CN105786015A - Unmanned plane formation control system based on Arkbird A flight control system, and control method - Google Patents
Unmanned plane formation control system based on Arkbird A flight control system, and control method Download PDFInfo
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- CN105786015A CN105786015A CN201610192432.6A CN201610192432A CN105786015A CN 105786015 A CN105786015 A CN 105786015A CN 201610192432 A CN201610192432 A CN 201610192432A CN 105786015 A CN105786015 A CN 105786015A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention relates to the unmanned plane technology field and particularly relates to an unmanned plane formation control system based on an Arkbird A flight control system, and a control method. The control system comprises a lead plane and at least one wing plane, wherein the lead plane and each wing plane are respectively provided with a data acquisition unit and an Arkbird A flight control system internally, the data acquisition unit is used for measuring the flight data and transmitting the flight data to the corresponding same-plane flight control system, the data is processed by the corresponding flight control system and is fed back to the native control equipment for attitude fine tuning, the control system further comprises a data transmission system and a wireless image transmission system, the data transmission system is used for carrying out data transmission between the lead plane and the wing plane and data transmission among the lead plane, the wing plane and a ground control end, and the wireless image transmission system is used for transmitting the image information shot by the lead plane and the wing plane to the ground control end. According to the control system, carrying capability of an unmanned plane can be effectively improved through unmanned plane formation flight, moreover, possible collision accident generated during individual flight of the unmanned plane can be prevented, and transportation safety is greatly improved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of unmanned plane formation control system based on ArkbirdA flight control system and control method.
Background technology
Unmanned plane, as a kind of important airborne vehicle, is mainly used in data acquisition over the ground and the field such as monitoring, transport.The unmanned plane applied at present is mostly that a manipulator is equipped with a frame unmanned plane, or even a team is equipped with a frame unmanned plane, and this greatly reduces the utilization rate of personnel.And, single rack unmanned plane carrying capacity is limited, can only carry little equipment, this severely limits the extension of unmanned plane range of application.For this, many people control the idea of the even single control multiple UAVs of multiple UAVs and have had become as the research topic of many laboratorys now.
Summary of the invention
For the problems referred to above, the present invention has carried out extending extension around many people or single control multiple UAVs problem, it is provided that a kind of unmanned plane formation control system based on ArkbirdA flight control system and control method.
The technical solution used in the present invention is as follows:
A kind of unmanned plane formation control system based on ArkbirdA flight control system, including lead aircraft and at least one frame wing plane, it is equipped with data acquisition unit and ArkbirdA flight control system in lead aircraft and every frame wing plane, data acquisition unit is measured flying quality and passes to the flight control system of same machine, and flight control system feeds back to the control equipment of the machine and carries out fine adjustment of attitude after processing；This control system also includes data transmission system and Wireless Image Transmission Systems, and data transmission system is for the data transmission between data transmission and lead aircraft, wing plane and the ground control end between lead aircraft and wing plane；Wireless Image Transmission Systems is for passing to ground control end by the image information of lead aircraft, wing plane shooting.
Described data acquisition unit includes GPS position finder, barometer, gyroscope, three axis accelerometer, and the flying quality of collection includes unmanned plane positional information, pressure information, angular velocity and acceleration information, for judging position and the kinestate of unmanned plane.
The present invention is equipped with data acquisition unit and flight control system to each unmanned plane, and the attitude of self is detected and adjusts by each unmanned plane, it is ensured that smooth flight.Meanwhile, GPS position finder gathering the positional information of each unmanned plane at any time, this positional information can be not only used for ground surface end and understands unmanned plane location, it may also be used for knows the distance between lead aircraft and wing plane and is controlled, it is prevented that lead aircraft and wing plane collide.The present invention arranges a public data transmission system and Wireless Image Transmission Systems, it is achieved data sharing and the data transmission held earthward and image transmitting between lead aircraft and wing plane, facilitates the first visual angle observation flight of operator.
Preferably, flight control system calculates the navigational parameter of unmanned plane by SINS.SINS can accurately provide the navigational parameters such as the attitude of unmanned plane, ground velocity, longitude and latitude, it is simple to flight control system accurately controls UAV Attitude.
Described control equipment includes the electron speed regulator for controlling unmanned vehicle engine and for controlling the steering wheel of unmanned plane aileron, elevator and rudder.Above-mentioned control equipment is used for adjusting the position of unmanned plane, attitude and flight speed.
Based on the unmanned plane formation control method of ArkbirdA flight control system, comprise the following steps:
(1) data acquisition unit on lead aircraft and every frame wing plane gathers position, air pressure, speed and acceleration information, and the flight control system being transferred to same machine processes；Photographic head on each unmanned plane shoots real time imaging and passes to ground control end by Wireless Image Transmission Systems；The positional information of each unmanned plane carries out data sharing by data transmission system between lead aircraft and wing plane, sends ground control end to via data transmission system simultaneously and is shown；
(2) flight control system tries to achieve the position of aircraft, attitude, flight speed by SINS from input data, and feeds back to the control equipment of the machine；
(3) attitude of the machine is finely tuned by the control equipment of each unmanned plane according to feedback data, to maintain unmanned plane at empty posture balancing；The mutual alignment of unmanned plane is adjusted by the flight control system of lead aircraft always according to the positional information of each unmanned plane.Pass through which, it may be achieved the formation flight purpose of lead aircraft flight followed by wing plane.
Beneficial effects of the present invention:
1, the carrying capacity of unmanned plane can be effectively improved by UAV Formation Flight, make up the defect that unmanned plane unit carrying capacity is low, meanwhile, contingent collision accident when can prevent unmanned plane solo hop, it is greatly improved the safety of transport.
2, formation control scheme has saved the human cost of unmanned plane to a certain extent, reduces the difficulty of control, improves the functional of the actual utilization of unmanned plane.
Accompanying drawing explanation
Fig. 1 is the system block diagram of the present invention.
Detailed description of the invention
Below in conjunction with drawings and embodiments, the present invention is elaborated.
A kind of unmanned plane formation control system based on ArkbirdA flight control system, as shown in the figure, including lead aircraft 1 and at least one frame wing plane 2, it is equipped with GPS position finder 11, barometer 12, gyroscope 13, three axis accelerometer 14 and ArkbirdA flight control system 16 in lead aircraft 1, in every frame wing plane 2, is provided with GPS position finder 21, barometer 22, gyroscope 23, three axis accelerometer 24 and ArkbirdA flight control system 26.GPS position finder, gyroscope, three axis accelerometer gather the positional information of unmanned plane, angular velocity, acceleration information, pass to flight control system, flight control system draws the navigational parameters such as such as speed, yaw angle, positional information by SINS and other particular algorithms from these data, the steering wheel 17,27 feeding back to the machine carries out fine adjustment of attitude, to maintain unmanned plane at empty posture balancing.
This control system also includes data transmission system 3 and Wireless Image Transmission Systems 4, positional information between lead aircraft and wing plane realizes sharing by data transmission system, the flight control system of lead aircraft completes the adjustment to unmanned plane mutual alignment according to these positional informationes, it is achieved the formation flight purpose of lead aircraft flight followed by wing plane.Meanwhile, the positional information of lead aircraft and wing plane passes to ground control end also by data transmission system, and is shown on screen, facilitates the observation flight of operator the first visual angle.It addition, each unmanned plane is mounted on photographic head 15,25 (such as Gopro), the realtime image data of photographic head shooting passes to ground control end 5 by Wireless Image Transmission Systems 4, is observed and record.
Claims (5)
1. the unmanned plane formation control system based on ArkbirdA flight control system, including lead aircraft and at least one frame wing plane, it is characterized in that: lead aircraft and be equipped with data acquisition unit and ArkbirdA flight control system in every frame wing plane, data acquisition unit is measured flying quality and passes to the flight control system of same machine, and flight control system feeds back to the control equipment of the machine and carries out fine adjustment of attitude after processing；This control system also includes data transmission system and Wireless Image Transmission Systems, and data transmission system is for the data transmission between data transmission and lead aircraft, wing plane and the ground control end between lead aircraft and wing plane；Wireless Image Transmission Systems is for passing to ground control end by the image information of lead aircraft, wing plane shooting.
2. the unmanned plane formation control system based on ArkbirdA flight control system according to claim 1, it is characterized in that: described data acquisition unit includes GPS position finder, barometer, gyroscope, three axis accelerometer, the flying quality gathered includes unmanned plane positional information, pressure information, angular velocity and acceleration information, for judging position and the kinestate of unmanned plane.
3. the unmanned plane formation control system based on ArkbirdA flight control system according to claim 1, it is characterised in that: flight control system calculates the navigational parameter of unmanned plane by SINS.
4. the unmanned plane formation control system based on ArkbirdA flight control system according to claim 1, it is characterised in that: described control equipment includes the electron speed regulator for controlling unmanned vehicle engine and for controlling the steering wheel of unmanned plane aileron, elevator and rudder.
5. the unmanned plane formation control method based on ArkbirdA flight control system according to any one of claim 1-4, it is characterised in that comprise the following steps:
(1) data acquisition unit on lead aircraft and every frame wing plane gathers position, air pressure, speed and acceleration information, and the flight control system being transferred to same machine processes；Photographic head on each unmanned plane shoots real time imaging and passes to ground control end by Wireless Image Transmission Systems；The positional information of each unmanned plane carries out data sharing by data transmission system between lead aircraft and wing plane, sends ground control end to via data transmission system simultaneously and is shown；
(2) flight control system tries to achieve the position of aircraft, attitude, flight speed by SINS from input data, and feeds back to the control equipment of the machine；
(3) attitude of the machine is finely tuned by the control equipment of each unmanned plane according to feedback data, to maintain unmanned plane at empty posture balancing；The mutual alignment of unmanned plane is adjusted by the flight control system of lead aircraft always according to the positional information of each unmanned plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610192432.6A CN105786015A (en) | 2016-03-28 | 2016-03-28 | Unmanned plane formation control system based on Arkbird A flight control system, and control method |
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| CN201610192432.6A CN105786015A (en) | 2016-03-28 | 2016-03-28 | Unmanned plane formation control system based on Arkbird A flight control system, and control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107289942A (en) * | 2017-06-20 | 2017-10-24 | 南京航空航天大学 | A kind of relative navigation system and method for formation flight |
| CN107765703A (en) * | 2016-08-17 | 2018-03-06 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of Airborne Formation Flying instruction system based on inertia/satellite Relative Navigation |
| CN108447309A (en) * | 2018-03-14 | 2018-08-24 | 广州亿航智能技术有限公司 | Unmanned plane landing method, apparatus and computer storage media |
| CN109270950A (en) * | 2017-07-18 | 2019-01-25 | 无锡飞天侠科技有限公司 | A kind of agricultural UAV system |
| CN110703798A (en) * | 2019-10-23 | 2020-01-17 | 中国人民解放军军事科学院国防科技创新研究院 | Unmanned aerial vehicle formation flight control method based on vision |
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| CN204631625U (en) * | 2015-05-29 | 2015-09-09 | 北京健德乾坤导航系统科技有限责任公司 | A kind of robot pilot of Small and micro-satellite |
| CN105015767A (en) * | 2015-07-09 | 2015-11-04 | 湖北省机电研究设计院股份公司 | Multi-rotor type unmanned aircraft system with fire detecting function |
| CN105116907A (en) * | 2015-07-20 | 2015-12-02 | 清华大学 | Method for designing data transmission and control system of miniature unmanned aerial vehicle |
| CN105223964A (en) * | 2015-09-28 | 2016-01-06 | 沈阳航空航天大学 | A kind of control system for UAV Formation Flight |
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2016
- 2016-03-28 CN CN201610192432.6A patent/CN105786015A/en active Pending
Patent Citations (5)
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| CN102854887A (en) * | 2012-09-06 | 2013-01-02 | 北京工业大学 | Unmanned plane route planning and remote synchronous control method |
| CN204631625U (en) * | 2015-05-29 | 2015-09-09 | 北京健德乾坤导航系统科技有限责任公司 | A kind of robot pilot of Small and micro-satellite |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107765703A (en) * | 2016-08-17 | 2018-03-06 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of Airborne Formation Flying instruction system based on inertia/satellite Relative Navigation |
| CN107765703B (en) * | 2016-08-17 | 2021-06-01 | 中国航空工业集团公司西安飞行自动控制研究所 | Airborne formation flight indicating system based on inertia/satellite relative navigation |
| CN107289942A (en) * | 2017-06-20 | 2017-10-24 | 南京航空航天大学 | A kind of relative navigation system and method for formation flight |
| CN107289942B (en) * | 2017-06-20 | 2020-11-03 | 南京航空航天大学 | Relative navigation system and method for formation flight |
| CN109270950A (en) * | 2017-07-18 | 2019-01-25 | 无锡飞天侠科技有限公司 | A kind of agricultural UAV system |
| CN108447309A (en) * | 2018-03-14 | 2018-08-24 | 广州亿航智能技术有限公司 | Unmanned plane landing method, apparatus and computer storage media |
| CN108447309B (en) * | 2018-03-14 | 2020-11-06 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle taking-off and landing method and device and computer storage medium |
| CN110703798A (en) * | 2019-10-23 | 2020-01-17 | 中国人民解放军军事科学院国防科技创新研究院 | Unmanned aerial vehicle formation flight control method based on vision |
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Application publication date: 20160720 |