CN105116915B - A kind of paragliding flight path control system using multimodal satellite navigation - Google Patents
A kind of paragliding flight path control system using multimodal satellite navigation Download PDFInfo
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Abstract
The invention discloses a kind of paragliding flight path control systems using multimodal satellite navigation, including the data combination module being arranged on parafoil, and multimode locating module connected to it and flight path programming module, flight path programming module are also connected with winged control tracking module；It further includes and is arranged on the air-drop Climate measurement module in place and terrain data acquisition module.The present invention improves the reliability and precision of navigation, meanwhile, it solves the rashness in action in current parafoil flight tracking control, improves the reachable rate of landing precision.
Description
Technical field
The present invention relates to parafoil control field more particularly to a kind of paragliding flight tracking controls using multimodal satellite navigation
System.
Background technology
In aerial delivery system is remotely controlled, the skyborne position of aerial delivery system, height, speed etc. are obtained by navigation module first
Information, parafoil flight tracking control device carry out analysis resolving using navigation information, plan the track of good flight control, control parafoil according to
Flight path completes flight.
In the prior art, paragliding flight tracking control device uses single GPS satellite location navigation, is defended by receiving GPS
Star signal carries out positioning calculation and obtains navigation information.Single GPS navigation control system is preferable in use condition, example
It is unobstructed if region is open, when system operating conditions stablize noiseless, it can normally play navigation locating function.But due to list
The limitation of one navigation system, in such as some areas using being limited, the external world implements under the particular surroundings such as interference in use, will be unable to
Real-time continuous accurately knows the movable information of parafoil, cause parafoil accurately go home control accuracy reduction.
On the other hand, in the prior art paragliding control ignore meteorological condition, fixed condition, terrain environment etc. it is external because
Element using the strategy of stepwise control or paraglider system adaptive control scheme, does not plan flight path, realizes aerial delivery system
There are certain risks for pinpoint Landing Control, it is difficult to accurate to realize.
A kind of parafoil is disclosed in Chinese invention patent specification CN201410437417 and pinpoints SERVO CONTROL dress of going home
It puts and control method.The parafoil of the invention pinpoints Servocontrol device of going home, including power battery, drive control device and control wire
Control device, power battery power to drive control device and control wire control device, and drive control device receives control signal and drives
Dynamic control control wire control device.Although the invention can go home to parafoil and play certain control action, the invention nothing
Method in the case of single navigation system failure accurately go home control, and do not account for meteorological condition, fixed condition,
The influence that the external factor such as terrain environment controls flight track.
Invention content
The technical problem to be solved in the present invention is to control single GPS navigation system easy for parafoil in the prior art
The defects of failing, and not considering meteorological condition and terrain environment provides a kind of use multimodal satellite navigation system, and at the same time right
The paragliding flight path control system that meteorological condition and terrain environment are monitored.
The technical solution adopted by the present invention to solve the technical problems is：
The present invention provides a kind of paragliding flight path control system using multimodal satellite navigation, including being arranged on parafoil
Data combination module and multimode locating module connected to it and flight path programming module, the flight path programming module is also
It is connected with winged control tracking module；It further includes and is arranged on the air-drop Climate measurement module in place and terrain data acquisition module；
The multimode locating module obtains the signal of multiple satellite navigation systems in real time, measures the location information of parafoil, and
Navigation data quality is monitored, rejects disturbed data, exports effective navigational parameter；
The Climate measurement module drops the wind speed of each layer in high-altitude in place, wind direction information for monitoring；
The terrain data acquisition module currently drops the geography information in place for being obtained from terrain environment database；
The data combination module is received obtains mould from the multimode locating module, Climate measurement module and terrain data
The information that block is got, and resolving processing is carried out to it, extraction wind field data, geodata and trajectory planning key point data.
The flight path programming module receives the calculation result data from the data combination module, and with reference to parafoil
Current location, speed, height, course angle and movement state information, formulate flight path, obtain the coordinates of N number of track points；
The coordinate of N number of track points that the winged control tracking module reception is calculated from flight path programming module, according to this
Coordinate changes the position of the heading, one by one track point of parafoil, and calculates parafoil current location and the position of track points
Deviation, the course for controlling parafoil according to the size of deviation change.
The system further includes input detection terminal, and the input detection terminal was used in ground preparation stage and the flight path
Planning module connects, and the information of target point is inputted the flight path programming module, is disconnected after the completion of input.
The system further includes homogeneous with the data combination module, the flight path programming module and the winged control tracking module
Data memory module even, the data memory module are used to store navigational parameter, track data and control instruction.
The system further includes the driver being connected with the winged control tracking module, and the driver is received from the winged control
The control signal of tracking module, and amplification is driven to control signal.
The system further includes the motor servo machine structure being connected with driver, and the motor servo machine structure is received from the drive
The control signal of dynamic device, completes the contraction to parafoil control wire or release.
The multimode locating module includes the Big Dipper/GPS receiver module and GPS/GLONASS receiving modules.
The Climate measurement module includes weather radar and sonde.
The Climate measurement module monitors dropping ground overhead every 100M height wind direction and wind speed information.
The terrain data acquisition module obtains the elevation key point in the range of air-drop place central area radius 20KM
Position and elevation information.
The beneficial effect comprise that：The present invention provides a kind of paragliding flight path control using multimodal satellite navigation
System processed using combined type multimodal satellite navigation, overcomes the use limitation of single GPS satellite navigation, improves navigation
Reliability and precision；Meanwhile parafoil flight tracking control device is external by data combination navigation information, weather information, geography information etc.
Environmental information with reference to the kinetic characteristic of parafoil itself, cooks up rational flight path, control steerable parasail delivery system is according to planning
Flight is completed in good track, solves the rashness in action in current parafoil flight tracking control, improves the reachable rate of landing precision.
Description of the drawings
Below in conjunction with accompanying drawings and embodiments, the invention will be further described, in attached drawing：
Fig. 1 is the system block diagram of the paragliding flight path control system using multimodal satellite navigation of the embodiment of the present invention；
Fig. 2 is the structural representation of the paragliding flight path control system using multimodal satellite navigation of the embodiment of the present invention
Figure；
Fig. 3 is the work of the system of the paragliding flight path control system using multimodal satellite navigation of the embodiment of the present invention
Flow chart；
Fig. 4 is the parameter of the system of the paragliding flight path control system using multimodal satellite navigation of the embodiment of the present invention
Inject interface instance graph；
1- data combinations module in figure, 2- multimode locating modules, 3- Climate measurement modules, 4- terrain data acquisition modules,
5- flight path programming modules, 6- fly to control tracking module.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
As shown in Figure 1, it is that the paragliding flight path control system using multimodal satellite navigation of the embodiment of the present invention is
System block diagram, is advised including the data combination module 1 being arranged on parafoil and multimode locating module 2 connected to it and flight path
Module 5 is drawn, flight path programming module 5 is also connected with winged control tracking module 6；Further include the Climate measurement module for being arranged on air-drop place
3 and terrain data acquisition module 4.
Multimode locating module 2 obtains the signal of multiple satellite navigation systems in real time, measures the location information of parafoil, and to leading
The boat quality of data is monitored, and is rejected disturbed data, is exported effective navigational parameter；Multimode locating module 2 include the Big Dipper/
GPS receiver module and GPS/GLONASS receiving modules.
Climate measurement module 3 includes weather radar and sonde, for monitoring wind speed, the wind of each layer in high-altitude in air-drop place
To information, wind direction, a wind speed information are extracted every 100M height.
Terrain data acquisition module 4 obtains for obtaining the geography information in current air-drop place from terrain environment database
Take position and the elevation information of the elevation key point in the range of air-drop place central area radius 20KM.
The reception of data combination module 1 is obtained from multimode locating module 2, Climate measurement module 3 and terrain data acquisition module 4
The information got, and resolving processing is carried out to it, extraction 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 combines the current of parafoil
Position, speed, height, course angle and movement state information formulate flight path, obtain the coordinate of N number of track points.
Fly control tracking module 6 and receive the coordinate of N number of track points being calculated from flight path programming module 5, according to the seat
Mark changes the position of the heading, one by one track point of parafoil, and the position for calculating parafoil current location and track points is inclined
Difference, the course for controlling parafoil according to the size of deviation change.
As shown in Fig. 2, being the structure diagram of the embodiment of the present invention, which further includes input detection terminal, input inspection
Terminal is surveyed for being connect in the ground preparation stage with the flight path programming module 5, and the information of target point is inputted into flight path
Planning module 5 disconnects after the completion of input.
The system further includes the data being connected with data combination module 1, flight path programming module 5 and winged control tracking module 6
Memory module, the data memory module are used to store navigational parameter, track data and control instruction.
The system further includes the driver being connected with flying control tracking module 6, and driver is received from winged control tracking module 6
Signal is controlled, and amplification is driven to control signal.What is be connected with driver also has motor servo machine structure, motor servo machine structure
The control signal for carrying out output from driver is received, completes the contraction to parafoil control wire or release.
As shown in figure 3, it is the working-flow figure of the embodiment of the present invention, the specific steps of binding operation are to the present embodiment
It is described in detail.
In the ground preparation stage, input detection terminal is connect with flight tracking control device 5, longitude and latitude, the height above sea level of target point
Degree is written by inputting the input inspection software of detection terminal, is injected into flight tracking control device 5, injection software interface such as Fig. 4 institutes
Show.
Before air-drop, weather radar or sonde measure the wind field information in dropping ground, include the wind direction and wind of every 100M height
Fast data are delivered to general settlement module 1 by way of wire transmission or wireless transmission.From the earth geographic information database
The vital ground data in dropping ground are obtained, the elevation letter mainly in the range of the radius 20KM of dropping ground landing central area
Breath, the position of elevation key point and height, are delivered to data combination module 1.
After air-drop, the Big Dipper/GPS satellite receiver and GPS/GLONASS satellite receiver obtain the navigator fix number combined
According to, comprising：The parameters such as the real-time longitude and latitude of aerial delivery system, height, speed, course angle are exported by serial ports to data combination mould
Block 1.General settlement module with reference to the placement position of air release point, carries out the meteorological data of acquisition, terrain data, navigational parameter
Analysis judgement, finds out critical control point information.Critical control point information enters flight path programming module 5, and flight path programming module 5 is analyzed
Key point for parafoil kinetic model, with reference to the maneuvering motion characteristic of parafoil, cooks up the flight path of parafoil, obtain 1~
N number of flight path point coordinates and number.Fly number order of the control tracking module 6 according to the track points planned, tracking one by one is flown extremely
The coordinate position of track points, during flight-follow, in real time to the aerial delivery system location information measured and the position of trace point
Confidence breath is compared, and is obtained the distance of deviation, the angle of deviation, difference in height between the two, is sent out control instruction, control instruction
For the turn signal of motor, motor rotation drives parafoil control wire to shrink or discharge, so as to adjust paragliding direction.Air-drop system
System reaches preset track points position, subsequently enters next track points, until precision landing.
The course of work of the embodiment of the present invention can be divided into following steps in detail：
It 1st, the ground preparation stage before the air-drop of remote control aerial delivery system, will be between input detection terminal and parafoil trajectory planning device
Communication interface connects, and the longitude of write-in target point, latitude, height above sea level, are connect by communication in input detection terminal
Target point information is injected into parafoil trajectory planning device by mouth.
2nd, before system is launched, dropping ground release altitude range is measured using the Climate measurements equipment such as sonde, weather radar
Interior wind speed and direction information obtains the wind speed that relative altitude is often incremented by 100M high levels, wind direction.
3rd, with reference to the geographical location of airborn landing field, topographic database is transferred, is obtained apart from airborn landing field center 20KM
In the range of vital ground data：Height above sea level, elevation landform.
4th, after remote control aerial delivery system is launched, parafoil expansion, in full gliding state, the Big Dipper/GPS/GLONASS multimodes at this time
Satellite receiver receives satellite-signal, and lock star positioning obtains remote control aerial delivery system current location, height, speed, course angle, fortune
The parameters such as dynamic state.
5th, the feedings such as position data of navigation data, meteorological data, geodata, release position resolve module, according to data
Processing rule carries out resolving processing, obtains trajectory planning key point data.
6th, trajectory planning analysis of key point data, with reference to the kinetic model of parafoil itself, for the kinetic characteristic of parafoil,
Formulate rational flight path, formation 1~N number of flight path point coordinates.
7th, fly control tracking according to 1~N number of flight path point coordinates, change the heading of parafoil, one by one track point position.
During track point position, fly the aerial delivery system location information of control tracker acquisition navigation system output, with flight path
Dot position information is compared judgement, obtains yaw information, and adjustment paragliding direction makes aerial delivery system gradually approach track points
Position.
8th, fly control tracking and obtain the deviation of aerial delivery system current location and track points position, made according to the size of deviation
To the operational order of parafoil, i.e. decision goes out the manipulated variable of parafoil.Manipulated variable instruction is sent out, which is amplified by driving unit,
The rotation or stopping of motor servo machine structure are controlled by relay, so as to shrink or discharge parafoil control wire.
It should be understood that for those of ordinary skills, can be improved or converted according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (7)
1. a kind of paragliding flight path control system using multimodal satellite navigation, which is characterized in that including being arranged on parafoil
Data combination module (1) and multimode locating module (2) connected to it and flight path programming module (5), the flight path rule
Module (5) is drawn also with winged control tracking module (6) to be connected；Further include the Climate measurement module (3) and landform for being arranged on air-drop place
Data acquisition module (4)；
The multimode locating module (2) obtains the signal of multiple satellite navigation systems in real time, measures the location information of parafoil, and right
Navigation data quality is monitored, and rejects disturbed data, exports effective navigational parameter；
The Climate measurement module (3) drops the wind speed of each layer in high-altitude in place, wind direction information for monitoring；
The terrain data acquisition module (4) currently drops the geography information in place for being obtained from terrain environment database；
The data combination module (1) is received from the multimode locating module (2), Climate measurement module (3) and terrain data
The information that acquisition module (4) is got, and resolving processing is carried out to it, extraction wind field data, geodata and trajectory planning close
Key point data；
The flight path programming module (5) receives the calculation result data from the data combination module (1), and connecting wing
Current location, speed, height, course angle and the movement state information of umbrella formulate flight path, obtain the coordinate of N number of track points；
The winged control tracking module (6) receives the coordinate of N number of track points being calculated from flight path programming module (5), according to
The coordinate changes the position of the heading, one by one track point of parafoil, and calculates parafoil current location and the position of track points
Deviation is put, the course for controlling parafoil according to the size of deviation changes；
The system further includes the driver being connected with the winged control tracking module (6), and the driver is received from the winged control
The control signal of tracking module (6), and amplification is driven to control signal；The system further includes the motor being connected with driver
Servo mechanism, the motor servo machine structure receive the control signal from the driver, complete the contraction to parafoil control wire
Or release；
General settlement module (1) is to the meteorological data of acquisition, terrain data, navigational parameter, with reference to the placement position of air release point, into
Row analysis judgement, finds 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, with reference to the maneuvering motion characteristic of parafoil, cooks up the flight path of parafoil,
Obtain 1~N number of flight path point coordinates and number；Fly control tracking module (6) according to the track points planned number order, one by one with
Track flies to the coordinate position of track points, during flight-follow, in real time to the aerial delivery system location information that measures with
The location information of track point is compared, and is obtained the distance of deviation, the angle of deviation, difference in height between the two, is sent out control instruction,
Control instruction is the turn signal of motor, and motor rotation drives parafoil control wire to shrink or discharge, so as to adjust paragliding side
To；Aerial delivery system reaches preset track points position, subsequently enters next track points, until precision landing.
2. the paragliding flight path control system according to claim 1 using multimodal satellite navigation, which is characterized in that should
System further includes input detection terminal, and the input detection terminal was used in ground preparation stage and the flight path programming module
(5) it connects, and the information of target point is inputted into the flight path programming module (5), disconnected after the completion of input.
3. the paragliding flight path control system according to claim 1 using multimodal satellite navigation, which is characterized in that should
System further includes homogeneous with the data combination module (1), the flight path programming module (5) and the winged control tracking module (6)
Data memory module even, the data memory module are used to store navigational parameter, track data and control instruction.
4. the paragliding flight path control system according to claim 1 using multimodal satellite navigation, which is characterized in that institute
It states multimode locating module (2) and includes the Big Dipper/GPS receiver module and GPS/GLONASS receiving modules.
5. the paragliding flight path control system according to claim 1 using multimodal satellite navigation, which is characterized in that institute
Climate measurement module (3) is stated including weather radar and sonde.
6. the paragliding flight path control system according to claim 1 using multimodal satellite navigation, which is characterized in that institute
Overhead is every the wind direction and wind speed information of 100M height with stating Climate measurement module (3) monitoring dropping ground.
7. the paragliding flight path control system according to claim 1 using multimodal satellite navigation, which is characterized in that institute
It states terrain data acquisition module (4) and obtains the position for dropping the elevation key point in the range of the radius 20KM of place central area and height
Spend information.
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105867426B (en) * | 2016-04-11 | 2018-08-21 | 西北工业大学 | Goods and materials bootstrap technique is launched automatically for the aircraft of mobile target |
| CN105912019A (en) * | 2016-04-29 | 2016-08-31 | 南开大学 | Powered parafoil system's air-drop wind field identification method |
| CN106970638B (en) * | 2017-03-09 | 2020-09-18 | 北京航天控制仪器研究所 | Accurate air-drop monitoring and distributing system |
| CN106843281B (en) * | 2017-03-09 | 2019-07-12 | 北京航天控制仪器研究所 | A kind of intelligence is accurately dropped from the air aerial delivery 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 |
| 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 |
| CN111077901B (en) * | 2019-12-04 | 2022-07-12 | 淮阴工学院 | Consistency-based multi-wing umbrella formation cooperative control method and control 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 |
| 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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| US6748325B1 (en) * | 2001-12-07 | 2004-06-08 | Iwao Fujisaki | Navigation system |
| CN101581774A (en) * | 2009-06-26 | 2009-11-18 | 山东正元地理信息工程有限责任公司 | High-precision point positioning method and system for global navigation satellite system (GNSS) |
| US8483891B2 (en) * | 2010-04-13 | 2013-07-09 | The United States Of America As Represented By The Secretary Of The Navy | Automatically guided parafoil directed to land on a moving target |
| CN202305809U (en) * | 2011-11-08 | 2012-07-04 | 邓伟廷 | Positioning navigation device for realizing multi-signal receiving |
| CN104699109A (en) * | 2014-08-29 | 2015-06-10 | 北京精密机电控制设备研究所 | Parafoil fixed-point homing servo control device and control method |
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