CN105182997B - A kind of unmanned plane planning air route appraisal procedure based on Electromagnetic Simulation - Google Patents
A kind of unmanned plane planning air route appraisal procedure based on Electromagnetic Simulation Download PDFInfo
- Publication number
- CN105182997B CN105182997B CN201510586740.2A CN201510586740A CN105182997B CN 105182997 B CN105182997 B CN 105182997B CN 201510586740 A CN201510586740 A CN 201510586740A CN 105182997 B CN105182997 B CN 105182997B
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- air route
- point
- data
- electromagnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned planes based on Electromagnetic Simulation to plan air route appraisal procedure, including step 1：Virtual flight testing field system is built and scene configuration；Step 2：Unmanned plane is driven along planning air route simulated flight；Step 3：Electromagnetic data simulation calculation；Step 4：Electromagnetism distribution display and air route warning record；Step 5：Air route comprehensive assessment；The electromagnetism distribution of unmanned aerial vehicle body carries out visualization and shows, and the air route (section) for being less than data-link electromagnetic signal detection threshold is alerted and recorded when the present invention is on planning air route, waits to assess air route (section) after flying.
Description
Technical field
The present invention relates to unmanned plane simulated training technologies, the more particularly to fields such as vision simulation, Electromagnetic Simulation, refer specifically to one
Kind plans the appraisal procedure in air route for unmanned plane.
Background technology
It accurate, efficient and nimble scouting that unmanned plane has many advantages, such as, interference and fights under the conditions of unconventional, in the people
With, it is military in play obvious action.Fig. 1 location schematic diagrames in Telemetry System of UAV for ground control station.
Fig. 1 is the simplified model of observing and controlling and the information transmission system, and earth command station 2 completes the shape to unmanned plane 1 by vehicle-mounted tracking telemetry and command station 3
State monitors and operation and control, wherein vehicle-mounted tracking telemetry and command station 3 and unmanned plane 1 form telemetry communication data-link (abbreviation data-link), it is
Unmanned plane receives surface instruction and passes the transmission channel of flying quality and task data down, and therefore, data-link is also referred to as nobody
" nerve center " of machine system.However, since the influence of the factors such as flight course mesorelief landforms, weather environment loses unmanned plane
The normal link gone between earth station communicates, and unmanned plane just enters " out of control " state.Therefore, it makes rational planning for before practical flight
The air route of unmanned plane during flying is allowed to while appointed task is completed, and is avoided that the reasons such as blocking because of path causes ground to connect
The appearance of blind area is received, this has great importance to the patency for keeping UAV system communication link.
Path Planning for Unmanned Aircraft Vehicle refers under the conditions of particular constraints, finds from starting point to target point and meets unmanned plane
The optimal or feasible air route of energy index, essence is optimal or feasible solution Solve problems under multi-constraint condition.Such as Fig. 2 institutes
Show, current Path Planning for Unmanned Aircraft Vehicle system mainly includes flight constraints, environmental model, routeing target and routeing device
4 parts form, and finally export desired air route by routeing device.Flight constraints in Path Planning for Unmanned Aircraft Vehicle are included totally about
Beam and the constraint of each segment, global restriction generally comprise minimum flying distance, ultimate run and threat target of unmanned plane etc.,
The constraint of each segment includes minimum flying height, maximum turning angle, the maximum angle of climb and flight vector constraint of each segment etc..
Environmental model refers to specific topography and geomorphology, and routeing target is generally small fuel consumption, threat avoidance rate height and tasks carrying rate
It is high.
Current power magnetic machine is widely used, and type is more, quantity is more, it is wide to occupy spectral range, so as to cause space
Electromagnetic environment is extremely complex, and electromagnetic environment have the characteristics that it is invisible, can not touch, is unpredictable, unmanned plane actually fly
It is difficult the actual electromagnetic distribution situation obtained on planning course line before row, the unpredictability of this electromagnetic environment is to unmanned aerial vehicle onboard
Normally receiving for electronic equipment, especially data-link signal constitutes bigger threat.Therefore, during routeing,
The severe of flight constraints condition is often increased, " worst condition " of actual electromagnetic environment is considered, evades as possible because of landform
Influence caused by the extraneous factors such as landforms, amblent air temperature, electromagnetic interference to data catenary system, this mode necessarily affect task
The execution efficiency of execution is a kind of to routeing target " compromise " selection.
Fig. 3 is to examine the flow chart for planning air route conventional method at present.
As shown in figure 3, unmanned plane is mainly still currently relied on to the detection method of data-link working condition on planning course line
It is flown on the spot.Its flow includes routeing, unmanned plane flies on the spot along planning air route, data-link communication check and air route
Assessment.In unmanned plane carries out practical flight along planning air route, unmanned plane and earth station in real time carry out data-link communication conditions
Detection, and air route is assessed, it waits after the completion of flying, the air route after planning is modified, be allowed to preferably be suitable for real
Border task.But since the flight time is long, of high cost, and flight range is limited by actual environment, Evaluated effect does not have this mode
There is universal significance.
Electromagnetic Simulation analogue technique is one of research hotspot in Visualization of Scientific Computing, it from two dimension, three
The various dimensions such as dimension space carry out visualization processing to electromagnetic field, and provide intuitive visual pattern auxiliary user and know space electricity clearly
The rules such as the situation of Distribution of Magnetic Field, the direction of electromagnetic propagation and intensity carry out decision for user and provide strong support.Therefore, exist
On unmanned plane planning air route in the case of electromagnetism Unknown Distribution, may be used electromagnetic simulation technique to data-link air-ground radio wave propagation
And various active, passive electromagnetic interference carry out analogue simulation, and then analyze the data-link working condition on planning air route, according to this
Achieve the purpose that optimization planning air route.
Invention content
The present invention is for the optimization of unmanned plane during flying air route and data-link communication needs unimpeded in real time, it is proposed that one kind is based on
The unmanned plane planning air route appraisal procedure of Electromagnetic Simulation, enables unmanned aerial vehicle commanding according to the electromagnetism on planning air route
Distribution obtains the communication conditions of data-link in real time, and then planning air route is evaluated and optimized.
The present invention builds the unmanned plane virtual flight testing field system for planning Route reform first, in virtual flight testing field system
It is middle to complete simulated flight of the unmanned plane along planning air route using Computer Simulation, while field system of taking a flight test is with two dimension or three-dimensional shape
Formula carries out visualization to the electromagnetism distribution of unmanned aerial vehicle body and shows, visually reaches to data-link communication conditions on planning air route
According to a preliminary estimate, simultaneity factor is identified the region for being less than signal detecting threshold according to the threshold level of data-link signal
And record, for alerting the insecurity of data-link communication conditions on this air route (section).System covers whole in unmanned plane during flying
After planning air route, Comprehensive Assessment marking is carried out to the different line segments in this air route, so as to judge the reasonability of the planning in air route (section),
It is finally reached the purpose that air route evaluates and optimizes.
Virtual flight testing field system framework is divided into data Layer, data transfer layer, application layer, expression layer and resultant layer.Wherein count
Include geographical environment library, weather environment library, planning air route library, unmanned plane model library and electromagnetic propagation model library according to layer；Data pass
Defeated layer is mainly the emulation and calculating that each model library of data Layer is called to carry out electromagnetic environment；Application layer is main function of system mould
Block, including taking a flight test, display platform control, environmental information processing, unmanned plane during flying flight tracking control and data-link Electromagnetic Simulation are built
Mould；Expression layer is the display module of application layer, specifically includes that a geographical environment of taking a flight test is shown, unmanned plane real-time flight is shown, gas
It is shown as environment is shown with electromagnetic environment data；Resultant layer is air route assessment as a result, as a result commenting planning air route
The result estimated.
Unmanned plane takes a flight test field system mainly including a geographical environment loading and display module of taking a flight test, flight control and state letter
It ceases display module, data-link Electromagnetic Simulation computing module, data transmission and processing module and electromagnetic environment informix shows mould
Block group；
A geographical environment of taking a flight test loads and display module includes geographical altitude data load-on module, image data loading mould
Block, geographical environment display module, geodata information display module, weather environment display module, model of place loading and display
Module；
Flight control and status information display module include air route loading and display module, unmanned plane driving and mission phase
Control module, flight track display module, Distance To Go and flown apart from display module, unmanned plane updating location information show mould
Block, flight warning message display module and system time display module；
Electromagnetic environment emulation computing module includes emitter Signals model load-on module, data-link transmission energy attenuation calculates
Module, unmanned plane peripheral region electromagnetic environment Data Synthesis module, electromagnetic model display parameters processing module and electromagnetic environment are shown
Representation model builds module；
Electromagnetic environment informix display module group includes emulation electromagnetic data display module, air route warning zone point identification
Module and air route evaluation module；
Data transmission and processing module include warning message display module, simulation calculation data output display module and emulation
Calculate data loading module；
System operation is sequentially as shown in fig. 6, a geographical environment display module of taking a flight test is by loading regional geography elevation of taking a flight test
Data and corresponding imaged image, and corresponding scene configuration is carried out to it, as model loading, weather environment display model add
It carries, plan air route loading and display, earth station and jamming emitter position and the loading of radiation signal information etc., it is geographical to complete three-dimensional
The structure of basic display platform.On this basis, flight control and status information display module are called, is started as needed corresponding
Weather environment show, drive unmanned plane along planning Route reform, to state of flight carry out real-time update show, and call electromagnetism
With reference to link informations such as geographical environment, weather environments, nobody is calculated according to radio waves propagation model in real time for environmental simulation computing module
The electromagnetism distribution of machine fuselage.Then, it synthesizes to obtain simulation calculation data according to electromagnetic data and carries out real-time display and data load
Enter database manipulation, build simulation calculation electromagnetic environment display model, and by the electromagnetic signal feature and data of unmanned aerial vehicle body
Chain signal receives detection threshold and is compared (by taking signal-interference ratio as an example), if less than signal detecting threshold, to exceeding region
Warning Sign is carried out, while exports corresponding position, electromagnetic data information；If far above signal detecting threshold, also to respective area
Domain carries out Warning Sign, so that next step manually revises air route.When unmanned plane during flying flight path covers whole planning air route
Afterwards, comprehensive assessment is carried out to this air route according to Warning Sign information and number, selects no Warning Sign according to this or identified number is few
And the flight leg small less than signal detecting threshold, achieve the purpose that assess air route.
Unmanned plane planning air route appraisal procedure of the present invention based on Electromagnetic Simulation, includes the following steps：
Step 1：Virtual flight testing field system is built and scene configuration；
Step 2：Unmanned plane is driven 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) warning 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, is realized using vision simulation, visualization technique to field of taking a flight test
The display of geographical environment and electromagnetic environment, data when obtaining unmanned plane in real time along planning Route reform convenient for ground control personnel
Chain communications status；
(2) on planning air route the electromagnetism distribution of unmanned aerial vehicle body carries out visualization and shows when, and to being less than data-link electricity
The air route (section) of magnetic signal detection threshold is alerted and is recorded, and waits to assess air route (section) after flying；
(3) interactive mode that can configure using modularization enables to be suitable for different flying scenes and mission area
Flight under domain expands the use scope of method.
Description of the drawings
Fig. 1 is ground control station present position schematic diagram in Telemetry System of UAV in the prior art；
Fig. 2 is the flow of routeing in the prior art；
Fig. 3 is the safety and reliability method flow for examining planning air route link in the prior art；
Fig. 4 is present system specific manifestation configuration diagram；
Fig. 5 is present system operation order figure；
Fig. 6 is the structure composition figure of present system；
Fig. 7 is the method flow schematic diagram of present system.
In figure：
1. 2. ground control station of unmanned plane
The loading of place reason space environment and display module 3. vehicle-mounted tracking telemetry and command station 4. is taken a flight test
5. flight control and 6. electromagnetic environment computing module of status information display module
7. 8. data transmission of electromagnetic environment informix display module and processing module
9. geographical 10. image data load-on module of altitude data load-on module
11. 12. geodata information display module of geographical environment display module
13. 14. model of place of weather environment display module loads and display module
15. air route loads and 16. unmanned plane of display module drives and mission phase control module
17. 18. Distance To Go of flight track display module and fly apart from display module
19. 20. flight warning message display module of unmanned plane updating location information display module
21. 22. emitter Signals model load-on module of system time display module
23. 24. unmanned plane peripheral region electromagnetic environment Data Synthesis module of data-link transmission energy attenuation computing module
25. 26. electromagnetic environment display model of electromagnetic model display parameters processing module builds module
27. emulate 28. air route warning zone point identification module of electromagnetic data display module
29. 30. warning message display module of air route evaluation module
31. simulation calculation data export 32. simulation calculation data loading module of display module
Specific embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
Virtual flight testing field system specific manifestation framework is shown in Fig. 4.
As shown in figure 4, system architecture is divided into data Layer, data transfer layer, application layer, expression layer and resultant layer.Wherein count
Include geographical environment library, weather environment library, planning air route library, unmanned plane model library and electromagnetic propagation model library according to layer；Data pass
Defeated layer is mainly the emulation and calculating that each model library of data Layer is called to carry out electromagnetic environment；Application layer is main function of system mould
Block, including taking a flight test, display platform control, environmental information processing, unmanned plane during flying flight tracking control and data-link Electromagnetic Simulation are built
Mould；Expression layer is the display module of application layer, specifically includes that a geographical environment of taking a flight test is shown, unmanned plane real-time flight is shown, gas
It is shown as environment is shown with electromagnetic environment data；Resultant layer is air route assessment as a result, as a result commenting planning air route
The result estimated.
Unmanned plane virtual flight testing field composition based on three-dimensional geographical environment is as shown in figure 5, main include a spatial loop of taking a flight test
Border loads and display module 4, flight control and status information display module 5, electromagnetic links simulation algorithm model 6, electromagnetic environment
Informix display module 7 and data transmission and processing module 8；
Place reason space environment of taking a flight test loads and display module 4 includes：Geographical altitude data load-on module 9, input are geographical
Altitude data exports three-dimensional geographic model；Image data load-on module 10, input the three-dimensional geographic model that is handled through module 9 with
This area's earth surface image picture (BMP forms) exports the threedimensional model with true geographical environment after texture mapping；Geographical ring
Border display module 11 is inputted through treated the threedimensional model of module 10, and taking a flight test, a display area shows the model；Geodata
Information display module 12, the information such as input current locale longitude and latitude range, floor space, the information exhibition in a display area of taking a flight test
Show region output character description；Weather environment display module 13, input current weather condition (rain, snow etc.), taking a flight test, field is shown
Weather particle model is shown on the basis of the original threedimensional model in region；Model of place loads and display module 14, input unmanned plane, base
It stands, the information data files such as interference source, newly-increased model of place is shown in a display area of taking a flight test；
Flight control and status information display module 5 include：Air route loads and display module 15, input destination longitude, latitude
Degree and elevation information, in the three-dimensional course line of display area display of taking a flight test；Unmanned plane drives and mission phase control module 16, passes through
Software-controllable unmanned plane during flying, halted state change；Flight track display module 17, according to unmanned plane current flight state,
Taking a flight test, a display area output unmanned plane has flown over air route；Distance To Go and fly apart from display module 18, according to unmanned plane
Current flight state has currently flown and Distance To Go in display area output unmanned plane of taking a flight test；Unmanned plane updating location information
Display module 19, according to unmanned plane current flight state, taking a flight test, display area exports a unmanned plane current location information, including
Longitude and latitude and height；Flight warning message display module 20 and system time display module 21, in a display area difference of taking a flight test
Show relevant information；
Electromagnetic environment emulation computing module 6 includes：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 transmission energy attenuation computing module 23, inputs as module
Any dot position information in 22 radiation source information, earth station's information and unmanned plane peripheral region to be calculated, exports as spoke
Source is penetrated with the energy attenuation value of earth station to the point with receiving level value；Unmanned plane peripheral region electromagnetic environment Data Synthesis module
24, the level value that input module 23 calculates obtains the signal-interference ratio of any in unmanned plane peripheral region to be calculated；Electromagnet mode
Type display parameters processing module 25 inputs the signal of unmanned plane peripheral region each point-dry to be calculated by aforementioned modules
Disturb than and electromagnetic signal detection threshold value, it is signal-interference than the correspondence with color to export；Electromagnetic environment shows mould
Type builds module 26, and the correspondence that input module 25 obtains exports corresponding display model；
Electromagnetic environment informix display module 7 includes：Electromagnetic data display module 27 is emulated, input electromagnetic environment is shown
Model, taking a flight test, a display area shows the model；Air route warning zone point identification module 28, input signal-interference is compared and electricity
Magnetic signal detection threshold value, being exported after relatively needs to do the point of Warning Sign；Air route evaluation module 29, according to the step of module 6
Suddenly, each point on known course line calculated, identified, counted；
Data transmission and processing module 8 include：Warning message display module 30, the point that input module 28 records, exports and is
The point is labeled in a display area of taking a flight test (as demarcated with red penoncel icon)；Simulation calculation data export display module
31, the model that input module 26 obtains is exported to be shown in a display area of taking a flight test；Simulation calculation data loading module
32, the data informations such as various point locations information that input module 6 is calculated, signal-interference ratio are stored to database；
System operation sequence is as shown in fig. 6, a space environment of taking a flight test loads and display module 4 is by loading with taking a flight test region
Altitude data and corresponding imaged image information are managed, and corresponding scene configuration is carried out to it, wherein scene configuration includes model
Loading, the loading of weather environment display model, the loading of planning air route and display, earth station and jamming emitter position and radiation signal
The structure of three-dimensional geographical basis display platform is completed in information loading etc..After platform construction to be shown is completed, flight control is called
And status information display module 5, start corresponding weather environment as needed and show, drive unmanned plane edge planning Route reform,
Simultaneously to state of flight information carry out real-time update show, and call electromagnetic environment emulation computing module 6, with reference to geographical environment,
The link informations such as weather environment calculate the electromagnetism distribution of unmanned plane peripheral region according to radio waves propagation model, carry out electromagnetism number in real time
Simulation calculation data are obtained according to synthesis and carry out images outputting showing and in-stockroom operation, and believe electromagnetic data in region and electromagnetism
Number detection threshold value is compared (by taking signal-interference ratio as an example), if being less than or far above detection threshold value, to exceeding region
Warning Sign is carried out, while exports corresponding position, electromagnetic data information.Entire planning air route is covered in unmanned plane during flying flight path
Afterwards, comprehensive marking carries out this air route according to Warning Sign information and number, selects no Warning Sign according to this or identified number is few
And the flight route small less than threshold value, achieve the purpose that assessment planning air route.
A kind of unmanned plane planning air route appraisal procedure based on Electromagnetic Simulation, flow chart as shown with 7, include the following steps：
Step 1：Virtual flight testing field system is built and scene configuration；
1) its geographical altitude data is loaded according to field areas range of taking a flight test, builds three-dimensional geographic model, add on this basis
Its corresponding earth surface image picture is carried, completes the mapping operations of satellite imagery, shows a space and geographical environment of taking a flight test.Exist simultaneously
Field areas of taking a flight test information display area shows the information such as the longitude and latitude range of current field of taking a flight test, area coverage；
2) according to rainfall, the division of snowfall intensity grade, the particle model configuration of weather environment is completed, so as to successfully complete
It takes a flight test a structure for space and geographical environmental basis display platform；
3) three-dimensional scene models, such as unmanned plane model, base station model, earth station's model are loaded.
4) loading needs to carry out the planning flight route of air route electromagnetic environment assessment, and air route is carried out in a scene of taking a flight test and is shown
Show；
5) unmanned plane, earth station, position of interference source information and its radiation information data file are loaded into, then, according to each mould
The model of place such as type position loads and shows unmanned plane model, earth station's model, interferer models (it is N number of altogether to set interference source), together
When the radiation signal data of each radiation source are loaded into respective list；
6) effective range L, the unmanned plane receiving terminal system signal processing yield value G of jamming emitter are sett, unmanned plane leads to
Believe chain-circuit system electromagnetic signal detection threshold value T0, setting participate in electromagnetic environment emulation calculate unmanned plane peripheral region range RG
(setting using unmanned plane central point as body-centered, length is respectively the cuboid of L, D, H), setting Electromagnetic Simulation calculate discrete point
It is spaced (it is respectively Δ L, Δ D, Δ H to be located at discrete point interval on length direction).
Step 2：Unmanned plane is driven along planning air route simulated flight；
1) according to the position of destination and destination height, and it is discrete winged to combine unmanned plane practical flight speed, ground run distance etc.
Row data information, driving unmanned plane edge planning Route reform；
2) output unmanned plane current location information, Distance To Go data, and show unmanned plane flight track in real time.
Step 3：Electromagnetic data simulation calculation；
1) distance d of the unmanned plane peripheral region point (x, y, z) between earth station is calculateds, combined ground station and this institute
Location circumstances, weather environment and its link propagation path situation at place select suitable statistical model to calculate earth station's radiation
The propagation attenuation of signal, so as to obtain at this point, the signal from earth station receives level Pr, unit dBm；
2) interference source i location informations are obtained, calculate the distance between radiation source and current unmanned plane di；
3) judge diWhether L is less than or equal to, if then carrying out step 4), otherwise this radiation source is not involved in electromagnetic environment letter
Breath calculates；
4) according to interference source i and 1) in the location of point (x, y, z) environment, weather environment and its link propagation path
Situation selects suitable statistical model to calculate the propagation attenuation of interference source radiation signal, so as to obtain at point (x, y, z),
Signal from interference source receives level Pi, unit dBm；
5) if interference source i is the last one interference source in scene, step 6) is carried out, otherwise next interference source is carried out
Step 2)~4) operation；
6) at the point (x, y, z) in 1), the reception level from interference source is synthesized, if value is P ' after synthesisr；
7) at the point (x, y, z) in 1), signal-interference is carried out than (SNR(x,y,z)) calculate, i.e. SNR(x,y,z)=Pr-
P′r-Gt；
8) by the 7) middle signal-interference calculated than (SNR(x,y,z)) and electromagnetic signal detection threshold (T0) be compared, if
SNR(x,y,z)＜ T0Or SNR(x,y,z)＞ 2T0, then this point is electromagnetic interference segment domain or routeing redundancy segment, need to be warned
Mark is accused, and by the location information of the point (x, y, z) in 1) and its carries out data output simultaneously.Otherwise, this point is safety zone
Point does not need to Warning Sign and information output.
9) 1) point (x, y, z) in x, y, z direction with Δ L, Δ D, Δ H units is changed respectively, is repeating to walk
It is rapid 1)~8) so that point (x, y, z) spreads all over region RG.
10) data are compared in the signal-interference for calculating unmanned plane center position the point in the manner described above.
Step 4：Electromagnetism distribution display and air route (section) warning record；
1) the simulation calculation data (unmanned plane center position and unmanned plane peripheral location data) in step 3 are carried out
Color mapping, the data setting that can will be less than electromagnetic signal detection threshold value is blue viewing area, higher than the number of detection threshold value
It is corresponded according to according to color change from cold to warm, carries out graphical display, so as to visually be able to observe that warning
Region；
2) permanently calibration (as demarcated with red penoncel icon) is carried out to warning zone point, not by below step 4) shadow
It rings；
3) signal-interference that more than simulation calculation obtains is subjected to database storage storage operation than data, so as to after
Inquiry and use；4) with the continuous renewal of unmanned plane position, simulation calculation regional location is also constantly updated around unmanned plane,
1) and operation 2) step 3 and this step are then carried out in real time, for not in the range of unmanned plane during flying peripheral region at that time
The model of (using unmanned plane central point as body-centered, length is respectively the cuboid of L, D, H) is not shown, so as to the system of saving
Resource.
Step 5：Air route (section) comprehensive assessment.
At the entire planning air route of unmanned plane flight track covering, number, each icon to air route of Warning Icon are counted
The shortest distance and each icon point electromagnetic signal-interference than the difference with electromagnetic signal detection threshold, in summary it is each because
The impact factor of element is different, it is weighted averagely, the score of each segment is obtained, so as to carry out air route assessment, to score
Relatively low segment need to carry out the artificial correction of next step.
The present invention builds three-dimensional geographical environment by Computer Simulation, and the basis display as unmanned plane virtual flight testing field is flat
Platform, when unmanned plane is along planning Route reform, virtual flight testing field models the electromagnetic environment along planning air route, is synthesized, and
Visualization is carried out to the electromagnetism distribution of unmanned aerial vehicle body to show, is visually completed first to the preliminary of planning air route electromagnetism situation
Estimation.Meanwhile system is according to preset data link collection of letters detection threshold value, the region to being less than or far above threshold value
Air route (section) is identified, to alert the redundancy of the insecurity in this air route (section) or planning.It is covered in unmanned plane during flying flight path
It covers behind entire air route and comprehensive marking is carried out to this planning air route, complete air route assessment according to this, correcting air route for next step provides branch
It holds.
Claims (1)
1. a kind of unmanned plane planning air route appraisal procedure based on Electromagnetic Simulation, includes the following steps：
Step 1：Virtual flight testing field system is built and scene configuration；
1) its geographical altitude data is loaded according to field areas range of taking a flight test, builds three-dimensional geographic model, load it on this basis
Corresponding earth surface image picture completes the mapping operations of satellite imagery, shows a space and geographical environment of taking a flight test, while taking a flight test
Field areas information display area shows longitude and latitude range, the area coverage of current field of taking a flight test；
2) according to rainfall, the division of snowfall intensity grade, the particle model configuration of weather environment is completed, completion takes a flight test field spatially
Manage the structure of environmental basis display platform；
3) three-dimensional scene models are loaded；
4) loading needs to carry out the planning flight route of air route electromagnetic environment assessment, and air route is carried out in a scene of taking a flight test and is shown；
5) unmanned plane, earth station, position of interference source information and its radiation information data file are loaded into, then, according to each model position
It puts loading and shows unmanned plane model, earth station's model, interferer models, wherein, interference source is N number of altogether, while by each radiation source
Radiation signal data be loaded into respective list；
6) effective range L, the unmanned plane receiving terminal system signal processing yield value G of jamming emitter are sett, UAV Communication chain
Road system electromagnetic signal detection threshold value T0, setting participate in electromagnetic environment emulation calculate unmanned plane peripheral region range RG, i.e.,
Using unmanned plane central point as body-centered, length is respectively between the cuboid of L, D, H, setting Electromagnetic Simulation calculating discrete point
Every it is respectively Δ L, Δ D, Δ H to be located at discrete point interval on length direction；
Step 2：Unmanned plane is driven along planning air route simulated flight；
1) according to the position of destination and destination height, and with reference to unmanned plane practical flight speed, the discrete flight number of ground run distance
It is believed that breath, driving unmanned plane edge planning Route reform；
2) output unmanned plane current location information, Distance To Go data, and show unmanned plane flight track in real time；
Step 3：Electromagnetic data simulation calculation；
1) distance d of the unmanned plane peripheral region point (x, y, z) between earth station is calculateds, the combined ground station position residing with this point
Environment, weather environment and its link propagation path situation are put, by statistical model, the propagation for calculating earth station's radiation signal declines
Subtract, obtain at this point, the signal from earth station receives level Pr, unit dBm；
2) interference source i location informations are obtained, calculate the distance between radiation source and current unmanned plane di；
3) judge diWhether L is less than or equal to, if then carrying out step 4), otherwise this radiation source is not involved in electromagnetic environment information meter
It calculates；
4) the location of point (x, y, z) in interference source i and step 1) environment, weather environment and its link propagation path
Situation by statistical model, calculates the propagation attenuation of interference source radiation signal, obtains at point (x, y, z), from interference source
Signal receives level Pi, unit dBm；
5) if interference source i is the last one interference source in scene, step 6) is carried out, step otherwise is carried out to next interference source
2) it~4) operates；
6) at the point in step 1) (x, y, z), the reception level from interference source is synthesized, if value is P ' after synthesisr；
7) it at the point in step 1) (x, y, z), carries out signal-interference and compares SNR(x,y,z)It calculates, i.e.,：
SNR(x,y,z)=Pr-P'r-Gt；
8) SNR is compared into the signal-interference calculated in step 7)(x,y,z)With electromagnetic signal detection threshold T0It is compared, if
SNR(x,y,z)＜ T0Or SNR(x,y,z)＞ 2T0, then this point is electromagnetic interference segment domain or routeing redundancy segment, need to be warned
Mark is accused, and by the location information of the point (x, y, z) in step 1) and its carries out data output simultaneously；Otherwise, this point is safety
Region point does not need to Warning Sign and information output；
9) point (x, y, z) in step 1) in x, y, z direction with Δ L, Δ D, Δ H units is changed respectively, is repeating to walk
It is rapid 1)~8) so that point (x, y, z) spreads all over region RG；
10) to unmanned plane center position according to the 1 of step 3) -9) signal-interference for calculating the point compares data；
Step 4：Electromagnetism distribution display and air route warning record；
1) it by the simulation calculation data in step 3, including unmanned plane center position and unmanned plane peripheral location data, carries out
Color mapping, the data setting that will be less than electromagnetic signal detection threshold value is blue viewing area, higher than the data of detection threshold value
It is corresponded according to color change from cold to warm, carries out graphical display, so as to visually be able to observe that warning area
Domain；
2) warning zone point is permanently demarcated, is such as demarcated with red penoncel icon, not by below step 4) it is influenced；
3) signal-interference that more than simulation calculation obtains is subjected to database storage storage operation than data, so that later is looked into
It askes and uses；
4) with the continuous renewal of unmanned plane position, simulation calculation regional location is also constantly updated around unmanned plane, then in real time into
Row step 3 and this step 1) and operation 2), for the model in the range of unmanned plane during flying peripheral region at that time is not
Give display；
Step 5：Air route comprehensive assessment；
At the entire planning air route of unmanned plane flight track covering, the number of Warning Icon, each icon are counted to air route most
Short distance and electromagnetic signal-interference of each icon point are than the difference with electromagnetic signal detection threshold, by counting Warning Icon
Electromagnetic signal-interference of number, the shortest distance of each icon to air route and each icon point compare and electromagnetic signal detection threshold
Difference impact factor, it is weighted average, the score of each segment is obtained, so as to carry out air route assessment, to score
Relatively low segment carries out artificial correction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510586740.2A CN105182997B (en) | 2015-09-15 | 2015-09-15 | A kind of unmanned plane planning air route appraisal procedure based on Electromagnetic Simulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510586740.2A CN105182997B (en) | 2015-09-15 | 2015-09-15 | A kind of unmanned plane planning air route appraisal procedure based on Electromagnetic Simulation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105182997A CN105182997A (en) | 2015-12-23 |
| CN105182997B true CN105182997B (en) | 2018-06-26 |
Family
ID=54905135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510586740.2A Active CN105182997B (en) | 2015-09-15 | 2015-09-15 | A kind of unmanned plane planning air route appraisal procedure based on Electromagnetic Simulation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105182997B (en) |
Families Citing this family (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676864A (en) * | 2016-04-08 | 2016-06-15 | 合肥工业大学 | Simulation system of UAV (Unmanned Aerial Vehicle) aerial photography program |
| CN106297417A (en) * | 2016-09-27 | 2017-01-04 | 南京航空航天大学 | A kind of unmanned plane during flying service and supervisory systems and method |
| CN106768123A (en) * | 2016-11-30 | 2017-05-31 | 中国直升机设计研究所 | A kind of depopulated helicopter fuel oil predictor method |
| CN107092718B (en) * | 2017-03-17 | 2020-04-21 | 中国人民解放军陆军航空兵学院 | Numerical simulation method for rainfall encountered in flight of aircraft |
| WO2018187927A1 (en) * | 2017-04-11 | 2018-10-18 | SZ DJI Technology Co., Ltd. | Vision simulation system for simulating operations of a movable platform |
| CN107367726B (en) * | 2017-07-13 | 2019-07-05 | 重庆埃默科技有限责任公司 | A kind of flying object three-dimensional simulation positioning display method and system |
| CN108021144A (en) * | 2017-12-29 | 2018-05-11 | 中国地质大学（武汉） | A kind of unmanned aerial vehicle flight path planning and dynamic threats evade emulator |
| WO2019227330A1 (en) * | 2018-05-30 | 2019-12-05 | 深圳市大疆创新科技有限公司 | Emulation method and device for unmanned aerial vehicle |
| CN109217911B (en) * | 2018-06-19 | 2021-02-05 | 中国人民解放军战略支援部队航天工程大学 | Air-ground communication system simulation device based on technical detection mode |
| CN109167643B (en) * | 2018-07-06 | 2020-10-27 | 北京航空航天大学 | Unmanned aerial vehicle communication signal simulation generation method based on GIS geographic environment |
| CN112027107B (en) * | 2019-06-04 | 2022-03-11 | 丰鸟航空科技有限公司 | Unmanned aerial vehicle avoidance test system, method and device, terminal equipment and storage medium |
| JP7041111B2 (en) * | 2019-10-15 | 2022-03-23 | 本田技研工業株式会社 | Management device |
| CN113030588A (en) * | 2019-12-24 | 2021-06-25 | 中航空管系统装备有限公司 | Airport communication navigation equipment electromagnetic environment detecting system based on unmanned aerial vehicle |
| CN111046596A (en) * | 2020-01-14 | 2020-04-21 | 中仿智能科技（上海）股份有限公司 | Flight effect evaluation system based on virtual reality technology |
| CN112004237B (en) * | 2020-07-14 | 2023-06-16 | 西安爱生无人机技术有限公司 | Unmanned aerial vehicle data link vision evaluation method, readable storage medium and terminal equipment |
| CN111929509B (en) * | 2020-08-12 | 2023-04-18 | 中航空管系统装备有限公司 | Electromagnetic signal pattern checking method based on unmanned aerial vehicle |
| CN111983332B (en) * | 2020-08-12 | 2023-02-28 | 中航空管系统装备有限公司 | Electromagnetic signal pattern calibration system based on unmanned aerial vehicle |
| CN112149297A (en) * | 2020-09-18 | 2020-12-29 | 中国航空无线电电子研究所 | STK-based test flight task planning and data playback method and system |
| CN113807649A (en) * | 2021-07-30 | 2021-12-17 | 浙江工商大学 | Civil aviation flight safety assessment system based on Bayesian network |
| CN113704884B (en) * | 2021-08-08 | 2024-01-30 | 中国航空工业集团公司沈阳飞机设计研究所 | Electromagnetic environment effect simulation method for aircraft design |
| CN113537838A (en) * | 2021-08-16 | 2021-10-22 | 上海志茗航空科技有限公司 | Product full-data intelligent management system for large-load mooring unmanned aerial vehicle |
| CN114162346B (en) * | 2021-12-07 | 2023-11-14 | 上海无线电设备研究所 | Surface deposition static distribution ground verification method for scaled aircraft |
| CN115563805B (en) * | 2022-10-26 | 2023-05-12 | 航科院中宇（北京）新技术发展有限公司 | High-voltage overhead power line and radio interference assessment method and device and electronic equipment |
| CN116953356B (en) * | 2023-09-20 | 2023-12-26 | 南京纳特通信电子有限公司 | Ground-air integrated three-dimensional space radio frequency spectrum monitoring method and system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101719308A (en) * | 2009-11-06 | 2010-06-02 | 北京航空航天大学 | Method for realizing high anti-interference unmanned aerial vehicle remote control data link |
| CN102591355A (en) * | 2012-02-24 | 2012-07-18 | 山东电力研究院 | Method for detecting safe power-line-cruising distance of UAV (unmanned aerial vehicle) |
| CN103974327A (en) * | 2014-04-28 | 2014-08-06 | 华南理工大学 | Small-size unmanned helicopter point-to-point data chain system and achieving method |
| CN104122597A (en) * | 2013-08-22 | 2014-10-29 | 中国科学院遥感与数字地球研究所 | Unmanned aerial vehicle aeromagnetic detecting system and method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9981740B2 (en) * | 2010-08-06 | 2018-05-29 | Northrup Grumman Systems Corporation | Layered architecture for customer payload systems |
-
2015
- 2015-09-15 CN CN201510586740.2A patent/CN105182997B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101719308A (en) * | 2009-11-06 | 2010-06-02 | 北京航空航天大学 | Method for realizing high anti-interference unmanned aerial vehicle remote control data link |
| CN102591355A (en) * | 2012-02-24 | 2012-07-18 | 山东电力研究院 | Method for detecting safe power-line-cruising distance of UAV (unmanned aerial vehicle) |
| CN104122597A (en) * | 2013-08-22 | 2014-10-29 | 中国科学院遥感与数字地球研究所 | Unmanned aerial vehicle aeromagnetic detecting system and method |
| CN103974327A (en) * | 2014-04-28 | 2014-08-06 | 华南理工大学 | Small-size unmanned helicopter point-to-point data chain system and achieving method |
Non-Patent Citations (1)
| Title |
|---|
| Simulation of Dynamic Electromagnetic Interference Environment for Unmanned Aerial Vehicle Data Link;GUO Shuxia 等;《China Communications》;20130731;第10卷(第7期);第19-28页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105182997A (en) | 2015-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105182997B (en) | A kind of unmanned plane planning air route appraisal procedure based on Electromagnetic Simulation | |
| CN205103998U (en) | Mountain torrents risk analysis system based on unmanned aerial vehicle liDAR technique | |
| CN111026150A (en) | System and method for pre-warning geological disasters of power transmission line by using unmanned aerial vehicle | |
| US10520597B2 (en) | Aircraft radar system for bird and bat strike avoidance | |
| US11262746B1 (en) | Simultaneously cost-optimized and policy-compliant trajectory generation for unmanned aircraft | |
| CN108897312A (en) | Lasting supervised path planing method of more unmanned vehicles to extensive environment | |
| CN112749440A (en) | UAV flight management planner | |
| CN109510655A (en) | Near space platform oriented mission formation networking distributed collaboration flight control method | |
| Xing et al. | Multi-UAV cooperative system for search and rescue based on YOLOv5 | |
| Bailon-Ruiz et al. | Real-time wildfire monitoring with a fleet of UAVs | |
| CN110348560A (en) | A method of based on the trajectory predictions for improving glowworm swarm algorithm optimized particle filter | |
| CN105046747A (en) | Three-dimensional display and dead zone determining method of ground received electromagnetic signals of unmanned aerial vehicle | |
| CN116661497A (en) | Intelligent aerocar | |
| CN113536564B (en) | Unmanned bee colony autonomous collaborative assessment method and system based on virtual simulation | |
| Chehri et al. | Accelerating power grid monitoring with flying robots and artificial intelligence | |
| Xu et al. | Development of power transmission line detection technology based on unmanned aerial vehicle image vision | |
| CN109506651A (en) | Stratosphere super-pressure balloon Three-Dimensional Path Planning Method | |
| CN112783192B (en) | Unmanned aerial vehicle path planning method, device, equipment and storage medium | |
| CN115830494A (en) | Model training method, intelligent spraying method and system for mine sprinkler | |
| Chen et al. | Integrated air-ground vehicles for uav emergency landing based on graph convolution network | |
| Exposito et al. | Route optimisation for maximum air to ground channel quality | |
| RU29901U1 (en) | Group flight training complex | |
| Funk et al. | A passive cloud detection system for UAV: Weather situation mapping with imaging sensors | |
| Chen et al. | Modelling of unmanned aerial vehicle deliveries in populated urban areas for risk management | |
| Vargas-Florez et al. | Identifying potential landslide location using Unmanned Aerial Vehicles (UAVs) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20151223 Assignee: Beijing northern sky long hawk UAV Technology Co.,Ltd. Assignor: BEIHANG University Contract record no.: X2021990000039 Denomination of invention: An evaluation method of UAV route planning based on electromagnetic simulation Granted publication date: 20180626 License type: Exclusive License Record date: 20210119 |