CN106530839B - A kind of unmanned plane pipeline system landing method based on double earth stations - Google Patents
A kind of unmanned plane pipeline system landing method based on double earth stations Download PDFInfo
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- CN106530839B CN106530839B CN201611084626.0A CN201611084626A CN106530839B CN 106530839 B CN106530839 B CN 106530839B CN 201611084626 A CN201611084626 A CN 201611084626A CN 106530839 B CN106530839 B CN 106530839B
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- unmanned plane
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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 unmanned plane pipeline system landing method based on double earth stations that the invention discloses a kind of, belongs to unmanned plane command automation technical field.Specific step is as follows: 1) earth station A controls the step d to step g in first unmanned plane execution take-off process；2) when earth station A control first unmanned plane completes step g, earth station B controls the second frame unmanned plane and completes step e, standby for takeoff inspection；3) earth station A controls the completion of first unmanned plane and takes off to safety zone, and execution control third frame unmanned plane execution is gone to take off；4) earth station B controls the completion of the second frame unmanned plane and takes off to safety zone, and execution control the 4th frame unmanned plane execution is gone to take off；Subsequent unmanned plane takes off, and repeats the above steps one to step 4；The pipeline system for completing multiple unmanned planes takes off；It reduces and assembles the waiting time, improve the response real-time of formation execution task and voyage, the endurance of formation execution task.
Description
Technical field
The invention belongs to unmanned plane command automation technical fields, and in particular to a kind of unmanned plane stream based on double earth stations
Line type landing method.
Background technique
Unmanned plane has many advantages, such as that low cost effectiveness, zero injures and deaths and deployment are flexible, can help even to replace the mankind very much
Scene plays a role, and no matter in civil field or military domain, unmanned plane has wide application and development prospect.
Since the load of single unmanned plane is limited, by nothing after coping with wide mission area and single unmanned plane failure
Method completes the unfavorable factor of task, this allow for using the cooperation between unmanned plane with execute the requirement of increasingly complex task gradually at
For the trend of unmanned plane research.Multiple UAVs form into columns by composite formation's mode and execute different or single task role, with
Guarantee to complete one or more tasks.
Present unmanned plane executes task and still needs to ground station control, especially the landing stage, earth station is needed to monitor in real time.Mesh
When preceding unmanned plane executes formation task, takeoff and landing are monitored using single earth station.For taking off, earth station monitors previous frame
Aircraft is driven out to after flying to safety zone from airplane parking area and could monitor next airplane and repeat the above process, the aircraft previously to have taken off
It need to be waited in assembly area, as the quantity of formation aircraft increases, the time for assembling waiting is also elongated, and it is real-time to influence task response
Property；Meanwhile the waiting time elongated voyage for also making air formation execute task, endurance shorten.Moreover, if in formation takeoff
There are special feelings in single rack aircraft in journey, will affect subsequent aircraft and sets out, after the special feelings of single rack aircraft appearance also will affect in descent
Continuous aircraft landing, in some instances it may even be possible to lead to disastrous consequence.
Summary of the invention
The purpose of the present invention: to solve the above-mentioned problems, the invention proposes a kind of unmanned machine production lines of double earth stations
Formula landing method controls multiple unmanned plane pipeline system landings using double earth stations respectively, assembles waiting to reduce unmanned plane
Time improves the response real-time of formation execution task and voyage, the endurance of formation execution task.
A kind of technical solution of the present invention: unmanned plane pipeline system landing method based on double earth stations, wherein unmanned plane
Take-off process the following steps are included:
A) filling is carried additionally: time-consuming T1 occupies canopy；
B) quiet inspection: time-consuming T2 occupies canopy；
C) inspection: time-consuming T3 is moved, canopy is occupied；
D) slide to taxiway starting point from canopy: time-consuming T4 occupies airplane parking area；
E) slide from taxiway starting point to take-off line: time-consuming T5 occupies taxiway；
F) pre-takeoff check: time-consuming T6 occupies runway；
G) take off to safety zone: time-consuming T7 occupies station airspace；
Multiple unmanned plane pipeline systems are controlled respectively by the earth station A of setting, earth station B completes landing；
It is described based on double earth stations unmanned plane pipeline system landing method control unmanned plane take off the following steps are included:
Step 1: the earth station A control first unmanned plane executes the step d) in the take-off process to step g)；
Step 2: the earth station B control unmanned plane is complete when earth station A controls the second frame unmanned plane completion step g)
At step e), standby for takeoff inspection；
Step 3: the earth station A control first unmanned plane completion is taken off to safety zone, go to execute control third
Frame unmanned plane executes the step d) to step g) in take-off process；
It takes off Step 4: the earth station B controls the completion of the second frame unmanned plane to safety zone, goes to execute control the 4th
Frame unmanned plane executes the step d) to step g) in take-off process；
Step 5: subsequent unmanned plane takes off, one is repeated the above steps to step 4；Complete the assembly line of multiple unmanned planes
Formula is taken off.
Preferably, in the step 2, the earth station B is after the first airplane of the earth station A sets out the △ T moment
It controls the second airplane to set out, similarly, in the step 3, the earth station A waits for that the second airplane of the earth station B is set out
It controls third airplane after the △ T moment to set out, △ 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
It is opposite to state the unmanned plane pipeline system landing method control unmanned plane step of taking off based on double earth stations.
The technology of the present invention the utility model has the advantages that the present invention using the scheme of 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 specific advantage is as follows:
1) substantially shorten air formation to assemble the waiting time, realization is quickly set out；
2) voyage, the endurance of formation execution task are improved；
3) if special feelings occurs in certain airplane of take-off process, other aircrafts are not influenced and are set out；
4) if special feelings occurs in certain airplane of descent, other aircraft landings are not influenced, improve security of system.
Detailed description of the invention
It is excellent that Fig. 1 is that a kind of unmanned plane pipeline system landing method based on double earth stations of the present invention controls single machine takes off one
Select the flow diagram of embodiment.
It is excellent that Fig. 2 is that a kind of unmanned plane pipeline system landing method based on double earth stations of the present invention controls multimachine takes off one
Select the flow diagram of embodiment.
It is excellent that Fig. 3 is that a kind of unmanned plane pipeline system landing method based on double earth stations of the present invention controls multimachine takes off one
The earth station A of embodiment, earth station B is selected to control unmanned plane schematic diagram respectively.
Specific embodiment
To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as protecting the present invention
The limitation of range.
The embodiment of the present invention is described in detail with reference to the accompanying drawing, please refers to Fig. 1 to Fig. 3；
A kind of unmanned plane pipeline system landing method based on double earth stations passes through the earth station A of setting, earth station B points
Multiple unmanned plane pipeline systems are not controlled completes landing；By taking unmanned plane take-off process as an example, the process that unmanned plane takes off include with
Lower step:
A) filling is carried additionally: time-consuming T1 occupies canopy；
B) quiet inspection: time-consuming T2 occupies canopy；
C) inspection: time-consuming T3 is moved, canopy is occupied；
D) slide to taxiway starting point from canopy: time-consuming T4 occupies airplane parking area；
E) slide from taxiway starting point to take-off line: time-consuming T5 occupies taxiway；
F) pre-takeoff check: time-consuming T6 occupies runway；
G) take off to safety zone: time-consuming T7 occupies station airspace.
In above-mentioned process, filling carried additionally, quiet inspection, dynamic inspection process do not need earth station's participation；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 delivers work station and controls duty, is no longer belong to ground
Face station control range.
It therefore is unmanned plane the present invention is based on the applicable phase start point of the unmanned plane pipeline system landing method of double earth stations
It is driven out to since canopy, terminal is to fly to safety zone height.
Liang Tao earth station A, B control takeoff and landing are disposed about in airfield runway, realize the stream of runway, airspace and taxiway
Waterline scheduling, utilizes limited station resource to greatest extent.By taking certain type unmanned plane takes off as an example, specific embodiment step is such as
Under:
It (is slided from canopy Step 1: the earth station A control first unmanned plane executes the step d in the take-off process
To taxiway starting point) to step g (take off to safety zone).
Step 2: being made full use of to realize to runway resource, when earth station A controls the second frame unmanned plane when first
Airplane flies to safety zone, and the earth station B controls unmanned slide to take-off line, standby for takeoff inspection at this time；According to
First unmanned plane fly to the time of safety zone it is counter pushed away for the second frame unmanned plane attack time, be △ T=(T4+T5+T6+T7)-
(T4+T5) earth station B the second frame unmanned plane of control is set out after=T6+T7, i.e. the first airplane set out the △ T moment.
Step 3: the earth station A control first unmanned plane completion is taken off to safety zone, turn to remove control third frame
Aircraft, equally, using the second airplane fly to the safety zone time it is counter push away the third airplane attack time, be similarly the second frame fly
Earth station A control third frame is set out after machine sets out the △ T moment.
Fly Step 4: earth station B controls the second airplane to safety zone, turns to remove the 4th airplane of control, in repetition
Process is stated, the 4th airplane is set out after third airplane sets out the △ T moment.
Step 5: subsequent unmanned plane takes off, repeat the above process, by double earth stations stream on duty by turns for completing multiple unmanned planes
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 opposite.
When setting out N (N is even number) frame unmanned plane, if taken off with single ground station control unmanned plane, set out to need to spend altogether
Time-consuming Tsig=N (T4+T5+T6+T7) if taken off with double earth stations monitoring unmanned plane sets out that the time need to be spent altogether
Tdou=(T4+T5+T6+T7)+(N-1) (T6+T7), therefore set out to save time Tsur=(N-1) when N frame unmanned plane altogether
(T4+T5)；
In above-mentioned unmanned plane pipeline system take-off process, when N frame unmanned plane is set out, N-2 frame unmanned plane has flown to pacifying
Premised on entire area, i.e. T6+T7 > T4+T5, that is, monitor the earth station of N-2 airplane the free time can switch to control the at once
N airplane, but according to the difference of real aircraft model, it is understood that there may be the case where T6+T7 < T4+T5, N-2 airplane flies at this time
When to safety zone, take-off line is had not yet been reached in N airplane, and such situation is taken off with the monitoring of double earth stations, spends the time
Tdou=(T4+T5+T6+T7)+(N-1) * (T4+T5), saving the time at this time is Tsur=(N-1) * (T6+T7)；
In take-off process, if the special feelings of aircraft appearance taken off need to force-land, one of ground station control flies
Machine forced landing, another earth station can still monitor other takeoff and landing, not will lead to mission failure；In descent, if
There are special feelings needs and goes around in the aircraft of landing, another earth station can control subsequent aircraft landing after going around, and can reduce subsequent fly
Machine lands the waiting time, avoids the low on fuel being likely to occur from causing catastrophic failure, if in descent, having other aircrafts to go out
When existing spy's feelings need to force-land, the controllable aircraft for special feelings occur of another earth station force-lands on forced landing road, improves 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 improving the voyage of formation execution task, endurance.
Finally it is noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes；And these are modified or replaceed, the essence for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Mind and range.
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
It is rapid:
A) filling is carried additionally: time-consuming T1 occupies canopy；
B) quiet inspection: time-consuming T2 occupies canopy；
C) inspection: time-consuming T3 is moved, canopy is occupied；
D) slide to taxiway starting point from canopy: time-consuming T4 occupies airplane parking area；
E) slide from taxiway starting point to take-off line: time-consuming T5 occupies taxiway；
F) pre-takeoff check: time-consuming T6 occupies runway；
G) take off to safety zone: time-consuming T7 occupies station airspace；
It is characterized in that, controlling multiple unmanned plane pipeline systems respectively by earth station A, the earth station B of setting completes landing；Institute
State based on double earth stations unmanned plane pipeline system landing method control unmanned plane take off the following steps are included:
Step 1: the earth station A control first unmanned plane executes the step d) in the take-off process to step g)；
Step 2: the earth station B controls the second frame unmanned plane when earth station A control first unmanned plane completes step g)
Complete step e), standby for takeoff inspection；
Step 3: earth station A control first unmanned plane completion is taken off to safety zone, go to execute control third frame without
Step d) to step g) in man-machine execution take-off process；
Take off Step 4: the earth station B controls the completion of the second frame unmanned plane to safety zone, go to execute the 4th frame of control without
Step d) to step g) in man-machine execution take-off process；
Step 5: subsequent unmanned plane takes off, one is repeated the above steps to step 4；The pipeline system for completing multiple unmanned planes rises
Fly.
2. the unmanned plane pipeline system landing method according to claim 1 based on double earth stations, it is characterised in that；It is described
In step 2, the earth station B controls the second airplane after the first airplane of the earth station A sets out the △ T moment and sets out,
Similarly, in the step 3, the earth station A controls third frame after the 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 according to claim 1 based on double earth stations, it is characterised in that: 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 opposite.
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| US11307598B2 (en) | 2018-07-27 | 2022-04-19 | Ahmad Fareed Aldarwish | Autonomous aircraft control systems and related methods |
| CN109116866B (en) * | 2018-09-20 | 2021-05-14 | 四川腾盾科技有限公司 | Bidirectional autonomous driving-in control method for unmanned aerial vehicle |
| CN112904886B (en) * | 2019-12-03 | 2023-08-11 | 丰翼科技(深圳)有限公司 | Unmanned aerial vehicle flight control method and device, computer equipment and storage medium |
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