CN105824322A - Unmanned plane terrain following system and method based on laser radar - Google Patents
Unmanned plane terrain following system and method based on laser radar Download PDFInfo
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- CN105824322A CN105824322A CN201610312261.6A CN201610312261A CN105824322A CN 105824322 A CN105824322 A CN 105824322A CN 201610312261 A CN201610312261 A CN 201610312261A CN 105824322 A CN105824322 A CN 105824322A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention relates to an unmanned plane terrain following system and method based on a laser radar. The unmanned plane terrain following system comprises a relative altitude measuring module, other sensor modules, and a flight control system. The unmanned plane terrain following method comprises the following steps: 1) the laser radar acquires the relative altitude information of the flight environment and a radar acquisition processing unit performs acquisition and preprocessing calculation on the radar data and outputs the processed result to the flight control system; 2) a sensor data integration module based on an extended kalman filter receives the relative altitude information from the relative altitude measuring module and the flight state information from the other sensor modules; the relative altitude information and the flight state information are fused and processed through the sensor data integration module based on the extended kalman filter, so that a flight command is generated; and 3) the flight command is controlled through flight, and is transmitted to an unmanned plane steering engine group through a data transmission module. The unmanned plane terrain following system and method based on a laser radar solve the problem of measurement of relative altitude of an unmanned plane, height keeping flight of an unmanned plane and automatic taking off and landing of an unmanned plane.
Description
Technical field
The present invention relates to unmanned aerial vehicle control system field, particularly relate to unmanned plane Terrain Following System based on laser radar and method.
Background technology
Unmanned plane i.e. unmanned vehicle, unmanned plane use satellite fix, remote sensing, geographical space, Aero-Space, automatically control, the new and high technology such as computer-assisted analysis, multiple fields such as territory, mapping, forestry, traffic, water conservancy and military affairs can be served.
Recently as the fast development of unmanned vehicle technology, people's machine technology is also made to be applied to every field.Wherein play important function in agricultural aviation field, typical case is exactly the UAV (being called for short plant protection unmanned vehicle) for agriculture and forestry plant protection operation, the impact on agricultural of being born of plant protection unmanned vehicle is huge, but from the point of view of current Industry, the style of plant protection unmanned vehicle on the market is a lot, but the unified feature of these machines is exactly to need to rely on the skilled operation flying to control hands just can go operation, but the working environment of plant protection unmanned vehicle is complicated, physical features is uneven, have higher requirement to plant protection unmanned vehicle operation.
The height of unmanned vehicle keeps mostly using increases the fixed high module of air pressure to flight control controller, GPS etc., but what for farmland rugged for physical features, air pressure was the highest just cannot meet demand, need artificial adjustment throttle to control unmanned vehicle and keep consistent with the height of crops, and then reach the uniform requirement of herbal sprinkling.So the fixed height of existing plant protection unmanned vehicle air pressure does not the most adapt to the operation of intricately shape.
In addition unmanned vehicle is in the middle of take-off and landing process, especially in the take-off and landing in autonomous flight, has high-precision requirement to altitude information.The currently used altimeter of unmanned vehicle mainly has barometertic altimeter, radio altimeter, GPS altimeter, ultrasonic height meter etc..Wide ranges measured by barometertic altimeter, but error is bigger；Radio altimeter is measured accurately, but is easily subject to the interference of radio signal；The problem that GPS altimeter exists jitter；Ultrasonic height measurement weight range is the least, and easily by ambient temperature and air flow effect.Unmanned vehicle, when low altitude flight, especially has the highest requirement when take-off and landing to measurement highly, hence it is imperative that elevation carrection problem when solving unmanned vehicle flight.
Summary of the invention
The present invention is for achieving the above object, it is provided that unmanned plane Terrain Following System based on laser radar, including relative altitude measurement module, other sensor assemblies, flight control system；
Described relative altitude measurement module, including laser radar and radar acquisition process unit, described laser radar obtains the relative altitude information of flight environment of vehicle, described radar acquisition process unit, including an ARM master chip, collection and the pretreatment of being responsible for radar data calculate, and the result of process is transferred to flight control system；
Other sensor assemblies described, including IMU, three axle magnetic compasses, GPS and barometer, in order to obtain the state of flight information of unmanned plane；
Described flight control system, including Data Fusion of Sensor module based on extended Kalman filter, flight controller and data transmission module；The outfan of Data Fusion of Sensor module based on extended Kalman filter is connected with the input of flight controller, and the outfan of flight controller is connected with the input of data transmission module；Data Fusion of Sensor module based on extended Kalman filter is used for receiving the relative altitude data message from relative altitude measurement module and the state of flight information from other sensor assemblies, fusion treatment is carried out by Data Fusion of Sensor module based on extended Kalman filter, generate flight directive, send flight directive by data transmission module, follow flight and autonomous landing with control that the steering wheel group of unmanned plane realizes various landform；
Described unmanned plane, including steering wheel group, described steering wheel group is flown according to the flight directive of flight controller, it is achieved terrain following and autonomous landing flight function.
Further, described unmanned plane Terrain Following System based on laser radar, it is provided with state of flight indicating module, for indicating the state of flight of unmanned vehicle, to realize display and the early warning of state of flight.
Further, described unmanned plane Terrain Following System based on laser radar, also includes remote controller and earth station, between the steering wheel group of described remote controller and unmanned plane, between remote controller and data transmission module, between data transmission module and earth station, all communicate in the way of wireless link；
Further, described laser radar, it is made up of emission system, reception system, information processing system；
Described emission system is made up of with optical beam-expanding unit laser instrument, using laser instrument as launching light source, uses detecting technique to carry out optical emitting；
Described reception system includes telescope and photodetector.
Further, the one during described laser instrument is the solid state laser of carbon dioxide laser, semiconductor laser or tunable wave length.
Further, described photodetector is photomultiplier tube, semiconductor photo diode, avalanche photodide, infrared and one or more combinations of visible ray multiunit detector part.
Unmanned plane terrain following method based on laser radar, comprises the steps:
The first step, laser radar obtains the relative altitude information of flight environment of vehicle, and radar acquisition process unit carries out collection and the pretreatment calculating of radar data, and the result of process is transferred to flight control system；
Second step, Data Fusion of Sensor module based on extended Kalman filter receives the relative altitude data message from relative altitude measurement module and the state of flight information from other sensor assemblies, carry out fusion treatment by Data Fusion of Sensor module based on extended Kalman filter, generate flight directive；
3rd step, flight directive controls through flight, sends out flight directive to steering engine for unmanned plane group through data transmission module；
4th step, the steering wheel group of unmanned plane realizes following of various landform according to flight directive and flies and autonomous landing；
5th step, flight control system can control the steering wheel group of unmanned plane by wireless link through remote controller；
6th step, obtains ground surface end personnel and the control command of computer generation by earth station, by wireless link, order is sent to data transmission module simultaneously, to realize controls based on ground surface end data flight.
The invention has the beneficial effects as follows: unmanned plane Terrain Following System based on laser radar of the present invention and method, system structure is simple, volume is little, easy to use, and there is relative altitude measurement, height-lock control and the function of landing of independently taking off, efficiently solve unmanned vehicle flight control problem, there is stronger unfailing performance；Existing fixed high defect can be overcome, it is possible to keep with crops is highly consistent so that the herbal sprinkling of crops is uniform, thus can effectively preventing pest and disease damage based on the controlled high operating system calmly of plant protection unmanned vehicle ultrasound wave.
Accompanying drawing explanation
Fig. 1 is the system block diagram of unmanned plane Terrain Following System based on laser radar of the present invention；
Fig. 2 is the procedure chart of Data Fusion of Sensor based on extended Kalman filter of the present invention.
Detailed description of the invention
It is described in detail referring to the drawings below with reference to embodiments of the invention.
Unmanned plane Terrain Following System based on laser radar, including relative altitude measurement module, other sensor assemblies, flight control system；
Described relative altitude measurement module, including laser radar and radar acquisition process unit, described laser radar obtains the relative altitude information of flight environment of vehicle, described radar acquisition process unit, including an ARM master chip, collection and the pretreatment of being responsible for radar data calculate, and the result of process is transferred to flight control system；
Other sensor assemblies described, including IMU, three axle magnetic compasses, GPS and barometer, in order to obtain the state of flight information of unmanned plane；
Described flight control system, including Data Fusion of Sensor module based on extended Kalman filter, flight controller and data transmission module；The outfan of Data Fusion of Sensor module based on extended Kalman filter is connected with the input of flight controller, and the outfan of flight controller is connected with the input of data transmission module；Data Fusion of Sensor module based on extended Kalman filter is used for receiving the relative altitude data message from relative altitude measurement module and the state of flight information from other sensor assemblies, fusion treatment is carried out by Data Fusion of Sensor module based on extended Kalman filter, generate flight directive, send flight directive by data transmission module, follow flight and autonomous landing with control that the steering wheel group of unmanned plane realizes various landform；
Described unmanned plane, including steering wheel group, described steering wheel group is flown according to the flight directive of flight controller, it is achieved terrain following and autonomous landing flight function.
Further, described unmanned plane Terrain Following System based on laser radar, it is provided with state of flight indicating module, for indicating the state of flight of unmanned vehicle, to realize display and the early warning of state of flight；
Further, described unmanned plane Terrain Following System based on laser radar, also includes remote controller and earth station, between the steering wheel group of described remote controller and unmanned plane, between remote controller and data transmission module, between data transmission module and earth station, all communicate in the way of wireless link；
Further, described laser radar, it is made up of emission system, reception system, information processing system.
Described emission system is made up of with optical beam-expanding unit laser instrument, using laser instrument as launching light source, uses detecting technique to carry out optical emitting；
Described reception system includes telescope and photodetector.
Further, the one during described laser instrument is the solid state laser of carbon dioxide laser, semiconductor laser or tunable wave length.
Further, described photodetector is photomultiplier tube, semiconductor photo diode, avalanche photodide, infrared and one or more combinations of visible ray multiunit detector part.
Unmanned plane terrain following method based on laser radar, comprises the steps:
The first step, laser radar obtains the relative altitude information of flight environment of vehicle, and radar acquisition process unit carries out collection and the pretreatment calculating of radar data, and the result of process is transferred to flight control system；
Second step, Data Fusion of Sensor module based on extended Kalman filter receives the relative altitude data message from relative altitude measurement module and the state of flight information from other sensor assemblies, carry out fusion treatment by Data Fusion of Sensor module based on extended Kalman filter, generate flight directive；
3rd step, flight directive controls through flight, sends out flight directive to steering engine for unmanned plane group through data transmission module；
4th step, the steering wheel group of unmanned plane realizes following of various landform according to flight directive and flies and autonomous landing；
5th step, flight control system can control the steering wheel group of unmanned plane by wireless link through remote controller；
6th step, obtains ground surface end personnel and the control command of computer generation by earth station, by wireless link, order is sent to data transmission module simultaneously, to realize controls based on ground surface end data flight.
Based on the system call that unmanned aerial vehicle control system provides based on μ C/OS-II, according to unmanned vehicle helicopter flight control operation principle, by the sensor information gathered, storage correlation behavior sum according to this and the up remote control that sends of radio measurement and control terminal or the instruction of earth station's planning and data, after judgement, computing and process, output order is to servo actuator i.e. steering gear system, control to handle the rudder face of unmanned vehicle, the throttle of electromotor, to control the flight of depopulated helicopter.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (7)
1. unmanned plane Terrain Following System based on laser radar, it is characterised in that include relative altitude measurement module, other sensor assemblies, flight control system；
Described relative altitude measurement module, including laser radar and radar acquisition process unit, described laser radar obtains the relative altitude information of flight environment of vehicle, described radar acquisition process unit, including an ARM master chip, collection and the pretreatment of being responsible for radar data calculate, and the result of process is transferred to flight control system；
Other sensor assemblies described, including IMU, three axle magnetic compasses, GPS and barometer, in order to obtain the state of flight information of unmanned plane；
Described flight control system, including Data Fusion of Sensor module based on extended Kalman filter, flight controller and data transmission module；The outfan of Data Fusion of Sensor module based on extended Kalman filter is connected with the input of flight controller, and the outfan of flight controller is connected with the input of data transmission module；Data Fusion of Sensor module based on extended Kalman filter is used for receiving the relative altitude data message from relative altitude measurement module and the state of flight information from other sensor assemblies, fusion treatment is carried out by Data Fusion of Sensor module based on extended Kalman filter, generate flight directive, send flight directive by data transmission module, follow flight and autonomous landing with control that the steering wheel group of unmanned plane realizes various landform；
Described unmanned plane, including steering wheel group, described steering wheel group is flown according to the flight directive of flight controller, it is achieved terrain following and autonomous landing flight function.
Unmanned plane Terrain Following System based on laser radar the most according to claim 1, it is characterized in that described unmanned plane Terrain Following System based on laser radar is provided with state of flight indicating module, for indicating the state of flight of unmanned vehicle, to realize display and the early warning of state of flight.
Unmanned plane Terrain Following System based on laser radar the most according to claim 1 and 2, it is characterized in that, described unmanned plane Terrain Following System based on laser radar, also include remote controller and earth station, between the steering wheel group of described remote controller and unmanned plane, between remote controller and data transmission module, between data transmission module and earth station, all communicate in the way of wireless link.
Unmanned plane Terrain Following System based on laser radar the most according to claim 1 and 2, it is characterised in that described laser radar is made up of emission system, reception system, information processing system；
Described emission system is made up of with optical beam-expanding unit laser instrument, using laser instrument as launching light source, uses detecting technique to carry out optical emitting；
Described reception system includes telescope and photodetector.
Unmanned plane Terrain Following System based on laser radar the most according to claim 4, it is characterised in that described laser instrument is the one in the solid state laser of carbon dioxide laser, semiconductor laser or tunable wave length.
Unmanned plane Terrain Following System based on laser radar the most according to claim 4, it is characterized in that, described photodetector is photomultiplier tube, semiconductor photo diode, avalanche photodide, infrared and one or more combinations of visible ray multiunit detector part.
7. unmanned plane terrain following method based on laser radar, it is characterised in that comprise the steps:
The first step, laser radar obtains the relative altitude information of flight environment of vehicle, and radar acquisition process unit carries out collection and the pretreatment calculating of radar data, and the result of process is transferred to flight control system；
Second step, Data Fusion of Sensor module based on extended Kalman filter receives the relative altitude data message from relative altitude measurement module and the state of flight information from other sensor assemblies, carry out fusion treatment by Data Fusion of Sensor module based on extended Kalman filter, generate flight directive；
3rd step, flight directive controls through flight, sends out flight directive to steering engine for unmanned plane group through data transmission module；
4th step, the steering wheel group of unmanned plane realizes following of various landform according to flight directive and flies and autonomous landing；
5th step, flight control system can control the steering wheel group of unmanned plane by wireless link through remote controller；
6th step, obtains ground surface end personnel and the control command of computer generation by earth station, by wireless link, order is sent to data transmission module simultaneously, to realize controls based on ground surface end data flight.
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