CN106774376A - A kind of unmanned plane imitative ground flight control method and system - Google Patents
A kind of unmanned plane imitative ground flight control method and system Download PDFInfo
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- 230000001133 acceleration Effects 0.000 claims description 25
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- 230000000295 complement effect Effects 0.000 claims description 19
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- 230000009466 transformation Effects 0.000 claims description 4
- 238000007499 fusion processing Methods 0.000 claims description 3
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- 239000007921 spray Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
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- 206010068052 Mosaicism Diseases 0.000 description 3
- 210000003765 sex chromosome Anatomy 0.000 description 3
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention relates to a kind of unmanned plane imitative ground flight control method and system, method includes：(1) real-time relative altitude H of the unmanned plane with respect to ground is obtained；(2) the vertical speed V, the vertical speed V for obtaining unmanned plane are the speed on the basis of height above sea level；(3) real-time relative altitude H and vertical speed V are carried out into Data Fusion Filtering, pseudo- height H is obtained after fusionf, carry out unmanned plane using the described pseudo- height for obtaining and highly control.Flight control method in the present invention enables to unmanned plane to adjust flying height with surface relief, in plant protection operation, constant distance can be kept with plant, not only increase the operating efficiency and plant protection spray effect of unmanned plane, and improve the adaptive capacity to environment of unmanned plane.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of unmanned plane imitative ground flight control method and system.
Background technology
Unmanned plane is a kind of unmanned vehicle manipulated by radio robot or itself presetting apparatus.Mesh
Before, with the development of science and technology, unmanned air vehicle technique reaches its maturity, unmanned plane with its speed it is fast, operate flexible the characteristics of extensively should
With.Especially in terms of agricultural, forestry plant protection, agricultural plant protection unmanned plane has big advantage relative to other agricultural machines.
The Active workings of agricultural plant protection unmanned plane include flat-bottomed land and hypsography area, and hypsography area refers to hills
Area, mountain region and terraced fields etc., in operation process is carried out, in order that obtain medicaments uniformity and be sprayed on crop, improve operating efficiency,
Unmanned plane needs to keep constant distance, i.e. unmanned plane with surface relief imitative ground operation with institute's long-term cropping on Active workings,
Unmanned plane keeps constant height with ground all the time.
The imitative ground operation effectiveness of existing unmanned plane is poor, it is difficult to adaptation to the ground fluctuations, general to be soared surely using GPS
OK, with constant height above sea level flight operation, or manual flight is used, but operating difficulties, and influenceed by sighting distance, lead
Cause operating efficiency relatively low.
The content of the invention
The technical problem to be solved in the present invention be to provide a kind of landform adaptability it is good, can according to surface relief it is imitative make
Industry, imitates ground effect preferably and operating efficiency unmanned plane higher imitative ground flight control method.
Above-mentioned technical problem is solved, the invention provides a kind of unmanned plane imitative ground flight control method, is comprised the following steps：
(1) real-time relative altitude H of the unmanned plane with respect to ground is obtained；
(2) the vertical speed V, the vertical speed V for obtaining unmanned plane are the speed on the basis of height above sea level；
(3) real-time relative altitude H and vertical speed V are carried out into Data Fusion Filtering, pseudo- height H is obtained after fusionf, utilize
The described pseudo- height for obtaining carries out unmanned plane and highly controls.
Further, the step of real-time relative altitude H is obtained is as follows：
A) the measurement height h of unmanned plane is obtained using radar or ultrasonic wave；
B) measurement height is pre-processed using store historical data and by the way of averaging；
C) 3-axis acceleration under unmanned plane object coordinates system is obtained by three axis accelerometer, with reference to the attitude of unmanned plane
Angle information carries out coordinate system transformation, obtains the normal acceleration a under the earth referential；
D) the normal acceleration a that the measurement height h for obtaining is obtained with accelerometer is carried out by data by complementary filter
Fused filtering, so as to obtain real-time relative altitude H of the unmanned plane with respect to ground.
Further, the fusion process of complementary filter includes in the step d：
Acquisition elevation information h is integrated to normal acceleration a by integral algorithm1,
Integrated acceleration formula is：
The elevation information h that measurement height h is obtained with accelerometer1Merged, so as to obtain the real-time relative of unmanned plane
Height H,
Fusion formula：For
Further, to carry out the method that unmanned plane highly controls according to the pseudo- height as follows：By Hr、Hf, a and V is conveyed to
Controller, controller controlled output Cs=f (Hr,Hf, V, a), wherein HrFor height is instructed, a is normal acceleration, and f () is control
Function processed, HrIt is the height value being manually set.
Further, the acquisition methods of vertical speed V are in the step (2)：Barometer or GPS institute on unmanned plane
The data message of acquisition obtains vertical speed V after being merged with the data message acquired in accelerometer.
Further, the Data Fusion Filtering of step (3) is carried out using complementary filter.
Further, vertical speed V carries out rate integrating and obtains height in the step (3)It is described
The mode of complementary filter fusion is pseudo- height Hf=(1- β1)h2+β1H, wherein β1It is filter factor.
A kind of unmanned plane imitative ground flight control system is provided based on the invention described above, including：
Measuring unit, is used to obtain real-time relative altitude H of the unmanned plane with respect to ground；
Speed computing unit, is used to obtain the vertical speed V of unmanned plane, and the vertical speed V is on the basis of height above sea level
Speed；
Integrated unit, is used to for real-time relative altitude H and vertical speed V to carry out Data Fusion Filtering, and puppet is obtained after fusion
Height Hf；
Controlled output unit, is used to carry out unmanned plane using the described pseudo- height for obtaining highly to control.
Further, above-mentioned Data Fusion Filtering is carried out using complementary filter.
Beneficial effects of the present invention：The imitative ground flight control method of unmanned plane that the present invention is provided, enable to unmanned plane with
Landing ground rises and falls and adjusts flying height, in plant protection operation, can keep constant distance with plant, not only increase unmanned plane
Operating efficiency and plant protection spray effect, and improve the adaptive capacity to environment of unmanned plane.
Brief description of the drawings
Fig. 1 is the method flow schematic diagram in one embodiment of the invention；
Fig. 2 is the system structure diagram in one embodiment of the invention；
Fig. 3 is controller input, output schematic diagram in one embodiment of the invention.
Specific embodiment
The principle of the disclosure is described referring now to some example embodiments.It is appreciated that these embodiments are merely for saying
It is bright and help it will be understood by those skilled in the art that with the purpose of the embodiment disclosure and describe, rather than advise model of this disclosure
Any limitation enclosed.Content of this disclosure described here can be implemented in the various modes outside mode described below.
As described herein, term " including " and its various variants be construed as open-ended term, it means that " bag
Include but be not limited to ".Term "based" is construed as " being based at least partially on ".Term " one embodiment " it is understood that
It is " at least one embodiment ".Term " another embodiment " is construed as " at least one other embodiment ".
Those skilled in the art can understand, in flight control, generally there is absolute altitude and relatively high in altitude information source
Two kinds of degree.Absolute altitude source includes barometer (itself can perceive atmospheric pressure, air pressure and altitude has mathematical relationship), GPS
(receiver calculates its distance between gps satellite and obtains current altitude) etc., usual measurement range is up to ten thousand metres；Phase
Have to height source ultrasonic wave, radar (by launching particular beam over the ground, relative distance etc. is calculated by receiving feedback wave beam,
Usual measurement distance<10 meters.What is in-flight measured with being imitated in the application is relative altitude, i.e., obtain nothing using radar or ultrasonic wave
Man-machine relative altitude (with respect to the height on ground).
Fig. 1 is the method flow schematic diagram in one embodiment of the invention, and a kind of unmanned plane in the present embodiment flies imitatively
Control method, comprises the following steps：
Step (S1) obtains real-time relative altitude H of the unmanned plane with respect to ground；
The vertical speed V, the vertical speed V that step (S2) obtains unmanned plane are the speed on the basis of height above sea level；
Real-time relative altitude H and vertical speed V are carried out Data Fusion Filtering by step (S3), and pseudo- height is obtained after fusion
Hf, carry out unmanned plane using the described pseudo- height for obtaining and highly control.
It is as follows the step of the real-time relative altitude H is obtained as preferred in the present embodiment：
A) the measurement height h of unmanned plane is obtained using radar or ultrasonic wave；
B) measurement height is pre-processed using store historical data and by the way of averaging；
C) 3-axis acceleration under unmanned plane object coordinates system is obtained by three axis accelerometer, with reference to the attitude of unmanned plane
Angle information carries out coordinate system transformation, obtains the normal acceleration a under the earth referential；
D) the normal acceleration a that the measurement height h for obtaining is obtained with accelerometer is carried out by data by complementary filter
Fused filtering is merged, so as to obtain real-time relative altitude H of the unmanned plane with respect to ground.
Used as preferred in the present embodiment, the fusion process of complementary filter includes in the step d：
Acquisition elevation information h is integrated to normal acceleration a by integral algorithm1,
Integrated acceleration formula is：
The elevation information h that measurement height h is obtained with accelerometer1Merged, so as to obtain the real-time relative of unmanned plane
Height H,
Fusion formula：For
As preferred in the present embodiment, the method that unmanned plane highly controls is carried out according to the pseudo- height as follows：By Hr、
Hf, a and V be conveyed to controller, controller controlled output Cs=f (Hr,Hf, V, a), wherein HrFor height is instructed, a is vertical acceleration
Degree, f () is control function.
Used as preferred in the present embodiment, the acquisition methods of vertical speed V are in the step (2)：Gas on unmanned plane
Data message acquired in pressure meter or GPS obtains the vertical speed after being merged with the data message acquired in accelerometer
V。
As preferred in the present embodiment, the Data Fusion Filtering of step (3) is carried out using complementary filter.
Used as preferred in the present embodiment, vertical speed V carries out rate integrating and obtains height in the step (3)The mode of the complementary filter fusion is pseudo- height Hf=(1- β1)h2+β1H, wherein β1For filtering is
Number.
Data Fusion Filtering Fig. 3 is controller input, output schematic diagram in one embodiment of the invention, used as this implementation
It is preferred in example, the method that unmanned plane highly controls is carried out according to the pseudo- height as follows：By Hr、H<, a and V be conveyed to control
Device, controller controlled output Cs=f (Hr,Hf, V, a), wherein HrFor height is instructed, a is acceleration, and f () is control function.
Fig. 2 is the system structure diagram in one embodiment of the invention, and a kind of unmanned plane in the present embodiment flies imitatively
Control system, including：Measuring unit 1, is used to obtain real-time relative altitude H of the unmanned plane with respect to ground；Speed computing unit 2,
The vertical speed V, the vertical speed V for being used to obtain unmanned plane are the speed on the basis of height above sea level；Integrated unit 3, be used to by
Real-time relative altitude H and vertical speed V carries out Data Fusion Filtering, and pseudo- height H is obtained after fusionf；Controlled output unit 4, uses
Highly controlled with carrying out unmanned plane using the described pseudo- height for obtaining.
As preferred in the present embodiment, above-mentioned Data Fusion Filtering is carried out using complementary filter.
Inventive principle：
Measuring phases：
It should be noted that in flight control, generally there are two kinds of absolute altitude and relative altitude in altitude information source.Definitely
Height source includes barometer (itself can perceive atmospheric pressure, air pressure and altitude has mathematical relationship), (receiver is calculated GPS
Its distance between gps satellite obtains current altitude) etc., usual measurement range is up to ten thousand metres；Relative altitude source has super
Sound wave, radar (by launching particular beam over the ground, relative distance etc., usual measurement distance are calculated by receiving feedback wave beam<
10 meters.The relative altitude for being relative altitude, i.e., unmanned plane being obtained using radar or ultrasonic wave that the imitative ground of the present invention is in-flight measured
(with respect to the height on ground).
Specific measurement process needs to solve two problems：
1) data stabilization sex chromosome mosaicism：
Infrared radar or ultrasonic wave are influenceed in measurement process by external environment or aspect, and measurement data occurs partially
Difference or saltus step, in order to solve the problem, it is necessary to reject the wrong data for measuring, obtain accurate data；
Realized by an algorithm：Store historical data, is averaging after rejecting first three maximum and first three minimum value,
An accurately measurement height h is obtained, data stabilization sex chromosome mosaicism is solved.
For example：Ten historical measurement datas of 50ms before obtaining, reject first three maximum and rear three minimum values, to it
Four measurement data of remaininging are averaging, and obtain an accurate measurement data.
2) real time problems are solved
Data lag issues can be brought during above-mentioned solution data stabilization sex chromosome mosaicism, in order to solve the problem, including following step
Suddenly
A, the 3-axis acceleration under unmanned plane object coordinates systems is obtained by three axis accelerometer, with reference to the attitude of unmanned plane
Angle information carries out coordinate system transformation, obtains the normal acceleration a under the earth referential；Again by integral algorithm to normal acceleration
It is integrated acquisition elevation information h1；
Integrated acceleration formula：
(integrated acceleration produce vertical speed, then integrate obtain height)
B, the elevation information h for being obtained the measurement height h and accelerometer of 1) middle acquisition using complementary filter algorithm1Enter
Row fusion, so as to obtain the high-acruracy survey height H of unmanned plane.Take full advantage of accuracy and the acceleration of radar (or ultrasonic wave)
The quick sexual clorminance of meter is spent, solves the problems, such as that data are unstable and real-time is poor.
Complementary filter algorithmic formula：
WhereinIt is filter coefficient,Computational methods it is as follows：
Δ t is calculating frequency, fcIt is smoothing factor
The control stage：
The imitative ground flying method of the unmanned plane in the application, concretely comprises the following steps in imitative the control stage flown：
In imitative ground operation process, 1) need control unmanned plane to follow surface relief imitative because surface relief is indefinite make
Industry.Ensure that unmanned plane keeps a height for relative constancy with ground.2) unmanned plane is when plant protection operation is carried out, some crops
Plantation spacing it is larger, it is necessary to ensure unmanned plane steadily fly through crop spacing section.
In the application above-mentioned purpose is realized by following steps：
1) real-time relative altitude H (height that measuring phases fusion after obtains) of the unmanned plane with respect to ground is obtained；
2) the vertical speed V (speed on the basis of height above sea level) of unmanned plane is obtained；Preferably, the acquisition methods of the speed
For：Obtained after barometer or GPS are merged with accelerometer；
3) complementary filter is used, relative altitude H and vertical speed V is carried out into Data Fusion Filtering, puppet is obtained after fusion
Height Hf。
Vertical speed V carries out rate integrating and obtains height hV, i.e.,
The formula of complementary filter fusion：Hf=(1- β1)hV+β1H, wherein β1It is filter factor, computing formula is same
4) carry out unmanned plane using the pseudo- height for obtaining highly to control, Cs=f (Hr,Hf, V, a), wherein, f () is control
Function (such as PID integration controls), wherein HrFor height is instructed, by Hr、Hf, a and V be conveyed to controller, controller control is defeated
Go out.
It should be appreciated that each several part of the invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In implementation method, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If for example, realized with hardware, and in another embodiment, can be with well known in the art
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
In general, the various embodiments of the disclosure can be with hardware or special circuit, software, logic or its any combination
Implement.Some aspects can be implemented with hardware, and some other aspect can be with firmware or software implementation, and the firmware or software can
With by controller, microprocessor or other computing devices.Although the various aspects of the disclosure be shown and described as block diagram,
Flow chart is represented using some other drawing, but it is understood that frame described herein, equipment, system, techniques or methods can
With in a non limiting manner with hardware, software, firmware, special circuit or logic, common hardware or controller or other calculating
Equipment or some of combination are implemented.
In addition, although operation is described with particular order, but this is understood not to require this generic operation with shown suitable
Sequence is performed or performed with generic sequence, or requires that all shown operations are performed to realize expected result.In some feelings
Under shape, multitask or parallel processing can be favourable.Similarly, although the details of some specific implementations is superincumbent to beg for
In by comprising, but these are not necessarily to be construed as any limitation of scope of this disclosure, but the description of feature is only pin
To specific embodiment.Some features described in some separate embodiments can also in combination be held in single embodiment
OK.Mutually oppose, the various features described in single embodiment can also be implemented separately or to appoint in various embodiments
The mode of what suitable sub-portfolio is implemented.
Claims (9)
1. a kind of unmanned plane imitates ground flight control method, it is characterised in that comprise the following steps：
(1) real-time relative altitude H of the unmanned plane with respect to ground is obtained；
(2) the vertical speed V, the vertical speed V for obtaining unmanned plane are the speed on the basis of height above sea level；
(3) real-time relative altitude H and vertical speed V are carried out into Data Fusion Filtering, pseudo- height H is obtained after fusionf, using acquisition
Described pseudo- height carry out unmanned plane and highly control.
2. unmanned plane according to claim 1 imitates ground flight control method, it is characterised in that the real-time relative altitude H
The step of acquisition, is as follows：
A) the measurement height h of unmanned plane is obtained using radar or ultrasonic wave；
B) measurement height is pre-processed using store historical data and by the way of averaging；
C) 3-axis acceleration under unmanned plane object coordinates system is obtained by three axis accelerometer, is believed with reference to the attitude angle of unmanned plane
Breath carries out coordinate system transformation, obtains the normal acceleration a under the earth referential；
D) the normal acceleration a that the measurement height h for obtaining is obtained with accelerometer is carried out by data fusion by complementary filter
Filtering, so as to obtain real-time relative altitude H of the unmanned plane with respect to ground.
3. unmanned plane according to claim 2 imitates ground flight control method, it is characterised in that complementary filter in the step d
The fusion process of ripple device includes：
Acquisition elevation information h is integrated to normal acceleration a by integral algorithm1,
Integrated acceleration formula is：
The elevation information h that measurement height h is obtained with accelerometer1Merged, so that the real-time relative altitude H of unmanned plane is obtained,
Fusion formula is：
4. unmanned plane according to claim 3 imitates ground flight control method, it is characterised in that carried out according to the pseudo- height
The method that unmanned plane is highly controlled is as follows：By Hr、Hf, a and V be conveyed to controller, controller controlled output Cs=f (Hr,Hf,V,
A), wherein HrFor height is instructed, a is normal acceleration, and f () is control function.
5. unmanned plane according to claim 1 imitates ground flight control method, it is characterised in that vertical in the step (2)
The acquisition methods of speed V are：The data message acquired in barometer or GPS on unmanned plane and the number acquired in accelerometer
It is believed that breath obtains vertical speed V after being merged.
6. unmanned plane according to claim 1 imitates ground flight control method, it is characterised in that carried out using complementary filter
The Data Fusion Filtering of step (3).
7. unmanned plane according to claim 6 imitates ground flight control method, it is characterised in that vertical in the step (3)
Speed V carries out rate integrating and obtains heightThe mode of the complementary filter fusion is pseudo- height Hf=(1-
β1)h2+β1H, wherein β1It is filter factor.
8. a kind of unmanned plane imitates ground flight control system, it is characterised in that including：
Measuring unit, is used to obtain real-time relative altitude H of the unmanned plane with respect to ground；
Speed computing unit, the vertical speed V, the vertical speed V for being used to obtain unmanned plane are the speed on the basis of height above sea level；
Integrated unit, is used to for real-time relative altitude H and vertical speed V to carry out Data Fusion Filtering, and pseudo- height is obtained after fusion
Hf；
Controlled output unit, is used to carry out unmanned plane using the described pseudo- height for obtaining highly to control.
9. unmanned plane according to claim 8 imitates ground flight control system, it is characterised in that carried out using complementary filter
Above-mentioned Data Fusion Filtering.
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| CN107505949A (en) * | 2017-09-30 | 2017-12-22 | 上海拓攻机器人有限公司 | A kind of UAV Flight Control method and system |
| CN107515620A (en) * | 2017-10-20 | 2017-12-26 | 广州极飞科技有限公司 | A kind of unmanned plane imitative ground flight control method and device |
| CN107728642A (en) * | 2017-10-30 | 2018-02-23 | 北京博鹰通航科技有限公司 | A kind of UAV Flight Control System and its method |
| CN107727877A (en) * | 2017-09-04 | 2018-02-23 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of ground velocity measuring method based on instrument-landing-system |
| CN107808550A (en) * | 2017-10-30 | 2018-03-16 | 北京博鹰通航科技有限公司 | A kind of unmanned machine management system of plant protection |
| CN108519775A (en) * | 2017-10-30 | 2018-09-11 | 北京博鹰通航科技有限公司 | A kind of UAV system and its control method precisely sprayed |
| CN108664034A (en) * | 2018-05-10 | 2018-10-16 | 杭州瓦屋科技有限公司 | Imitative ground flying method and device of the plant protection drone in tea place |
| CN108681328A (en) * | 2018-05-10 | 2018-10-19 | 杭州瓦屋科技有限公司 | Plant protection drone imitative ground flying method and device |
| CN109032157A (en) * | 2018-07-23 | 2018-12-18 | 拓攻（南京）机器人有限公司 | Unmanned plane imitative ground operational method, device, equipment and storage medium |
| CN109074098A (en) * | 2017-12-18 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Control method, control device, unmanned plane and the agriculture unmanned plane of unmanned plane |
| CN109282787A (en) * | 2018-11-08 | 2019-01-29 | 浙江工业大学 | A kind of drone flying height step detection system |
| CN109324324A (en) * | 2017-08-01 | 2019-02-12 | 广州极飞科技有限公司 | The method and device of data processing |
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