CN106530839A - Unmanned aerial vehicle assembly line type takeoff and landing method based on double ground stations - Google Patents
Unmanned aerial vehicle assembly line type takeoff and landing method based on double ground stations Download PDFInfo
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- CN106530839A CN106530839A CN201611084626.0A CN201611084626A CN106530839A CN 106530839 A CN106530839 A CN 106530839A CN 201611084626 A CN201611084626 A CN 201611084626A CN 106530839 A CN106530839 A CN 106530839A
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- unmanned plane
- unmanned aerial
- aerial vehicle
- earth station
- takeoff
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
Abstract
The invention discloses an unmanned aerial vehicle assembly line type takeoff and landing method based on double ground stations, and belongs to the technical field of unmanned aerial vehicle command automation. The specific steps are as follows: 1) a ground station A controls a first unmanned aerial vehicle to execute the step d to the step g in a takeoff process; 2) when the ground station A controls the first unmanned aerial vehicle to complete the step g, a ground station B controls a second unmanned aerial vehicle to complete the step e, and takeoff checking is prepared for; 3) after controlling the first unmanned aerial vehicle to complete takeoff to a safe region, the ground station A executes control of a third unmanned aerial vehicle to execute takeoff; and 4) after controlling the second unmanned aerial vehicle to complete takeoff to a safe region, the ground station B executes control of a fourth unmanned aerial vehicle to execute takeoff; and subsequent unmanned aerial vehicle takeoffs are performed by repetition of the abovementioned steps one to four. Assembly line type takeoff of the plurality of unmanned aerial vehicles is completed; and gathering waiting time is reduced, and response real-time performance of formation task execution and the flying range and endurance of formation task execution are improved.
Description
Technical field
The invention belongs to unmanned plane command automation technical field, and in particular to a kind of unmanned plane stream based on double earth stations
Line type landing method.
Background technology
Unmanned plane has the advantages that low cost effectiveness, zero injures and deaths and deployment are flexible, can help even replace the mankind a lot
Scene plays a role, and no matter in civil area or military domain, unmanned plane has wide application and development prospect.
Due to the load of single unmanned plane it is limited, by nothing after wide mission area and single unmanned plane failure is tackled
Method completes the unfavorable factor of task, this allow for using the cooperation between unmanned plane with perform the requirement of increasingly complex task gradually into
For the trend of unmanned plane research.Multiple UAVs are carried out forming into columns by composite formation's mode and perform different or single task role, with
Guarantee to complete one or more tasks.
Unmanned plane performs task and still needs to ground station control now, especially the landing stage, needs earth station's monitor in real time.Mesh
When front unmanned plane performs formation task, takeoff and landing are monitored using single earth station.As a example by taking off, earth station monitors previous frame
Aircraft is rolled away to flying to safety zone to monitor next airplane from airplane parking area and repeats said process, the aircraft for previously having taken off
Need to wait in assembly area, as the quantity of formation aircraft increases, the time for assembling wait is also elongated, affect task response real-time
Property；Meanwhile, shorten when the waiting time elongated voyage for also making air formation perform task, boat.And, if in formation takeoff
In journey, there are special feelings in single rack aircraft, and follow-up aircraft can be affected to set out, after in descent, the special feelings of single rack aircraft appearance can also affect
Continuous aircraft landing, in some instances it may even be possible to lead to disastrous consequence.
The content of the invention
The purpose of the present invention：In order to solve the above problems, the present invention proposes the unmanned machine production line of a kind of pair of earth station
Formula landing method, employs double earth stations and controls multiple unmanned plane pipeline system landings respectively, assemble wait to reduce unmanned plane
Time, when improving voyage, the boat of the response real-time and formation execution task of formation execution task.
Technical scheme：A kind of unmanned plane pipeline system landing method based on double earth stations, wherein, unmanned plane
Take-off process is comprised the following steps：
A) filling is carried additionally：Time-consuming T1, takes canopy；
B) quiet inspection：Time-consuming T2, takes canopy；
C) move inspection：Time-consuming T3, takes canopy；
D) taxiway starting point is slided to from canopy：Time-consuming T4, takes airplane parking area；
E) slide to take-off line from taxiway starting point：Time-consuming T5, takes taxiway；
F) pre-takeoff check：Time-consuming T6, takes runway；
G) rolling start is to safety zone：Time-consuming T7, takes station spatial domain；
Multiple unmanned plane pipeline systems are controlled respectively by the earth station A, the earth station B that arrange and completes landing；
The unmanned plane pipeline system landing method control unmanned plane based on double earth stations takes off and comprises the following steps：
Step d in step one, the earth station A control first unmanned plane execution take-off process is to step g；
Step 2, when earth station A controls the second frame unmanned plane and completes step g, earth station B control unmanned plane is completed
Step e, standby for takeoff inspection；
Step 3, earth station A control first unmanned planes complete to take off to safety zone, go to perform control the 3rd
Frame unmanned plane is performed and is taken off；
Step 4, the earth station B control the second frame unmanned plane and complete to take off to safety zone, go to perform control the 4th
Frame unmanned plane is performed and is taken off；
Step 5, follow-up unmanned plane take off, and repeat the above steps one are to step 4；Complete the streamline of multiple unmanned planes
Formula is taken off.
Preferably, in the step 2, the earth station B is after first airplane of the earth station A sets out the △ T moment
Control the second airplane to set out, in the same manner, in the step 3, the earth station A treats that second airplane of the earth station B is set out
Control the 3rd airplane to set out after the △ T moment, △ T=(T4+T5+T6+T7)-(T4+T5)=T6+T7.
Preferably, the unmanned plane pipeline system landing method control unmanned plane landing step and institute based on double earth stations
The unmanned plane pipeline system landing method control unmanned plane step of taking off stated based on double earth stations is contrary.
The technology of the present invention beneficial effect：Scheme of the present invention using double ground station control unmanned plane pipeline system landings, can
Aircraft is greatly decreased to assemble the waiting time, realization is quickly set out, and concrete advantage is as follows：
1) significantly shorten air formation to assemble the waiting time, realization is quickly set out；
2) when improving voyage, the boat of formation execution task；
3) if special feelings occurs in certain airplane of take-off process, other aircrafts are not affected to set out；
4) if special feelings occurs in certain airplane of descent, other aircraft landings are not affected, improve security of system.
Description of the drawings
Fig. 1 be a kind of unmanned plane pipeline system landing method control unit based on double earth stations of the present invention take off it is one excellent
Select the schematic flow sheet of embodiment.
Fig. 2 be a kind of unmanned plane pipeline system landing method control multimachine based on double earth stations of the present invention take off it is one excellent
Select the schematic flow sheet of embodiment.
Fig. 3 be a kind of unmanned plane pipeline system landing method control multimachine based on double earth stations of the present invention take off it is one excellent
The earth station A of embodiment, earth station B is selected to control unmanned plane schematic diagram respectively.
Specific embodiment
To make purpose, technical scheme and the advantage of present invention enforcement clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from start to finish or class
As label represent same or similar element or the element with same or like function.Described embodiment is the present invention
A part of embodiment, rather than the embodiment of whole.It is exemplary below with reference to the embodiment of Description of Drawings, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment obtained under the premise of creative work is not made by member, belongs to the scope of protection of the invention.Under
Face combines accompanying drawing and embodiments of the invention is described in detail.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward " is based on accompanying drawing institute
The orientation for showing or position relationship, are for only for ease of the description present invention and simplify description, rather than indicate or imply the dress of indication
Put or element with specific orientation, with specific azimuth configuration and operation, therefore it is not intended that must be protected to the present invention
The restriction of scope.
Below in conjunction with the accompanying drawings embodiments of the invention are described in detail, Fig. 1 to Fig. 3 is refer to；
A kind of unmanned plane pipeline system landing method based on double earth stations, by earth station A, earth station B point arranged
Do not control multiple unmanned plane pipeline systems and complete landing；By taking unmanned plane take-off process as an example, the flow process that unmanned plane takes off include with
Lower step：
A) filling is carried additionally：Time-consuming T1, takes canopy；
B) quiet inspection：Time-consuming T2, takes canopy；
C) move inspection：Time-consuming T3, takes canopy；
D) taxiway starting point is slided to from canopy：Time-consuming T4, takes airplane parking area；
E) slide to take-off line from taxiway starting point：Time-consuming T5, takes taxiway；
F) pre-takeoff check：Time-consuming T6, takes runway；
G) rolling start is to safety zone：Time-consuming T7, takes station spatial domain.
In above-mentioned flow process, filling is carried additionally, quiet inspection, dynamic inspection process do not need earth station to participate in；Follow-up process step d is to step
G is required to earth station's monitoring, and after unmanned plane reaches safety zone, unmanned plane pays task stand control duty, is no longer belong to ground
Face stand control scope.
Therefore applicable phase start point of the present invention based on the unmanned plane pipeline system landing method of double earth stations is unmanned plane
Start to roll away from from canopy, terminal is to fly to safety zone height.
Liang Tao earth stations A, B control takeoff and landing are disposed about in airfield runway, the stream of runway, spatial domain and taxiway is realized
Waterline is dispatched, to greatest extent using limited station resource.So that certain type unmanned plane takes off as an example, specific embodiment step is such as
Under：
Step d that step one, earth station A control first unmanned planes are performed in the take-off process (is slided from canopy
To taxiway starting point) to step g (rolling start is to safety zone).
Step 2, when earth station A control the second frame unmanned plane when, be realize runway resource is made full use of, when first
Airplane flies to safety zone, and now the earth station B controls unmanned slide to take-off line, standby for takeoff inspection；According to
First unmanned plane fly time to safety zone it is counter pushed away for the second frame unmanned plane attack time, be △ T=(T4+T5+T6+T7)-
(T4+T5) after=T6+T7, i.e. the first airplane set out the △ T moment, earth station B the second frame unmanned planes of control are set out.
Step 3, earth station A control first unmanned planes complete to take off to safety zone, turn to go to control the 3rd frame
Aircraft, equally, using the second airplane fly to the safety zone time it is counter pushed away for the 3rd airplane attack time, be similarly the second frame fly
After machine sets out the △ T moment, earth station A the 3rd framves of control are set out.
Step 4, earth station B control the second airplane and fly to safety zone, turn to go to control the 4th airplane, in repetition
Process is stated, the 4th airplane is set out after the 3rd airplane sets out the △ T moment.
Step 5, follow-up unmanned plane take off, and repeat said process, by double earth stations stream for completing multiple unmanned planes on duty by turns
Line type takes off.
The unmanned plane pipeline system landing method control unmanned plane landing step based on double earth stations is based on described
The unmanned plane pipeline system landing method control unmanned plane step of taking off of double earth stations is contrary.
When N (N is even number) frame unmanned plane is set out, if taken off with single ground station control unmanned plane, set out to need flower altogether
Time-consuming Tsig=N (T4+T5+T6+T7), if taken off with double earth stations monitoring unmanned plane, sets out to spend the time altogether
Tdou=(T4+T5+T6+T7)+(N-1) (T6+T7), therefore sets out common time-consuming Tsur=(N-1) during N frame unmanned planes
(T4+T5)；
In above-mentioned unmanned plane pipeline system take-off process, when N frame unmanned planes are set out, N-2 framves unmanned plane has flown to peace
Premised on region-wide, i.e. T6+T7 ＞ T4+T5, that is, the free time can switch to control the at once to monitor the earth station of N-2 airplanes
N airplanes, but according to the difference of real aircraft model, it is understood that there may be T6+T7<The situation of T4+T5, now N-2 airplanes are winged
During to safety zone, N airplanes not yet reach take-off line, and this kind of situation is taken off with the monitoring of double earth stations, spends the time
Tdou=(T4+T5+T6+T7)+(N-1) * (T4+T5), it is now time-consuming for Tsur=(N-1) * (T6+T7)；
In take-off process, if the special feelings of aircraft appearance taken off need forced landing, one of ground station control flies
Machine force-lands, and another earth station can still monitor other takeoff and landing, be not result in mission failure；In descent, if
Special feelings occurs in the aircraft of landing to be needed to go around, and after going around, another earth station can control follow-up aircraft landing, can reduce follow-up flying
Machine lands the waiting time, it is to avoid the low on fuel being likely to occur causes catastrophic failure, if in descent, having other aircrafts to go out
When existing spy's feelings need forced landing, another earth station can control the aircraft for special feelings occur and force-land on forced landing road, improve system safety
Property.
A kind of unmanned plane pipeline system landing method based on double earth stations of the present invention is domestic initiation, can be greatly decreased winged
Machine assembles the waiting time, improves the response real-time of formation execution task, while when improving the voyage of formation execution task, boat.
It is last it is to be noted that：Above example only to illustrate technical scheme, rather than a limitation.To the greatest extent
Pipe has been described in detail to the present invention with reference to the foregoing embodiments, it will be understood by those within the art that：Which is still
Technical scheme described in foregoing embodiments can be modified, or equivalent is carried out to which part technical characteristic and replace
Change；And these modifications or replacement, do not make the essence of appropriate technical solution depart from the essence of various embodiments of the present invention technical scheme
God and scope.
Claims (3)
1. a kind of unmanned plane pipeline system landing method based on double earth stations, wherein, unmanned plane take-off process includes following step
Suddenly：
A) filling is carried additionally：Time-consuming T1, takes canopy；
B) quiet inspection：Time-consuming T2, takes canopy；
C) move inspection：Time-consuming T3, takes canopy；
D) taxiway starting point is slided to from canopy：Time-consuming T4, takes airplane parking area；
E) slide to take-off line from taxiway starting point：Time-consuming T5, takes taxiway；
F) pre-takeoff check：Time-consuming T6, takes runway；
G) rolling start is to safety zone：Time-consuming T7, takes station spatial domain；
Characterized in that, controlling multiple unmanned plane pipeline systems respectively by the earth station A, the earth station B that arrange completes landing；Institute
State the control unmanned plane of the unmanned plane pipeline system landing method based on double earth stations to take off and comprise the following steps：
Step d in step one, the earth station A control first unmanned plane execution take-off process is to step g；
Step 2, when earth station A control first unmanned planes complete step g, it is complete that the earth station B controls the second frame unmanned plane
Into step e, standby for takeoff inspection；
Step 3, the earth station A control first unmanned plane complete to take off to safety zone, go perform control the 3rd frame without
Man-machine execution is taken off；
Step 4, the earth station B control the second frame unmanned plane complete to take off to safety zone, go perform control the 4th frame without
Man-machine execution is taken off；
Step 5, follow-up unmanned plane take off, and repeat the above steps one are to step 4；The pipeline system for completing multiple unmanned planes rises
Fly.
2. the unmanned plane pipeline system landing method based on double earth stations according to claim 1, it is characterised in that；It is described
In step 2, the earth station B after first airplane of the earth station A sets out the △ T moment controls the second airplane and sets out,
In the same manner, in the step 3, the earth station A controls the 3rd frame after second airplane of the earth station B sets out the △ T moment
Aircraft is set out, △ T=(T4+T5+T6+T7)-(T4+T5)=T6+T7.
3. the unmanned plane pipeline system landing method based on double earth stations according to claim 1, it is characterised in that：It is described
Unmanned plane pipeline system landing method control unmanned plane landing step and the nothing based on double earth stations based on double earth stations
Man-machine pipeline system landing method control unmanned plane step of taking off is contrary.
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| CN106530839B (en) | 2019-07-19 |
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