CN106647778A - Unmanned helicopter automatic landing method based on UWB guidance - Google Patents
Unmanned helicopter automatic landing method based on UWB guidance Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
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- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an unmanned helicopter automatic landing method based on UWB guidance. A ground service person emits a landing indication through a UWB emitter, and an unmanned helicopter captures the landing indication emitted by the UWB emitter through an airborne UWB capturing device. A flight control system controls the helicopter to track the landing indication emitted by the UWB emitter according to an output signal of the UWB capturing device. Thus, under the control of the flight control system, the helicopter gradually gets close to the ground according to the indication and guidance of the UWB emitter until the unmanned helicopter finally completes automatic landing. The unmanned helicopter automatic landing method based on UWB guidance is advantaged in that by employing UWB signals for guidance, the reliability is high; and the target landing position can be changed at any moment during the landing process.
Description
Technical field
The present invention relates to a kind of UAV Landing method, and in particular to based on the depopulated helicopter automatic Landing that UWB is guided
Method.
Background technology
Location technology, refers to the technology for entering row positional information measure to measuring target.With the development of science and technology, in each neck
In domain, need the target being accurately positioned more and more, especially dynamic mobile target is accurately positioned, be increasingly becoming each
The key issue of industry concern.UWB location technologies have high bandwidth, low-power consumption, strong antijamming capability, transfer rate height, frequency spectrum
The features such as utilization rate is high, power system capacity is big, multi-path resolved rate is high, can in real time be positioned to dynamic object, and can ensure positioning
Precision, to realize that the automatic management that material factory goods is loaded provides reliable technical support.But so far there are no it is based on UWB
The open report that location technology is applied in material factory forklift monitoring operation management equipment.
The accuracy method of depopulated helicopter generally has two kinds.The first is real under the instruction of GPS geo-location system
Existing accuracy.Helicopter landing is guided using GPS, is current most common method.However, due to gps signal penetration power it is poor,
Easily affected by above ground structure and grove and failed.Additionally, GPS is controlled by US military, also can lose under special circumstances
Effect.Therefore, there is drawback and hidden danger using GPS guiding helicopter landings.It two is using vision guided navigation device, according to paving in advance
If the instruction of signal cloth on the ground, helicopter landing is guided.Because vision guided navigation must realize identification using optical signalling, and
The optical signalling of signal cloth is very big by surrounding environment influence.Therefore, in the case of illumination deficiency, the identification of vision guided navigation device
Rate can be reduced seriously, or even None- identified signal cloth.Especially at night, vision guided navigation device must be by the irradiation of external light source
Could normal work.Further, since signal cloth is laid generally before helicopter landing, and cannot in the landing mission of helicopter
It is mobile.Thus cannot be according to real flight conditions, the landing position of real-time change depopulated helicopter.Therefore, both the above method
There is a certain degree of deficiency.
Because GPS guiding is controlled by US military, and GPS guiding cannot be positioned exactly to mobile platform, and extra large
Upper environment is more severe, and vision guide is also difficult with, therefore the afloat mobile platform landing of existing unmanned plane is most
By control manually.
The content of the invention
The technical problem to be solved is to guide Autonomous Landing of UAV by UWB, it is therefore intended that offer is based on
The depopulated helicopter automatic Landing method that UWB is guided, solves because GPS guiding is controlled by US military, and GPS guiding cannot be accurate
Really mobile platform is positioned, and maritime environment is more severe, vision guide is also difficult with, therefore existing unmanned plane
Afloat mobile platform landing is mostly by control manually.
The present invention is achieved through the following technical solutions：
Based on the depopulated helicopter automatic Landing method that UWB is guided, including the following steps for carrying out successively：
A, take off before, on unmanned plane install Airborne UWB acquisition equipment, by Airborne UWB acquisition equipment with flight control system
System is matched；
B, unmanned plane be ready for land when, ground crew carries out landing instruction using UWB transmitter to unmanned plane；
The landing of the Airborne UWB acquisition equipment capture UWB transmitter transmitting on C, unmanned plane is indicated；
Airborne UWB acquisition equipment on D, unmanned plane indicates to output signals to flight control system according to the landing of capture；
Flight control system on E, unmanned plane controls unmanned plane and completes according to the signal that Airborne UWB acquisition equipment is input into
Land.Ground crew is landed by UWB transmitter transmitting and is indicated, depopulated helicopter is sent out by Airborne UWB acquisition equipment, capture UWB
The landing of emitter transmitting is indicated.Flight control system manipulates helicopter tracking UWB transmittings according to the output signal of UWB acquisition equipments
The landing of device transmitting is indicated.So as to, under the control of flight control system, helicopter according to UWB transmitter instruction and guiding,
It is gradually earthward close, until depopulated helicopter is finally completed automatic Landing.
Ground crew is ground crew using the method that UWB transmitter carries out landing instruction to unmanned plane in step B
UWB is irradiated to desired landing point by UWB transmitter.UWB transmitter to expectation landing point is irradiated after UWB, on unmanned plane
Airborne UWB acquisition equipment determines the position relationship of point of irradiation and unmanned plane according to TOA, TDOA, RSS and AOA method.
During UAV Landing, after the point of irradiation of ground crew's change UWB transmitter, the expectation of unmanned plane is landed
Point is also changed to immediately new point of irradiation.In the landing mission of helicopter, it is possible to use UWB transmitter easily changes landing
Target location, after changing the point of irradiation of UWB transmitter, the Airborne UWB acquisition equipment on unmanned plane captures new point of irradiation, according to
New point of irradiation outputs signals to flight control system.
Airborne UWB acquisition equipment in step D on unmanned plane indicates to output signals to flight according to the landing of capture
The method of control system is that UWB acquisition equipments are close to expectation landing point according to the UWB guiding unmanned planes of capture.By step B
It is determined that unmanned plane and point of irradiation position relationship guiding UAV Landing, landing principle is former with GPS guiding UAV Landings
Reason is identical.
The present invention compared with prior art, has the following advantages and advantages：
1st, the depopulated helicopter automatic Landing method that the present invention is guided based on UWB, is guided using UWB signal, reliable
Property it is high；
2nd, the depopulated helicopter automatic Landing method that the present invention is guided based on UWB, can at any time change in landing mission
Land target location.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, with reference to embodiment, to present invention work
Further to describe in detail, exemplary embodiment and its explanation of the invention is only used for explaining the present invention, is not intended as to this
The restriction of invention.
Embodiment
The depopulated helicopter automatic Landing method that the present invention is guided based on UWB, including the following steps for carrying out successively：
A, take off before, on unmanned plane install Airborne UWB acquisition equipment, by Airborne UWB acquisition equipment with flight control system
System is matched；
B, unmanned plane be ready for land when, ground crew carries out landing instruction using UWB transmitter to unmanned plane；
The landing of the Airborne UWB acquisition equipment capture UWB transmitter transmitting on C, unmanned plane is indicated；
Airborne UWB acquisition equipment on D, unmanned plane indicates to output signals to flight control system according to the landing of capture；
Flight control system on E, unmanned plane controls unmanned plane and completes according to the signal that Airborne UWB acquisition equipment is input into
Land.
Ground crew is ground crew using the method that UWB transmitter carries out landing instruction to unmanned plane in step B
UWB is irradiated to desired landing point by UWB transmitter.UWB transmitter to expectation landing point is irradiated after UWB, on unmanned plane
Airborne UWB acquisition equipment is according to arrival time positioning, reaching time-difference positioning, signal strength analysis method and angle of arrival positioning
Method determines the position relationship of point of irradiation and unmanned plane.During UAV Landing, ground crew's change UWB transmitter
After point of irradiation, the expectation landing point of unmanned plane is also changed to immediately new point of irradiation.In the landing mission of helicopter, can be with profit
Target position is easily changed with UWB transmitter, after changing the point of irradiation of UWB transmitter, the Airborne UWB on unmanned plane is caught
Obtain device and capture new point of irradiation, flight control system is output signals to according to new point of irradiation.
Airborne UWB acquisition equipment in step D on unmanned plane indicates to output signals to flight according to the landing of capture
The method of control system is that UWB acquisition equipments are close to expectation landing point according to the UWB guiding unmanned planes of capture.By step B
It is determined that unmanned plane and point of irradiation position relationship guiding UAV Landing, landing principle is former with GPS guiding UAV Landings
Reason is identical.
Unmanned plane is dropped on the aircraft carrier of Liaoning according to said method, first Shen Fei Research Institutes day crossbow nobody
The serial radars of Airborne UWB acquisition equipment NOVELDA 6100 are installed on machine additional, in unmanned plane by remote control or default mission program
Reach ground crew and UWB shapes are irradiated to the landing point on desired Liaoning warship deck by UWB transmitter FREESCALE XS110
Into UWB mount points.Depopulated helicopter is captured UWB transmitter irradiation UWB on the ground and is installed by Airborne UWB acquisition equipment
Point.Flight control system manipulates helicopter tracking UWB mount points, Airborne UWB capture dress according to the output signal of UWB acquisition equipments
Put and irradiation is determined according to arrival time positioning, reaching time-difference positioning, signal strength analysis method and angle of arrival localization method
Point and the position relationship of unmanned plane, positioning precision is decimeter grade, is precisely landed on Liaoning warship of 304.5 meters of captain ample
Have a surplus, when Liaoning warship is in transport condition, the position of UWB mount points is ceaselessly changing, change principle and the ground of mount point
The principle that diligent personnel reset UWB mount points is identical, and because Liaoning warship speed of a ship or plane is 29 sections, day crossbow unmanned plane during flying speed is much larger than the Liao Dynasty
The speed of a ship or plane of Ning Jian, therefore, when in Liaoning, warship is under full steam, unmanned plane remains to machine tracking UWB mount points, in flight control system
Under control, helicopter according to UWB transmitter instruction and guiding, the UWB mount points for gradually earthward going up are close, and while decline
Highly, until depopulated helicopter is finally completed automatic Landing.And want to reach using GPS talk downs enterprising in mobile Liaoning warship
The accurate landing of row decimeter grade then needs to set up multiple differential reference stations on the warship of Liaoning, fixed when differential reference station is not set up
Position precision is at maximum up to 10m levels, and above deck precisely landing feasibility is almost 0, and the wartime will necessarily using GPS location
The coordinate of exposure Liaoning warship.
Above-described specific embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the specific embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc. all should include
Within protection scope of the present invention.
Claims (4)
1. the depopulated helicopter automatic Landing method guided based on UWB, it is characterised in that including the following steps for carrying out successively：
A, take off before, on unmanned plane install Airborne UWB acquisition equipment, Airborne UWB acquisition equipment and flight control system are entered
Row matching；
B, unmanned plane be ready for land when, ground crew carries out landing instruction using UWB transmitter to unmanned plane；
The landing of the Airborne UWB acquisition equipment capture UWB transmitter transmitting on C, unmanned plane is indicated；
Airborne UWB acquisition equipment on D, unmanned plane indicates to output signals to flight control system according to the landing of capture；
Flight control system on E, unmanned plane controls unmanned plane and completes to land according to the signal that Airborne UWB acquisition equipment is input into.
2. it is according to claim 1 based on UWB guide depopulated helicopter automatic Landing method, it is characterised in that it is described
Ground crew is that ground crew passes through UWB transmitter using the method that UWB transmitter carries out landing instruction to unmanned plane in step B
UWB is irradiated to desired landing point.
3. it is according to claim 2 based on UWB guide depopulated helicopter automatic Landing method, it is characterised in that in nothing
During man-machine landing, after the point of irradiation of ground crew's change UWB transmitter, the expectation landing point of unmanned plane is also changed immediately
For new point of irradiation.
4. it is according to claim 2 based on UWB guide depopulated helicopter automatic Landing method, it is characterised in that it is described
Airborne UWB acquisition equipment in step D on unmanned plane indicates to output signals to the side of flight control system according to the landing of capture
Method is that UWB acquisition equipments are close to expectation landing point according to the UWB guiding unmanned planes of capture.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611089242.8A CN106647778A (en) | 2016-12-01 | 2016-12-01 | Unmanned helicopter automatic landing method based on UWB guidance |
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| CN201611089242.8A CN106647778A (en) | 2016-12-01 | 2016-12-01 | Unmanned helicopter automatic landing method based on UWB guidance |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329157A (en) * | 2017-08-30 | 2017-11-07 | 北京昶远科技有限公司 | What a kind of auxiliary fixed-wing unmanned plane was dynamically reclaimed realizes device and implementation method |
| CN108008739A (en) * | 2017-12-28 | 2018-05-08 | 南京航空航天大学 | A kind of unmanned plane tracking of mobile target and landing system and method |
| CN108226913A (en) * | 2017-12-23 | 2018-06-29 | 成都汇蓉国科微系统技术有限公司 | A kind of full resolution pricture navigation system for second-mission aircraft All Weather Landing |
| CN108520640A (en) * | 2018-03-23 | 2018-09-11 | 清研讯科（北京）科技有限公司 | Navigation of Pilotless Aircraft method based on ultra wide band, navigation equipment, unmanned plane |
| CN108945491A (en) * | 2018-04-08 | 2018-12-07 | 北京领航智能科技发展有限公司 | Unmanned plane based on UWB precisely guides and automatic landing method |
| CN109945868A (en) * | 2019-03-07 | 2019-06-28 | 西安爱生技术集团公司 | A kind of unmanned plane target irradiation course line automatic planning |
| CN110416914A (en) * | 2019-07-10 | 2019-11-05 | 河池学院 | A kind of high voltage transmission line intelligent monitoring system and monitoring method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107329157A (en) * | 2017-08-30 | 2017-11-07 | 北京昶远科技有限公司 | What a kind of auxiliary fixed-wing unmanned plane was dynamically reclaimed realizes device and implementation method |
| CN108226913A (en) * | 2017-12-23 | 2018-06-29 | 成都汇蓉国科微系统技术有限公司 | A kind of full resolution pricture navigation system for second-mission aircraft All Weather Landing |
| CN108008739A (en) * | 2017-12-28 | 2018-05-08 | 南京航空航天大学 | A kind of unmanned plane tracking of mobile target and landing system and method |
| CN108520640A (en) * | 2018-03-23 | 2018-09-11 | 清研讯科（北京）科技有限公司 | Navigation of Pilotless Aircraft method based on ultra wide band, navigation equipment, unmanned plane |
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| CN109945868A (en) * | 2019-03-07 | 2019-06-28 | 西安爱生技术集团公司 | A kind of unmanned plane target irradiation course line automatic planning |
| CN109945868B (en) * | 2019-03-07 | 2022-09-02 | 西安爱生技术集团公司 | Automatic planning method for target irradiation route of unmanned aerial vehicle |
| CN110416914A (en) * | 2019-07-10 | 2019-11-05 | 河池学院 | A kind of high voltage transmission line intelligent monitoring system and monitoring method |
| CN110416914B (en) * | 2019-07-10 | 2020-10-30 | 河池学院 | Intelligent monitoring system and monitoring method for high-voltage transmission line |
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