CN105425818A - Unmanned aerial vehicle autonomous safe flight control method - Google Patents
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- G—PHYSICS
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses an unmanned aerial vehicle autonomous safe flight control method. The method comprises two parts, one is that in a flight process, when the flight state of an unmanned aerial vehicle changes, slide window filtering is performed on error data, such that historical data irrelevant with a current state and data with too large disturbance are rejected, the convergence process is accelerated, overshoot is reduced, and the stability of the state change process of the unmanned aerial vehicle is enhanced; and the other is that when route points of the unmanned aerial vehicle are switched, the route points are switched through the following logic that the distance between the unmanned aerial vehicle and a current target route point is determined firstly, and at the same time, for the sake of flight safety, a system automatically switch the target route point to a next route point when the above switching condition is not satisfied and it is determined that the distance between the unmanned aerial vehicle and the target route point, parallel to a track, is smaller than a fixed value. The method disclosed by the invention can effectively improve the stability of state change of the unmanned aerial vehicle and the reliability of route point switching, and can practically improve the flight safety.
Description
Technical field:
The invention belongs to unmanned vehicle technical field, refer in particular to a kind of unmanned vehicle independent safe flight control method.
Background technology:
Current, the fast development of unmanned vehicle technology, unmanned vehicle can carry a lot of sophisticated equipment, flight path and the people mode at loop Remote is preset by autopilot, perform various task, effectively can evade the risk that pilot driver aircraft is born, this has embodied the huge security advantages of unmanned vehicle.
Meanwhile, along with the paces of unmanned vehicle civil nature, unmanned vehicle is also more and more extensive in the application in the fields such as photography of taking photo by plane, urban road mapping, traffic monitoring.Perform such task, the autonomous flight ability of unmanned vehicle and security performance can not be ignored, because urban population is intensive, unmanned vehicle, once from falling from high altitude, often brings serious consequence.Reliability, task ability that unmanned vehicle is executed the task, especially security are also more and more subject to concern and the attention of people, also have a lot of problem to need perfect further.
Problem one, unmanned vehicle performs aerial mission aloft, according to mission requirements, task height, task speed all likely changes in a big way, and this just relates in unmanned vehicle state of flight change process, and self controls the adjustment problem of rudder face neutral position.In classical control method, be all generally rely on to obtain new equilibrium position to the integration of error, contain all historical informations in the integration of error, comprising the error message etc. that disturbance is excessive.From the historical information away from current time and error message, current state change is no advantage, historic state is different from the neutral position of the control rudder face of current state on the one hand, historical information hinders the change of current state, need the overshoot long period could eliminate the impact of historical information, affect speed of convergence; On the other hand, the historical information of mistake needs larger overshoot to eliminate, and affects the stability that state changes.
Problem two, unmanned vehicle performs aerial mission aloft, its flight track is made up of a series of way point with serial number, way point mainly contain longitude and latitude, highly, the information such as flying speed, Main Function flies along fixation locus for guiding unmanned vehicle, and way point can referred to as destination.Way point designs before normally flying, upload in unmanned vehicle autopilot, also can change by real-time online, the way point designed before flight is called default way point or default destination, between the default way point of two adjacent numberings, the track of line is called default flight path, in real-time flight process, unmanned plane is controlled that system directs wishes to arrive and the way point that do not arrive temporarily is called current target course point or target destination.Unmanned plane arrives after near target course point, and control system operates according to certain steering logic target course point, target course point is switched to Next Serial Number or specifies the way point of numbering.In way point handoff procedure, switch logic is very important, and switch logic needs to carry out comprehensive consideration to unmanned vehicle flight precision and flight safety.If too require unmanned vehicle flight precision, it is very little that the radius of turn in advance switched by way point is arranged, unmanned vehicle is due to the impact by the restriction of radius of turn own and the disturbance of wind, may cannot fly into Zone switched all the time, cause unmanned vehicle to be turn-taked with heavy grade roll angle near target course point, very easily lure that unmanned vehicle crashes into; Equally, if only consider security, as long as the distance that unmanned vehicle and target course point are parallel to flight path is less than certain value and is just switched to next way point, so, now unmanned vehicle may be also far away perpendicular to the distance of flight path with target course point, unmanned vehicle does not also have to perform the default investigation of this way point or strike task, is just switched to next way point, can affects the ability that unmanned vehicle is executed the task so undoubtedly.
Summary of the invention
The present invention is directed to the deficiency of existing unmanned vehicle control method, propose a kind of unmanned vehicle independent safe flight control method, effectively can solve the safety issue in unmanned vehicle independent flight control procedure.
Technical scheme of the present invention is:
The present invention mainly comprises two parts, one is in flight course, switch for unmanned vehicle state of flight, adopt and sliding-window filtering is carried out to error information, effectively can reject the data that the historical data, the disturbance that have nothing to do with current state are excessive, convergence speedup process, reduces overshoot, increases the stability that unmanned vehicle state changes process.Two is switch for unmanned vehicle way point, the switching of way point is carried out by following logic, first the distance between unmanned vehicle and current goal way point is judged, simultaneously, in order to flight safety is considered, when judging that when not meeting above-mentioned switching condition the distance that unmanned vehicle and target course point are parallel to flight path is less than certain value, target course point also can be switched to next way point by system automatically.Method disclosed by the invention effectively can improve the stability of unmanned vehicle state change and the reliability of way point switching, conscientiously can improve flight safety.
A kind of unmanned vehicle independent safe flight control method, is characterized in that: comprise unmanned vehicle state of flight handoff-security and unmanned vehicle way point handoff-security two parts,
Described unmanned vehicle state of flight handoff-security, comprises the following steps:
S1.1: autopilot starts, sensor initializing, and the error information of all integration items is initialized as zero;
S1.2: unmanned vehicle takes off, is introduced into climb mode, and specified altitude assignment to be climbed to, enters cruise mode, and error information starts integration;
S1.3: whether error in judgement is excessive, as within the scope of boundary value, direct record; As exceeded boundary value, according to boundary value record;
S1.4: the sum of error information is preserved in setting, when the sum of the error information recorded equals setting value, the error information that often record one is up-to-date later, just deletes a historical data the most remote, and constantly update error information, maintenance data count is setting value.
Described unmanned vehicle way point handoff-security, comprises the following steps:
S2.1: according to the positional information of unmanned vehicle current location information and default way point, calculates the distance D between unmanned vehicle current location and current goal way point;
Whether S2.2: judging distance D be less than default radius of turn in advance, if be less than, current goal way point switched to next target course point, proceed to step S2.1; If be not less than, enter step S2.3;
S2.3: according to the positional information of unmanned vehicle current location information and default way point, calculates the distance d being parallel to default flight path between unmanned vehicle current location and current goal way point;
S2.4: judge whether this distance d is less than default handoff-security amount, if be less than, switched to next target course point, then proceeds to step S2.1 by current goal way point; If be not less than, directly proceed to step S2.1, carry out new round judgement.
For the problem one described in background technology, the present invention devises state of flight safe switching method, sliding-window filtering is carried out to error information, the data that the historical data that timely rejecting and current state have nothing to do, disturbance are excessive, the error information relevant with current state is dominant in time, can effective convergence speedup speed, reduce overshoot, increase the stability in state change process.
For the problem two described in background technology, the present invention takes into full account accuracy requirement in way point handoff procedure and safety, reliability requirement, devises way point safe switching method, is carried out the switching of way point in flight course by following logic.First next way point whether is switched to according to the Distance Judgment between unmanned vehicle and target course point, judge whether the distance that unmanned vehicle and target course point are parallel to flight path meets switching condition again, accuracy requirement when unmanned vehicle is executed the task can not only be met, also can ensure the reliability that way point switches and security.
Compared with prior art, advantage of the present invention is: (1) is by carrying out the method for sliding-window filtering to error information, eliminate the misdata that the historical data, the disturbance that have nothing to do with current state are excessive in time, accelerate the change process of state, improve speed of convergence, reduce unnecessary overshoot, add the stability in state of flight change process.(2) requirement when unmanned vehicle is executed the task, way point being switched to precision and reliability has been considered, first the switching condition meeting radius of turn is in advance judged whether, if met, just automatically switch to next way point, need not continue again, to the flight of target course point, to have saved the flight time; When having occurred abnormal conditions, when such as comparatively extreme crosswind disturbs, unmanned vehicle cannot fly into the region of radius of turn in advance, as long as but the distance of unmanned vehicle on the direction being parallel to default flight path and between target course point is less than certain value, just can automatically switch to next way point, make unmanned vehicle leave safely the stronger region of crosswind interference, ensure that the safety of unmanned vehicle, improve the safety and reliability that way point switches.
Accompanying drawing explanation
Fig. 1 is flight error data sliding-window filtering algorithm flow chart;
Fig. 2 is sliding-window filtering algorithm schematic diagram;
Fig. 3 is way point safe switching method schematic diagram.
In Fig. 3, x
g, y
grepresent two axles of floor coordinate system; W
i-1, W
i, W
i+1be respectively the way point designed in order in advance; Default flight path is W
i-1, W
i, W
i+1the line of each dot center, abnormal flight path is then random, gives a kind of common situations in figure; With W
i-1, W
i, W
i+1centered by each way point, by the radius of turn (being generally 100 meters) in advance set, can obtain the border circular areas shown in figure, unmanned vehicle flies into border circular areas, namely automatically target course point can be switched to the next one; When there are abnormal conditions, unmanned vehicle flies to enter border circular areas, after the long dotted line (safety line) having crossed vertical direction in figure, automatically target course point can be switched to the next one equally; Vertical long dotted line (safety line) and target course point W
ibetween distance be generally 1/4th of in advance radius of turn, be approximately 25 meters;
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
A kind of unmanned vehicle independent safe flight of the present invention control method, comprises unmanned vehicle state of flight handoff-security and unmanned vehicle way point handoff-security two parts.
Part I: state of flight safe switching method
Fig. 1 is flight error data sliding-window filtering algorithm flow chart.
As shown in Figure 1, sliding-window filtering algorithm calculation procedure is as follows:
S1.1: autopilot starts, sensor initializing, and the error information of all integration items is initialized as zero;
S1.2: unmanned vehicle takes off, is introduced into climb mode, and specified altitude assignment to be climbed to, enters cruise mode, and error information starts integration;
S1.3: whether error in judgement is excessive, as within the scope of boundary value, direct record; As exceeded boundary value, according to boundary value record;
S1.4: the sum of error information is preserved in setting, when the sum of the error information recorded equals setting value, the error information that often record one is up-to-date later, just deletes a historical data the most remote, and constantly update error information, maintenance data count is setting value.Fig. 2 is sliding-window filtering algorithm schematic diagram.
Part II: way point safe switching method
Fig. 3 is way point safe switching method schematic diagram.
Way point handoff-security logic is as follows:
(1) according to the positional information of unmanned vehicle current location information and default way point, the distance D between unmanned vehicle current location and current goal way point is calculated.
Wherein, x
aand y
athe relative coordinate of unmanned vehicle current location under earth axes, x
band y
bit is the relative coordinate of target course point.
(2) whether judging distance D is less than default radius of turn in advance, if be less than, current goal way point switched to next target course point, proceeds to (1); If be not less than, entered the next item down and judge.
(3) according to the positional information of unmanned vehicle current location information and default way point, the distance d being parallel to default flight path between unmanned vehicle current location and current goal way point is calculated.
d＝y
b-y
a
(4) judge whether this distance d is less than default handoff-security amount, if be less than, current goal way point switched to next target course point, then proceed to step (1); If be not less than, directly proceed to (1), carry out new round judgement.
More than contain the explanation of the preferred embodiment of the present invention; this is to describe technical characteristic of the present invention in detail; be not want summary of the invention to be limited in the concrete form described by embodiment, other amendments carried out according to content purport of the present invention and modification are also protected by this patent.The purport of content of the present invention defined by claims, but not defined by the specific descriptions of embodiment.
Claims (3)
1. a unmanned vehicle independent safe flight control method, is characterized in that: comprise unmanned vehicle state of flight handoff-security and unmanned vehicle way point handoff-security two parts,
Described unmanned vehicle state of flight handoff-security, comprises the following steps:
S1.1: autopilot starts, sensor initializing, and the error information of all integration items is initialized as zero;
S1.2: unmanned vehicle takes off, is introduced into climb mode, and specified altitude assignment to be climbed to, enters cruise mode, and error information starts integration;
S1.3: whether error in judgement is excessive, as within the scope of boundary value, direct record; As exceeded boundary value, according to boundary value record;
S1.4: the sum of error information is preserved in setting, when the sum of the error information recorded equals setting value, the error information that often record one is up-to-date later, just deletes a historical data the most remote, and constantly update error information, maintenance data count is setting value;
Described unmanned vehicle way point handoff-security, comprises the following steps:
S2.1: according to the positional information of unmanned vehicle current location information and default way point, calculates the distance D between unmanned vehicle current location and current goal way point;
Whether S2.2: judging distance D be less than default radius of turn in advance, if be less than, current goal way point switched to next target course point, proceed to step S2.1; If be not less than, enter step S2.3;
S2.3: according to the positional information of unmanned vehicle current location information and default way point, calculates the distance d being parallel to default flight path between unmanned vehicle current location and current goal way point;
S2.4: judge whether this distance d is less than default handoff-security amount, if be less than, switched to next target course point, then proceeds to step S2.1 by current goal way point; If be not less than, directly proceed to step S2.1, carry out new round judgement.
2. a unmanned vehicle state of flight safe switching method, is characterized in that: comprise the following steps:
S1: autopilot starts, sensor initializing, and the error information of all integration items is initialized as zero;
S2: unmanned vehicle takes off, is introduced into climb mode, and specified altitude assignment to be climbed to, enters cruise mode, and error information starts integration;
S3: whether error in judgement is excessive, as within the scope of boundary value, direct record; As exceeded boundary value, according to boundary value record;
S4: the sum of error information is preserved in setting, when the sum of the error information recorded equals setting value, the error information that often record one is up-to-date later, just deletes a historical data the most remote, and constantly update error information, maintenance data count is setting value.
3. a unmanned vehicle way point safe switching method, is characterized in that, comprises the following steps:
S1: according to the positional information of unmanned vehicle current location information and default way point, calculates the distance D between unmanned vehicle current location and current goal way point;
Whether S2: judging distance D be less than default radius of turn in advance, if be less than, current goal way point switched to next target course point, proceed to step S1; If be not less than, enter step S3;
S3: according to the positional information of unmanned vehicle current location information and default way point, calculates the distance d being parallel to default flight path between unmanned vehicle current location and current goal way point;
S4: judge whether this distance d is less than default handoff-security amount, if be less than, switched to next target course point, then proceeds to step S1 by current goal way point; If be not less than, directly proceed to step S1, carry out new round judgement.
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| CN105912749A (en) * | 2016-03-31 | 2016-08-31 | 北京润科通用技术有限公司 | Simulation method and device |
| CN109871033A (en) * | 2019-03-21 | 2019-06-11 | 西安索格亚航空科技有限公司 | A method of activating next way point automatically based on aircraft position |
| CN109947123A (en) * | 2019-02-27 | 2019-06-28 | 南京航空航天大学 | A kind of unmanned plane path trace and automatic obstacle avoiding method based on line of sight guidance rule |
| CN111127955A (en) * | 2019-11-28 | 2020-05-08 | 中国航空工业集团公司西安航空计算技术研究所 | Automatic activation method for flight planning flight segment |
| CN111538255A (en) * | 2020-06-19 | 2020-08-14 | 中国人民解放军国防科技大学 | Aircraft control method and system for anti-swarm unmanned aerial vehicle |
| CN111580552A (en) * | 2020-05-09 | 2020-08-25 | 陕西飞机工业（集团）有限公司 | Automatic flight control method for circular flight path of airplane |
| CN115409437A (en) * | 2022-11-03 | 2022-11-29 | 成都沃飞天驭科技有限公司 | Low-altitude flight emergency processing method and device, aircraft and storage medium |
| CN115440091A (en) * | 2022-11-03 | 2022-12-06 | 成都沃飞天驭科技有限公司 | Method and device for displaying route switching views, aircraft and storage medium |
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| CN109947123A (en) * | 2019-02-27 | 2019-06-28 | 南京航空航天大学 | A kind of unmanned plane path trace and automatic obstacle avoiding method based on line of sight guidance rule |
| CN109947123B (en) * | 2019-02-27 | 2021-06-22 | 南京航空航天大学 | Unmanned aerial vehicle path tracking and autonomous obstacle avoidance method based on sight guidance law |
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| CN111127955B (en) * | 2019-11-28 | 2021-05-04 | 中国航空工业集团公司西安航空计算技术研究所 | Automatic activation method for flight planning flight segment |
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| CN111580552A (en) * | 2020-05-09 | 2020-08-25 | 陕西飞机工业（集团）有限公司 | Automatic flight control method for circular flight path of airplane |
| CN111580552B (en) * | 2020-05-09 | 2023-08-04 | 陕西飞机工业（集团）有限公司 | Automatic flight control method for circular flight path of airplane |
| CN111538255A (en) * | 2020-06-19 | 2020-08-14 | 中国人民解放军国防科技大学 | Aircraft control method and system for anti-swarm unmanned aerial vehicle |
| CN115409437A (en) * | 2022-11-03 | 2022-11-29 | 成都沃飞天驭科技有限公司 | Low-altitude flight emergency processing method and device, aircraft and storage medium |
| CN115440091A (en) * | 2022-11-03 | 2022-12-06 | 成都沃飞天驭科技有限公司 | Method and device for displaying route switching views, aircraft and storage medium |
| CN115435776A (en) * | 2022-11-03 | 2022-12-06 | 成都沃飞天驭科技有限公司 | Method and device for displaying three-dimensional airway route, aircraft and storage medium |
| CN115435776B (en) * | 2022-11-03 | 2023-03-14 | 成都沃飞天驭科技有限公司 | Method and device for displaying three-dimensional airway route, aircraft and storage medium |
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