CN106950978A - Fixed-wing unmanned plane obstacle avoidance system and its barrier-avoiding method and fixed-wing unmanned plane - Google Patents
Fixed-wing unmanned plane obstacle avoidance system and its barrier-avoiding method and fixed-wing unmanned plane Download PDFInfo
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Abstract
The present invention provides a kind of fixed-wing unmanned plane obstacle avoidance system and its barrier-avoiding method and fixed-wing unmanned plane, and the obstacle avoidance system includes UAV Flight Control module and millimeter wave radar module, wherein：The millimeter wave radar module, it is arranged on the fixed-wing unmanned plane, the transmitting for receiving millimeter wave wave beam or fixed interval for lasting transmitting receives millimeter wave wave beam, detect the front course line environment of the fixed-wing unmanned plane, and by result of detection signal transmission to the UAV Flight Control module；The UAV Flight Control module, for controlling the fixed-wing unmanned plane to be flown and avoidance according to the result of detection signal.By using millimetre-wave radar, early warning can be carried out to barrier in advance and barrier is hidden with grace time, the larger front spatial domain of detection, detection efficient is high, can be under complicated weather environment and night condition is effectively worked, while the size of whole system is small, lightweight, cost is relatively low.
Description
Technical field
The invention belongs to radar and automatic control technology field, and in particular to a kind of fixed-wing unmanned plane obstacle avoidance system and its
Barrier-avoiding method and fixed-wing unmanned plane.
Background technology
Fixed-wing unmanned plane is a kind of with the high speed of a ship or plane, and long boat is away from the aircraft of heavy－duty.In view of it has many four axles
Premium properties not available for unmanned plane, fixed-wing unmanned plane is all many-sided in mine prospection, power network inspection, mapping etc.
Extensive use is arrived.In view of fixed-wing unmanned plane institute working environment mostly it is with a varied topography, it is necessary to carry out barrier evade to prevent
Falling stop machine causes heavy losses.Yet with fixed-wing unmanned plane speed of a ship or plane height, turn to slowly, its mobility is relatively low, do not possess aerial
Hovering or small range racing to etc. function.Therefore need to design a kind of fixed-wing unmanned plane automatic obstacle-avoiding system.
What the main flow obstacle avoidance system of unmanned plane industry was designed both for small-sized four-axle aircraft.Because four-axle aircraft
The speed of a ship or plane is low, navigate away from short, mobility strong, so what is used is mostly to be made based on ultrasonic wave, infrared ray, laser radar and image recognition
For the obstacle avoidance system of sensor.These SUAVs detect course line front obstacle by carrying the sensor and realized
Barrier is hidden.It is extremely limited yet with the detection range based on above sensor obstacle avoidance system, only away from barrier 5
Barrier could be found to 10 meters and is hidden.And it is big by weather and atmospheric effect during laser radar work.In heavy rain, dense
In the bad weather such as cigarette, thick fog, propagation distance is greatly affected, while influenceing the measurement accuracy of laser radar.Secondly as laser thunder
The wave beam reached is extremely narrow, can not detect the course line surrounding enviroment of front large area.This with the high speed of a ship or plane, low mobility for consolidating
Determining wing unmanned plane can not use completely.Therefore the obstacle avoidance system that suitable fixed-wing unmanned plane is used at present, it is not gone also
Effective solution.
The content of the invention
Regarding to the issue above, the invention provides a kind of fixed-wing unmanned plane obstacle avoidance system and its barrier-avoiding method and fixation
Wing unmanned plane, short to solve obstacle avoidance system detection range in the prior art, the avoidance time is short, and detection angle is small, easily by time, ring
Border, climatic effect and expensive technical problem.
In a first aspect, the present invention provides a kind of fixed-wing unmanned plane obstacle avoidance system, including UAV Flight Control module and
Millimeter wave radar module, wherein：
The millimeter wave radar module, is arranged on the fixed-wing unmanned plane, and millimeter wave is received for lasting transmitting
The transmitting of wave beam or fixed interval receives millimeter wave wave beam, detects the front course line environment of the fixed-wing unmanned plane, and
By result of detection signal transmission to the UAV Flight Control module；
The UAV Flight Control module, for controlling the fixed-wing unmanned plane to enter according to the result of detection signal
Row flight and avoidance.
Further, millimeter wave radar module transmitting receive the direction of millimeter wave wave beam for a fixed-wing without
The set angle scope in man-machine front, the angular range of the setting is more than the maximum of the fixed-wing unmanned plane and avoids scope.
Further, the UAV Flight Control module includes flight attitude adjustment unit and avoidance planning unit；
The flight appearance of flight attitude adjustment unit fixed-wing unmanned plane according to the result of detection Signal Regulation
State；
The avoidance planning unit according to the result of detection signal adjust the fixed-wing unmanned plane offline mode and
Flight course planning.
Further, the offline mode of the fixed-wing unmanned plane includes self-driving pattern and avoidance pattern, wherein：It is described from
Drive the flight mould that pattern controls the fixed-wing unmanned plane to keep initial planning airline operation for the UAV Flight Control module
Formula；
The avoidance pattern be the UAV Flight Control module according to the result of detection control the fixed-wing without
The man-machine offline mode to reselect emergency route avoiding obstacles.
Optionally, fixed-wing unmanned plane obstacle avoidance system also includes remote control and/or GPS module, the long-range control
Device processed is used for remote control and monitors the fixed-wing unmanned plane in real time, and the GPS module is used for fixed described in orientation direction
Wing unmanned plane returns to original course line.
On the other hand, the present invention also provides a kind of barrier-avoiding method of fixed-wing unmanned plane obstacle avoidance system, comprises the following steps：
The lasting transmitting of millimeter wave radar module receives millimeter wave wave beam or the emitter of fixed interval receives millimeter wave
Wave beam, detects the front course line environment of the fixed-wing unmanned plane, and by result of detection signal transmission to the unmanned plane during flying
Control module；
The UAV Flight Control module controls the fixed-wing unmanned plane to be flown according to the result of detection signal
Row and avoidance.
Further, the UAV Flight Control module according to the result of detection signal control the fixed-wing nobody
Machine is flown and avoidance, including：
When the result of detection signal is front clear, then the offline mode of the fixed-wing unmanned plane is continued as certainly
Pattern is driven, keeps initial planning course line to continue to fly；
When the result of detection signal for front has barrier, then the UAV Flight Control module controls the fixation
The offline mode of wing unmanned plane is avoidance pattern, and avoiding obstacles simultaneously return to initial planning airline operation.
Optionally, the avoiding obstacles and return to initial planning airline operation and include：
When the barrier scope without departing from the maximum of the fixed-wing unmanned plane avoids scope, then the unmanned plane during flying
Control module controls the fixed-wing unmanned plane to perform steering order adjustment course cut-through thing and returns to original course flight；
When the barrier scope is beyond the maximum avoidance scope of the fixed-wing unmanned plane, the UAV Flight Control
Module controls the fixed-wing unmanned plane to perform rising and spirals instruction until barrier scope is without departing from the fixed-wing unmanned plane
It is maximum avoid scope, the UAV Flight Control module controls the fixed-wing unmanned plane to perform steering order adjustment course
Cut-through thing returns to original course flight.
Further, the computational methods of the maximum avoidance scope of the fixed-wing unmanned plane are：The fixed-wing nobody
In the case that the maximum angle of climb of machine, maximum dive angle and the maximum angle turned right to the left are equal, the fixed-wing unmanned plane
The maximum scope that avoids be a border circular areas；
The radius of the border circular areas is：
The center of circle deviation distance of the border circular areas is：
The direction that the center of circle is deviateed is the wind direction on the fixed-wing unmanned plane course line；
Wherein,
M is millimetre-wave radar maximum detectable range；V4 is the hair speed of fixed-wing unmanned plane；θ is fixed-wing unmanned plane
The maximum angle of climb, maximum dive angle and the maximum angle turned right to the left；V2' be wind speed horizontal component；V2 " hangs down for wind speed
Straight component.
Another further aspect, the present invention also provides a kind of fixed-wing unmanned plane, using foregoing fixed-wing unmanned plane obstacle avoidance system
And/or use foregoing barrier-avoiding method.
The beneficial effects of the present invention are：Millimeter wave radar module is arranged at described by the fixed-wing unmanned plane obstacle avoidance system
On fixed-wing unmanned plane, the transmitting for receiving millimeter wave wave beam or fixed interval for lasting transmitting receives millimeter wave ripple
Beam, detects the front course line environment of the fixed-wing unmanned plane, and by result of detection signal transmission to UAV Flight Control mould
Block；Then UAV Flight Control module controls fixed-wing unmanned plane to be flown and avoidance according to result of detection signal.Due to
Employ millimeter wave radar module in fixed-wing unmanned plane obstacle avoidance system, can effective detection range, in advance to barrier
Carry out early warning and barrier is hidden with grace time；Larger front spatial domain can be detected, detection efficient is high, simultaneously
The cost of whole system is relatively low.
Brief description of the drawings
Fig. 1 is the hardware architecture diagram of the present invention；
Fig. 2 is the control block diagram of the present invention；
Fig. 3 is millimetre-wave radar structured flowchart used in the present invention；
Fig. 4 is that the frequency of triangular modulation signal changes over time rule；
Fig. 5 is the avoidance scope number approximately justified when the angle of climb when fixed-wing unmanned plane, dive angle, left and right turn angle are approximate
Learn model；
Fig. 6 is resolution of velocity coordinate diagram of the fixed-wing unmanned plane in the maximum angle of climb；
Fig. 7 is that fixed-wing unmanned plane has the maximum in the case of wind to avoid scope schematic diagram in course line；
Fig. 8 is the specific distribution situation schematic diagram that radar detection obtains front obstacle；
Speed when Fig. 9 is fixed-wing unmanned plane avoidance is in vertical plane exploded view；
Figure 10 is speed after fixed-wing unmanned plane avoidance in vertical plane exploded view；
Figure 11 is the process control chart of fixed-wing unmanned plane avoidance pattern.
Embodiment
The invention provides a kind of fixed-wing unmanned plane obstacle avoidance system and its barrier-avoiding method and fixed-wing unmanned plane, solve
Certainly detection range is short in the prior art, and the avoidance time is short, and detection angle is small, easily high by time, environment, climatic effect and price
Expensive technical problem.
Technical scheme in the embodiment of the present application is solves above-mentioned ended questions, and general thought is as follows：
A kind of fixed-wing unmanned plane obstacle avoidance system, including UAV Flight Control module and millimeter wave radar module are provided,
Wherein：The millimeter wave radar module, is arranged on the fixed-wing unmanned plane, and millimeter wave wave beam is received for lasting transmitting
Or the transmitting of fixed interval receives millimeter wave wave beam, the front course line environment of the fixed-wing unmanned plane is detected, and will visit
Consequential signal is surveyed to transmit to the UAV Flight Control module；The UAV Flight Control module, for being visited according to described
Surveying consequential signal controls the fixed-wing unmanned plane to be flown and avoidance.By being used in fixed-wing unmanned plane obstacle avoidance system
Millimeter wave radar module, the advantage based on millimetre-wave radar, can effective detection range, reach more than 120m, can shift to an earlier date
Early warning is carried out to barrier and barrier is hidden with grace time, the field angle of millimetre-wave radar is 30 degree or so,
Larger front spatial domain can be detected, detection efficient is high, can be under the weather environment such as sleet, sand and dust, haze, cloudy and black
Night condition is effectively worked, while the cost of whole system is relatively low.
In order to be better understood from above-mentioned technical proposal, below by accompanying drawing and specific embodiment to technical side of the invention
Case is described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to technical solution of the present invention
Detailed description, rather than the restriction to technical solution of the present invention, in the case where not conflicting, the embodiment of the present invention and implementation
Technical characteristic in example can be mutually combined.
In a first aspect, the embodiments of the invention provide a kind of fixed-wing unmanned plane obstacle avoidance system, its hardware configuration is with reference to attached
Fig. 1, including：
Millimeter wave radar module, is arranged on the fixed-wing unmanned plane, for lasting or fixed interval hair
Reception millimeter wave wave beam is penetrated, the front course line environment of the fixed-wing unmanned plane is detected, and by result of detection signal transmission to institute
State UAV Flight Control module；
In actual applications, the millimeter wave radar module is mounted in the concrete position of fixed-wing unmanned plane, such as wing, machine
In the middle part of body, empennage, load the number of radar, the mode of millimetre-wave radar scanning etc., ensure the accuracy of scanning area and
Under conditions of real-time, it can be adjusted according to actual conditions, it is not necessary to strictly stick to defining for this programme.
The UAV Flight Control module controls the fixed-wing unmanned plane to be flown according to the result of detection signal
Row and avoidance；
Above-mentioned part is installed on fixed-wing unmanned plane, and the fixed-wing unmanned plane also includes some necessary parts, this
A little necessary parts can be steering wheel, body and engine etc., and flight control modules can be real by the control to above-mentioned part
The control and adjustment of flight attitude and the line of flight are now carried out to fixed-wing unmanned plane；
In addition, it is usually ground base station that the obstacle avoidance system of the application, which is also included in remote control, practical application, also may be used
To be handheld remote control device, flight directive can be sent to fixed-wing unmanned plane, and it is monitored in real time.
Optionally, GPS module is also included on fixed-wing unmanned plane, using the positioning and navigation of unmanned plane.
The control refer to the attached drawing 2 of whole obstacle avoidance system, is launched by millimeter wave radar module and receives wave beam to front first
Environment is detected, and front environment then is transferred into UAV Flight Control module by serial ports, if unmanned plane during flying control
Molding block judges front clear, then the offline mode of fixed-wing unmanned plane is self-driving pattern, that is, passes through series of algorithms control
Steering wheel processed adjusts attitude and ensures that unmanned plane is travelled along course line；If it is determined that there is barrier in front, then fixed-wing unmanned plane
Offline mode switches to avoidance pattern, is evaded by UAV Flight Control module control steering wheel.It is whole then by remote control
Flight of the device (ground base station) to fixed-wing unmanned plane carries out flight directive and assigns and monitor in real time.
Emitter produces continuous high frequency constant amplitude ripple when millimeter wave radar module works, and its frequency is by three relative to the time
Angle ripple change.Voltage controlled oscillator produces transmission signal in the presence of modulated signal, and a part for transmission signal is outside by antenna
Launch, a part as frequency mixer local oscillation signal, and the signal launched run into target object fire back by
Antenna receives to form echo-signal.The echo-signal received and local oscillation signal are mixed by system in frequency mixer.Due to echo
Frequency is compared with transmission signal and is produced and is changed, therefore there is difference voltage in the signal after mixing.The target range information is just included
In signal after mixing, the difference frequency signal is amplified afterwards, amplitude limit frequency measurement, draw its related range information, this is just
It is the general principle of millimetre-wave radar ranging.
As shown in Figure 3, the system includes antenna, penetrated the work block diagram of millimetre-wave radar based on frequency modulation triangular modulation
Frequency leading portion, intermediate frequency amplification filtering, data processing module.Middle radio frequency leading portion is by modulator, voltage-controlled oscillator (VCO), directional coupler, ring
Flow device and frequency mixer is constituted.System produces triangular wave by analog circuit first, is launched by antenna.Echo-signal is by day
Line receives an input signal as frequency mixer, and another is then provided by directional coupler.The echo-signal that antenna receives
Amplitude is smaller, but the signal that directional coupler is provided can be much larger.Local oscillator and echo-signal are completed by frequency mixer in system
Difference frequency signal is drawn after mixing and detection.
The operation principle of millimetre-wave radar is to launch the electromagnetic wave that a modulated signal is triangular wave, and frequency is to connect in the cycle
Continuous change, using echo with obtaining detection target range with the frequency difference of transmission signal, while obtaining the distance and speed of target
Information.It is as shown in Figure 4 that the frequency of triangular modulation signal changes over time rule:
Δ F is swept bandwidth, and T is the modulated triangular wave cycle, and τ is the time delay of transmission signal and echo-signal, fdTransmitting
The difference frequency of signal and echo-signal.It may be seen that the change of transmission signal and echo-signal frequency is the same, simply when
Between on have a time delay.Relation with target range R is
R is target range, and c is propagation velocity of electromagnetic wave, is obtained according to Similar Principle of Triangle：
Target range R is：
Δ F and T are certain, as long as measuring difference frequency fd, it is possible to measure R.
The specific works parameter such as table 1 below for the millimetre-wave radar that the present embodiment is used：
The millimetre-wave radar parameter of table 1
Because in flight course, the head of fixed-wing unmanned plane is pointed in the case where not receiving to fly control instruction, head
Sensing be constant, therefore when need detect fixed-wing unmanned plane during flying front obstacle overall size when, it is necessary to
The direction that millimeter wave wave beam is launched and received to millimetre-wave radar is adjustable, in actual design, and the transmitting of metre wave radar module connects
It is the set angle scope in front of a fixed-wing unmanned plane, the angular range of the setting to receive the direction of millimeter wave wave beam
More than the maximum angle scope of energy avoiding barrier in the fixed-wing unmanned plane during flying.
I.e. the maximum angle scope fixed-wing unmanned plane of energy avoiding barrier in the fixed-wing unmanned plane during flying
Body steering locking angle, the angle is determined that the angle of climb of setting unmanned plane, dive angle, left and right turn angle are near by unmanned plane type
Seemingly, so we set up an avoidance scope Mathematical Modeling approximately justified herein；Then, at a time, fixed-wing in certain time
The spatial dimension that avoids of unmanned plane is a circular cone, as shown in Figure 5, under simplified calm condition, because radar maximum is visited
Ranging is from for 120m, therefore when detecting front obstacle, aircraft can avoid scope with being one on the same vertical plane of barrier
Using former course subpoint O as the center of circle, the approximate circle region by radius of r=120tan θ is that the fixed-wing unmanned plane flies
The maximum angle scope of energy avoiding barrier in row.
Under windy condition, wind speed V2 is decomposed into by we：
(1) with the original unidirectional component V in course2'；
(2) with original course vertically-oriented component V2 "；
Decomposition is made to body speed based on b systems：
If body is in the maximum angle of climb, speed is V4, then as shown in Figure 6, now,
Horizontal direction hair speed be:V4·cosθ
Horizontal direction net velocity is V4·cosθ-V2'
Vertical speed is V4·sinθ.
Refer to the attached drawing 7：
1) radius of original avoidance border circular areas is changed into
Obtain hiding under current wind speed the circular radius in region；
2) center of circle offset distance of original obstacle-avoidance area is produced as
This is deviation operating distance of the vertical direction component to unmanned plane of current wind speed, and direction is consistent with wind direction.Currently
Hide the circular radius in region and the vertical direction component of current wind speed under wind speed to the deviation operating distance of unmanned plane final
To border circular areas be that maximum in the case where there is wind of fixed-wing unmanned plane avoids scope.
Above-mentioned algorithm is based on the maximum angle of climb, maximum dive angle during fixed-wing unmanned plane during flying and turns right to the left
Maximum angle approximately equal, establish aircraft can safe avoidance border circular areas model, if the maximum of fixed-wing unmanned plane
The differential seat angle that the angle of climb, maximum dive angle and left and right are turned can also set up the safe obstacle-avoidance area of other shapes away from than larger
Model, be such as approximately oval, or obstacle-avoidance area model is accurately showed using modeling method.
In the present embodiment, the UAV Flight Control module includes flight attitude adjustment unit and avoidance planning is single
Member；
The flight appearance of flight attitude adjustment unit fixed-wing unmanned plane according to the result of detection Signal Regulation
State；
The avoidance planning unit according to the result of detection signal adjust the fixed-wing unmanned plane offline mode and
Flight course planning, the offline mode of fixed-wing unmanned plane includes self-driving pattern and avoidance pattern；
The self-driving pattern is that the UAV Flight Control module controls the fixed-wing unmanned plane to keep initial planning boat
Line flies；The avoidance pattern be the UAV Flight Control module according to the result of detection control the fixed-wing nobody
Machine reselects emergency route avoiding obstacles.
In specific design, the data that flight attitude adjustment unit collects acceleration transducer and magnetic field sensor are passed
It is handed in the flight control modules based on STM32 and carries out complementary filter, is realized by using Quaternion Algorithm to unmanned plane in sky
The real-time reading of middle flight attitude.Flight control modules are carried out to the steering wheel on fixed-wing unmanned plane and brshless DC motor simultaneously
Regulation and control, so as to realize the attitude stabilization and Heading control of unmanned plane.
Avoidance planning unit constantly launches reception radar beam by millimeter wave radar module, to carrying out environment in front of course
Detection.Offline mode residing for fixed-wing unmanned plane is determined by the judgement that wave beam is received to millimeter wave radar module.If without wave beam
Return, then fixed-wing unmanned plane keeps self-driving pattern, if detecting wave beam return, fixed-wing unmanned plane switches to avoidance
Pattern.Under avoidance pattern, emergency route is reselected to obstacle to the detection of front environment by millimeter wave radar module
Thing is hidden.
On the other hand, the barrier-avoiding method of the fixed-wing unmanned plane based on above-mentioned fixed-wing unmanned plane obstacle avoidance system, including with
Lower step：
The lasting transmitting of millimeter wave radar module receives millimeter wave wave beam or the emitter of fixed interval receives millimeter wave
Wave beam, detects the front course line environment of the fixed-wing unmanned plane, and by result of detection signal transmission to the unmanned plane during flying
Control module；
The UAV Flight Control module controls the fixed-wing unmanned plane to be flown according to the result of detection signal
Row and avoidance.
Wherein, the UAV Flight Control module controls the fixed-wing unmanned plane to enter according to the result of detection signal
Row flight and avoidance, including：
When the result of detection signal is front clear, then the offline mode of the fixed-wing unmanned plane is continued as certainly
Pattern is driven, keeps initial planning course line to continue to fly；
When the result of detection signal for front has barrier, then the UAV Flight Control module controls the fixation
The offline mode of wing unmanned plane is avoidance pattern, and avoiding obstacles simultaneously return to initial planning airline operation.
Wherein, the avoiding obstacles and return to initial planning airline operation and include：
When the barrier scope without departing from the maximum of the fixed-wing unmanned plane avoids scope, then the unmanned plane during flying
Control module controls the fixed-wing unmanned plane to perform steering order adjustment course cut-through thing and returns to original course flight；
When the barrier scope is beyond the maximum avoidance scope of the fixed-wing unmanned plane, the UAV Flight Control
Module controls the fixed-wing unmanned plane to perform rising and spirals instruction until barrier scope is without departing from the fixed-wing unmanned plane
It is maximum avoid scope, the UAV Flight Control module controls the fixed-wing unmanned plane to perform steering order adjustment course
Cut-through thing returns to original course flight.
In actual applications, specific barrier-avoiding method, refer to accompanying drawing 11, comprises the following steps：
S1：Fixed-wing unmanned plane is in self-driving pattern under cruising condition, between millimeter wave radar module is lasting or fixed
Every the time to transmitting millimeter wave wave beam in front of the fixed-wing unmanned plane, while the millimeter wave radar module receives millimeter wave
Return beam signal；
S2：When the millimeter wave radar module is not received by millimeter wave return beam signal, then UAV Flight Control
Module judges clear in front of the fixed-wing unmanned plane, the UAV Flight Control module control fixed-wing unmanned plane
Offline mode continues as self-driving pattern, returns to S1；
When the millimeter wave radar module receives millimeter wave return beam signal, then UAV Flight Control module judges
There is barrier in front of the fixed-wing unmanned plane and calculate the distance between barrier and described fixed-wing unmanned plane, the nothing
Man-machine flight control modules control the offline mode of fixed-wing unmanned plane to carry out avoidance for avoidance pattern；
S3：It is avoidance pattern when the UAV Flight Control module controls the offline mode of fixed-wing unmanned plane, it is described
Millimeter wave radar module changes the direction of the millimeter wave wave beam of transmitting, can avoiding barrier into the fixed-wing unmanned plane during flying
Maximum angle in the range of launch millimeter wave wave beam, while the millimeter wave radar module receive millimeter wave return beam signal；
S4：The millimeter wave radar module described in the S3 is not received by millimeter wave return beam signal, then unmanned plane during flying
Control module judges the direction of the millimeter wave wave beam of the transmitting of millimetre-wave radar described in S3 for safe navigation direction, the unmanned plane
It is the safe navigation direction that flight control modules, which control the fixed-wing unmanned plane to perform steering order adjustment course,；
The millimeter wave radar module described in the S3 connects in the direction of the millimeter wave wave beam of any millimetre-wave radar transmitting
Millimeter wave return beam signal is received, then the UAV Flight Control module judges the current course of fixed-wing unmanned plane
Preceding barrier is dodged ability more than unmanned plane, and the UAV Flight Control module controls the fixed-wing unmanned plane to perform rising
Spiral instruction, S3 is continued executing with after spiraling one week for the fixed-wing unmanned plane until the fixed-wing unmanned plane avoiding obstacles；
S5:The fixed-wing unmanned plane returns to original course line, and avoidance terminates, and goes successively to S1, fixed-wing unmanned plane is being patrolled
Self-driving pattern is under boat state.
In step sl, millimetre-wave radar typically uses lasting to transmitting millimeter wave ripple in front of the fixed-wing unmanned plane
Beam, using the benefit of this method be fixed-wing unmanned plane speed is fast, course line it is with a varied topography in the case of will not miss any possibility
The obstacle of appearance, but under this pattern, radar compares power consumption, under flying speed relatively slow and course line environment simple scenario
Fixed-wing unmanned plane, can launch milli using millimeter wave radar module fixed interval to fixed-wing unmanned plane front
The pattern of metric wave wave beam, if keep fixed interval be less than the millimeter wave radar module effective detection range with it is described solid
Determine the ratio of the maximal rate of wing unmanned plane, can both ensure the accurate detection of barrier.
In step s 2, UAV Flight Control module calculates the distance between barrier and described fixed-wing unmanned plane
The method of use can be obtained using formula described previously herein：
In step s3, millimeter wave radar module changes the direction of the millimeter wave wave beam of transmitting, now millimeter wave wave beam
Direction should be determined according to the concrete model of fixed-wing unmanned plane, such as in the angle of climb of fixed-wing unmanned plane, dive angle, left and right
In the case that steering angle is approximate, the direction of millimeter wave wave beam should be the circular scope shown in Fig. 5.In climbing for fixed-wing unmanned plane
In the case that lift angle, dive angle, left and right turn angle are different, the direction of millimeter wave wave beam should be one oval or approximate ellipse
Circular scope.
In step s3, also to consider the influence of wind speed, add the influence of wind speed, the direction of millimeter wave wave beam should simultaneously
It is the scope shown in accompanying drawing 7.
The radius of the border circular areas is：
The center of circle deviation distance of the border circular areas is：
The direction that the center of circle is deviateed is the wind direction on the fixed-wing unmanned plane course line；
Wherein,
M is millimetre-wave radar maximum detectable range；V4 is the hair speed of fixed-wing unmanned plane；θ is fixed-wing unmanned plane
The maximum angle of climb, maximum dive angle and the maximum angle turned right to the left；V2' be wind speed horizontal component；V2 " hangs down for wind speed
Straight component.
In step s 4, millimeter wave radar module receives millimeter wave return beam signal, refer to the attached drawing 8, and the circle in figure is
Region can be avoided, if the circle centre position in the garden has reflected beam, judges that original course direction has barrier to need avoidance, now there is two
The situation of kind：
If 1), circle is completely in barrier, i.e., the millimeter wave that millimeter wave radar module is launched in any millimetre-wave radar
The direction of wave beam, which connects, receive millimeter wave return beam signal, then judges that unmanned plane can not be immediately performed by turning to avoidance
Rise instruction of spiraling.
If 2) circular portion is in obstacle beyond the region of objective existence, i.e., millimeter wave radar module is not received by millimeter wave return described in step S3
Beam signal, then judge that unmanned plane can such as be not received by the M positions of millimeter wave wave beam return signal by turning to avoidance,
Fixed-wing unmanned plane is that selectable position M passes through.
If unmanned plane is flown over from apart from the center of circle compared near point M, as shown in Figure 9 then unmanned plane during avoidance in vertical plane
Upper velocity component is OM directions, and now, the speed of unmanned plane is decomposed on the vertical plane：
Z-axis direction：
X-direction：
The adjustment of above direction flies control by unmanned plane and completes dependent instruction.
As shown in Figure 10, after unmanned plane clears the jumps, original course should be turned again to ensure normal work and suitable
Profit is arrived at.Then where unmanned plane clears the jumps after perpendicular, winged control assign instruction to two, aircraft with before
Size is identical, component velocity in opposite direction：
Z-axis direction：
X-direction：
Component velocity is a length of when maintaining：
So return on original course, while recovering original course.
In step s 4, fixed-wing unmanned plane allows aircraft to carry out one in the case where rising the control for the algorithm that spirals by destination control
Individual approximate rectangular rising is spiraled, and is set and is determined the maximum angle of climb as 15 degree by fixed-wing unmanned plane body flying quality itself,
Minimum turn circle radius is 40 meters, and often performing the instruction unmanned plane that once spirals can climb about 65 meters, i.e., from initial point successively to rectangle
The navigation of the other three summit obtain spiral flight path on a horizontal plane into 40 meters of * 40 meters of rectangles.When unmanned plane has been navigated by water
After box-shaped flight path, its radar, which is pointed to, is exactly former direction of advance, and now millimeter wave wave beam close echo is detected again
Judge, now there are two kinds of situations：
(1) return beam is not detected, then is judged as that height exceedes front obstacle highly instantly, to former advance side
To navigation and entrance self-driving pattern.
(2) return beam is detected, then is judged as highly having not exceeded front obstacle highly instantly, continues executing with this
Instruction of spiraling being risen, circulation is jumped out again until can't detect return beam.
As the optimization of the present embodiment, fixed-wing unmanned plane described in S5 returns to original course line by GPS module positioning.
Above-mentioned fixed-wing unmanned plane barrier-avoiding method, the characteristics of for fixed-wing unmanned plane, the barrier-avoiding method of design and flight
Control device is combined closely, and asking for front obstacle can not effectively be hidden under automatic cruising state by solving fixed-wing unmanned plane
Topic, can allow the effective obstacle avoidance of fixed-wing unmanned plane, it is to avoid the generation of accident, relieve fixed under complicated terrain environment
The potential safety hazard that wing unmanned plane crashes.
As the concrete application of above-mentioned obstacle avoidance system and barrier-avoiding method, any above-mentioned obstacle avoidance system of installation or using avoidance side
The fixed-wing unmanned plane of method can realize effective avoidance by debugging, realize safe flight, therefore the application flies for fixed-wing
The type of machine is not limited.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and modification of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (10)
1. fixed-wing unmanned plane obstacle avoidance system, it is characterized in that, including UAV Flight Control module and millimeter wave radar module, its
In：
The millimeter wave radar module, is arranged on the fixed-wing unmanned plane, and millimeter wave wave beam is received for lasting transmitting
Or the transmitting of fixed interval receives millimeter wave wave beam, the front course line environment of the fixed-wing unmanned plane is detected, and will visit
Consequential signal is surveyed to transmit to the UAV Flight Control module；
The UAV Flight Control module, for controlling the fixed-wing unmanned plane to be flown according to the result of detection signal
Row and avoidance.
2. fixed-wing unmanned plane obstacle avoidance system according to claim 1, it is characterized in that：
It is setting in front of a fixed-wing unmanned plane that the millimeter wave radar module transmitting, which receives the direction of millimeter wave wave beam,
Determine angular range, the angular range of the setting is more than the maximum of the fixed-wing unmanned plane and avoids scope.
3. fixed-wing unmanned plane obstacle avoidance system according to claim 1, it is characterized in that：The UAV Flight Control module
Including flight attitude adjustment unit and avoidance planning unit；
The flight attitude of flight attitude adjustment unit fixed-wing unmanned plane according to the result of detection Signal Regulation；
The avoidance planning unit adjusts offline mode and the course line of the fixed-wing unmanned plane according to the result of detection signal
Planning.
4. fixed-wing unmanned plane obstacle avoidance system according to claim 3, it is characterized in that：The flight of the fixed-wing unmanned plane
Pattern includes self-driving pattern and avoidance pattern, wherein：
The self-driving pattern is that the UAV Flight Control module controls the fixed-wing unmanned plane to keep initial planning course line to fly
Capable offline mode；
The avoidance pattern is that the UAV Flight Control module controls the fixed-wing unmanned plane according to the result of detection
To reselect the offline mode of emergency route avoiding obstacles.
5. according to any described fixed-wing unmanned plane obstacle avoidance systems of claim 1-4, it is characterized in that：Also include remote control to fill
Put and/or GPS module, the remote control is used for remote control and monitors the fixed-wing unmanned plane, the GPS in real time
Module is used for fixed-wing unmanned plane described in orientation direction and returns to original course line.
6. the barrier-avoiding method of fixed-wing unmanned plane obstacle avoidance system, it is characterized in that, comprise the following steps：
The lasting transmitting of millimeter wave radar module receives millimeter wave wave beam or the emitter of fixed interval receives millimeter wave wave beam,
Detect the front course line environment of the fixed-wing unmanned plane, and by result of detection signal transmission to the UAV Flight Control mould
Block；
The UAV Flight Control module according to the result of detection signal control the fixed-wing unmanned plane carry out flight and
Avoidance.
7. the barrier-avoiding method of fixed-wing unmanned plane obstacle avoidance system according to claim 6, it is characterized in that：
The UAV Flight Control module according to the result of detection signal control the fixed-wing unmanned plane carry out flight and
Avoidance, including：
When the result of detection signal is front clear, then the offline mode of the fixed-wing unmanned plane continues as self-driving mould
Formula, keeps initial planning course line to continue to fly；
When the result of detection signal for front has barrier, then the UAV Flight Control module control the fixed-wing without
Man-machine offline mode is avoidance pattern, and avoiding obstacles simultaneously return to initial planning airline operation.
8. the barrier-avoiding method of fixed-wing unmanned plane obstacle avoidance system according to claim 7, it is characterized in that：
The avoiding obstacles simultaneously return to initial planning airline operation, including：
When the barrier scope without departing from the maximum of the fixed-wing unmanned plane avoids scope, then the UAV Flight Control
Module controls the fixed-wing unmanned plane to perform steering order adjustment course cut-through thing and returns to original course flight；
When the barrier scope is beyond the maximum avoidance scope of the fixed-wing unmanned plane, the UAV Flight Control module
Control the fixed-wing unmanned plane perform rise spiral instruction until barrier scope without departing from the fixed-wing unmanned plane most
Big to avoid scope, the UAV Flight Control module controls the fixed-wing unmanned plane execution steering order adjustment course to bypass
Barrier returns to original course flight.
9. the barrier-avoiding method of fixed-wing unmanned plane obstacle avoidance system according to claim 8, it is characterized in that：
The fixed-wing unmanned plane it is maximum avoid scope computational methods be：Climbed in the maximum of the fixed-wing unmanned plane
In the case that angle, maximum dive angle and the maximum angle turned right to the left are equal, the maximum of the fixed-wing unmanned plane avoids model
Enclose for a border circular areas；
The radius of the border circular areas is：
The center of circle deviation distance of the border circular areas is：
The direction that the center of circle is deviateed is the wind direction on the fixed-wing unmanned plane course line；
Wherein,
M is millimetre-wave radar maximum detectable range；V4 is the hair speed of fixed-wing unmanned plane；θ is the maximum of fixed-wing unmanned plane
The angle of climb, maximum dive angle and the maximum angle turned right to the left；V2' be wind speed horizontal component；V2 " divides for the vertical of wind speed
Amount.
10. fixed-wing unmanned plane, using any described fixed-wing unmanned plane obstacle avoidance systems of claim 1-5 and/or using power
Profit requires the barrier-avoiding method described in any one of 6-9.
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