CN105222807B - A kind of rotor wing unmanned aerial vehicle precision approach path indicator check system and method for calibration - Google Patents
A kind of rotor wing unmanned aerial vehicle precision approach path indicator check system and method for calibration Download PDFInfo
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- CN105222807B CN105222807B CN201510660478.1A CN201510660478A CN105222807B CN 105222807 B CN105222807 B CN 105222807B CN 201510660478 A CN201510660478 A CN 201510660478A CN 105222807 B CN105222807 B CN 105222807B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
Description
Technical field
The invention belongs to left-right indicator technical field, more particularly to a kind of rotor wing unmanned aerial vehicle precise sea-way entering is indicated Device check system and method for calibration.
Background technology
Visual approach slope indicator system is to enter the aid-to-navigation light spectrum that the aircraft near land provides correct downslide navigation channel System；Wherein precision approach path indicator abbreviation PAPI lamps, its function is to enter in airfield runway in the case that the nearly gradient determines, to The pilot for implementing landing operation provides a correct approach path and indicates that the deviations different with four are indicated, is that pilot carries Supplied it is a kind of it is visual judge into the angle closely landed, finally corrected for pilot aircraft enter nearly landing attitude provide it is a kind of reliable Guarantee, compensate for the landing potential safety hazard that instrument-landing-system is caused due to equipment fault.Not according to the instruction of PAPI lamps Landing has potential safety hazard.
Verification for PAPI lamps at present is all to carry out school by using real aircraft and corresponding equipment to fly, whole school Fly over journey complicated, must carry out reporting relevant department to examine, allocate aircraft and arrange flight check unit, apply for course line, formulate and fly Plan, implements a series of activities such as the every duty assurance of flight check, and need flight check unit and ground staff close Coordinate；Although this method says that result is more accurate reliable for school is sudden, whole checking procedure is costly, takes When it is laborious, and PAPI lamps have the requirement of periodic test, therefore are difficult to meet.Existing approach path indicator test at present System is all to simulate aircraft approach path by physical means, using video camera and image pick-up card by image transmitting to calculating Machine, then artificially goes whether the integrated mode for judging current PAPI lamps meets requirement, and the extremely complex heaviness of whole system is operated numerous It is miscellaneous, it is necessary to multi-person synergy coordinate could complete whole test assignment；And the automaticity of the test system is very low, and Because many equipment need manual regulation, influence of the human factor to measuring accuracy is added.
So although existing test system can be tested and adjusted to PAPI lamps, and save expense, it measures essence Degree is not high, and human factor influences big to system accuracy, and method of testing is complicated, larger to manpower consumption during test, and the cloth of equipment Put and adjust very inconvenient, so as to influence efficiency and the degree of accuracy of verification.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of rotor wing unmanned aerial vehicle precision approach path indicator Check system and method for calibration.
In order to achieve the above object, the rotor wing unmanned aerial vehicle precision approach path indicator check system bag that the present invention is provided Include：Rotor wing unmanned aerial vehicle carrier and earth station；
Described rotor wing unmanned aerial vehicle carrier includes：Unmanned plane body and flight controller, positioning meter on fuselage Calculation machine, laser sensor, GPS module, digital transmission module, three-axis stability augmentation head, forward looking camera, figure transmission module and lower regard image Machine；Wherein：Flight controller respectively with position computer, laser sensor, GPS module, digital transmission module and three-axis stability augmentation head Be connected, position computer is connected with lower depending on video camera, forward looking camera be arranged on three-axis stability augmentation head on, figure transmission module with The video output terminals of forward looking camera are connected；
Described earth station includes：Ground monitoring station, figure pass base station sum and pass base station；Wherein：Ground monitoring station respectively with Figure passes base station sum biography base station and is connected, and figure passes base station and wirelessly connected with the figure transmission module on rotor wing unmanned aerial vehicle carrier Connect, number passes base station and is wirelessly connected with the digital transmission module on rotor wing unmanned aerial vehicle carrier.
The fuselage of described unmanned plane body is six rotor wing unmanned aerial vehicles, and flight controller is based on STM32F407 microcontrollers The flight control system of device.
Described laser sensor is single-point laser sensor, is communicated by serial communication interface with flight controller, GPS module is attached by serial communication interface with flight controller.
The described lower video camera that regards is digital camera, and on body bottom surface, position computer is embedding assembly Machine, it is lower to be connected depending on video camera by USB interface with position computer.
Described ground monitoring station includes：Image pick-up card, monitoring computer and display；Wherein：Monitor computer point Do not pass base station with display sum to be connected, figure passes base station and by image pick-up card with monitoring computer is connected.
The method of calibration that the rotor wing unmanned aerial vehicle precision approach path indicator check system that the present invention is provided is used includes The following steps carried out in order：
Step 1) the fixation foot stool of PAPI lamps is measured to the height at optical window center using laser sensor, so as to system amendment Laser sensor sends back the altitude information of earth station；
Step 2) it is electricity in whole system, whether the work of each functional unit of test system is normal, each functional unit Next step test is carried out after working properly again；
Step 3) rotor wing unmanned aerial vehicle carrier is transformed into balance offline mode, throttle is touched manually, observes unmanned plane body Motor and propeller it is whether all working properly, system mode is displayed whether normally, and all the normal next step that just enter afterwards are tested；
Step 4) rotor wing unmanned aerial vehicle carrier is moved to and specifies region of taking off, check again for the electricity of flight control system and each module Source and working condition indicate whether that normally all state instructions all normally can then carry out next step operation；
Step 5) control instruction independently taken off is sent by monitoring ground station, rotor wing unmanned aerial vehicle carrier is performed and independently taken off Action, and fly to desired target area, be then input to the terrain surface specifications image information collected depending on video camera by lower Position computer, position computer obtains local precise positioning information with corresponding vision positioning algorithm, sends to afterwards winged Accurately location data, aircraft are obtained after machine controller, the GPS Global localization data that aircraft controller fusion GPS module is obtained Controller controls rotor wing unmanned aerial vehicle carrier 1 by the double loop controller in position control loop thereon and gesture stability loop Realize stable flight；
Step 6) altitude information that is measured of laser sensor sends aircraft controller to, and aircraft controller passes through corresponding Algorithm and merge the fixed high control that flight control system IMU acceleration informations realize rotor wing unmanned aerial vehicle carrier；And by controlling rotor The height and fall off rate of unmanned plane carrier, and PAPI lamps are gathered by the forward looking camera of three-axis stability augmentation head carry in real time Image information；
Step 7) the figure transmission module image information of PAPI lamps that collects forward looking camera sent back in earth station in real time Figure pass base station, figure passes base station and sends image pick-up card in earth station to again, and image pick-up card is by above-mentioned view data afterwards Main control computer is inputed to, main control computer detects the face of current PAPI lamps by running corresponding computer vision algorithms make in real time Colour cell is closed, and the altitude information and horizontal range information of comprehensive current rotor wing unmanned aerial vehicle carrier calculate the installation for obtaining each PAPI lamps Angle result, to instruct the I＆M of PAPI lamps；
Step 8) the verification tasks of PAPI lamps has been performed, finally send and independently make a return voyage from earth station to rotor wing unmanned aerial vehicle carrier The instruction of landing, rotor wing unmanned aerial vehicle carrier independently makes a return voyage and drops to specified drop zone.
Rotor wing unmanned aerial vehicle precision approach path indicator check system and the beneficial effect of method of calibration that the present invention is provided：
The characteristics of technical scheme that the system is used has increasingly automated and independence, can simulate actual airplane and enter near Process is detected to PAPI lamps；Save very big expense and measuring accuracy is very high；Fly by the way that rotor wing unmanned aerial vehicle simulation is true Machine enters near procedure, and the head and video camera carried by fuselage remotely send back the picture of shooting by figure transmission module in real time Earth station, the image input monitoring computer of collection is handled, nobody is carried out by high-precision GPS by image pick-up card Machine is positioned, and high-precision laser sensor carries out fixed height, improves measuring accuracy, reachable ± 1 ' equipment of its precision is light conveniently to be taken Band, level of integrated system is high, and automaticity is high, simplifies test program, only needs one man operation to complete all test verifications Task, tests more convenient, the data and result of test can be stored, so that subsequent query analysis is used；Should System can meet the indices test verified to Civil Aviation Airport PAPI lamps, can substitute traditional operation by aircrafi calibration Mode, can save overspending and personnel attrition, with increasingly automated and intelligent, while can adapt to PAPI for airport Lamp inspection surveys periodic require, it is ensured that the accuracy that PAPI lamps are indicated, reduces flight safety hidden danger, Civil Aviation Airport is showed Generationization is significant.
Brief description of the drawings
The rotor wing unmanned aerial vehicle precision approach path indicator check system structural representation that Fig. 1 provides for the present invention.
Rotor wing unmanned aerial vehicle is constituted in the rotor wing unmanned aerial vehicle precision approach path indicator check system that Fig. 2 provides for the present invention Block diagram.
Earth station constitutes frame in the rotor wing unmanned aerial vehicle precision approach path indicator check system that Fig. 3 provides for the present invention Figure.
Embodiment
The rotor wing unmanned aerial vehicle precision approach path indicator school provided below in conjunction with the accompanying drawings with specific embodiment the present invention Check system and method for calibration are described in detail.
As shown in figure 1, the rotor wing unmanned aerial vehicle precision approach path indicator check system that the present invention is provided includes：Rotor without Man-machine carrier 1 and earth station 2；
As shown in Fig. 2 described rotor wing unmanned aerial vehicle carrier 1 includes：Unmanned plane body and the flight control on fuselage It is device 1.1 processed, position computer 1.2, laser sensor 1.3, GPS module 1.4, digital transmission module 1.5, three-axis stability augmentation head 1.6, preceding Depending on video camera 1.7, figure transmission module 1.8 and down regarding video camera 1.9；Wherein：Flight controller 1.1 respectively with position computer 1.2, Laser sensor 1.3, GPS module 1.4, digital transmission module 1.5 are connected with three-axis stability augmentation head 1.6, and position computer 1.2 is with Connected depending on video camera 1.9, forward looking camera 1.7 is arranged on three-axis stability augmentation head 1.6, figure transmission module 1.8 is imaged with forward sight The video output terminals of machine 1.7 are connected；
As shown in figure 3, described earth station 2 includes：Ground monitoring station 2.1, figure pass the sum of base station 2.2 and pass base station 2.3；Its In：Ground monitoring station 2.1 passes the sum of base station 2.2 biography base station 2.3 with figure and is connected respectively, and figure passes base station 2.2 and passes through wireless side Formula is connected with the figure transmission module 1.8 on rotor wing unmanned aerial vehicle carrier 1, number pass base stations 2.3 wirelessly with rotor wing unmanned aerial vehicle Digital transmission module 1.5 on carrier 1 is connected.
Described flight controller 1.1 is the master controller of rotor wing unmanned aerial vehicle carrier 1, and position computer 1.2 regards for operation Feel the airborne embedded computer of location algorithm, laser sensor 1.3 is the laser sensor for the fixed high control of unmanned plane, GPS module 1.4 is the high-precision GPS module positioned for rotor wing unmanned aerial vehicle carrier 1, and digital transmission module 1.5 is for passing base with number Stand 2.3 wireless data transceiver modules for realizing wireless connection, three-axis stability augmentation head 1.6 is regards for manipulating forward looking camera 1.7 The brushless head of three axles at angle, flight controller 1.1 controls three-axis stability augmentation head 1.6 to act by its internal control passage, preceding Video camera 1.7 is regarded as the analog video camera for PAPI lamp IMAQs, figure transmission module 1.8 is for remotely returning video information Microwave imagery transport module, it is lower to regard video camera 1.9 as the digital camera for vision positioning.
The fuselage of described unmanned plane body is six rotor wing unmanned aerial vehicles, and flight controller 1.1 is based on STM32F407 micro-controls The flight control system of device processed, the fuselage of unmanned plane body carries two pieces of batteries, and one piece is used for flight control system and entrained sensing Device is powered, and is powered for unmanned plane in addition and is provided power for unmanned plane for one piece, can so accomplish master control and power cell Isolation, prevents coupling effect, so as to influence the job stability of system.
Described laser sensor 1.3 is single-point laser sensor, is carried out by serial communication interface with flight controller 1.1 Communication, GPS module 1.4 is attached by serial communication interface with flight controller 1.1.
The described lower video camera 1.9 that regards is digital camera, on body bottom surface, and position computer 1.2 is insertion Formula computer, it is lower to be connected depending on video camera 1.9 by USB interface with position computer 1.2, by the terrain surface specifications mark collected Image is input to position computer 1.2, and position computer 1.2 runs corresponding vision positioning algorithm and by obtained location data It is input to the position control loop of flight controller 1.1.
Described three-axis stability augmentation head 1.6 can be controlled by three auxiliary PWM output channels of flight controller 1.1 System.
The analog video signal input figure transmission module 1.8 that described forward looking camera 1.7 can be gathered, figure transmission module 1.8 pass analog video signal back earth station 2 again.
Described ground monitoring station 2.1 includes：Image pick-up card, monitoring computer and display；Wherein：Monitor computer Pass base station 2.3 with display sum respectively to be connected, figure passes base station 2.2 and by image pick-up card with monitoring computer is connected.
Image pick-up card is used for the collection of image information, and it is connected with monitoring computer, and image pick-up card will be collected Image information input to monitoring computer.
The image information that computer is returned according to collection is monitored, obtaining light with image procossing and machine vision technique knows Other result, the current elevation information of comprehensive rotor wing unmanned aerial vehicle carrier 1 and horizontal range information, which are calculated, current enters nearly angle Combine and whether match with the light color of identification, obtain the check results of PAPI lamp installation settings angles；Pass through rotor wing unmanned aerial vehicle It is laid with the arrival desired target area of the guiding rotor wing unmanned aerial vehicle of GPS module 1.4 carrier 1 on carrier 1, target area ground pre- First designed characteristic indication pattern, rotor wing unmanned aerial vehicle carrier 1 passes through the airborne lower video camera 1.9 that regards and gathers terrain surface specifications marking pattern Picture is simultaneously input to position computer 1.2, and position computer 1.2 realizes rotor wing unmanned aerial vehicle carrier by corresponding vision positioning algorithm 1 part is accurately positioned, and is then passed to flight controller 1.1, and flight controller 1.1 merges the GPS of the offer of GPS module 1.4 again Location data realizes the precise positioning of rotor wing unmanned aerial vehicle carrier 1, and by controlling rotor wing unmanned aerial vehicle carrier 1 with the side of falling head Formula gathers the view data of PAPI lamps 3 using forward looking camera 1.7 in real time, then sends back ground by figure transmission module 1.8 The figure stood on 2 passes base station 2.2, handles and recognizes for ground monitoring station 2.1；Simultaneously will be by laser sensor by digital transmission module 1.5 The current height of the 1.3 rotor wing unmanned aerial vehicle carriers 1 gathered and horizontal range information, attitude information, location information send back ground The number stood on 2 passes base stations 2.3, for showing that the current state of rotor wing unmanned aerial vehicle carrier 1 and calculating are entered on ground monitoring station 2.1 Nearly angle is used, while the control instruction such as " independently take off, automatic cruising and autonomous landing of making a return voyage " is passed through several biography moulds by earth station 2 Block 1.5 is sent to rotor wing unmanned aerial vehicle carrier 1, so that rotor wing unmanned aerial vehicle carrier 1 performs corresponding action.
Monitoring computer in described earth station 2 is portable computer, and figure, which passes base station 2.2, believes the video received Input picture capture card is ceased, image pick-up card is connected with monitoring the USB interface of computer by USB data line, will gathered back The image input monitoring computer of system；Monitor computer by image processing techniques and corresponding algorithm automatic identification current Light, and by the result of identification display output over the display.
Described display is liquid crystal display, and monitoring computer runs corresponding algorithm and regarded with image procossing and machine The identification current light color combination of feel technology automatic detection, the result currently recognized, and comprehensive rotor wing unmanned aerial vehicle carrier 1 Height and horizontal range information (horizontal range is to be known at the 300m of PAPI lamps 3), calculating obtains current PAPI lamps 3 Instruction angle whether meet requirement, and pass through display output matching result.
The method of calibration that the rotor wing unmanned aerial vehicle precision approach path indicator check system that the present invention is provided is used includes The following steps carried out in order：
Step 1) the fixation foot stool of PAPI lamps 3 is measured to the height at optical window center using laser sensor 1.3, so as to system Amendment laser sensor 1.3 sends back the altitude information of earth station 2；
Step 2) it is electricity in whole system, whether the work of each functional unit of test system is normal, each functional unit Next step test is carried out after working properly again；
Step 3) rotor wing unmanned aerial vehicle carrier 1 is transformed into balance offline mode, throttle is touched manually, observes unmanned plane body Motor and propeller it is whether all working properly, system mode is displayed whether normally, and all the normal next step that just enter afterwards are tested；
Step 4) rotor wing unmanned aerial vehicle carrier 1 is moved to specify and taken off region, check again for flight control system and each module Power supply and working condition indicate whether that normally all state instructions all normally can then carry out next step operation；
Step 5) control instruction independently taken off is sent by monitoring ground station 2.1, rotor wing unmanned aerial vehicle carrier 1 is performed independently The action taken off, and fly to desired target area, then by it is lower depending on video camera 1.9 by the terrain surface specifications image information collected Position computer 1.2 is input to, position computer 1.2 obtains local precise positioning information with corresponding vision positioning algorithm, Obtained after sending aircraft controller 1.1, the GPS Global localization data that the fusion GPS module 1.4 of aircraft controller 1.1 is obtained to afterwards To accurately location data, aircraft controller 1.1 passes through position control loop thereon and the double loop in gesture stability loop Controller control rotor wing unmanned aerial vehicle carrier 1 realizes stable flight；
Step 6) altitude information that is measured of laser sensor 1.3 sends aircraft controller 1.1, aircraft controller to 1.1 by corresponding algorithm and merge flight control system IMU (inertial navigation unit) acceleration information and realize determining for rotor wing unmanned aerial vehicle carrier 1 Height control；And by controlling the height and fall off rate of rotor wing unmanned aerial vehicle carrier 1, and pass through the carry of three-axis stability augmentation head 1.6 The collection PAPI lamps 3 in real time of forward looking camera 1.7 image information；
Step 7) image information of PAPI lamps 3 that collects forward looking camera 1.7 of figure transmission module 1.8 sends back ground in real time Figure on face station 2 passes base station 2.2, and figure biography base station 2.2 sends the image pick-up card in earth station 2 to again, afterwards image pick-up card Above-mentioned view data is inputed into main control computer, main control computer is detected in real time by running corresponding computer vision algorithms make The color combination of current PAPI lamps 3, the altitude information and horizontal range information of comprehensive current rotor wing unmanned aerial vehicle carrier 1, which are calculated, to be obtained The setting angle result of each PAPI lamps 3, to instruct the I＆M of PAPI lamps 3；
Step 8) the verification tasks of PAPI lamps 3 has been performed, finally sent independently from earth station 2 to rotor wing unmanned aerial vehicle carrier 1 Make a return voyage the instruction of landing, rotor wing unmanned aerial vehicle carrier 1 independently makes a return voyage and drops to specified drop zone.
The present invention, which provides rotor wing unmanned aerial vehicle precision approach path indicator check system and method for calibration, has testing cost Relatively low, measuring accuracy is very high, convenient test, height independence and intelligentized feature, time saving and energy saving, it is only necessary to which a key is grasped Make, you can complete whole test assignments, and provide test report and instruct the scheme of adjustment PAPI lamp angles.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPWO2017131194A1 (en) * | 2016-01-29 | 2018-11-15 | 住友建機株式会社 | Autonomous vehicle flying around a shovel and shovel |
| CN105739386B (en) * | 2016-02-28 | 2018-04-06 | 中国人民解放军63686部队 | A kind of airborne school flies the implementation method of remote monitoring system |
| CN106155081B (en) * | 2016-06-17 | 2018-02-16 | 北京理工大学 | A kind of a wide range of target monitoring of rotor wing unmanned aerial vehicle and accurate positioning method |
| CN106092213B (en) * | 2016-08-17 | 2018-01-26 | 国网河南省电力公司濮阳供电公司 | Insulator hydrophobicity on-line measuring device based on unmanned air vehicle technique |
| CN106376163B (en) * | 2016-08-25 | 2018-08-21 | 福建福光股份有限公司 | The safety detecting system and method for airport center line lamps and lanterns |
| CN106813900B (en) * | 2017-01-12 | 2018-08-10 | 中国民用航空飞行校验中心 | A kind of civil airport navigational lighting aid flight check method based on unmanned air vehicle technique |
| CN107478244A (en) * | 2017-06-23 | 2017-12-15 | 中国民航大学 | The unmanned plane check system and method for a kind of instrument-landing-system |
| CN107272028B (en) * | 2017-07-18 | 2019-08-02 | 中国民用航空总局第二研究所 | Navigation equipment on-line monitoring and flight check system and method based on unmanned plane |
| CN108225735B (en) * | 2018-01-09 | 2020-10-13 | 北京航空航天大学 | Precision approach indicator flight verification method based on vision |
| CN109827754A (en) * | 2019-02-14 | 2019-05-31 | 合肥赛为智能有限公司 | A kind of airport PAPI light check system based on tethered hovering unmanned plane |
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