wherein Ky, byTo be flown according to current gas pressure height H_Adc peace The parameter that throttle Thr_Eng_Flat chooses；
(d) according to needed for step (a), (b), (c) result of calculation calculate the complete remaining predetermined air route of unmanned plane during flying most Amount of fuel Fuel_Aim is less：
Wherein：S_Aim is the flight path in remaining predetermined air route of having flown, and passes through the air route being stored in flight control computer The longitude degree information of the destination of each in file is obtained with the latitude and longitude information of current unmanned plane；
Vd is ground velocity, i.e. speed of the unmanned plane under geographic coordinate system.
(4) in flight course, flight-control computer calculates unmanned plane from current location by the air route flown in real time Make a return voyage required MIN FUEL on former road, and computational methods are：
(A) the estimation time that elemental height is slipped down to from present level is calculated
For unmanned aerial vehicle design decrease speed；
(B) the required oil consumption Fuel_Ex of unmanned plane downslide process is calculateddive：
Fuel_Exdive=Kx×Thr_Eng_Dive+bx；Wherein Kx、bxFor according to current gas pressure height H_Adc and downslide The parameter that throttle Thr_Eng_Dive chooses；
(C) the flat required oil consumption Fuel_Ex for flying over journey of unmanned plane is calculatedflat：
Fuel_Exflat=Ky×Thr_Eng_Flat+by；Wherein Ky, byTo be flown according to current gas pressure height H_Adc peace The parameter that throttle Thr_Eng_Flat chooses；
(D) unmanned plane is calculated according to step (A), (B), (C) result of calculation maked a return voyage as former road and flown back required for airport MIN FUEL Fuel_Back is：
Wherein：S_Back is the flight path that former road is maked a return voyage, each by being stored in the air route file in flight control computer The longitude degree information of individual destination is obtained with the latitude and longitude information of current unmanned plane；
Vd is ground velocity.
(5) flight-control computer is judged step (3), the result of calculation of (4) in real time, if unmanned plane is currently remained Remaining 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 is pressed Make a return voyage flight or remaining default Route reform on former road.
The determination methods of step (5) are：
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 are met, if condition 1 is first met, after condition 2 Meet, then unmanned plane makes a return voyage flight by former road, if condition 2 is first met, met after condition 1, then unmanned plane default navigates by remaining Fly on road.
As shown in figure 1, unmanned plane flies to airport C from airport A, when flying to position B, unmanned plane receives interim online adjust Whole air route D instruction, in the process of implementation, unmanned plane obtain three below value according to real-time calculating, needed for the airport C that flies to most Few amount of fuel X, amount of fuel Y needed for the A of backtracking airport, unmanned plane current residual amount of fuel Z, if Z is first less than X, are less than afterwards Y, then unmanned plane no longer perform the air route D of on-line tuning, into safeguard protection flow, auto-returned airport A.If Z is first less than Y, afterwards less than X, then unmanned plane no longer performs the air route D of on-line tuning, into safeguard protection flow, and fly to airport C automatically.
The non-detailed description of the present invention is known to the skilled person technology.

Claims (2)

  1. A kind of method 1. UAV Fuel amount safeguard protection is maked a return voyage, it is characterised in that comprise the following steps：
    (1) oil consumption rate Fuel_Ex, throttle Thr_Eng and pressure altitude H_Adc matched curve are obtained by engine test, I.e. when unmanned plane is in some pressure altitude interval, oil consumption rate meets following linear relationship with throttle：Work as xn≤H_Adc< xn+1, meet Fuel_Ex=Kn×Thr_Eng+bn, wherein n=1,2..., x is the concrete numerical value of pressure altitude, KnIt is bent for fitting Linear system number, bnFor offset；
    (2) before unmanned plane takes off, according to unmanned plane actual load oil mass and the gathered data of pressure altimeter, ground is to flight Matched curve, initial fuel quantity parameter Fuel_Ini and elemental height H_Ini that control computer bookbinding step (1) is obtained；Simultaneously A Fuel Oil Remaining is set to calculate function in flight-control computer, Fuel Oil Remaining calculates function Fuel_Var, Fuel_Var =Fuel_Ini-Fuel_Ex × Kt, Kt are time series, and Fuel_Var is current residual amount of fuel, and Fuel_Ex is according to fitting Curve retrieval is obtained；
    (3) in flight course, flight-control computer calculates unmanned plane and flown remaining predetermined air route from current location in real time Required MIN FUEL Fuel_Aim, computational methods are：
    (a) the estimation time that unmanned plane slips down to elemental height from present level is calculated
    t ^ d i v e = ( H _ A d c - H _ I n i ) &divide; V ^ s d i v e
    For unmanned aerial vehicle design decrease speed；
    (b) the required oil consumption Fuel_Ex of unmanned plane downslide process is calculateddive：
    Fuel_Exdive=Kx×Thr_Eng_Dive+bx；Wherein Kx、bxFor according to current gas pressure height H_Adc and downslide throttle The parameter that Thr_Eng_Dive chooses；
    (c) the flat required oil consumption Fuel_Ex for flying over journey of unmanned plane is calculatedflat
    Fuel_Exflat=Ky×Thr_Eng_Flat+by；Wherein Ky, byFor according to the winged throttle of current gas pressure height H_Adc peace The parameter that Thr_Eng_Flat chooses；
    (d) the minimum combustion according to needed for step (a), (b), (c) result of calculation calculate the complete remaining predetermined air route of unmanned plane during flying Oil mass Fuel_Aim is：
    F u e l _ A i m = t ^ d i v e &times; F u e l _ Ex d i v e + ( S _ A i m &divide; V d - t ^ d i v e ) &times; F u e l _ Ex f l a t
    Wherein：S_Aim is the flight path in remaining predetermined air route of having flown, and passes through the air route file being stored in flight control computer In the latitude and longitude information of longitude degree information and current unmanned plane of each destination obtain；
    Vd is ground velocity；
    (4) in flight course, flight-control computer calculates unmanned plane from current location by the air route Yuan Lu flown in real time Make a return voyage required MIN FUEL, and computational methods are：
    (A) the estimation time that elemental height is slipped down to from present level is calculated
    t ^ d i v e = ( H _ A d c - H _ I n i ) &divide; V ^ s d i v e
    For unmanned aerial vehicle design decrease speed；
    (B) the required oil consumption Fuel_Ex of unmanned plane downslide process is calculateddive：
    Fuel_Exdive=Kx×Thr_Eng_Dive+bx；Wherein Kx、bxFor according to current gas pressure height H_Adc and downslide throttle The parameter that Thr_Eng_Dive chooses；
    (C) the flat required oil consumption Fuel_Ex for flying over journey of unmanned plane is calculatedflat：
    Fuel_Exflat=Ky×Thr_Eng_Flat+by；Wherein Ky, byFor according to the winged throttle of current gas pressure height H_Adc peace The parameter that Thr_Eng_Flat chooses；
    (D) according to step (A), (B), (C) result of calculation calculate unmanned plane maked a return voyage as former road fly back it is minimum required for airport Amount of fuel Fuel_Back is：
    F u e l _ B a c k = t ^ d i v e &times; F u e l _ Ex d i v e + ( S _ B a c k &divide; V d - t ^ d i v e ) &times; F u e l _ Ex f l a t
    Wherein：S_Back is the flight path that former road is maked a return voyage, and is navigated by being stored in each in the air route file in flight control computer The longitude degree information of point is obtained with the latitude and longitude information of current unmanned plane；
    Vd is ground velocity；
    (5) flight-control computer is judged step (3), the result of calculation of (4) in real time, if unmanned plane current residual is fired Oil mass be less than or equal to MIN FUEL that step (3) or step (4) calculate and Safety Redundancy threshold value and, then unmanned plane is by original road Make a return voyage flight or remaining default Route reform.
  2. The method 2. a kind of UAV Fuel amount safeguard protection according to claim 1 is maked a return voyage, it is characterised in that：The step (5) determination methods are：
    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 are met, if condition 1 is first met, meets after condition 2, Then unmanned plane is maked a return voyage flight by former road, if condition 2 is first met, and is met after condition 1, then unmanned plane is flown by remaining default air route OK.
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CN105069507B (en) * 2015-07-16 2019-01-08 广州极飞科技有限公司 Unmanned plane maintaining method and device
CN105068554B (en) * 2015-09-16 2018-11-06 近易（上海）信息科技有限公司 Intelligent track shot flight equipment
CN105631215B (en) * 2015-12-29 2018-07-13 中国航空工业集团公司沈阳发动机设计研究所 A kind of computational methods of aeroengine thrust augmentation combustion chamber fuel delivery
CN105607645A (en) * 2016-01-20 2016-05-25 杭州米为科技有限公司 Unmanned aerial vehicle, unmanned aerial vehicle return method, and control terminal
CN107145693B (en) * 2017-06-27 2020-12-18 中国航空工业集团公司沈阳飞机设计研究所 Dynamic measuring method for oil mass of irregular oil tank of airplane
CN109579931B (en) * 2018-11-29 2020-12-01 中国航空工业集团公司沈阳飞机设计研究所 Landing critical oil quantity warning method and system
CN109625300B (en) * 2018-12-01 2022-06-03 中国航空工业集团公司沈阳飞机设计研究所 Refueling quantity warning method
CN110262552B (en) * 2019-06-26 2022-04-12 南京拓兴智控科技有限公司 Flight control method, device and equipment of unmanned aerial vehicle and storage medium
CN117111625B (en) * 2023-10-25 2024-01-23 四川腾盾科技有限公司 Low-oil-quantity online emergency path planning method for fixed-wing unmanned aerial vehicle

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