CN106483974A - A kind of fixed-wing unmanned plane closely geometry barrier-avoiding method - Google Patents
A kind of fixed-wing unmanned plane closely geometry barrier-avoiding method Download PDFInfo
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- CN106483974A CN106483974A CN201510555774.5A CN201510555774A CN106483974A CN 106483974 A CN106483974 A CN 106483974A CN 201510555774 A CN201510555774 A CN 201510555774A CN 106483974 A CN106483974 A CN 106483974A
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Abstract
The invention belongs to unmanned plane Autonomous Control technology is and in particular to a kind of fixed-wing unmanned plane closely geometry barrier-avoiding method.Because fixed-wing unmanned plane has that flight speed is fast, noise is little and the advantage such as cruising time length, towards the fixed-wing unmanned plane autonomous flight technical research of such complex environment, gradually cause the concern of the military.The advantages of the method is mainly used in the closely avoidance of fixed-wing unmanned plane, using laser radar and method of geometry, calculates required deflection angle and yaw rate, has and be swift in response, reliability height, and easily operated.
Description
Technical field
The invention belongs to unmanned plane Autonomous Control technology is and in particular to a kind of fixed-wing unmanned plane closely geometry
Barrier-avoiding method.
Background technology
With unmanned air vehicle technique make rapid progress development, its enemy's situation investigation, area monitoring, agricultural production,
There is increasingly extensive application in the military and civilian fields such as meteorological detection, the condition of a disaster detection.In the face of complex environment,
As application scenarios such as the cities stood in great numbers in rugged mountain area, mansion, unmanned plane is needed to have higher autonomous grade
Obstacle avoidance function.
At present, as Mini Tele-Copter, quadrotor etc. towards between the building of city, forest and mountain area use
The autonomous flight technical research of environment achieves larger progress.Because fixed-wing unmanned plane has flight speed
Hurry up, noise is little and the advantage such as cruising time length, towards the fixed-wing unmanned plane autonomous flight of such complex environment
Technical research, gradually causes the concern of the military.Face two based on the closely avoidance of fixed-wing platform
A difficult problem：1) real-time.Because fixed-wing unmanned plane during flying speed is fast, it has higher wanting to the real-time of avoidance
Ask；2) Dynamic Constraints.Compared to gyroplane, fixed-wing unmanned plane has stronger Dynamic Constraints, needs
The Dynamic Constraints of unmanned plane to be considered.
Content of the invention
The technical problem to be solved in the present invention is to propose a kind of fixed-wing unmanned plane closely geometry barrier-avoiding method,
Solve the problems, such as fixed-wing unmanned plane avoidance under complex environment.
In order to solve above-mentioned technical problem, present invention employs following steps：
First, barrier positioning
Position using airborne laser radar real-time detection barrier.
2nd, set safety zone
According to the position of barrier, shape and relative distance, set unmanned plane safe flight region, to hinder
The center hindering thing surface is the center of circle, and the spheric region with r as radius, as the Flight Safety Region of unmanned plane
Domain,
R=max (0.25l, robs)
L is the distance to blocking surfaces for the unmanned plane that measures of Airborne Lidar, robsFor blocking surfaces center extremely
The ultimate range at its edge.
3rd, calculate yaw angle
Using method of geometry, according to current course and alternative course, calculate required deflection angle and yaw angle
Speed, in the horizontal plane, with unmanned plane current location, makees two tangent line V to safe flight region1With V2,
V1With V2For the alternative course of unmanned plane, VhFor unmanned plane current flight course, calculate required deflection angle
Degree and yaw rate；
It is required deflection angle.
4th, select desired heading
The alternative course of the relatively primary deflector obtaining in step 3 angle is chosen to be desired heading.
5th, resolve roll angle instruction
According to coordinate turn condition, resolve the roll angle instruction that should fly.
6th, implement avoidance
While self-position changes, real-time update roll angle instructs unmanned plane, and roll angle instruction is carried out
Revise, until unmanned plane clears the jumps, complete avoidance.
Beneficial effects of the present invention：The method is mainly used in the closely avoidance of fixed-wing unmanned plane, has anti-
The advantages of answer rapid, reliability is high, and easily operated.The superior function of this method is by based on small-sized solid
The closely avoidance flight test determining wing platform is confirmed.
Brief description
Fig. 1 is the schematic diagram of geometry barrier-avoiding method of the present invention.
Specific embodiment
A kind of specific embodiment of employing fixed-wing unmanned plane of the present invention closely geometry barrier-avoiding method,
First, barrier positioning
For closely avoidance it is desirable to the detection to barrier has degree of precision.This test is using Japan
The UTM-30LX laser radar of HOKUYO company, this laser radar sphere of action is 30 meters, horizontal view angle
270 °, angular resolution is 0.25 °, and precision is 3cm, disclosure satisfy that the requirement of this method.Laser radar is pacified
It is loaded on the Handpiece Location of unmanned plane.This method is detected to the barrier of surrounding using this laser radar, leads to
Cross unmanned plane and the relative position of barrier and the current location of unmanned plane, and then calculate barrier place
Position.Simultaneously can be with the size of acquired disturbance thing.
2nd, set safety zone
Because small-sized fixed-wing unmanned plane can may be affected by external environment in flight, flight track
There is certain error and knock barrier, so needing to set the safe flight region of unmanned plane.As Fig. 1 institute
Show, this method adopts with the center of blocking surfaces as the center of circle, the spheric region with r as radius, as
The safe flight region of unmanned plane.
R=max (0.25l, robs)
L is the distance to blocking surfaces for the unmanned plane that measures of Airborne Lidar, robsFor blocking surfaces center extremely
The ultimate range at its edge.
3rd, calculate yaw angle
In the horizontal plane, with unmanned plane current location, two tangent line V are made to safe flight region1With V2, V1
With V2Alternative course for unmanned plane.VhFor unmanned plane current flight course, calculate required deflection angle and
Yaw rate；
It is required deflection angle.
4th, select desired heading
IfTake nearby principle, selected V1For desired heading.
5th, resolve roll angle instruction
In order to ensure the safety that fixed-wing unmanned plane flies during avoidance, should expire during avoidance in horizontal plane
The condition of sufficient coordinate turn, and limit less than unmanned machine rolling angle.According to coordinate turn condition：
Thus obtain
L is the distance of unmanned plane current location to Obstacle Position, and unmanned plane during flying speed is V, obtains unmanned
Machine flew to the time of barrier
The maximum roll angle of the fixed-wing unmanned plane that this flight test is adopted is defined to 50 °,
Thus obtain the roll angle instruction of avoidance.
6th, implement avoidance
Roll angle instruction should be flown to unmanned plane input and carry out avoidance.In the process, unmanned plane changes in self-position
While, real-time update roll angle instructs, and calculated roll angle instruction before is modified, until
Unmanned plane clears the jumps, and completes avoidance.
Claims (1)
1. a kind of fixed-wing unmanned plane closely geometry barrier-avoiding method it is characterised in that the method include following
Step：
First, barrier positioning
Position using airborne laser radar real-time detection barrier；
2nd, set safety zone
According to the position of barrier, shape and relative distance, set unmanned plane safe flight region, to hinder
The center hindering thing surface is the center of circle, and the spheric region with r as radius, as the Flight Safety Region of unmanned plane
Domain,
R=max (0.25l, robs)
L is the distance to blocking surfaces for the unmanned plane that measures of Airborne Lidar, robsFor blocking surfaces center extremely
The ultimate range at its edge；
3rd, calculate yaw angle
According to current course and alternative course, calculate required deflection angle and yaw rate, in horizontal plane
Interior, with unmanned plane current location, make two tangent line V to safe flight region1With V2, V1With V2For no
Man-machine alternative course, VhFor unmanned plane current flight course, calculate required deflection angle and yaw angle speed
Degree；
It is required deflection angle；
4th, select desired heading
The alternative course of the relatively primary deflector obtaining in step 3 angle is chosen to be desired heading；
5th, resolve roll angle instruction
According to coordinate turn condition, resolve the roll angle instruction that should fly；
6th, implement avoidance
While self-position changes, real-time update roll angle instructs unmanned plane, and roll angle instruction is carried out
Revise, until unmanned plane clears the jumps, complete avoidance.
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| CN201510555774.5A CN106483974B (en) | 2015-09-02 | 2015-09-02 | A kind of fixed-wing unmanned plane short distance geometry barrier-avoiding method |
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| CN106483974B CN106483974B (en) | 2019-05-10 |
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Cited By (11)
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|---|---|---|---|---|
| CN107544534A (en) * | 2017-10-16 | 2018-01-05 | 中国矿业大学 | A kind of plant protection unmanned plane automatic fine operation and barrier-avoiding method based on BDS, INS |
| CN107914273A (en) * | 2017-11-08 | 2018-04-17 | 浙江工业大学 | Mechanical arm teaching system based on gesture control |
| CN107943101A (en) * | 2017-12-13 | 2018-04-20 | 王俊梅 | A kind of method that unmanned plane selection jamming pattern flies |
| CN108323190A (en) * | 2017-12-15 | 2018-07-24 | 深圳市道通智能航空技术有限公司 | A kind of barrier-avoiding method, device and unmanned plane |
| CN108986469A (en) * | 2018-07-04 | 2018-12-11 | 北京航空航天大学 | It is a kind of to turn to the highway emergency event recognition methods that circle tangential method carries out unmanned plane path planning based on minimum safe |
| CN109298708A (en) * | 2018-08-31 | 2019-02-01 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | A kind of unmanned boat automatic obstacle avoiding method merging radar and photoelectric information |
| CN109407705A (en) * | 2018-12-14 | 2019-03-01 | 厦门理工学院 | A kind of method, apparatus, equipment and the storage medium of unmanned plane avoiding barrier |
| CN110244762A (en) * | 2019-06-17 | 2019-09-17 | 中国科学院自动化研究所 | Based on the flight equipment avoiding collision and equipment, security system for listening sound to distinguish position |
| CN110262555A (en) * | 2019-07-12 | 2019-09-20 | 南京航空航天大学 | Unmanned plane Real Time Obstacle Avoiding control method under continuous obstacle environment |
| CN111665867A (en) * | 2020-06-29 | 2020-09-15 | 中国人民解放军海军航空大学岸防兵学院 | Aircraft lateral maneuver guidance method and device, electronic equipment and storage medium |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544534A (en) * | 2017-10-16 | 2018-01-05 | 中国矿业大学 | A kind of plant protection unmanned plane automatic fine operation and barrier-avoiding method based on BDS, INS |
| CN107914273A (en) * | 2017-11-08 | 2018-04-17 | 浙江工业大学 | Mechanical arm teaching system based on gesture control |
| CN107943101B (en) * | 2017-12-13 | 2020-11-03 | 徐州融创达电子科技有限公司 | Method for unmanned aerial vehicle to fly by selecting interference background |
| CN107943101A (en) * | 2017-12-13 | 2018-04-20 | 王俊梅 | A kind of method that unmanned plane selection jamming pattern flies |
| CN108323190A (en) * | 2017-12-15 | 2018-07-24 | 深圳市道通智能航空技术有限公司 | A kind of barrier-avoiding method, device and unmanned plane |
| CN108323190B (en) * | 2017-12-15 | 2022-07-29 | 深圳市道通智能航空技术股份有限公司 | Obstacle avoidance method and device and unmanned aerial vehicle |
| CN108986469A (en) * | 2018-07-04 | 2018-12-11 | 北京航空航天大学 | It is a kind of to turn to the highway emergency event recognition methods that circle tangential method carries out unmanned plane path planning based on minimum safe |
| CN109298708A (en) * | 2018-08-31 | 2019-02-01 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | A kind of unmanned boat automatic obstacle avoiding method merging radar and photoelectric information |
| CN109298708B (en) * | 2018-08-31 | 2021-08-17 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | Unmanned ship autonomous obstacle avoidance method integrating radar and photoelectric information |
| CN109407705A (en) * | 2018-12-14 | 2019-03-01 | 厦门理工学院 | A kind of method, apparatus, equipment and the storage medium of unmanned plane avoiding barrier |
| CN110244762A (en) * | 2019-06-17 | 2019-09-17 | 中国科学院自动化研究所 | Based on the flight equipment avoiding collision and equipment, security system for listening sound to distinguish position |
| CN110262555A (en) * | 2019-07-12 | 2019-09-20 | 南京航空航天大学 | Unmanned plane Real Time Obstacle Avoiding control method under continuous obstacle environment |
| CN111665867A (en) * | 2020-06-29 | 2020-09-15 | 中国人民解放军海军航空大学岸防兵学院 | Aircraft lateral maneuver guidance method and device, electronic equipment and storage medium |
| CN111665867B (en) * | 2020-06-29 | 2023-04-07 | 中国人民解放军海军航空大学岸防兵学院 | Aircraft lateral maneuver guidance method and device, electronic equipment and storage medium |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
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