CN105116915A - Multi-mode satellite navigation-based parafoil flight path control system - Google Patents
Multi-mode satellite navigation-based parafoil flight path control system Download PDFInfo
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- CN105116915A CN105116915A CN201510588775.XA CN201510588775A CN105116915A CN 105116915 A CN105116915 A CN 105116915A CN 201510588775 A CN201510588775 A CN 201510588775A CN 105116915 A CN105116915 A CN 105116915A
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Abstract
The present invention discloses a multi-mode satellite navigation-based parafoil flight path control system, which comprises a comprehensive solution module arranged on a parafoil, a multi-mode positioning module and a path planning module. The multi-mode positioning module and the path planning module are connected with the comprehensive solution module. The path planning module is also connected with a flight control tracking module. The system further comprises a meteorological testing module and a landform data acquisition module, wherein the meteorological testing module and the landform data acquisition module are arranged at an air-drop place. According to the technical scheme of the invention, the navigation reliability and the navigation precision are improved. At the same time, the blind-action problem during the conventional parafoil flight path control process can be solved. Therefore, the achievable rate of the landing precision is improved.
Description
Technical field
The present invention relates to parafoil control field, particularly relate to a kind of paragliding flight path control system adopting multimodal satellite navigation.
Background technology
In remote control aerial delivery system, first by navigation module obtain the skyborne position of aerial delivery system, highly, the information such as speed, parafoil flight tracking control device adopts navigation information to carry out analysis and resolves, the track that the good flight of planning controls, and controls parafoil and completes flight according to flight path.
In prior art, paragliding flight tracking control device adopts single gps satellite location navigation, is positioned resolve acquisition navigation information by reception gps satellite signal.Single GPS navigation control system is in the good situation of service condition, and such as region is open, unobstructed, when system operating conditions is stablized noiseless, normally can play navigation locating function.But due to the restriction of single navigation system, use limited in such as some areas, extraneous implement the particular surroundingss such as interference under when using, the movable information of parafoil cannot be known exactly by real-time continuous, and cause parafoil accurately to go home control accuracy reduction.
On the other hand, in prior art, paragliding controls to ignore the external factors such as meteorological condition, fixed condition, terrain environment, adopt the strategy of stepwise control, or paraglider system adaptive control scheme, do not plan flight path, make aerial delivery system realize pinpoint Landing Control and there is certain risk, be difficult to accurate realization.
In Chinese invention patent instructions CN201410437417, disclose a kind of parafoil fixed point to go home Servocontrol device and control method.The parafoil fixed point of this invention is gone home Servocontrol device, comprise electrokinetic cell, driving governor and control wire control device, electrokinetic cell is powered to driving governor and control wire control device, driving governor reception control signal drived control control wire control device.Although this invention can be gone home to parafoil and be played certain control action, the control but this invention cannot be gone home accurately when single navigation system lost efficacy, and do not consider the impact that the external factors such as meteorological condition, fixed condition, terrain environment control flight track.
Summary of the invention
The technical problem to be solved in the present invention is that controlling single GPS navigation system for parafoil in prior art easily lost efficacy, and do not consider the defect of meteorological condition and terrain environment, there is provided a kind of and adopt multimodal satellite navigation system, and simultaneously to the paragliding flight path control system that meteorological condition and terrain environment are monitored.
The technical solution adopted for the present invention to solve the technical problems is:
The invention provides a kind of paragliding flight path control system adopting multimodal satellite navigation, comprise the data combination module be arranged on parafoil, and all connected multimode locating module and flight path programming module, described flight path programming module also with fly to control tracking module and be connected; Also comprise the Climate measurement module and terrain data acquisition module that are arranged on air-drop place;
The signal of the multiple satellite navigation system of described multimode locating module Real-time Obtaining, records the locating information of parafoil, and monitors navigation data quality, reject disturbed data, export effective navigational parameter;
Described Climate measurement module is for monitoring wind speed, the wind direction information of each layer in high-altitude in air-drop place;
Described terrain data acquisition module is used for the geography information obtaining current air-drop place from terrain environment database;
Described data combination module receives the information got from described multimode locating module, Climate measurement module and terrain data acquisition module, and resolves process to it, extracts wind field data, geodata and trajectory planning key point data.
Described flight path programming module receives the calculation result data from described data combination module, and in conjunction with the current location of parafoil, speed, highly, course angle and movement state information, formulate flight path, draw the coordinate of N number of track points;
Described flying controls the coordinate that tracking module receives the N number of track points calculated from flight path programming module, the heading of parafoil is changed according to this coordinate, the position of track point one by one, and calculate the position deviation of parafoil current location and track points, the course change of parafoil is controlled according to inclined extent.
This system also comprises input sense terminals, and described input sense terminals is used for being connected with described flight path programming module in the ground preparatory stage, and the information of target point is inputted described flight path programming module, disconnects after having inputted.
This system also comprises and described data combination module, described flight path programming module and the described data memory module flying to control tracking module and be all connected, and described data memory module is for storing navigational parameter, track data and steering order.
This system also comprises and the described driver flying to control tracking module and be connected, and described driver receives from the described control signal flying to control tracking module, and carries out drive amplification to control signal.
This system also comprises the motor servo mechanism be connected with driver, and described motor servo mechanism receives the control signal from described driver, completes the contraction to parafoil control wire or release.
Described multimode locating module comprises the Big Dipper/GPS receiver module and GPS/GLONASS receiver module.
Described Climate measurement module comprises weather radar and sonde.
Overhead, ground, described Climate measurement module monitors dropping ground is every the wind direction of 100M height and wind speed information.
Described terrain data acquisition module obtains position and the elevation information of the elevation key point within the scope of air-drop central area, place radius 20KM.
The beneficial effect that the present invention produces is: the invention provides a kind of paragliding flight path control system adopting multimodal satellite navigation, adopt combined type multimodal satellite navigation, overcome the use limitation of single gps satellite navigation, improve reliability and the precision of navigation; Simultaneously, parafoil flight tracking control device is by external environmental informations such as data combination navigation information, weather information, geography information, in conjunction with the kinetic characteristic of parafoil self, cook up rational flight path, control steerable parasail delivery system and complete flight according to the track planned, solve the rashness in action in current parafoil flight tracking control, reached at the rate of landing precision is improved.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the system chart of the paragliding flight path control system of the employing multimodal satellite navigation of the embodiment of the present invention;
Fig. 2 is the structural representation of the paragliding flight path control system of the employing multimodal satellite navigation of the embodiment of the present invention;
Fig. 3 is the workflow diagram of the system of the paragliding flight path control system of the employing multimodal satellite navigation of the embodiment of the present invention;
Fig. 4 is that the parameter of the system of the paragliding flight path control system of the employing multimodal satellite navigation of the embodiment of the present invention injects interface instance graph;
1-data combination module in figure, 2-multimode locating module, 3-Climate measurement module, 4-terrain data acquisition module, 5-flight path programming module, 6-flies to control tracking module.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, it is the system chart of the paragliding flight path control system of the employing multimodal satellite navigation of the embodiment of the present invention, comprise the data combination module 1 be arranged on parafoil, and all connected multimode locating module 2 and flight path programming module 5, flight path programming module 5 also with fly to control tracking module 6 and be connected; Also comprise the Climate measurement module 3 and terrain data acquisition module 4 that are arranged on air-drop place.
The signal of the multiple satellite navigation system of multimode locating module 2 Real-time Obtaining, records the locating information of parafoil, and monitors navigation data quality, rejects disturbed data, exports effective navigational parameter; Multimode locating module 2 comprises the Big Dipper/GPS receiver module and GPS/GLONASS receiver module.
Climate measurement module 3 comprises weather radar and sonde, for monitoring wind speed, the wind direction information of each layer in high-altitude in air-drop place, highly extracts First air to, wind speed information every 100M.
Terrain data acquisition module 4, for obtaining the geography information in current air-drop place from terrain environment database, obtains position and the elevation information of the elevation key point within the scope of air-drop central area, place radius 20KM.
Data combination module 1 receives the information got from multimode locating module 2, Climate measurement module 3 and terrain data acquisition module 4, and resolves process to it, extracts wind field data, geodata and trajectory planning key point data.
Flight path programming module 5 receives the calculation result data from data combination module 1, and in conjunction with the current location of parafoil, speed, highly, course angle and movement state information, formulate flight path, draw the coordinate of N number of track points.
Fly to control the coordinate that tracking module 6 receives the N number of track points calculated from flight path programming module 5, the heading of parafoil is changed according to this coordinate, the position of track point one by one, and calculate the position deviation of parafoil current location and track points, the course change of parafoil is controlled according to inclined extent.
As shown in Figure 2, be the structural representation of the embodiment of the present invention, this system also comprises input sense terminals, and input sense terminals is used for being connected with described flight path programming module 5 in the ground preparatory stage, and by the information of target point input flight path programming module 5, disconnect after having inputted.
This system also comprises the data memory module controlled tracking module 6 with data combination module 1, flight path programming module 5 and flying and be all connected, and described data memory module is for storing navigational parameter, track data and steering order.
This system also comprises and the driver flying to control tracking module 6 and be connected, and driver receives the control signal from flying to control tracking module 6, and carries out drive amplification to control signal.What be connected with driver also has motor servo mechanism, and motor servo mechanism receives the control signal of output from driver, completes the contraction to parafoil control wire or release.
As shown in Figure 3, be the working-flow figure of the embodiment of the present invention, the concrete steps of binding operation are described in detail to the present embodiment.
In the ground preparatory stage, input sense terminals be connected with flight tracking control device 5, longitude and latitude, the sea level elevation of impact point are write by the input inspection software of input sense terminals, are injected in flight tracking control device 5, inject software interface as shown in Figure 4.
Before air-drop, weather radar or sonde record the wind field information in dropping ground, comprise wind direction and the air speed data of every 100M height, are delivered to general settlement module 1 by the mode of wire transmission or wireless transmission.Obtain the vital ground data in dropping ground from the earth geographic information database, the elevation information mainly within the scope of distance landing central area, dropping ground radius 20KM, the position of elevation key point and height, be delivered to data combination module 1.
After air-drop, the Big Dipper/gps satellite receiver and GPS/GLONASS satellite receiver obtain the navigation positioning data of combination, comprise: the real-time longitude and latitude of aerial delivery system, highly, the parameter such as speed, course angle, export data combination module 1 to by serial ports.General settlement module, to the weather data, terrain data, the navigational parameter that obtain, in conjunction with the placement position of air release point, is carried out analysis and is judged, find out critical control point information.Critical control point information enters flight path programming module 5, flight path programming module 5 analysis of key point, for parafoil kinetic model, in conjunction with the maneuvering motion characteristic of parafoil, cooks up the flight path of parafoil, obtains 1 ~ N number of track points coordinate and numbering.Fly to control the number order of tracking module 6 according to the track points planned, follow the tracks of the coordinate position of flight to track points one by one, in the process of flight-follow, in real time the positional information of the aerial delivery system positional information recorded and trace point is compared, obtain the distance of deviation between the two, the angle of deviation, difference in height, send steering order, steering order is the turn signal of motor, electric machine rotation drives parafoil control wire to shrink or release, thus adjustment paragliding direction.Aerial delivery system reaches default track points position, enters next track points subsequently, until precision landing.
The course of work of the embodiment of the present invention can be divided into following step in detail:
1, the ground preparatory stage before the air-drop of remote control aerial delivery system, communication interface between sense terminals with parafoil trajectory planning device will be inputted be connected, input sense terminals on write target point longitude, latitude, sea level elevation, by communication interface, target dot information is injected into parafoil trajectory planning device.
2, before system is thrown in, utilize the Climate measurement such as sonde, weather radar equipment to record wind speed and direction information within the scope of the release altitude of dropping ground, obtain the wind speed that relative height often increases progressively 100M high level, wind direction.
3, in conjunction with the geographic position of airborn landing field, transfer topographic database, obtain the vital ground data within the scope of distance airborn landing field center 20KM: sea level elevation, elevation landform.
4, after remote control aerial delivery system is thrown in, parafoil launches, and is in full glide state, the now Big Dipper/GPS/GLONASS multi-mode satellite receiver receiving satellite signal, lock star location, obtain remote control aerial delivery system current location, highly, the parameter such as speed, course angle, motion state.
5, the position data etc. of navigation data, weather data, geodata, release position is sent into and is resolved module, carries out resolving process, obtain trajectory planning key point data according to data processing rule.
6, trajectory planning analysis of key point data, in conjunction with the kinetic model of parafoil self, for the kinetic characteristic of parafoil, formulates rational flight path, forms 1 ~ N number of track points coordinate.
7, fly control to follow the tracks of according to 1 ~ N number of track points coordinate, change the heading of parafoil, track point position one by one.In the process of track point position, fly to control the aerial delivery system positional information that tracker gathers navigational system output, compare judgement, obtain yaw information with track points positional information, adjustment paragliding direction, makes aerial delivery system approach track points position gradually.
8, fly to control the deviation of following the tracks of and obtaining aerial delivery system current location and track points position, make the operational order to parafoil according to inclined extent, namely decision-making goes out the manipulated variable of parafoil.Send manipulated variable instruction, this instruction is amplified by driver element, by rotation or the stopping of Control motor servo mechanism, thus shrinks or release parafoil control wire.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (9)
1. one kind adopts the paragliding flight path control system of multimodal satellite navigation, it is characterized in that, comprise the data combination module (1) be arranged on parafoil, and all connected multimode locating module (2) and flight path programming module (5), described flight path programming module (5) also with fly to control tracking module (6) and be connected; Also comprise the Climate measurement module (3) and terrain data acquisition module (4) that are arranged on air-drop place;
The signal of the multiple satellite navigation system of described multimode locating module (2) Real-time Obtaining, records the locating information of parafoil, and monitors navigation data quality, reject disturbed data, export effective navigational parameter;
Described Climate measurement module (3) is for monitoring wind speed, the wind direction information of each layer in high-altitude in air-drop place;
Described terrain data acquisition module (4) for obtaining the geography information in current air-drop place from terrain environment database;
The information that the reception of described data combination module (1) gets from described multimode locating module (2), Climate measurement module (3) and terrain data acquisition module (4), and process is resolved to it, extract wind field data, geodata and trajectory planning key point data;
Described flight path programming module (5) receives from the calculation result data of described data combination module (1), and in conjunction with the current location of parafoil, speed, highly, course angle and movement state information, formulate flight path, draw the coordinate of N number of track points;
Described flying controls the coordinate that tracking module (6) receives the N number of track points calculated from flight path programming module (5), the heading of parafoil is changed according to this coordinate, the position of track point one by one, and calculate the position deviation of parafoil current location and track points, the course change of parafoil is controlled according to inclined extent.
2. the paragliding flight path control system of employing multimodal satellite navigation according to claim 1, it is characterized in that, this system also comprises input sense terminals, described input sense terminals is used for being connected with described flight path programming module (5) in the ground preparatory stage, and the information of target point is inputted described flight path programming module (5), disconnect after having inputted.
3. the paragliding flight path control system of employing multimodal satellite navigation according to claim 1, it is characterized in that, this system also comprises and described data combination module (1), described flight path programming module (5) and the described data memory module flying to control tracking module (6) and be all connected, and described data memory module is for storing navigational parameter, track data and steering order.
4. the paragliding flight path control system of employing multimodal satellite navigation according to claim 1, it is characterized in that, this system also comprises and the described driver flying to control tracking module (6) and be connected, described driver receives from the described control signal flying to control tracking module (6), and carries out drive amplification to control signal.
5. the paragliding flight path control system of employing multimodal satellite navigation according to claim 4, it is characterized in that, this system also comprises the motor servo mechanism be connected with driver, described motor servo mechanism receives the control signal from described driver, completes the contraction to parafoil control wire or release.
6. the paragliding flight path control system of employing multimodal satellite navigation according to claim 1, is characterized in that, described multimode locating module (2) comprises the Big Dipper/GPS receiver module and GPS/GLONASS receiver module.
7. the paragliding flight path control system of employing multimodal satellite navigation according to claim 1, is characterized in that, described Climate measurement module (3) comprises weather radar and sonde.
8. the paragliding flight path control system of employing multimodal satellite navigation according to claim 1, is characterized in that, overhead, ground, described Climate measurement module (3) monitoring dropping ground is every the wind direction of 100M height and wind speed information.
9. the paragliding flight path control system of employing multimodal satellite navigation according to claim 1, it is characterized in that, described terrain data acquisition module (4) obtains position and the elevation information of the elevation key point within the scope of air-drop central area, place radius 20KM.
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Cited By (12)
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| CN105867426A (en) * | 2016-04-11 | 2016-08-17 | 西北工业大学 | Airplane automatic airdropped material guiding method for aiming at movable object |
| CN105912019A (en) * | 2016-04-29 | 2016-08-31 | 南开大学 | Powered parafoil system's air-drop wind field identification method |
| CN106843281A (en) * | 2017-03-09 | 2017-06-13 | 北京航天控制仪器研究所 | A kind of intelligence accurately drop from the air aerial delivery system |
| CN106970638A (en) * | 2017-03-09 | 2017-07-21 | 北京航天控制仪器研究所 | A kind of accurate air-drop monitoring dissemination system |
| CN108107460A (en) * | 2017-12-11 | 2018-06-01 | 武汉理工大学 | A kind of tracing-positioning system for marine vessel |
| CN109061772A (en) * | 2018-08-03 | 2018-12-21 | 北京中恒行远科技发展有限公司 | A kind of high-precision air-drop wind detection method |
| CN110412311A (en) * | 2019-07-18 | 2019-11-05 | 南京航空航天大学 | A kind of measurement method of parafoil horizontal velocity and airborn landing region wind speed and direction |
| CN110654541A (en) * | 2019-10-29 | 2020-01-07 | 航宇救生装备有限公司 | Method and device capable of accurately positioning air drop |
| CN111077901A (en) * | 2019-12-04 | 2020-04-28 | 淮阴工学院 | Consistency-based multi-wing umbrella formation cooperative control method and control system |
| CN111694375A (en) * | 2020-06-22 | 2020-09-22 | 淮阴工学院 | Parafoil system track planning method and system, and track tracking control method and system |
| CN111879317A (en) * | 2020-07-13 | 2020-11-03 | 荆楚理工学院 | Accurate positioning instrument for air drop |
| CN112182957A (en) * | 2020-09-15 | 2021-01-05 | 西北工业大学 | One-sub umbrella-control recovery flight path planning method based on longicorn group algorithm |
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| CN105867426A (en) * | 2016-04-11 | 2016-08-17 | 西北工业大学 | Airplane automatic airdropped material guiding method for aiming at movable object |
| CN105912019A (en) * | 2016-04-29 | 2016-08-31 | 南开大学 | Powered parafoil system's air-drop wind field identification method |
| CN106843281A (en) * | 2017-03-09 | 2017-06-13 | 北京航天控制仪器研究所 | A kind of intelligence accurately drop from the air aerial delivery system |
| CN106970638A (en) * | 2017-03-09 | 2017-07-21 | 北京航天控制仪器研究所 | A kind of accurate air-drop monitoring dissemination system |
| CN108107460A (en) * | 2017-12-11 | 2018-06-01 | 武汉理工大学 | A kind of tracing-positioning system for marine vessel |
| CN109061772B (en) * | 2018-08-03 | 2020-12-11 | 北京中恒行远科技发展有限公司 | High-precision air drop wind measuring method |
| CN109061772A (en) * | 2018-08-03 | 2018-12-21 | 北京中恒行远科技发展有限公司 | A kind of high-precision air-drop wind detection method |
| CN110412311A (en) * | 2019-07-18 | 2019-11-05 | 南京航空航天大学 | A kind of measurement method of parafoil horizontal velocity and airborn landing region wind speed and direction |
| CN110412311B (en) * | 2019-07-18 | 2020-07-07 | 南京航空航天大学 | Measurement method for horizontal speed of parafoil and wind speed and direction of airdrop landing area |
| CN110654541A (en) * | 2019-10-29 | 2020-01-07 | 航宇救生装备有限公司 | Method and device capable of accurately positioning air drop |
| CN111077901A (en) * | 2019-12-04 | 2020-04-28 | 淮阴工学院 | Consistency-based multi-wing umbrella formation cooperative control method and control system |
| CN111694375A (en) * | 2020-06-22 | 2020-09-22 | 淮阴工学院 | Parafoil system track planning method and system, and track tracking control method and system |
| CN111694375B (en) * | 2020-06-22 | 2022-06-28 | 淮阴工学院 | Parafoil system track planning method and system, and track tracking control method and system |
| CN111879317A (en) * | 2020-07-13 | 2020-11-03 | 荆楚理工学院 | Accurate positioning instrument for air drop |
| CN112182957A (en) * | 2020-09-15 | 2021-01-05 | 西北工业大学 | One-sub umbrella-control recovery flight path planning method based on longicorn group algorithm |
| CN112182957B (en) * | 2020-09-15 | 2022-05-03 | 西北工业大学 | One-sub umbrella-control recovery flight path planning method based on longicorn group algorithm |
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