CN106143932A - A kind of unmanned plane recovery system based on laser-beam riding - Google Patents
A kind of unmanned plane recovery system based on laser-beam riding Download PDFInfo
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- CN106143932A CN106143932A CN201610639473.5A CN201610639473A CN106143932A CN 106143932 A CN106143932 A CN 106143932A CN 201610639473 A CN201610639473 A CN 201610639473A CN 106143932 A CN106143932 A CN 106143932A
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- unmanned plane
- laser
- recovery system
- detector
- aiming beam
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- 238000011084 recovery Methods 0.000 title claims abstract description 25
- 230000003287 optical effect Effects 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 abstract 1
- 238000009434 installation Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a kind of unmanned plane recovery system based on laser-beam riding, this recovery system is made up of servosystem, laser instrument, guiding optical beam forming apparatus, receiving optics and the part such as signal processing unit and communication unit；During unmanned plane reclaims, ground installation launches laser intelligence guide field, unmanned airborne device receives and guides light beam optical signal and resolve signal, draw unmanned plane and guide lateral deviation and the longitudinal bias of beam optical axis, and give system for flight control computer by communication unit, constantly adjust unmanned plane during flying attitude, it is achieved the autonomous landing on the ship/landing of unmanned plane.Guidance accuracy of the present invention is high, capacity of resisting disturbance strong, disturbed at radio frequency and gps signal or in the case of blocking, and unmanned plane can warship/landings offer reliable guarantee.
Description
Technical field
The present invention relates to unmanned plane recovery technology field, a kind of unmanned plane recovery system based on laser-beam riding,
For the warship/landing that guides unmanned plane the most accurate.
Background technology
Unmanned plane reclaims guidance technology the most automatically at present has: radar guides, remote-measuring equipment guides and GPS combination is led
Draw.
Radar guides the high-definition picture being to provide in the case of visibility extreme difference and be similar to optical imagery, recording
The unmanned plane digital image information of radar imagery information and storage carry out identification and just can determine that the real time position of unmanned plane, work as nothing
During man-machine standoff, earth station sends control instruction makes unmanned plane guide deposit according to predetermined recovery airline operation, radar
In weak point: one is the orientation accuracy that positioning precision is limited to radar；Two is that airborne directional gyro there is also with flying distance
The accumulated error increased；Three is to reclaim to use ground photo, and range is restricted, and expensive.
It is to use terrestrial radio remote-measuring equipment to record UAV Attitude, distance and height that remote-measuring equipment guides, and utilizes
The attitude of unmanned plane, distance and highly determine unmanned plane during flying parameter, when unmanned plane drifts off the course, by remote control system, will
Unmanned plane guides the predetermined area into, and the shortcoming that remote measurement guides is to be limited by ground survey equipment precision, is only suitable for short range and uses, far
Distance positioning has radio signal time delay.
GPS Integrated guidance system has: GPS/INS integrated navigation, DGPS/SINS/RA Integrated guidance system, this guiding side
The weak point that formula exists: civilian low precision, particularly unmanned plane carrier-borne navigation aspect, military aspect signal in wartime is disturbed.
In sum, existing unmanned plane recovery system is due to the intrinsic defect of its guidance technology used so that on warship
The accident rate that unmanned plane reclaims is high, and system complex, there is bigger potential safety hazard, not only can make in the removal process of unmanned plane
Become the damage of unmanned plane itself, it is also possible to cause device and the damage of flight-deck on warship because of the falling machine of unmanned plane.
Summary of the invention
For the shortcoming of existing unmanned plane recovery technology, the present invention adopts the technical scheme that: a kind of based on laser-beam riding
Unmanned plane recovery system, this system reclaims at unmanned plane omnidistance without any manual intervention, and guides signal to have precision
High, not by features such as electromagnetic interference, the high and low costs of reliability, unmanned plane can be substantially reduced and the accident rate of warship/landing.
For achieving the above object, the present invention proposes unmanned plane recovery system based on laser-beam riding, and it includes that laser draws
Light guide bundles emission system and laser aiming beam receive system.
Described laser aiming beam emission system is positioned at unmanned plane and the target location of warship/landing, it include servosystem,
Laser instrument, guiding optical beam forming apparatus, servosystem points to for the space adjusting laser aiming beam, guides light beam to be formed and fill
Putting and include collimating optical system and varifocal optical system, the effect of varifocal optical system realizes the laser aiming beam angle of divergence
Continuously adjusting in claimed range guarantees that the spot size in the range of guiding keeps constant.
Described laser aiming beam receives system and is positioned on the unmanned plane of recovery, and it includes receiving optics, detection
The communication unit of device, signal processing unit and unmanned plane, receiving optics is used for converging laser signal, and detector is according to light
Speckle energy output corresponding light electric current, detector output photoelectric stream is amplified and resolves by signal processing circuit, forms deviation letter
Number communicate with mobile system through communication unit.
Compared with prior art, the beneficial effects of the present invention is:
The unmanned plane recovery system based on laser-beam riding of the present invention, while the warship/landing that guides unmanned plane accurately, also has
Having the advantage that las er-guidance method is not disturbed by periphery electromagnetic environment, reliability is high, the structure letter of optical navigation system
Single, the requirement to signal processing unit hardware is relatively low.
Accompanying drawing explanation
Fig. 1 is that the unmanned plane recovery system based on laser-beam riding of the present invention guides schematic diagram.1, laser aiming beam is sent out
Penetrate system, 2 be laser beam/guide field, 3 be unmanned plane, 4 is that laser aiming beam receives system, and 5 is landing face.
Fig. 2 is unmanned plane recovery system based on laser-beam riding composition and the annexation schematic diagram of the present invention.
Detailed description of the invention
In order to the laser-beam riding unmanned plane recovery system that the present invention relates to is better described, below in conjunction with the accompanying drawings and embodiment
The present invention is described further.
As it is shown in figure 1, the open unmanned plane recovery system based on laser-beam riding of the present invention, its laser aiming beam launches system
System and laser aiming beam receive system, and laser aiming beam emission system includes that servosystem, laser instrument, guiding light beam are formed
Device, laser aiming beam receives system and includes receiving optics, detector, signal processing unit and and unmanned plane during flying
The communication unit of control system communication；
Described laser aiming beam emission system is positioned at UAV Landing target location, watching of laser aiming beam emission system
The pitch regulation scope of dress system is 0 ° ~ 30 °, guides optical beam forming apparatus to include collimating optical system and varifocal optical system,
For exporting, energy is uniform and the continuously adjustable laser aiming beam of the angle of divergence.
Described laser aiming beam receives system and is positioned on unmanned plane, and laser aiming beam receives system for receiving optics
System imaging on photodetector photosurface, size and all quadrants of the phase current of four quadrant outputs of detector are received
Laser energy be directly proportional, the effect of signal processing unit is that the phase current to detector output is amplified, and carries out corresponding
Resolving, output unmanned plane relative to guiding the horizontal and vertical deviation of beam optical axis, deviation signal through communication unit with unmanned
Machine flight control system communicates.
Use the method that unmanned plane recovery system based on laser-beam riding reclaims unmanned plane, in conjunction with accompanying drawing 2, including following four
Individual step:
Before unmanned plane reclaims, be may know that the position of unmanned plane to be reclaimed by unmanned aerial vehicle monitoring system, pass through servo
System regulates the optical axis of laser instrument and points to, and makes laser beam point to unmanned plane.
Laser instrument controls computer instruction according to ground and starts laser instrument, and laser instrument sends the narrowest a branch of light, collimated
Optical system and varifocal optical system, form the most continuously adjustable laser aiming beam of the angle of divergence, it is ensured that unmanned
At machine, the cross sectional radius of laser beam is definite value.
Laser pickoff on unmanned plane receives laser aiming signal, through accepting optics into focus, visits at four-quadrant
Survey four independent photodiodes of laser facula detector of one sub-circular of formation on device and can receive certain light
Energy, and export certain phase current, the incident laser energy in the size of output electric current and each diode (light-sensitive device)
Proportional.
The phase current that detector is exported by signal processing circuit is amplified, and resolves accordingly, draws unmanned plane
The horizontal and vertical course deviation of position and optical axis is poor, and is sent to the flight control system of unmanned plane by communication unit, by control
Warship/landing that the steering wheel of unmanned plane processed realizes guiding unmanned plane accurately.
Technical scheme proposed by the invention utilizes laser-beam riding that unmanned plane warship/landing enforcement and guides, and this system has
For leading guidance accuracy height, capacity of resisting disturbance is strong, controls the features such as simple, has the most wide intended application prospect with preferable
Intended application effect.
Above unmanned plane recovery system based on laser-beam riding provided by the present invention is described in detail, for this
The those skilled in the art in field, according to the thought of the embodiment of the present invention, the most all have and change
In place of change, in sum, this specification content should not be construed as limitation of the present invention.
Claims (6)
1. a unmanned plane recovery system based on laser-beam riding, is swashed by ground laser aiming beam emission system and unmanned plane
Light guide beam reception system composition, it is characterised in that: ground laser aiming beam emission system accompanying drawing 2, including servosystem,
Laser instrument and laser aiming beam form device；Servosystem is used for adjusting the sensing of laser aiming beam, laser instrument effect is
Produce light beam, laser aiming beam forms device for adjusting the angle of divergence of laser beam；Unmanned plane laser aiming beam connects
Receive System Figure include receiving optics, detector, signal processing unit and with the communicating of UAV Flight Control System
Unit, optical system is for focusing on guiding light beam, and forms hot spot on the detector；Detector light spot received energy, and root
According to accepted laser energy output current phase；Detector output current phase is amplified and resolves by signal processing unit, is formed
Deviation signal communicates with UAV Flight Control System through communication unit, controls steering wheel by UAV Flight Control System
Adjust unmanned plane during flying direction.
Unmanned plane recovery system the most according to claim 1, it is characterised in that the pitch regulation of described servo-control system
Scope is 0 ° ~ 30 °.
Unmanned plane recovery system the most according to claim 1, it is characterised in that described laser instrument is infrared laser, its
Wave band is 1550nm safest to human eye.
Unmanned plane recovery system the most according to claim 1, it is characterised in that described laser aiming beam forms device and is
Collimating optical system and varifocal optical system.
Unmanned plane recovery system the most according to claim 1, it is characterised in that described receiving optics is for focusing on optics
System.
Unmanned plane recovery system the most according to claim 1, it is characterised in that described detector is 4 quadrant detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639473.5A CN106143932A (en) | 2016-08-05 | 2016-08-05 | A kind of unmanned plane recovery system based on laser-beam riding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610639473.5A CN106143932A (en) | 2016-08-05 | 2016-08-05 | A kind of unmanned plane recovery system based on laser-beam riding |
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| Publication Number | Publication Date |
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| CN106143932A true CN106143932A (en) | 2016-11-23 |
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| CN201610639473.5A Pending CN106143932A (en) | 2016-08-05 | 2016-08-05 | A kind of unmanned plane recovery system based on laser-beam riding |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264821A (en) * | 2017-07-19 | 2017-10-20 | 中国电子科技集团公司第十四研究所 | A kind of unmanned plane light guiding landing system and method |
| CN107885223A (en) * | 2017-10-31 | 2018-04-06 | 武汉大学 | Unmanned plane recovery guiding system based on laser |
| CN107918401A (en) * | 2017-11-15 | 2018-04-17 | 广东容祺智能科技有限公司 | It is a kind of independently to be maked a return voyage system based on laser-guided unmanned plane |
| CN109032179A (en) * | 2018-08-08 | 2018-12-18 | 西安电子科技大学 | Unmanned plane flying control equipment based on laser intensity detection |
| CN109573088A (en) * | 2018-10-29 | 2019-04-05 | 南京航空航天大学 | A kind of Shipborne UAV photoelectricity guidance carrier landing system and warship method |
| CN112947588A (en) * | 2021-03-01 | 2021-06-11 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Unmanned aerial vehicle electric wire netting patrols line system |
| CN113110577A (en) * | 2021-04-15 | 2021-07-13 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle flight route planning management system is patrolled and examined to electric wire netting |
| CN113495570A (en) * | 2021-07-26 | 2021-10-12 | 成都飞机工业（集团）有限责任公司 | Ship surface autonomous guiding control system and method for fixed-wing unmanned aerial vehicle |
-
2016
- 2016-08-05 CN CN201610639473.5A patent/CN106143932A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264821A (en) * | 2017-07-19 | 2017-10-20 | 中国电子科技集团公司第十四研究所 | A kind of unmanned plane light guiding landing system and method |
| CN107885223A (en) * | 2017-10-31 | 2018-04-06 | 武汉大学 | Unmanned plane recovery guiding system based on laser |
| CN107885223B (en) * | 2017-10-31 | 2020-02-14 | 武汉大学 | Unmanned aerial vehicle retrieves bootstrap system based on laser |
| CN107918401A (en) * | 2017-11-15 | 2018-04-17 | 广东容祺智能科技有限公司 | It is a kind of independently to be maked a return voyage system based on laser-guided unmanned plane |
| CN109032179A (en) * | 2018-08-08 | 2018-12-18 | 西安电子科技大学 | Unmanned plane flying control equipment based on laser intensity detection |
| CN109573088A (en) * | 2018-10-29 | 2019-04-05 | 南京航空航天大学 | A kind of Shipborne UAV photoelectricity guidance carrier landing system and warship method |
| CN109573088B (en) * | 2018-10-29 | 2022-01-04 | 南京航空航天大学 | Carrier-borne unmanned aerial vehicle photoelectric guidance carrier landing system and carrier landing method |
| CN112947588A (en) * | 2021-03-01 | 2021-06-11 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Unmanned aerial vehicle electric wire netting patrols line system |
| CN113110577A (en) * | 2021-04-15 | 2021-07-13 | 中国南方电网有限责任公司超高压输电公司柳州局 | Unmanned aerial vehicle flight route planning management system is patrolled and examined to electric wire netting |
| CN113495570A (en) * | 2021-07-26 | 2021-10-12 | 成都飞机工业（集团）有限责任公司 | Ship surface autonomous guiding control system and method for fixed-wing unmanned aerial vehicle |
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Application publication date: 20161123 |