CN105739523A - Police vehicle-mounted unmanned aerial vehicle monitoring system and control method - Google Patents
Police vehicle-mounted unmanned aerial vehicle monitoring system and control method Download PDFInfo
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Abstract
The present invention discloses a police vehicle-mounted unmanned aerial vehicle monitoring system and a control method. According to the present invention, a multi-rotor unmanned aerial vehicle is arranged on a police vehicle, on the condition of traffic congestion or intersections, and by applying the high view characteristic of the unmanned aerial vehicle, a vehicle-mounted camera of the unmanned aerial vehicle senses the road environment information in front of the position of the police vehicle, and the sensed road environment information is transmitted to the policemen in the police vehicle via a wireless image transmission module, thereby guaranteeing that a tracked target is always located in the view range of the policemen. Meanwhile, by arranging a radar sensor on the roof of the police vehicle, the angle information and the distance information between the unmanned aerial vehicle and the police vehicle and the speed information of the unmanned aerial vehicle can be sensed real-timely, and by a provided sliding mode follow control algorithm, the yaw control amount and the pitching control amount of the unmanned aerial vehicle are calculated accurately, and the corresponding control amounts are transmitted to the unmanned aerial vehicle via a wireless communication module, thereby controlling the unmanned aerial vehicle accurately to keep the synchronous movement with the police vehicle.
Description
Technical field
The present invention relates to Tracing Control technical field, it is adaptable to road conditions investigation and police tracking, be specifically related to a kind of police vehicle-mounted unmanned aerial vehicle monitoring system and control method.
Background technology
In recent years, the attack of terrorism and incident of violence frequently occur, meanwhile, traffic congestion be on the rise so that police vehicle can not very first time arrival event on-the-spot, or sight line is subject to the obstruction of front vehicles and the impact of intersection in the process chased, cause the loss following the trail of target.
Meanwhile, some areas people's police are by being equipped with 360 degree of rotating camera monitoring police vehicle ambient state information at police vehicle roof, but it can only monitor police vehicle ambient state information, in addition, when blocking up occurs in road, front short distance traffic can only be observed, it is impossible to obtain road information farther out.
Many rotor wing unmanned aerial vehicles owing to it is easily operated, safeguard that the advantage such as convenient is patrolled and examined at cable, fire monitoring, multiple fields such as ecological protection are widely used.In actual applications, major part adopts remote controller to control flight to traditional unmanned plane, requires higher to operator.Unmanned plane further for self-navigation, major part adopts GPS location navigation or utilizes unmanned plane loading photographic head to carry out vision guided navigation, utilize the unmanned plane of GPS navigation cannot normal operation in the poor region of gps signal, and utilizing the unmanned plane of photographic head vision guided navigation to be affected relatively big by factors such as light, positioning precision is relatively low.Additionally, for many rotor wing unmanned aerial vehicles of major part independent navigation, environment sensing unit is mounted on many rotor wing unmanned aerial vehicles body, it is necessary to being analyzed judging to the information of environment sensing unit collection by the microprocessor of body, processing speed is slow, it is judged that precision is low.
Summary of the invention
For solving problem above, the present invention proposes a kind of police vehicle-mounted unmanned aerial vehicle monitoring system and control method, by being equipped with crowded at road or application unmanned plane height visual field when there is intersection the feature of many rotor wing unmanned aerial vehicles on police vehicle by unmanned aerial vehicle onboard photographic head perception police vehicle position place road ahead environmental information, the police that road environment information perception obtained by wireless image transmission module is transferred in police vehicle, and then ensure that following the trail of target is always positioned at police within sweep of the eye.
The police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention, including vehicle-mounted part and unmanned plane part；Vehicle-mounted part has the in-vehicle processor installed on car body and the unmanned plane landing machine level ground of police vehicle top installation, radar sensor.Unmanned plane part includes the flight control system The Cloud Terrace and the camera module that carry on unmanned plane and unmanned plane.
In described vehicle-mounted part, unmanned plane landing machine level ground is for the stop of unmanned plane.Radar sensor is used for obtaining in real time unmanned plane positional information, is projected in the laterally and longitudinally position angle in police vehicle plane and between police vehicle including the unmanned plane distance distance of police vehicle, the unmanned plane distance height on ground, unmanned plane during flying speed and unmanned plane.In-vehicle processor starts for sending unmanned plane to flight control system and stops order；And be used for receiving radar sensor acquisition data, and process, obtain the laterally and longitudinally position offset of unmanned plane and police vehicle, obtain pitching and the driftage controlled quentity controlled variable of unmanned plane further, and pitching and driftage controlled quentity controlled variable are sent the flight control system to unmanned plane part in the lump together with unmanned plane positional information, and then the pitch control of unmanned plane and control of going off course is realized by the flight control system in unmanned plane part, make unmanned plane be always positioned at appointment position above use front part of vehicle.
In described unmanned plane part, The Cloud Terrace is provided with camera module；Camera module includes photographic head and figure transmission module；Photographic head is used for obtaining in real time the image information of road in unmanned plane during flying process, it is achieved the shooting to tracked vehicle；The road information that figure transmission module is used for photographic head obtains is transferred to in-vehicle processor.
The present invention also proposes a kind of control method monitoring system for above-mentioned police vehicle-mounted unmanned aerial vehicle, is completed by following step:
Step 1: in the process that police vehicle travels, when vehicle is tracked, startup order is sent to the flight control system on unmanned plane by in-vehicle processor, start unmanned plane, simultaneously, the flying height information set also is sent the flight control system to unmanned plane by in-vehicle processor, flight control system fly to the height of setting controlling unmanned plane.
Step 2: monitored the height h on the t unmanned plane distance distance l (t) of police vehicle, unmanned plane distance ground by radar sensor in real time0, the real-time speed v of unmanned plane0T () and unmanned plane are projected in police vehicle plane and police vehicle lengthwise position angle theta (t), and all send to in-vehicle processor, processed by in-vehicle processor, obtain longitudinal positional offset and the transverse positional offset of t unmanned plane and police vehicle.
Step 3: the longitudinal positional offset of t unmanned plane and police vehicle and transverse positional offset input are separately input in pitch controller and yawer, obtain pitch control amount and the driftage controlled quentity controlled variable of unmanned plane, and the flight control system on unmanned plane it is transferred to together with unmanned plane positional information, and then by flight control system, unmanned plane carried out pitching and driftage controls, make unmanned plane remain at police vehicle front upper and specify position, tracked vehicle is shot.
Step 4: vehicle tracking is complete, unmanned plane makes a return voyage to unmanned plane landing machine level ground, descent is by the accurate perception unmanned plane positional information of radar sensor, send to in-vehicle processor, and be transferred to the flight control system on unmanned plane by in-vehicle processor, flight control system control unmanned plane and precisely drop on unmanned plane landing machine level ground.
Advantages of the present invention is:
1, the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention, with many rotor wing unmanned aerial vehicles for carrier, join photographic head and in tracking process, run in the unknowable situation of upcoming traffic situation such as fork in the road or traffic jam the very first time by uploading at unmanned plane understand front vehicles and road information, it is achieved the all-the-way tracking to suspected vehicles；
2, the present invention police vehicle-mounted unmanned aerial vehicle monitoring system, application sliding mode control theory design sliding formwork following controller, control algolithm robustness is strong, only one of which in this outer controller it needs to be determined that parameter, simple in construction, it is easy to operation；
3, the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention, it is achieved unmanned plane independently follows flight, controls many rotor wing unmanned aerial vehicles compared to traditional remote controller, it is not necessary to the intervention of staff, strengthens the stability of flight greatly；
4, the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention, by installing horizontal and vertical position offset and the unmanned plane velocity information of radar sensor, real-time perception unmanned plane and police vehicle at police vehicle roof, obtains sensing results by vehicle-mounted end processor.Compared to tradition independent navigation unmanned plane by unmanned plane self installation environment sensing module, processing speed and stability are relatively reliable；
5, the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention, the bimodulus yawer of design, fuzzy controller is applied when transversal displacement is bigger, eliminate the impact of uncertain factor, when transversal displacement is less, application PI controller eliminates steady-state error, it is achieved the unmanned plane accurate tracking to police vehicle；
6, the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention, the fixing locking of the unmanned plane of design and charging device, it is possible to auto lock after unmanned plane lands, it is achieved unmanned plane charges, it is not necessary to human users, simple and stable.
Accompanying drawing explanation
Fig. 1 is that the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention uses view；
Fig. 2 is the police vehicle-mounted unmanned aerial vehicle monitoring system onboard part-structure schematic diagram of the present invention；
Fig. 3 is the unmanned plane part-structure schematic diagram of the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention；
Fig. 4 is that in the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention, unmanned plane rests in the state diagram in the fixing locking device of unmanned plane.
In figure:
1-vehicle-mounted part 2-unmanned plane part 3-suspected vehicles
101-unmanned plane landing machine level ground 102-unmanned plane fixes locking device 103-unmanned plane charging device
104-radar sensor 102a-leading screw 102b-push rod
102c-support 201-The Cloud Terrace 202-camera module
203-flight control system
Concrete real-time mode
Below in conjunction with accompanying drawing, the present invention is described in further details.
A kind of police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention, including vehicle-mounted part 1 and unmanned plane part 2.Realize running into very first time understanding front vehicles and road information in the unknowable situation of upcoming traffic situation such as fork in the road or traffic jam in tracking process by unmanned plane part 2, and then realize the all-the-way tracking to suspected vehicles 3, as shown in Figure 1.Above-mentioned vehicle-mounted part 1 includes unmanned plane landing machine level ground 101, unmanned plane fixing locking device 102, unmanned plane charging device 103, the radar sensor 104 installed at police vehicle top, and in-vehicle processor and the in-vehicle wireless communication module installed on police vehicle car body, as shown in Figure 2.Unmanned plane part 2 includes many rotor wing unmanned aerial vehicles and the The Cloud Terrace 201 carried on many rotor wing unmanned aerial vehicles, camera module 202 and flight control system 203, as shown in Figure 3.Real-time radio communication is carried out by in-vehicle wireless communication module and airborne wireless communication module between vehicle-mounted part 1 and unmanned plane part 2.
In vehicle-mounted part 1, unmanned plane landing machine level ground 101 is arranged on police vehicle roof, stops for unmanned plane.Police vehicle roof is also equipped with the fixing locking device 102 of unmanned plane and unmanned plane charging device 103.Wherein, after the fixing locking device 102 of unmanned plane is stopped on unmanned plane landing machine level ground 101 for unmanned plane, by fixing for unmanned plane locking, it is prevented that unmanned plane drops in police vehicle driving process.The fixing locking device 102 of unmanned plane includes leading screw 102a and push rod 102b.Wherein, leading screw 102a is four, is one group between two, and axis is all along police vehicle car fore-and-aft direction.Wherein, one group of leading screw 102a is positioned at front portion, unmanned plane landing machine level ground 101, is arranged on the support of both sides, unmanned plane landing machine level ground 101 design by bearing；Another group leading screw 102a is positioned at rear portion, unmanned plane landing machine level ground 101, is arranged on the support of both sides, unmanned plane landing machine level ground 101 design again by bearing.Push rod 102b is two, and making it is anterior push rod and rear portion push rod, and thread bush is connected on and is positioned on anterior two groups of leading screw 102a with rear portion respectively；Anterior two rhizoid thick stick 102a synchronous axial system are driven, it may be achieved anterior push rod is moved rearwards by by servomotor 102b；Rear portion two rhizoid thick stick synchronous axial system is driven, it may be achieved rear portion push rod 102b moves forward by servomotor 102b；And then two push rod 102b can be realized move in the same direction or reversely.By the fixing locking device 102 of above-mentioned unmanned plane, when unmanned plane drops to unmanned plane landing machine level ground 101, two push rod 102b relative motioies are driven by servomotor 102b, unmanned plane landing gear front end and rear end is made to be clamped between two push rod 102b and unmanned plane landing machine level ground 101, and then realize the fixing locking of unmanned plane, as shown in Figure 4.
Unmanned plane charging device 103 after fixing locking, charges for unmanned plane on unmanned plane landing machine level ground 101 for unmanned plane；The charging realizing unmanned plane is coordinated between corresponding electrode by arranging on unmanned plane landing gear and unmanned plane landing machine level ground 101.Radar sensor 104 is used for obtaining in real time unmanned plane positional information, is projected in the laterally and longitudinally position offset in police vehicle plane and between police vehicle including the unmanned plane distance distance of police vehicle, the unmanned plane distance height on ground, unmanned plane during flying speed and unmanned plane.In-vehicle processor starts for sending unmanned plane to flight control system and stops order；It is additionally operable to receive radar sensor 104 and obtains data, and process, obtain pitching and the driftage controlled quentity controlled variable of unmanned plane and police vehicle, and pitching and driftage controlled quentity controlled variable are sent the flight control system 203 to unmanned plane part 2 in the lump together with unmanned plane positional information, and then realized pitch control and the driftage control of unmanned plane by flight control system 203.Pitching and the driftage controlled quentity controlled variable of above-mentioned unmanned plane and police vehicle are processed acquisition by the pitch controller of the design in in-vehicle processor with yawer respectively, and specific design is as follows:
A, pitch controller specific design:
Ideally, unmanned plane is always positioned at above police vehicle, i.e. the longitudinal positional offset of ideally unmanned plane and police vehicle:
Δ X (t)=v0(t)*Δt
Wherein, v0T () is t unmanned plane during flying speed, Δ t represents the response time of pitch controller.
According to position vertical misalignment amount ξ (t) with police vehicle in the unmanned plane practical flight process obtained by radar sensor 104, the difference obtaining actual longitudinal positional offset between unmanned plane and police vehicle and theoretical longitudinal positional offset is:
σ (t)=ξ (t)-Δ X (t)=ξ (t)-v0(t)*Δt
Ideally, the difference of the actual longitudinal positional offset between unmanned plane and police vehicle and theoretical longitudinal positional offset is 0, and unmanned plane is positioned at police vehicle front, according to sliding mode control theory, chooses sliding formwork switching function:
X=σ (t)=ξ (t)-Δ X (t)=ξ (t)-v0(t)*Δt
According to sliding mode control theory, set up sliding formwork governing equationWhen sliding formwork governing equation meets, sliding formwork switching function X → 0, i.e. σ (t) → 0.λ represents sliding mode controller parameter, and the more little expression velocity of approach of λ is more slow, and λ is more big, represents that velocity of approach is more fast, meanwhile, can cause bigger shake.In practical application, λ chooses according to actual experiment situation.Sliding formwork switching function is substituted in sliding formwork governing equation and obtains:
Therefore following controller is designed as:
Wherein, u (t) represents the output controlled quentity controlled variable of controller, utilizes this controlled quentity controlled variable can carry out the pitch control of unmanned plane, so make unmanned plane stable follow police vehicle.
B, yawer specific design:
According to transverse positional offset ζ (t) with police vehicle in the unmanned plane practical flight process obtained by radar sensor 104, design dual mode controller realizes the elimination to transverse positional offset, thus ensureing not have on lateral attitude between unmanned plane and police vehicle deviation.The input of dual mode controller is the transverse positional offset between unmanned plane and police vehicle, it is output as the driftage controlled quentity controlled variable of unmanned plane, each rotor on unmanned plane can be controlled according to this driftage controlled quentity controlled variable and drive the rotating speed of servomotor 102b and then control the driftage of unmanned plane.Above-mentioned dual mode controller is composed in parallel by fuzzy controller and PI controller, | the ζ (t) | > ζ at transverse positional offset0Time, application fuzzy controller overcomes the impact of uncertain factor, | ζ (t) | < ζ at transverse positional offset0Time, application PI controller is to eliminate steady-state error, ζ0For transverse positional offset critical coefficient.
In unmanned plane part 2, The Cloud Terrace 201 is provided with camera module 202, it is ensured that camera module 202 stablizing in unmanned plane during flying process, thus ensureing that the image information photographed by camera module 202 in the process of flight is steady and audible.Camera module 202 includes photographic head and figure transmission module；Photographic head is used for obtaining in real time the image information of road in unmanned plane during flying process, it is achieved the shooting to tracked vehicle；The road information that figure transmission module is used for photographic head obtains is transferred to ground control station.Flight control system 203 is used for receiving the startup order control unmanned plane start and stop that in-vehicle processor sends；Receive in-vehicle processor simultaneously and send longitudinal direction and the transverse positional offset of unmanned plane positional information and unmanned plane and police vehicle, control the rotating speed that each rotor drive motor of many rotor wing unmanned aerial vehicles is different, and then realize the pitch control in unmanned plane during flying process is controlled and Altitude control with driftage, it is ensured that unmanned plane remains that in police vehicle driving process flight specifies position in police vehicle front upper.
For the police vehicle-mounted unmanned aerial vehicle monitoring method of one of said apparatus, specifically comprise the following steps that
Step 1: in the process that police vehicle travels, when vehicle is tracked, sends startup order by in-vehicle processor to the flight control system 203 on unmanned plane, start unmanned plane, meanwhile, the flying height information set also is sent the flight control system 203 to unmanned plane by in-vehicle processor.After each parameter of unmanned plane is normal, flight control system 203 controlling unmanned plane, fly to the height of setting.
Step 2: monitored the height h on the t unmanned plane distance distance l (t) of police vehicle, unmanned plane distance ground by radar sensor 104 in real time0, the real-time speed v of unmanned plane0T () and unmanned plane are projected in police vehicle plane and police vehicle lengthwise position angle theta (t), and all send to in-vehicle processor；By above-mentioned data, the longitudinal positional offset that can obtain t unmanned plane and police vehicle is:
And the transverse positional offset of unmanned plane and police vehicle is:
Step 3: due in police vehicle driving process, not constant-speed traveling, thus unmanned plane in the process following the tracks of police vehicle also corresponding variable-speed tracking.Therefore, by the longitudinal positional offset of t unmanned plane and police vehicle and transverse positional offset input are separately input in pitch controller and yawer, obtain pitch control amount and the driftage controlled quentity controlled variable of unmanned plane, and the flight control system 203 on unmanned plane it is transferred to together with unmanned plane positional information, and then by flight control system, unmanned plane carried out pitching and driftage controls, make unmanned plane remain at police vehicle front upper and specify position, shoot by suspected vehicles.
Step 4: vehicle tracking is complete, unmanned plane makes a return voyage to unmanned plane landing machine level ground 101, descent is by the accurate perception unmanned plane positional information of radar sensor 104, send to in-vehicle processor, and be transferred to the flight control system 203 on unmanned plane by in-vehicle processor, flight control system 203 control unmanned plane and precisely drop on unmanned plane landing machine level ground 101.Now control the fixing locking device 102 of unmanned plane by fixing for unmanned plane locking.
Claims (8)
1. a police vehicle-mounted unmanned aerial vehicle monitoring system, including vehicle-mounted part and unmanned plane part；Vehicle-mounted part has the in-vehicle processor installed on car body；Unmanned plane part includes unmanned plane and the flight control system of lift-launch on unmanned plane；It is characterized in that: vehicle-mounted part also includes unmanned plane landing machine level ground, the radar sensor that police vehicle top is installed；Unmanned plane part also includes the The Cloud Terrace, the camera module that carry on unmanned plane；
In described vehicle-mounted part, unmanned plane landing machine level ground is for the stop of unmanned plane；Radar sensor is used for obtaining in real time unmanned plane positional information, is projected in the laterally and longitudinally position angle in police vehicle plane and between police vehicle including the unmanned plane distance distance of police vehicle, the unmanned plane distance height on ground, unmanned plane during flying speed and unmanned plane；In-vehicle processor starts for sending unmanned plane to flight control system and stops order, and be used for receiving radar sensor acquisition data, and process, obtain the laterally and longitudinally position offset of unmanned plane and police vehicle, obtain pitching and the driftage controlled quentity controlled variable of unmanned plane further, and pitching and driftage controlled quentity controlled variable are sent the flight control system to unmanned plane part in the lump together with unmanned plane positional information, and then the pitch control of unmanned plane and control of going off course is realized by the flight control system in unmanned plane part, make unmanned plane be always positioned at appointment position above use front part of vehicle；
In described unmanned plane part, The Cloud Terrace is provided with camera module；Camera module includes photographic head and figure transmission module；Photographic head is used for obtaining in real time the image information of road in unmanned plane during flying process, it is achieved the shooting to tracked vehicle；The road information that figure transmission module is used for photographic head obtains is transferred to in-vehicle processor.
2. a kind of police vehicle-mounted unmanned aerial vehicle as claimed in claim 1 monitoring system, it is characterised in that: vehicle-mounted part also includes the fixing locking device of unmanned plane, for realizing the unmanned plane fixing locking on unmanned plane landing machine level ground.
3. a kind of police vehicle-mounted unmanned aerial vehicle as claimed in claim 2 monitoring system, it is characterised in that: the fixing locking device of unmanned plane includes leading screw and push rod；Wherein, leading screw is four, is one group between two, and axis is all along police vehicle car fore-and-aft direction.Wherein, one group of leading screw is positioned at front portion, unmanned plane landing machine level ground, is arranged on the support of both sides, unmanned plane landing machine level ground design by bearing；Another group leading screw is positioned at rear portion, unmanned plane landing machine level ground, is arranged on the support of both sides, unmanned plane landing machine level ground design again by bearing.Push rod is two, and making it is anterior push rod and rear portion push rod, and thread bush is connected on and is positioned on anterior two groups of leading screws with rear portion respectively；By the anterior two rhizoid thick stick synchronous axial system of driven by servomotor, anterior push rod is made to be moved rearwards by；By driven by servomotor rear portion two rhizoid thick stick synchronous axial system, rear portion push rod is made to move forward；When unmanned plane drops to unmanned plane landing machine level ground, by two push rod relative motioies of driven by servomotor, unmanned plane landing gear front end and rear end is made to be clamped between two push rods and unmanned plane landing machine level ground, it is achieved the fixing locking of unmanned plane.
4. a kind of police vehicle-mounted unmanned aerial vehicle as claimed in claim 1 monitoring system, it is characterised in that: car also includes unmanned plane charging device in part, for the charging of unmanned plane.
5. a kind of police vehicle-mounted unmanned aerial vehicle as claimed in claim 1 monitoring system, it is characterised in that: charging device includes on unmanned plane landing gear and arranges corresponding electrode on unmanned plane landing machine level ground, by coordinating the charging realizing unmanned plane between electrode.
6. a kind of police vehicle-mounted unmanned aerial vehicle as claimed in claim 1 monitoring system, it is characterised in that: the pitching of unmanned plane and driftage controlled quentity controlled variable, obtained with yawer process by the pitch controller of the design in in-vehicle processor respectively, specific design is as follows:
A, pitch controller are designed specifically to:
Wherein, u (t) represents the output controlled quentity controlled variable of controller；v0T () is t unmanned plane during flying speed, Δ t represents the response time of pitch controller；ξ (t) is the position vertical misalignment amount of the t unmanned plane obtained by radar sensor and police vehicle；
B, yawer specific design:
According to transverse positional offset ζ (t) with police vehicle in the unmanned plane practical flight process obtained by radar sensor, design dual mode controller realizes the elimination to transverse positional offset；The input of dual mode controller is the transverse positional offset between unmanned plane and police vehicle, is output as the driftage controlled quentity controlled variable of unmanned plane, controls the rotating speed of each rotor drive motor on unmanned plane according to driftage controlled quentity controlled variable and then controls the driftage of unmanned plane.
7. a kind of police vehicle-mounted unmanned aerial vehicle as claimed in claim 1 monitoring system, it is characterised in that: dual mode controller is composed in parallel by fuzzy controller and PI controller, at transverse positional offset absolute value | ζ (t) | > ζ0Time, application fuzzy controller overcomes the impact of uncertain factor, at transverse positional offset absolute value | ζ (t) | < ζ0Time, application PI controller is to eliminate steady-state error, ζ0For transverse positional offset critical coefficient.
8. for the control method of a kind of police vehicle-mounted unmanned aerial vehicle monitoring system described in claim 1, it is characterised in that: completed by following step:
Step 1: in the process that police vehicle travels, when vehicle is tracked, startup order is sent to the flight control system on unmanned plane by in-vehicle processor, start unmanned plane, simultaneously, the flying height information set also is sent the flight control system to unmanned plane by in-vehicle processor, flight control system fly to the height of setting controlling unmanned plane；
Step 2: monitored the height h on the t unmanned plane distance distance l (t) of police vehicle, unmanned plane distance ground by radar sensor in real time0, the real-time speed v of unmanned plane0T () and unmanned plane are projected in police vehicle plane and police vehicle lengthwise position angle theta (t), and all send to in-vehicle processor, processed by in-vehicle processor, obtain longitudinal positional offset and the transverse positional offset of t unmanned plane and police vehicle；
Step 3: the longitudinal positional offset of t unmanned plane and police vehicle and transverse positional offset input are separately input in pitch controller and yawer, obtain pitch control amount and the driftage controlled quentity controlled variable of unmanned plane, and the flight control system on unmanned plane it is transferred to together with unmanned plane positional information, and then by flight control system, unmanned plane carried out pitching and driftage controls, make unmanned plane remain at police vehicle front upper and specify position, tracked vehicle is shot；
Step 4: vehicle tracking is complete, unmanned plane makes a return voyage to unmanned plane landing machine level ground, descent is by the accurate perception unmanned plane positional information of radar sensor, send to in-vehicle processor, and be transferred to the flight control system on unmanned plane by in-vehicle processor, flight control system control unmanned plane and precisely drop on unmanned plane landing machine level ground.
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| CN106908065A (en) * | 2017-02-13 | 2017-06-30 | 中国人民解放军国防科学技术大学 | The double-deck path construction method and system of vehicle boarded unmanned plane |
| CN107054654A (en) * | 2017-05-09 | 2017-08-18 | 广东容祺智能科技有限公司 | A kind of unmanned plane target tracking system and method |
| CN107065924A (en) * | 2017-03-15 | 2017-08-18 | 普宙飞行器科技（深圳）有限公司 | The vehicle-mounted landing system of unmanned plane, can vehicle-mounted landing unmanned plane and landing method |
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| CN109189088A (en) * | 2018-08-21 | 2019-01-11 | 中南林业科技大学 | Captive unmanned plane adaptive cruise tracking, terminal and storage medium |
| CN109270519A (en) * | 2018-09-14 | 2019-01-25 | 吉林大学 | Vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system and method based on millimetre-wave radar |
| CN111142552A (en) * | 2018-11-06 | 2020-05-12 | 宝沃汽车（中国）有限公司 | Method and device for controlling unmanned aerial vehicle, storage medium and vehicle |
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| CN112130588B (en) * | 2020-08-27 | 2022-03-01 | 东风汽车集团有限公司 | Method for searching target person, vehicle-mounted terminal and unmanned aerial vehicle |
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| CN112373373A (en) * | 2020-11-05 | 2021-02-19 | 山东商务职业学院 | Automatic clamping and charging device of vehicle-mounted unmanned aerial vehicle |
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| CN113596714B (en) * | 2021-07-21 | 2022-01-28 | 军事科学院系统工程研究院后勤科学与技术研究所 | Positioning communication device and method for unmanned fleet and motorcade |
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