CN104777846B - Smooth transient method for unmanned aerial vehicle flight path flight altitude control - Google Patents
Smooth transient method for unmanned aerial vehicle flight path flight altitude control Download PDFInfo
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- CN104777846B CN104777846B CN201510187522.1A CN201510187522A CN104777846B CN 104777846 B CN104777846 B CN 104777846B CN 201510187522 A CN201510187522 A CN 201510187522A CN 104777846 B CN104777846 B CN 104777846B
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Abstract
Smooth transient method for unmanned aerial vehicle flight path flight altitude control, it is related to unmanned aerial vehicle (UAV) control field, solve and only carry out height control using elevation information in unmanned aerial vehicle flight path flight course, and can climb to cause the problem of unmanned plane overload is big, flight safety is reduced with maximum capacity in transition unmanned plane at initial stage.This method comprises the following steps：Receive flight way point information, flying speed and the current location of unmanned plane；According to the way point information for being currently located flight path two ends, the difference in height of former and later two track points and the air line distance of horizontal direction are calculated；Natural Exponents rule computed altitude set-point is used according to above- mentioned information；The height set-point calculated in real time is input to height control system, so as to realize seamlessly transitting for height control.The present invention provides height according to natural Exponents rule according to track points information and instructed in real time, can reduce during unmanned aerial vehicle flight path flight altitude control in short-term compared with big overload, improve the flight safety of unmanned plane.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field, and in particular to a kind of for unmanned aerial vehicle flight path flight altitude control
Smooth transient method.
Background technology
In the height control that unmanned aerial vehicle flight path flies, during current point target destination, if only utilized
Elevation information, height-holding control law can make unmanned plane be climbed with maximum capacity, to reach target destination height as early as possible, but regardless of
Actual range of the target destination apart from current point.In this case, at transition initial stage, because unmanned plane is carried out with maximum capacity
Climb, can make it that the overload of unmanned plane is larger, be unfavorable for flight safety, security incident easily occur.At present, fly in unmanned aerial vehicle flight path
The report of similar smooth transient method is yet there are no in capable height control.
The content of the invention
In order to solve in unmanned aerial vehicle flight path flight course only using elevation information progress height control, and at transition initial stage
Unmanned plane can be climbed with maximum capacity so as to cause the problem of unmanned plane overload is big, flight safety is reduced, and the present invention provides one
Plant the smooth transient method for unmanned aerial vehicle flight path flight altitude control.The present invention is advised according to track points information according to natural Exponents
Rule provides height and instructed in real time, can reduce during unmanned aerial vehicle flight path flight altitude control in short-term compared with big overload, improve nothing
Man-machine flight safety.
The present invention is as follows to solve the technical scheme that technical problem is used：
The smooth transient method for unmanned aerial vehicle flight path flight altitude control of the present invention, comprises the following steps：
Step 1: system for flight control computer receive ground observing and controlling system upload unmanned plane flight track point information and
Current flight speed and current location information that airborne sensor is measured, and record the information of flight path switching point；
Step 2: according to the information of flight path switching point and targetpath point, calculating flight path switching point and targetpath point
Between difference in height and both air line distances in the horizontal direction；
Step 3: according to the difference in height between flight path switching point and targetpath point, the air line distance in horizontal direction with
And unmanned plane is in the flying speed of flight path switching point, using natural Exponents rule and using formula (1) calculate in real time height to
Definite value；
In formula (1)：HgFor height set-point, Hg,qFor the height of flight path switching point, Hg,iFor the height of targetpath point,
T is current time, tqFor the time of flight path switching point, T is time constant,Wherein, liFor flight path switching point and mesh
The air line distance of track points in the horizontal direction is marked, V0 is the average ground velocity in flight tracking control；
Step 4: the height set-point calculated in real time is input into system for flight control computer using system for flight control computer
In height control system in, so as to realize seamlessly transitting for unmanned aerial vehicle flight path flight altitude control.
The beneficial effects of the invention are as follows：The smooth transient method for unmanned aerial vehicle flight path flight altitude control of the present invention,
Height set-point is calculated according to natural Exponents rule by track points information in real time, and is in real time input to this height set-point
In height control system in system for flight control computer, so as to realize seamlessly transitting for unmanned aerial vehicle flight path flight altitude control.This
The method of invention can reduce during unmanned aerial vehicle flight path flight altitude control in short-term compared with big overload, improve the flight of unmanned plane
Security, it is ensured that unmanned plane during flying safety.
Embodiment
The present invention uses natural Exponents rule, while height set-point is calculated by track points information in real time, and in real time
This height set-point is input in the height control system in system for flight control computer, so as to realize that unmanned aerial vehicle flight path flight is high
What degree was controlled seamlessly transits.
The smooth transient method for unmanned aerial vehicle flight path flight altitude control of the present invention, comprises the following steps：
Step 1: the flight control system in unmanned plane receives the flight track point information of ground observing and controlling system upload (namely
Characterize unmanned aerial vehicle flight path series of points) and unmanned plane in airborne sensor measured by current flight speed and present bit
Confidence ceases, and records the information of flight path switching point；
Step 2: according to the information of flight path switching point and targetpath point, calculating flight path switching point and targetpath point
Between difference in height and both air line distances in the horizontal direction；
Step 3: according to the difference in height between flight path switching point and targetpath point, the air line distance in horizontal direction with
And unmanned plane is in the flying speed of flight path switching point, using natural Exponents rule and using formula (1) calculate in real time height to
Definite value；It is a Smoothness Index curve to calculate obtained real-time height set-point, therefore this is smooth in tracking for height control system
Actual path during exponential curve is also smooth；
Formula (1) is as follows：
In formula (1)：HgFor height set-point, Hg,qFor the height of flight path switching point, Hg,iFor the height of targetpath point,
T is current time, tqFor the time of flight path switching point, T is time constant,Wherein, liFor flight path switching point and mesh
The air line distance of track points in the horizontal direction is marked, V0 is the average ground velocity in flight tracking control；
Step 4: the height set-point calculated in real time is input into unmanned plane using the flight control system in unmanned plane flies control
In height control system in system, so as to realize seamlessly transitting for unmanned aerial vehicle flight path flight altitude control.
Above-mentioned described system for flight control computer, the height control system in system for flight control computer, ground observing and controlling system,
Airborne sensor in unmanned plane is prior art, no longer excessive herein to introduce.
Claims (1)
1. the smooth transient method for unmanned aerial vehicle flight path flight altitude control, it is characterised in that comprise the following steps：
Step 1: system for flight control computer receives the flight track point information of unmanned plane that ground observing and controlling system uploads and airborne
Current flight speed and current location information that sensor is measured, and record the information of flight path switching point；
Step 2: according to the information of flight path switching point and targetpath point, calculating between flight path switching point and targetpath point
Difference in height and both air line distances in the horizontal direction；
Step 3: according to the difference in height between flight path switching point and targetpath point, air line distance and nothing in horizontal direction
The man-machine flying speed in flight path switching point, height set-point is calculated using natural Exponents rule and using formula (1) in real time；
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In formula (1)：HgFor height set-point, Hg,qFor the height of flight path switching point, Hg,iFor the height of targetpath point, t is to work as
Preceding time, tqFor the time of flight path switching point, T is time constant,Wherein, liFor flight path switching point and targetpath
The air line distance of point in the horizontal direction, V0 is the average ground velocity in flight tracking control；
Step 4: the height set-point calculated in real time is input in system for flight control computer using system for flight control computer
In height control system, so as to realize seamlessly transitting for unmanned aerial vehicle flight path flight altitude control.
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| CN201510187522.1A CN104777846B (en) | 2015-04-20 | 2015-04-20 | Smooth transient method for unmanned aerial vehicle flight path flight altitude control |
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| CN201510187522.1A CN104777846B (en) | 2015-04-20 | 2015-04-20 | Smooth transient method for unmanned aerial vehicle flight path flight altitude control |
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| CN104777846A CN104777846A (en) | 2015-07-15 |
| CN104777846B true CN104777846B (en) | 2017-09-12 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105259909B (en) * | 2015-11-08 | 2018-07-10 | 杨珊珊 | Vegetation collecting method and harvester based on unmanned vehicle |
| 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 |
| CN107108023B (en) * | 2016-12-22 | 2019-09-27 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control method |
| CN108496136A (en) * | 2017-05-24 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Control method of making a return voyage, equipment and the unmanned vehicle of unmanned vehicle |
| CN112461204B (en) * | 2019-08-19 | 2022-08-16 | 中国科学院长春光学精密机械与物理研究所 | Method for satellite to dynamic flying target multi-view imaging combined calculation of navigation height |
| CN111026153A (en) * | 2019-12-09 | 2020-04-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Guiding method and guiding device for increasing flight distance of boosting gliding aircraft |
| CN114041097B (en) * | 2020-05-27 | 2024-05-17 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle route smoothing method and device and control terminal |
| CN112306069A (en) * | 2020-10-22 | 2021-02-02 | 杭州瓦屋科技有限公司 | Plant protection unmanned aerial vehicle elevation air line control optimization method |
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| FR2906622B1 (en) * | 2006-10-03 | 2008-11-28 | Thales Sa | SUSTEM OF TOLERANT FLIGHT MANAGEMENT AT DISTANCE RUNS. |
| FR2963120B1 (en) * | 2010-07-20 | 2013-08-30 | Airbus Operations Sas | METHOD AND APPARATUS FOR AUTOMATICALLY MANAGING A LATERAL TRAJECTORY FOR AN EMERGENCY LOWERING OF AN AIRCRAFT |
| US8406939B2 (en) * | 2010-09-03 | 2013-03-26 | Honeywell International Inc. | Systems and methods for RTA control of multi-segment flight plans with smooth transitions |
| CN104252133B (en) * | 2014-07-29 | 2017-01-25 | 北京航空航天大学 | Longitudinal control law smooth switching method of unmanned aerial vehicle |
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