CN105045277A - Multiple-UAV operation information display system - Google Patents
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Abstract
The present invention discloses a multiple-UAV operation information display system which comprises a data receiving unit for receiving flying state data and image data from airborne sensors and classifies and stores into a storage unit corresponding to each UAV, then a processing unit calculates and generates an integrated information display set according to the flying state information, terrain database information of each UAV in the storage unit and the control options of a control unit, and a display unit combines a display parameter and displays the integrated information display set in the whole. According to the system, the relative positions of multiple UAV can be displayed in an integrated way, the relative relationship of UAVs flying at a low altitude and terrain and obstacles on the ground is displayed in a highlighted way, the state sensing ability of control personnel is effectively enhanced, and the system is especially for a multiple-unmanned-helicopter cluster application.
Description
Technical field
The invention belongs to unmanned plane manipulation field of information display, be specifically related to a kind of multiple no-manned plane manipulation information display system.
Background technology
Unmanned plane cluster fight has become the inexorable trend in following Development of UAV and application.At present, for the manipulation of unmanned plane mainly by means of UAV ground control station, it is by the state of flight information of display unmanned plane, and then supports that manipulation personnel are to the control of unmanned plane.
Traditional UAV ground control station generally can only control single unmanned plane, shows its state of flight information and mission bit stream, and simultaneously in order to ensure maneuverability and dirigibility, UAV ground control station often exists with vehicle-mounted form.And generally, vehicle is limited to the factor such as volume, weight, cannot equips and overlap UAS more, and the existence of many cover systems also likely causes the problems such as data interference.Therefore, with current technological means, realizing multiple no-manned plane cluster fight task still will rely on multiple discrete single UAV ground control station to manipulate, obviously such mode cannot provide perception to whole unmanned aerial vehicle group and situation of battlefield for manipulation personnel, has also been difficult to the collaborative and control task of multiple no-manned plane.
In addition, for the extreme low-altitude cluster fight task of some depopulated helicopters, depopulated helicopter is complex environment faced by meeting when low-latitude flying, easy and ground obstacle is touched, and then initiation aircraft accident, affect clustered control and Operational Effectiveness Rat, and existing unmanned plane manipulation information does not indicate the relativeness between unmanned plane and landform, cannot strong support multiple no-manned plane hedge-hopping mission.
Summary of the invention
For the deficiency of prior art, the present invention discloses a kind of multiple no-manned plane manipulation information display system, it can the real-time exhibition state of flight information of six frame unmanned planes and onboard image sensor information thereof at the most, can the geographic position of all unmanned planes of overview display and relativeness, the locus of each unmanned plane can also be identified in three-dimensional virtual map simultaneously, user can adjust observation visual angle by button, realize unmanned aerial vehicle group multi-angle, omnibearing observation, and then with the relation between visual mode perception unmanned plane and landform, especially low latitude is carried out for needs, the depopulated helicopter group of hedgehopping, between depopulated helicopter and landform, the displaying of relativeness effectively can strengthen the situational awareness of manipulation personnel, realize the effective control to unmanned aerial vehicle group.
For achieving the above object, the invention provides a kind of multiple no-manned plane manipulation information display system, it is characterized in that: comprise a data receipt unit for accepting the view data of Flight Condition Data from airborne sensor and airborne sensor, and Data classification is stored in storage unit corresponding to each unmanned plane;
A processing unit, according to the control option of unmanned plane during flying status information each in storage unit, terrain data library information and control module, calculates and generates intergrated information display collection;
A display unit shows intergrated information display collection in conjunction with display parameter entirety.
Described intergrated information display collection includes unmanned plane during flying status page, the Two-dimensional electron map page and the three-dimensional virtual map page.
Described unmanned plane during flying status page is for showing the state of flight of multiple UAVs, airborne sensor image and mechanical parameter information.
Described unmanned plane during flying status information comprises speed symbol, height symbol, course symbol, current unmanned plane mark, wind speed and direction information, temporal information, latitude and longitude information.
Speed symbol shows with the combination of speed scale and designator the flying speed that unmanned plane is current, and unit is miles per hour (mi/h), shows the digital value of present speed and preliminary election speed with digital display frame simultaneously.
Height symbol shows with the combination of altitude scale and designator the flying height that unmanned plane is current, and unit is foot (ft), shows the digital value of present level and pre-selected height with digital display frame simultaneously.
Course symbol comprises course scale, current bearing indication symbol, Pre-select Heading value, current course value, course unit is degree, current bearing indication symbol indicates course value above the scale of course, and the left side of course scale and the right are respectively with digital display frame display Pre-select Heading value and current course value.
Current unmanned plane mark comprises an aircraft symbol and unmanned plane numbering.Wind speed and direction information indicates the wind speed and direction of environment residing for current unmanned plane, unit degree of being respectively and rice/and per second.
Temporal information then indicates the current time.Latitude and longitude information indicates the geographic position of current unmanned plane, and unit is degree.
Described airborne sensor image is shown in unmanned plane during flying status page central authorities, and the view data of airborne sensor is derived from airborne visible ray or infrared sensor, indicates the scene state in current unmanned plane front.
Described mechanical parameter information includes: engine torque information, turbine temperature information, oil mass information, revolution speed of propeller information.Engine torque information represents with " TQ ", and the torque value of instruction engine, unit is Newton meter (Nm).Turbine temperature information represents with " TT ", the temperature of instruction engine turbine, and unit is degree (DEG C).Oil mass information represents with " FU ", and the oil mass information of instruction unmanned plane, unit is kilogram (Kg).Revolution speed of propeller information represents with " PR ", and instruction revolution speed of propeller, shows rotating speed per minute with number percent (%).These four symbols all represent total amount with circle, represent currency or consumption with fan-shaped, show corresponding digital value in circular both sides respectively.
Described Two-dimensional electron map sheet face includes two dimensional navigation map, aircraft option information, mission bit stream; Described two dimensional navigation map includes unmanned plane position symbol, target area symbol, flight path symbol, and the geography information of unmanned aerial vehicle group mission area shown by two dimensional navigation map.The symbol instruction position of unmanned plane on two dimensional navigation map, unmanned plane position, and identify using numeral as the sequence number of unmanned plane, the Operation Target of target area symbol instruction unmanned aerial vehicle group can be a point on map or a slice scope, represents with combination that is circular and cross; Flight path symbol is represented by dashed line, the routing information that instruction unmanned plane flies over; Described aircraft option information shows the list of current unmanned aerial vehicle group, and each comprises navigation frequency corresponding to aircraft symbol, unmanned plane numbering and this unmanned plane, and unit is megahertz (MHz); Described mission bit stream, shows the aerial mission information of unmanned plane, comprises task type, flying distance, target conditions with the form of word.
The described three-dimensional virtual map page includes three-dimensional map, aircraft symbol, viewing angle control module; Wherein, three-dimensional map builds according to unmanned aerial vehicle station topographic database, can show terrain scene in three dimensions, and highlights the position of unmanned plane in terrain scene and attitude; The three-dimensional model aircraft of aircraft symbol represents, the physical location that its display position indicates aircraft current in real time; Viewing angle control module includes input frame and sliding button, input frame is for inputting observation station position, control observation visual angle, by X, Y, Z tri-partial value form, the X of observation station and Y value also can directly be determined on two dimensional navigation map by manipulation personnel, and sliding button, then for control observation visual angle, comprises towards, pitching and rolling, represent with H, P and R respectively, drag the change that can realize observing visual angle with sliding button.
The invention has the advantages that: multiple no-manned plane system is applied, can the locus of the multiple unmanned plane of synthesis display, highlight the relativeness between unmanned plane and landform, the corresponding of two-dimensional map and three-dimensional scenic can be realized simultaneously, and then strengthen manipulation personnel to the control ability of unmanned aerial vehicle group, strengthen the situational awareness of manipulation personnel, carry out multiple no-manned plane with this ancillary terrestrial manipulation personnel and work in coordination with and control task.In addition, the present invention can reduce the size of display device, improves maneuverability and the dirigibility of multiple no-manned plane system.
Below in conjunction with drawings and Examples, the present invention is described in further detail:
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of multiple no-manned plane manipulation information display system.
Fig. 2 is the display distribution plan of intergrated information display collection.
Fig. 3 is single unmanned plane during flying view in unmanned plane during flying status page.
Fig. 4 is the schematic diagram of the unmanned plane Two-dimensional electron map page.
Fig. 5 is the schematic diagram of the no-manned plane three-dimensional virtual map page
Embodiment
Fig. 1 gives the structured flowchart of a kind of multiple no-manned plane manipulation information display system, comprise a data receipt unit 102 and accept Flight Condition Data from airborne sensor 101 and view data, the Data classification received is stored in storage unit 103 by data receipt unit 102 again, its detailed process sorts out the data of each unmanned plane individuality, is stored together.Again by the control option of a processing unit 106 according to the Virtual Terrain information in the state of flight information of unmanned plane each in storage unit 103, topographic database 104 and control module 105, calculate and generate intergrated information display collection, finally by display unit 107 entirety display intergrated information display collection.
Airborne sensor 101 can detect the state of flight information of unmanned plane, comprise speed, highly, course, wind speed and direction, the time, geographic position and mechanical parameter, wherein mechanical parameter includes again the engine torque relevant to unmanned plane during flying, turbine temperature, oil mass, revolution speed of propeller, and these information are received successively by data receipt unit 102.Storage unit 103 is access speed storeies faster, and then the classification of supported data stores and reads fast.Control module 105 is made up of mouse, keyboard and multiple control handle, and wherein mouse and keyboard are for arranging the observed parameter of three-dimensional virtual map, and each handle then distinguishes a corresponding frame unmanned plane, for controlling its flight attitude.Topographic database 104 has prestored the three dimensional topographic data of the theater of war, with texture that is monochromatic or trellis state, can reflect landform and characters of ground object.The intergrated information display collection that display unit 107 accepts processing unit 106 generation exports final display frame, and display unit is made up of three liquid crystal display.
Fig. 2 gives the display distribution plan of intergrated information display collection, the display style of namely display unit 107 output.Wherein display unit 107 is made up of three displays, and as shown in the figure, displaying contents includes unmanned plane during flying status page 201 to putting position, the Two-dimensional electron map page 202, the three-dimensional virtual map page 203.Wherein, unmanned plane during flying status page 201 can show the state of flight of six frame unmanned planes at the most, and as the state of flight of a 204 instructions wherein frame unmanned plane, display arrangement employing two row three row of six frame unmanned plane during flying states are arranged.
Fig. 3 gives single unmanned plane during flying view in unmanned plane during flying status page, i.e. content shown in 204, include state of flight information, airborne sensor information and mechanical parameter information, the wherein velocity information of 301 ~ 304 instruction aircrafts, comprise speed scale 303 (10 miles of every scales), speed indicator 302, present speed numerical value 303 (unit: miles per hour), preliminary election velocity amplitude 304.The elevation information of 311 ~ 314 instruction aircrafts, comprises altitude scale 313 (1000 feet of every scales), elevation indicators 312, current level value 314 (unit: foot), pre-selected height value 311.The course information of 321 ~ 324 instruction aircrafts, comprises course scale 322 (1 degree of every scale), bearing indication symbol 323, current course value 324 (unit: degree), Pre-select Heading value 321 (unit: degree).
Current unmanned plane mark 331 is numbered by an aircraft symbol and unmanned plane and is formed, and wind speed and direction information 332 is made up of wind speed numerical value and wind direction numerical value, its unit degree of being respectively and metre per second (m/s).Temporal information 333 exports the current time in the mode of 24 hours systems, includes the display of Hour Minute Second.The geographic position of latitude and longitude information 334 instruction Current observation unmanned plane, unit is degree.
Airborne sensor image 354 is obtained by the visible light sensor on unmanned plane, the outer scene information in instruction unmanned plane front.Here also can show infrared image, but need the support of airborne sensing equipment and the imaging support of processing unit 104.
Mechanical parameter information includes 341 ~ 344.Wherein engine torque information 341 indicates the engine torque of unmanned plane, represents with " TQ ", left side display maximal value limit, and right scale is current engine torque value, and unit is Newton meter (Nm); Turbine temperature information 342 indicates the turbine temperature of unmanned plane, represents with " TT ", left side display maximal value limit, and right scale is current turbine temperature value, and unit is degree Celsius (DEG C); Oil mass information 343 indicates the oil mass of unmanned plane, represents with " FU ", and left side shows total oil mass value, right side display remaining oil value, and unit is kilogram (Kg); Revolution speed of propeller information 344 indicates the revolution speed of propeller of unmanned plane, represents with " PR ", shows rotating speed per minute with number percent (%), and left side display reference value, right side shows current tachometer value.
Fig. 4 gives the schematic diagram of the unmanned plane Two-dimensional electron map page, includes two dimensional navigation map, aircraft option information, mission bit stream, there is illustrated four frame unmanned planes.Wherein, two dimensional navigation map, primarily of 401 ~ 405 compositions, comprises two dimensional navigation map 401, instruction unmanned aerial vehicle group mission area; Target area symbol 402, the task object position of instruction unmanned plane, is formed by cross and circular combination; Unmanned plane position symbol 403, the instruction position of unmanned plane on two-dimensional map, represents with aircraft symbol, indicates unmanned plane sequence number in digital form at aircraft symbol afterbody simultaneously; Flight path symbol 404, the path of instruction unmanned plane during flying process, shows with dashed lines; Map scale 405, the engineer's scale of instruction two dimensional navigation map is 1:20 mile here.
Aircraft option information forms by 406 ~ 409, comprises aircraft option window 406, shows numbering and the navigation frequency information thereof of all unmanned planes in this UAS; Navigation of Pilotless Aircraft frequency 407, represents with " NAV ", and the unit of concrete frequency values is megahertz (MHz); Unmanned plane symbol 408, represents with aircraft symbol; Unmanned plane numbering 409, adds numeral with printed words " UAV ", for distinguishing different unmanned planes, numbers mutually corresponding with the unmanned plane in two dimensional navigation map 401 simultaneously.
Mission bit stream 410, shows mission bit stream with the form of word, comprises task type, flying distance, target conditions etc.
Fig. 5 gives the three-dimensional virtual map page, and comprising three-dimensional virtual scene 501, aircraft symbol 502, observation station arranges module 503, and it includes again X, Y, Z tri-input frames, can be keyed in the coordinate figure of observation station by the keyboard equipment in control module 105.Pitch control subsystem module 504, roll unloads module 505, towards control module 506, here for the implication towards each symbol of this module of control module specific explanations, H represents towards symbol, represent total towards span towards scale 507, by-180 degree to+180 degree, towards designator 508 indicate current towards, the numeric representation on H side is specifically towards value, indicate towards the direction increased towards change designator 509, namely the personnel that manipulate can utilize mouse device to drag and move to two ends towards designator 508, mark "+" one end can increase towards, mark "-" one section can reduce towards.Pitch control subsystem module 504 is similar with each symbol implication of roll unloads module 505, no longer superfluously herein states.
More than exemplifying is only illustrate of the present invention, does not form the restriction to protection scope of the present invention, everyly all belongs within protection scope of the present invention with the same or analogous design of the present invention.The parts that the present embodiment does not describe in detail and structure belong to the well-known components of the industry and common structure or conventional means, do not describe one by one here.
Claims (8)
1. a multiple no-manned plane manipulation information display system, it is characterized in that: comprise a data receipt unit for accepting the view data of Flight Condition Data from airborne sensor and airborne sensor, and Data classification is stored in storage unit corresponding to each unmanned plane;
A processing unit, according to the control option of unmanned plane during flying status information each in storage unit, terrain data library information and control module, calculates and generates intergrated information display collection;
A display unit shows intergrated information display collection in conjunction with display parameter entirety.
2. a kind of multiple no-manned plane manipulation information display system according to claim 1, is characterized in that: described intergrated information display collection includes unmanned plane during flying status page, the Two-dimensional electron map page and the three-dimensional virtual map page.
3. a kind of multiple no-manned plane manipulation information display system according to claim 2, is characterized in that: described unmanned plane during flying status page is for showing the state of flight of multiple UAVs, airborne sensor image and mechanical parameter information.
4. a kind of multiple no-manned plane manipulation information display system according to claim 1, is characterized in that: described unmanned plane during flying status information comprises speed symbol, height symbol, course symbol, current unmanned plane mark, wind speed and direction information, temporal information, latitude and longitude information.
5. a kind of multiple no-manned plane manipulation information display system according to claim 3, it is characterized in that: described airborne sensor image is shown in unmanned plane during flying status page central authorities, the view data of airborne sensor is derived from airborne visible ray or infrared sensor, indicates the scene state in current unmanned plane front.
6. a kind of multiple no-manned plane manipulation information display system according to claim 3, is characterized in that: described mechanical parameter information includes: engine torque information, turbine temperature information, oil mass information, revolution speed of propeller information; Engine torque information represents with " TQ ", the torque value of instruction engine, and unit is Newton meter; Turbine temperature information represents with " TT ", the temperature of instruction engine turbine, and unit is DEG C; Oil mass information represents with " FU ", the oil mass information of instruction unmanned plane, and unit is kilogram; Revolution speed of propeller information represents with " PR ", and instruction revolution speed of propeller, with the rotating speed that percentages show is per minute.These four symbols all represent total amount with circle, represent currency or consumption with fan-shaped, show corresponding digital value in circular both sides respectively.
7. a kind of multiple no-manned plane manipulation information display system according to claim 2, is characterized in that: described Two-dimensional electron map sheet face includes two dimensional navigation map, aircraft option information, mission bit stream; Described two dimensional navigation map includes unmanned plane position symbol, target area symbol, flight path symbol, and the geography information of unmanned aerial vehicle group mission area shown by two dimensional navigation map.The symbol instruction position of unmanned plane on two dimensional navigation map, unmanned plane position, and identify using numeral as the sequence number of unmanned plane, the Operation Target of target area symbol instruction unmanned aerial vehicle group can be a point on map or a slice scope, represents with combination that is circular and cross; Flight path symbol is represented by dashed line, the routing information that instruction unmanned plane flies over; Described aircraft option information shows the list of current unmanned aerial vehicle group, and each comprises navigation frequency corresponding to aircraft symbol, unmanned plane numbering and this unmanned plane, and unit is megahertz; Described mission bit stream, shows the aerial mission information of unmanned plane, comprises task type, flying distance, target conditions with the form of word.
8. a kind of multiple no-manned plane manipulation information display system according to claim 3, is characterized in that: the described three-dimensional virtual map page includes three-dimensional map, aircraft symbol, viewing angle control module; Wherein, three-dimensional map builds according to unmanned aerial vehicle station topographic database, can show terrain scene in three dimensions, and highlights the position of unmanned plane in terrain scene and attitude; The three-dimensional model aircraft of aircraft symbol represents, the physical location that its display position indicates aircraft current in real time; Viewing angle control module includes input frame and sliding button, input frame is for inputting observation station position, control observation visual angle, by X, Y, Z tri-partial value form, the X of observation station and Y value also can directly be determined on two dimensional navigation map by manipulation personnel, and sliding button, then for control observation visual angle, comprises towards, pitching and rolling, represent with H, P and R respectively, drag the change that can realize observing visual angle with sliding button.
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