CN105182997A - Electromagnetic-simulation-based evaluation method for unmanned plane planning route - Google Patents
Electromagnetic-simulation-based evaluation method for unmanned plane planning route Download PDFInfo
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Abstract
The invention discloses an electromagnetic-simulation-based evaluation method for an unmanned plane planning route. The method comprises the following steps: step one, carrying out virtual test flight field system construction and field configuration; step two, driving an unmanned plane to carry out simulated flight along a planned route; step three, carrying out simulated calculation of electromagnetic data; step four, carrying out electromagnetic distribution display and route warning recording; and step five, carrying out integrated route evaluation. According to the invention, electromagnetic distribution of the unmanned plane can be displayed visually on the planned route; and a route (segment) lower than a data link electromagnetic signal detection threshold value can be warned and recorded and thus the route (segment) can be evaluated after flight completion.
Description
Technical field
The present invention relates to unmanned plane simulated training technology, particularly the field such as vision simulation, Electromagnetic Simulation, specifically refer to a kind of appraisal procedure for unmanned plane planning air route.
Background technology
Unmanned plane has accurate, efficient and nimble scouting, interference and the advantage such as to fight under unconventional condition, in civilian, military, play significant effect.Fig. 1 is the position view of ground control station residing in Telemetry System of UAV.Fig. 1 is the simplified model of observing and controlling and the information transmission system, earth command station 2 is completed by vehicle-mounted tracking telemetry and command station 3 and controls with operation the condition monitoring of unmanned plane 1, wherein vehicle-mounted tracking telemetry and command station 3 and unmanned plane 1 form telemetry communication Data-Link (abbreviation Data-Link), it is that unmanned plane receives surface instruction and passes down the transmission channel of flying quality and task data, therefore, Data-Link is also referred to as " nerve center " of UAS.But the normal link that the impact due to factors such as flight course mesorelief landforms, weather environments makes unmanned plane lose between land station communicates, state that unmanned plane just enters " out of control ".Therefore, to make rational planning for before practical flight the air route of unmanned plane during flying, make it while completing appointed task, can avoid again because the appearance that reason causes ground receiver blind area such as to be blocked in path, this has great importance to keeping the patency of UAS communication link.
Path Planning for Unmanned Aircraft Vehicle refers under particular constraints condition, to find from starting point to impact point and to meet the optimum of unmanned plane performance index or feasible air route, and its essence is Solve problems that is optimum under multi-constraint condition or feasible solution.As shown in Figure 2, current Path Planning for Unmanned Aircraft Vehicle system mainly comprises flight constraints, environmental model, routeing target and routeing device 4 part composition, is finally exported the air route expected by routeing device.Flight constraints in Path Planning for Unmanned Aircraft Vehicle comprises the constraint of global restriction and each leg, global restriction generally comprises minimum flying distance, the ultimate run and threat target etc. of unmanned plane, and the constraint of each leg comprises the minimum flying height of each leg, maximum turning angle, the maximum angle of climb and flight vector constraint etc.Environmental model refers to specific topography and geomorphology, routeing target be generally fuel consumption little, threaten and keep away that barrier rate is high and tasks carrying rate is high.
Widely using of current power magnetic machine, its type is many, quantity is many, it is wide to take spectral range, thus cause space electromagnetic environment very complicated, and electromagnetic environment have invisible, can not touch, unpredictable feature, unmanned plane is difficult to obtain the actual electromagnetic distribution situation on planning course line before practical flight, the unpredictability of this electromagnetic environment is to unmanned aerial vehicle onboard electronic equipment, and especially the normal reception of Data-Link signal constitutes larger threat.Therefore, in routeing process, often add the severe of flight constraints condition, consider " worst condition " of actual electromagnetic environment, evade the impact on data catenary system because the extraneous factors such as topography and geomorphology, amblent air temperature, electromagnetic interference (EMI) cause as far as possible, this mode must affect the execution efficiency of tasks carrying, is a kind ofly to select routeing target " compromise ".
Fig. 3 is the process flow diagram of the air route of inspection planning at present conventional method.
As shown in Figure 3, the current detection method to Data-Link working condition on planning course line mainly or relying on unmanned plane flies on the spot.Its flow process comprise routeing, unmanned plane along planning air route fly on the spot, Data-Link communication check and air route assessment.Carry out in practical flight at unmanned plane along planning air route, unmanned plane and land station are detected Data-Link communication conditions in real time, and assess air route, after flight completes, revise, make it better to be applicable to actual task to the air route after planning.But this mode is because the flight time is long, cost is high, and flight range limits by actual environment, and its Evaluated effect does not have universal significance.
Electromagnetic Simulation analogue technique is one of study hotspot in Visualization of Scientific Computing, it carries out visualization processing from various dimensions such as two dimension, three dimensions to electromagnetic field, and provide visual pattern assisted user intuitively to know the rules such as the situation of spatial electromagnetic field distribution, the direction of electromagnetic propagation and intensity clearly, provide strong support for user carries out decision-making.Therefore, on unmanned plane planning air route when electromagnetism Unknown Distribution, electromagnetic simulation technique can be adopted to carry out analogue simulation to the air-ground radio wave propagation of Data-Link and the interference of various active, passive electromagnetic, and then the Data-Link working condition analyzed on planning air route, reach the object in optimization planning air route according to this.
Summary of the invention
The present invention is directed to unmanned plane during flying air route and optimize the needs unimpeded in real time that to communicate with Data-Link, propose a kind of unmanned plane based on Electromagnetic Simulation planning air route appraisal procedure, enable unmanned aerial vehicle commanding according to the communication conditions of the electromagnetism distribution Real-time Obtaining Data-Link on planning air route, and then planning air route is evaluated and optimized.
First the present invention builds the unmanned plane virtual flight testing field system for planning Route reform, in virtual flight testing field system, utilize Computer Simulation to complete the simulated flight of unmanned plane along planning air route, field system of simultaneously taking a flight test carries out visual display with the electromagnetism distribution of two-dimentional or three-dimensional form to unmanned aerial vehicle body, visually reach to Data-Link communication conditions on planning air route according to a preliminary estimate, simultaneity factor is according to the threshold level of Data-Link signal, region lower than signal detecting threshold is identified and record, be used for warning this air route (section) to go up the insecurity of Data-Link communication conditions.System, after unmanned plane during flying covers whole piece planning air route, is carried out Comprehensive Assessment marking to the different line segments in this air route, thus is judged the rationality of the planning in air route (section), finally reach the object that air route evaluates and optimizes.
Virtual flight testing field system framework is divided into data Layer, data transfer layer, application layer, presentation layer and resultant layer.Wherein data Layer comprises geographical environment storehouse, weather environment storehouse, planning storehouse, air route, unmanned plane model bank and electromagnetic propagation model bank; Data transfer layer is mainly emulation and the calculating that each model bank of calling data layer carries out electromagnetic environment; Application layer is main function of system module, comprises take a flight test a display platform control, environmental information process, unmanned plane during flying flight tracking control and the modeling of Data-Link Electromagnetic Simulation; Presentation layer is the display module of application layer, specifically comprises take a flight test a geographical environment display, the display of unmanned plane real-time flight, weather environment display and the display of electromagnetic environment data; Resultant layer is the result of air route assessment, and its result is the result assessed planning air route.
Unmanned plane field system of taking a flight test mainly comprises the geographical environment of taking a flight test and loads and display module, flight control and status information display module, Data-Link Electromagnetic Simulation computing module, data transmission and processing module and electromagnetic environment informix display module group;
A geographical environment of taking a flight test loads and display module comprises geographical altitude figures load-on module, image data load-on module, geographical environment display module, geodata information display module, weather environment display module, model of place loading and display module;
Flight controls and status information display module comprises air route loading and display module, unmanned plane driving and mission phase control module, flight track display module, Distance To Go and flown distance display module, unmanned plane updating location information display module, flight warning message display module and system time display module;
Electromagnetic environment emulation computing module comprises emitter Signals model load-on module, the decay of Data-Link transmitting energy computing module, unmanned plane peripheral region electromagnetic environment Data Synthesis module, electromagnetic model display parameter processing module and electromagnetic environment display model build module;
Electromagnetic environment informix display module group comprises emulation electromagnetic data display module, air route warning zone point identification module and air route evaluation module;
Data transmission and processing module comprise warning message display module, simulation calculation data output display module and simulation calculation data loading module;
System cloud gray model order as shown in Figure 6, a geographical environment display module of taking a flight test to be taken a flight test regional geography altitude figures and corresponding imaged image by loading, and corresponding scene configuration is carried out to it, as model loading, weather environment display model load, plan that air route loads and display, land station and interference emission source position and the loading of radiation signal information etc., complete the structure of three-dimensional geographical basis display platform.On this basis, call flight to control and status information display module, start the display of corresponding weather environment as required, drive unmanned plane along planning Route reform, real-time update display is carried out to state of flight, and call electromagnetic environment emulation computing module, in conjunction with the link information such as geographical environment, weather environment, calculate the electromagnetism distribution of unmanned aerial vehicle body in real time according to radio waves propagation model.Then, obtain simulation calculation data according to electromagnetic data synthesis and show in real time and data loading database manipulation, build simulation calculation electromagnetic environment display model, and the electromagnetic signal feature of unmanned aerial vehicle body and Data-Link Signal reception detection threshold (for signal-interference ratio) are compared, if lower than signal detecting threshold, then carrying out Warning Sign to exceeding region, exporting corresponding position, electromagnetic data information simultaneously; If far above signal detecting threshold, also Warning Sign is carried out to respective regions, so that next step is manually revised air route.After unmanned plane during flying flight path covers whole piece planning air route, according to Warning Sign information and number, comprehensive assessment is carried out to this air route, select according to this without Warning Sign or identified number few and lower than the little flight leg of signal detecting threshold, reach the object that air route is assessed.
Unmanned plane based on Electromagnetic Simulation planning air route of the present invention appraisal procedure, comprises the following steps:
Step one: virtual flight testing field system builds and scene configuration;
Step 2: drive unmanned plane along planning air route simulated flight;
Step 3: electromagnetic data simulation calculation;
Step 4: electromagnetic data synthesis, display and storage;
Step 5: unmanned aerial vehicle body electromagnetism distribution display and air route (section) warn record;
Step 6: air route (section) comprehensive assessment.
The major advantage of this method is:
(1) no-manned plane three-dimensional virtual flight testing field system is built, utilize vision simulation, visualization technique realization to the geographical environment of field of taking a flight test and the display of electromagnetic environment, be convenient to ground control personnel and obtain unmanned plane in real time along Data-Link communications status during planning Route reform;
(2) visual display is carried out to the electromagnetism distribution of unmanned aerial vehicle body when planning on air route, and the air route (section) lower than Data-Link electromagnetic signal detection threshold is warned and record, after waiting to fly, air route (section) is assessed;
(3) adopt modularization configurable interactive mode, enable to be applicable to the flight under different flying scene and mission area, expand the usable range of method.
Accompanying drawing explanation
Fig. 1 is ground control station present position schematic diagram in Telemetry System of UAV in prior art;
Fig. 2 is the flow process of routeing in prior art;
Fig. 3 is the safety and reliability method flow of inspection planning air route link in prior art;
Fig. 4 is present system concrete manifestation configuration diagram;
Fig. 5 is that present system runs precedence diagram;
Fig. 6 is the structure composition diagram of present system;
Fig. 7 is the method flow schematic diagram of present system.
In figure:
1. unmanned plane 2. ground control station
3. vehicle-mounted tracking telemetry and command station 4. take a flight test place reason space environment load and display module
5. flight controls and status information display module 6. electromagnetic environment computing module
7. the transmission of electromagnetic environment informix display module 8. data and processing module
9. geographical altitude figures load-on module 10. image data load-on module
11. geographical environment display module 12. geodata information display module
13. weather environment display module 14. models of place load and display module
15. air routes load and display module 16. unmanned plane drives and mission phase control module
17. flight track display module 18. Distance To Gos and flown distance display module
19. unmanned plane updating location information display modules 20. fly warning message display module
21. system time display module 22. emitter Signals model load-on modules
23. Data-Link transmitting energy decay computing module 24. unmanned plane peripheral region electromagnetic environment Data Synthesis modules
25. electromagnetic model display parameter processing module 26. electromagnetic environment display models build module
27. emulation electromagnetic data display module 28. air route warning zone point identification modules
29. air route evaluation module 30. warning message display modules
31. simulation calculation data output display module 32. simulation calculation data loading modules
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
Virtual flight testing field system concrete manifestation framework is shown in Fig. 4.
As shown in Figure 4, system architecture is divided into data Layer, data transfer layer, application layer, presentation layer and resultant layer.Wherein data Layer comprises geographical environment storehouse, weather environment storehouse, planning storehouse, air route, unmanned plane model bank and electromagnetic propagation model bank; Data transfer layer is mainly emulation and the calculating that each model bank of calling data layer carries out electromagnetic environment; Application layer is main function of system module, comprises take a flight test a display platform control, environmental information process, unmanned plane during flying flight tracking control and the modeling of Data-Link Electromagnetic Simulation; Presentation layer is the display module of application layer, specifically comprises take a flight test a geographical environment display, the display of unmanned plane real-time flight, weather environment display and the display of electromagnetic environment data; Resultant layer is the result of air route assessment, and its result is the result assessed planning air route.
Unmanned plane virtual flight testing field based on three-dimensional geographical environment forms as shown in Figure 5, mainly comprises take a flight test a space environment loading and display module 4, flight controls and status information display module 5, electromagnetic links simulation algorithm model 6, electromagnetic environment informix display module 7 and data are transmitted and processing module 8;
Place reason space environment of taking a flight test loads and display module 4 comprises: geographical altitude figures load-on module 9, inputs geographical altitude figures, exports three-dimensional geographic model; Image data load-on module 10, inputs the three-dimensional geographic model and this area's earth surface image picture (BMP form) that process through module 9, exports the three-dimensional model with true geographical environment after texture mapping; Geographical environment display module 11, input the three-dimensional model after module 10 processes, taking a flight test, a viewing area shows this model; Geodata information display module 12, the information such as input current locale longitude and latitude scope, floor area, taking a flight test, information display region output character in a viewing area describes; Weather environment display module 13, input current weather condition (rain, snow etc.), original three-dimensional model basis, a viewing area of taking a flight test shows weather particle model; Model of place loads and display module 14, and the information data files such as input unmanned plane, base station, interference source, are taking a flight test a newly-increased model of place of viewing area display;
Flight controls and status information display module 5 comprises: air route loads and display module 15, input destination longitude, latitude and elevation information, and taking a flight test, a viewing area shows three-dimensional course line; Unmanned plane drives and mission phase control module 16, is changed by software-controllable unmanned plane during flying, halted state; Flight track display module 17, according to unmanned plane current flight state, exports unmanned plane in a viewing area of taking a flight test and flies over air route; Distance To Go and flown distance display module 18, according to unmanned plane current flight state, exports in the viewing area of taking a flight test that unmanned plane is current to have flown and Distance To Go; Unmanned plane updating location information display module 19, according to unmanned plane current flight state, taking a flight test, a viewing area exports unmanned plane current location information, comprises longitude and latitude and height; Flight warning message display module 20 and system time display module 21, taking a flight test, a viewing area shows relevant information respectively;
Electromagnetic environment emulation computing module 6 comprises: emitter Signals model load-on module 22, input radiation source information data file, the parameters such as output radiation Source Type, position, power; Signal link transmitting energy decay computing module 23, be input as any point positional information in the radiation source information of module 22, land station's information and unmanned plane peripheral region to be calculated, export as radiation source and land station are to the energy attenuation value of this point and incoming level value; Unmanned plane peripheral region electromagnetic environment Data Synthesis module 24, the level value that load module 23 calculates, to draw in unmanned plane peripheral region to be calculated signal-the interference ratio of a bit; Electromagnetic model display parameter processing module 25, is input as signal-interference ratio and the electromagnetic signal detection threshold value of the unmanned plane peripheral region each point calculated through aforementioned modules, exports the corresponding relation into signal-interference ratio and color; Electromagnetic environment display model builds module 26, and the corresponding relation that load module 25 obtains, exports corresponding display model;
Electromagnetic environment informix display module 7 comprises: emulation electromagnetic data display module 27, input electromagnetic environment display model, and taking a flight test, a viewing area shows this model; Air route warning zone point identification module 28, input signal-interference ratio and electromagnetic signal detection threshold value, export and need the point doing Warning Sign after relatively; Air route evaluation module 29, according to the step of module 6, calculates each point on known course line, identifies, statistics etc.;
Data transmission and processing module 8 comprise: warning message display module 30, the point that load module 28 records, and export as marking (as demarcated with red penoncel icon) this point in a viewing area of taking a flight test; Simulation calculation data output display module 31, the model that load module 26 obtains, exports as showing in a viewing area of taking a flight test; Simulation calculation data loading module 32, the data messages such as the various point locations information that load module 6 calculates, signal-interference ratio, are stored to database;
System cloud gray model order as shown in Figure 6, the space environment of taking a flight test loads and display module 4 to be taken a flight test regional geography altitude figures and corresponding imaged image information by loading, and corresponding scene configuration is carried out to it, wherein scene configuration comprises model loading, weather environment display model loads, planning air route loads and display, land station and interference emission source position and the loading of radiation signal information etc., completes the structure of three-dimensional geographical basis display platform.After platform construction to be shown completes, call flight to control and status information display module 5, start the display of corresponding weather environment as required, drive unmanned plane along planning Route reform, real-time update display is carried out to state of flight information simultaneously, and call electromagnetic environment emulation computing module 6, in conjunction with geographical environment, the link informations such as weather environment, the electromagnetism distribution of unmanned plane peripheral region is calculated in real time according to radio waves propagation model, carry out electromagnetic data synthesis obtain simulation calculation data and carry out images outputting display and in-stockroom operation, and electromagnetic data in region and electromagnetic signal detection threshold value (for signal-interference ratio) are compared, if lower than or far above detection threshold value, then carry out Warning Sign to exceeding region, export corresponding position simultaneously, electromagnetic data information.After unmanned plane during flying flight path covers whole planning air route, according to Warning Sign information and number, comprehensively given a mark in this air route, select according to this without Warning Sign or identified number few and lower than the little flight route of threshold value, reach the object in assessment planning air route.
Based on a unmanned plane planning air route appraisal procedure for Electromagnetic Simulation, process flow diagram as shown with 7, comprises the following steps:
Step one: virtual flight testing field system builds and scene configuration;
1) load its geographical altitude figures according to field areas scope of taking a flight test, build three-dimensional geographic model, load the earth surface image picture that it is corresponding on this basis, complete the mapping operations of satellite imagery, show a space and geographical environment of taking a flight test.Demonstrate the information such as longitude and latitude scope, area coverage of current field of taking a flight test in field areas information display area of taking a flight test simultaneously;
2) according to the division of rainfall, snowfall intensity grade, complete the particle model configuration of weather environment, thus be successfully completed a structure for space and geographical environmental basis display platform of taking a flight test;
3) three-dimensional scene models is loaded, as unmanned plane model, base station model, land station's model etc.
4) load and need the planning flight route of carrying out air route electromagnetic environment assessment, carry out air route display taking a flight test in a scene;
5) unmanned plane, land station, position of interference source information and radiation information data file thereof is loaded into, then, load according to each modal position and show the models of place such as unmanned plane model, land station's model, interferer models (establishing interference source to be total to N number of), the radiation signal data of each radiation source being loaded into respective list simultaneously;
6) effective range L, the unmanned plane receiving terminal system signal transacting yield value G of jamming emitter is set
t, UAV Communication chain-circuit system electromagnetic signal detection threshold value T
0, set the unmanned plane peripheral region scope RG (set with unmanned plane central point as body-centered, length is respectively the rectangular parallelepiped of L, D, H), the setting Electromagnetic Simulation that participate in electromagnetic environment emulation and calculate and calculate the interval (be located at discrete point interval on length direction and be respectively Δ L, Δ D, Δ H) of discrete point.
Step 2: drive unmanned plane along planning air route simulated flight;
1) according to position and the destination height of destination, and in conjunction with discrete flying quality information such as unmanned plane practical flight speed, ground run distances, drive unmanned plane along planning Route reform;
2) export unmanned plane current location information, Distance To Go data in real time, and show unmanned plane flight track.
Step 3: electromagnetic data simulation calculation;
1) the distance d between unmanned plane peripheral region point (x, y, z) and land station is calculated
s, combined ground station puts residing location circumstances, weather environment and link propagation path situation thereof therewith, selects suitable statistical model to calculate the propagation attenuation of land station's radiation signal, thus obtains at this some place, from the Signal reception level P of land station
r, unit dBm;
2) obtain interference source i positional information, calculate the distance d between radiation source and current unmanned plane
i;
3) d is judged
iwhether be less than or equal to L, if then carry out step 4), otherwise this radiation source does not participate in the calculating of electromagnetic environment information;
4) according to interference source i and 1) in point (x, y, z) location circumstances residing for, weather environment and link propagation path situation thereof, select suitable statistical model to calculate the propagation attenuation of interference source radiation signal, thus obtain at point (x, y, z) place, from the Signal reception level P of interference source
i, unit dBm;
5) if interference source i is last interference source in scene, then carry out step 6), otherwise next interference source carry out step 2) ~ 4) operation;
6) 1) in point (x, y, z) place, the incoming level from interference source is synthesized, if value is for P ' after synthesis
r;
7) 1) in point (x, y, z) place, carry out signal-interference ratio (SNR
(x, y, z)) calculate, i.e. SNR
(x, y, z)=P
r-P '
r-G
t;
8) by 7) the middle signal-interference ratio (SNR calculated
(x, y, z)) and electromagnetic signal detection threshold (T
0) compare, if SNR
(x, y, z)< T
0or SNR
(x, y, z)> 2T
0, then this point is for territory, electromagnetic interference (EMI) leg or routeing redundancy leg, need carry out Warning Sign, and simultaneously by 1) in point (x, y, z) positional information and carry out data output.Otherwise this point is safety zone point, Warning Sign and information is not needed to export.
9) to 1) in point (x, y, z) change with Δ L, Δ D, Δ H unit in x, y, z direction respectively, repetition step 1) ~ 8), make invocation point (x, y, z) spread all over region RG.
10) unmanned plane center position is calculated in the manner described above to the signal-interference ratio data of this point.
Step 4: electromagnetism distribution display and air route (section) warn record;
1) the simulation calculation data (unmanned plane center position and unmanned plane peripheral location data) in step 3 are carried out color map, can be blue viewing area by the data setting lower than electromagnetic signal detection threshold value, data higher than detection threshold value carry out one_to_one corresponding according to color change from cold to warm, carry out figure display, thus visually can observe warning zone;
2) permanent demarcation (as demarcated with red penoncel icon) is carried out to warning zone point, not by step 4 below) impact;
3) signal above simulation calculation obtained-interference ratio data are carried out database storage and are stored operation, so that later inquiry and use; 4) along with the continuous renewal of unmanned plane position, around unmanned plane, simulation calculation regional location is also constantly updated, then carry out step 3 and this step 1 in real time) and 2) operation, for not within the scope of unmanned plane during flying peripheral region at that time (with unmanned plane central point for body-centered, length is respectively the rectangular parallelepiped of L, D, H) model will not show, thus save system resource.
Step 5: air route (section) comprehensive assessment.
When unmanned plane flight track covers whole planning air route, the statistics number of Warning Icon, each icon are to the bee-line in air route and the electromagnetic signal-interference ratio of each figure punctuate and the difference of electromagnetic signal detection threshold, the factor of influence of comprehensive above each factor is different, be weighted on average to it, obtain the mark of each leg, thus carry out air route assessment, next step artificial correction need be carried out in the leg lower to mark.
The present invention builds three-dimensional geographical environment by Computer Simulation, as the basic display platform of unmanned plane virtual flight testing field, when unmanned plane is along planning Route reform, modeling, synthesis are carried out to the electromagnetic environment along planning air route in virtual flight testing field, and visual display is carried out to the electromagnetism distribution of unmanned aerial vehicle body, first visually complete to planning air route electromagnetism situation according to a preliminary estimate.Meanwhile, system according to the Data-Link Received signal strength detection threshold value preset, to lower than or the air route (section) in region far above threshold value identify, with the redundancy of the insecurity or planning of warning this air route (section).After unmanned plane during flying flight path covers whole air route, comprehensively given a mark in this planning air route, complete air route assessment according to this, revise air route for next step and provide support.
Claims (1)
1., based on a unmanned plane planning air route appraisal procedure for Electromagnetic Simulation, comprise the following steps:
Step one: virtual flight testing field system builds and scene configuration;
1) its geographical altitude figures is loaded according to field areas scope of taking a flight test, build three-dimensional geographic model, load the earth surface image picture that it is corresponding on this basis, complete the mapping operations of satellite imagery, show a space and geographical environment of taking a flight test, demonstrate longitude and latitude scope, the area coverage of current field of taking a flight test simultaneously in field areas information display area of taking a flight test;
2) according to the division of rainfall, snowfall intensity grade, complete the particle model configuration of weather environment, complete a structure for space and geographical environmental basis display platform of taking a flight test;
3) three-dimensional scene models is loaded;
4) load and need the planning flight route of carrying out air route electromagnetic environment assessment, carry out air route display taking a flight test in a scene;
5) unmanned plane, land station, position of interference source information and radiation information data file thereof is loaded into, then, load according to each modal position and show unmanned plane model, land station's model, interferer models, wherein, interference source is N number of altogether, the radiation signal data of each radiation source is loaded into respective list simultaneously;
6) effective range L, the unmanned plane receiving terminal system signal transacting yield value G of jamming emitter is set
t, UAV Communication chain-circuit system electromagnetic signal detection threshold value T
0, setting participate in electromagnetic environment emulation calculate unmanned plane peripheral region scope RG, namely with unmanned plane central point for body-centered, length is respectively the rectangular parallelepiped of L, D, H, the interval of setting Electromagnetic Simulation calculating discrete point, is located at discrete point interval on length direction and is respectively Δ L, Δ D, Δ H;
Step 2: drive unmanned plane along planning air route simulated flight;
1) according to position and the destination height of destination, and in conjunction with the discrete flying quality information of unmanned plane practical flight speed, ground run distance, drive unmanned plane along planning Route reform;
2) export unmanned plane current location information, Distance To Go data in real time, and show unmanned plane flight track;
Step 3: electromagnetic data simulation calculation;
1) the distance d between unmanned plane peripheral region point (x, y, z) and land station is calculated
s, combined ground station puts residing location circumstances, weather environment and link propagation path situation thereof therewith, by statistical model, calculates the propagation attenuation of land station's radiation signal, obtains at this some place, from the Signal reception level P of land station
r, unit dBm;
2) obtain interference source i positional information, calculate the distance d between radiation source and current unmanned plane
i;
3) d is judged
iwhether be less than or equal to L, if then carry out step 4), otherwise this radiation source does not participate in the calculating of electromagnetic environment information;
4) according to interference source i and step 1) in point (x, y, z) location circumstances residing for, weather environment and link propagation path situation thereof, pass through statistical model, calculate the propagation attenuation of interference source radiation signal, obtain at point (x, y, z) place, from the Signal reception level P of interference source
i, unit dBm;
5) if interference source i is last interference source in scene, then carry out step 6), otherwise next interference source carry out step 2) ~ 4) operation;
6) in step 1) in point (x, y, z) place, the incoming level from interference source is synthesized, if value is for P after synthesis
r';
7) in step 1) in point (x, y, z) place, carry out signal-interference ratio SNR
(x, y, z)calculate, that is:
SNR
(x,y,z)＝P
r-P
r'-G
t；
8) by step 7) the middle signal-interference ratio SNR calculated
(x, y, z)with electromagnetic signal detection threshold T
0compare, if SNR
(x, y, z)< T
0or SNR
(x, y, z)> 2T
0, then this point is for territory, electromagnetic interference (EMI) leg or routeing redundancy leg, need carry out Warning Sign, and simultaneously by step 1) in point (x, y, z) positional information and carry out data output; Otherwise this point is safety zone point, Warning Sign and information is not needed to export;
9) to step 1) in point (x, y, z) change with Δ L, Δ D, Δ H unit in x, y, z direction respectively, repetition step 1) ~ 8), make invocation point (x, y, z) spread all over region RG;
10) unmanned plane center position is calculated in the manner described above to the signal-interference ratio data of this point;
Step 4: electromagnetism distribution display and air route warning record;
1) by the simulation calculation data in step 3, comprise unmanned plane center position and unmanned plane peripheral location data, carry out color map, be blue viewing area by the data setting lower than electromagnetic signal detection threshold value, data higher than detection threshold value carry out one_to_one corresponding according to color change from cold to warm, carry out figure display, thus visually can observe warning zone;
2) permanent demarcation is carried out to warning zone point, as demarcated with red penoncel icon, not by step 4 below) impact;
3) signal above simulation calculation obtained-interference ratio data are carried out database storage and are stored operation, so that later inquiry and use;
4) along with the continuous renewal of unmanned plane position, around unmanned plane, simulation calculation regional location is also constantly updated, then carry out step 3 and this step 1 in real time) and 2) operation, will not show for the model not within the scope of unmanned plane during flying peripheral region at that time;
Step 5: air route comprehensive assessment;
When unmanned plane flight track covers whole planning air route, the statistics number of Warning Icon, each icon are to the bee-line in air route and the electromagnetic signal-interference ratio of each figure punctuate and the difference of electromagnetic signal detection threshold, by the factor of influence of above each factor, be weighted on average to it, obtain the mark of each leg, thus carry out air route assessment, the leg lower to mark is manually revised.
Priority Applications (1)
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| CN105676864A (en) * | 2016-04-08 | 2016-06-15 | 合肥工业大学 | Simulation system of UAV (Unmanned Aerial Vehicle) aerial photography program |
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