CN107264821A - A kind of unmanned plane light guiding landing system and method - Google Patents
A kind of unmanned plane light guiding landing system and method Download PDFInfo
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- CN107264821A CN107264821A CN201710589862.6A CN201710589862A CN107264821A CN 107264821 A CN107264821 A CN 107264821A CN 201710589862 A CN201710589862 A CN 201710589862A CN 107264821 A CN107264821 A CN 107264821A
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- 230000005622 photoelectricity Effects 0.000 claims description 23
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of unmanned plane light guiding landing system and method, its ground level point light guide platform transmitting guiding light beam, in photelectric receiver, first passes through optical filter, ground and remaining aerial light interference signal are filtered out, then from photoelectric transformer optical signal will be guided to be changed into electric signal；In electrical filter, useless noise and interference signal are filtered out；The decoder docking collection of letters number is decoded, demodulate the coding information included in the light guide platform transmitting guiding optical signal of ground level point, coordinate signal identifier come identify whether for one's own side land guiding signal and whether be the machine falling signal, recognition result electric signal output, for rear end azimuth comparator carry out aspect ratio compared with.
Description
Technical field
The present invention relates to a kind of unmanned plane landing system, more particularly to a kind of unmanned plane light guiding landing system.
Background technology
With the development of unmanned air vehicle technique particularly multi-rotor unmanned aerial vehicle technology, unmanned plane product is in communication, electric power, boat
The fields such as bat, agricultural are obtained for extensive utilization.
The automatic takeoff of unmanned plane and flight control are more ripe at present, can by unmanned plane flight control system with
Satellite navigation wants to combine to realize, the autonomous accurate landing of unmanned plane is a current more scabrous problem.
《A kind of unmanned plane landing pose measurement new method based on single width runway image》《National University of Defense technology's journal》
1st phase in 2008 discloses a kind of unmanned plane Autonomous landing method based on single width runway image vision, and its method is to pass through
Imaging of the airborne camera chain to touchdown area is analyzed, the Position and orientation parameters in unmanned plane descent is obtained, works as nothing
It is man-machine when having been positioned in approach glidepath and dropping to lower height, due to can not continue in the picture and meanwhile obtain runway and
In the case of other reference marks, the pose parameter for obtaining unmanned plane landing is calculated merely with single width runway image, to provide nothing
Man-machine flight control system completes unmanned plane Autonomous landing, and weak point is to need to install on unmanned plane to record picture pick-up device, and will
Landing place is recognized by complicated image procossing and algorithm, equipment is complex.
The content of the invention
In order to solve problem above the invention provides one kind is simple in construction, cost is low, high nobody of guiding landing precision
Machine light guides landing system.
In order to solve problem above, present invention employs following technical scheme：
A kind of unmanned plane light guides landing system, including photoelectricity azimuthal error reception device and the guiding of ground level point light to put down
Platform.Ground level point light guide platform launches a branch of optical signal, the photoelectricity azimuthal error reception device under unmanned plane ventral
Guiding optical signal is received, and the signal received is compared and treated, biased error of landing is obtained, control unmanned plane flies control
System, appointed place is dropped to along light beam.
Described photoelectricity azimuthal error reception device includes photelectric receiver, azimuth comparator；Described photelectric receiver
Including optical filter, photoelectric transformer, electrical filter, decoder, signal identifier.The light guide platform transmitting of ground level point is drawn
Guide-lighting wave beam, in photelectric receiver, first passes through optical filter, filters out ground and remaining aerial light interference signal, reduce and miss
Detection probability, then from photoelectric transformer optical signal will be guided to be changed into electric signal；In electrical filter, useless noise is filtered out and dry
Signal is disturbed, to improve the sensitivity of signal detection；The decoder docking collection of letters number is decoded, and demodulates the light guiding of ground level point
Coding information included in platform transmitting guiding optical signal, coordinates signal identifier to identify whether as one's own side's landing guiding letter
Number and whether be the machine landing letter when landing (guiding multiple UAVs) number, recognition result electric signal output, for rear end side
Bit comparator carry out aspect ratio compared with；Unmanned plane is during light beam guiding declines, if deviateing guiding light beam, photoelectricity azimuthal error connects
Receive device and receive light guiding signal, unmanned plane landing azimuth deviation is extracted by azimuth comparator；According to azimuth deviation signal, control
Unmanned plane processed carries out touch down attitude control, and unmanned plane flies back in guiding light beam range of exposures, until unmanned plane completes landing.
Described azimuth comparator includes 2n X azimuth comparator and 2n Y azimuth comparator, n >=1；Unmanned plane is in light
During beam guiding declines, if deviateing guiding light beam, photoelectricity azimuthal error receiver receives light guiding signal, by X aspect ratios
Compared with the landing azimuth deviation that device and Y azimuth comparators extract unmanned plane horizontal direction bidimensional.Certainly in same level, no
Same angle can set azimuth comparator.
A kind of unmanned plane light guides landing method, including herein below：
Unmanned plane enters drop zone：Unmanned plane enters drop zone, ground level point light guide platform transmitting guiding light
Wave beam, the whole unmanned plane of light beam irradiation covering.
Optical signal is guided to receive identification：Ground level point light guide platform transmitting guiding light beam, in photelectric receiver,
Optical filter is first passed through, ground and remaining aerial light interference signal is filtered out, then from photoelectric transformer optical signal will be guided to be changed into
Electric signal；In electrical filter, useless noise and interference signal are filtered out；The decoder docking collection of letters number is decoded, and is demodulated
Coding information included in the landing stage transmitting guiding optical signal of ground, coordinates signal identifier to identify whether to land for one's own side
Guiding signal and whether be the machine falling signal, recognition result electric signal output, for rear end azimuth comparator carry out orientation
Compare.
Photoelectricity azimuthal error is extracted：Unmanned plane is during light beam guiding declines, if deviateing guiding light beam, photoelectricity orientation is missed
Poor reception device receives light guiding signal, and unmanned plane horizontal direction landing azimuth deviation is extracted by azimuth comparator.
Unmanned plane touch down attitude amendment：The landing azimuth deviation that unmanned plane is exported according to photoelectricity azimuthal error receiver is believed
Number, control unmanned plane carries out touch down attitude control, and unmanned plane flies back in guiding light beam range of exposures, until unmanned plane completes drop
Fall.
Described azimuth comparator includes 2n X azimuth comparator and 2n Y azimuth comparator, n >=1；Unmanned plane is in light
During beam guiding declines, if deviateing guiding light beam, photoelectricity azimuthal error receiver receives light guiding signal, by X aspect ratios
Compared with the landing azimuth deviation that device and Y azimuth comparators extract unmanned plane horizontal direction bidimensional.
Beneficial effect：
Cost of the present invention is low：The present invention has abandoned the high record camera system of cost and complicated view synthesis system
System, the acquisition of landing azimuthal error is realized with simple light-sensitive device and simple comparison circuit, reaches offer precisely control
The purpose of unmanned plane landing processed.
Present invention landing precision is high：The present invention is guided with the light beam of the certain angle of divergence in ground, and final level point is in guiding
At light source, the accurate pinpoint landing of unmanned plane is realized.
Present invention guiding implementation is simple：Unmanned plane voluntarily lands along light beam, without complicated guiding communication equipment.
Multimachine of the present invention lands simultaneously：It is real by way of different guiding light sources and unmanned plane match unlike signal coding
The independent pinpoint landing of existing unmanned aerial vehicle group.
Brief description of the drawings
Fig. 1 guides landing schematic diagram for the light beam of present system.
Fig. 2 is the photoelectricity azimuthal error receiver principle schematic of present system.
Fig. 3 is the photelectric receiver principle schematic of present system.
Fig. 4 guides precisely landing control principle schematic diagram for the light of present system.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in further detail.
As shown in Figures 1 to 4, landing system, including photoelectricity azimuthal error is guided to connect the invention provides a kind of unmanned plane light
Receiving apparatus and ground level point light guide platform.Ground level point light guide platform launches a branch of optical signal, positioned at unmanned plane machine
Photoelectricity azimuthal error reception device under abdomen receives guiding optical signal, and the signal received is compared and treated, and obtains
Landing biased error, controls system for flight control computer, appointed place is dropped to along light beam.
Described photoelectricity azimuthal error reception device include photelectric receiver, 2 X azimuth comparators and 2 Y aspect ratios compared with
Device.Described photelectric receiver includes optical filter, photoelectric transformer, electrical filter, decoder, signal identifier.
Ground level point light guide platform transmitting guiding light beam, in photelectric receiver, first passes through optical filter, filters out
Ground and remaining aerial light interference signal, then from photoelectric transformer optical signal will be guided to be changed into electric signal；In electrical filter,
Filter out useless noise and interference signal；The decoder docking collection of letters number is decoded, and demodulates ground level point light guide platform
Transmitting guiding optical signal included in coding information, coordinate signal identifier come identify whether for one's own side landing guiding signal with
And whether be the machine falling signal, recognition result electric signal output, for the 2 X azimuth comparators and 2 Y aspect ratios of rear end
Compared with device carry out aspect ratio compared with.
Unmanned plane is during light beam guiding declines, if deviateing guiding light beam, photoelectricity azimuthal error receiver receives light and drawn
Signal is led, the landing azimuth deviation of unmanned plane horizontal plane X-direction is extracted by 2 X azimuth comparators, by 2 Y aspect ratios
Compared with the landing azimuth deviation that device extracts unmanned plane horizontal plane Y-direction.
According to azimuth deviation signal, control unmanned plane carries out touch down attitude control, and unmanned plane, which flies back, guides light beam irradiation model
In enclosing, until unmanned plane completes landing.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not restricted to, for the technology of this area
For personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included within scope of the presently claimed invention.
Claims (4)
1. a kind of unmanned plane light guides landing system, it is characterised in that land including photoelectricity azimuthal error reception device and ground
Point light guide platform,
Ground level point light guide platform launches a branch of optical signal, the photoelectricity azimuthal error reception device under unmanned plane ventral
Guiding optical signal is received, and the signal received is compared and treated, biased error of landing is obtained, control unmanned plane flies control
System, appointed place is dropped to along light beam；
Described photoelectricity azimuthal error reception device includes photelectric receiver, azimuth comparator；
Described photelectric receiver includes optical filter, photoelectric transformer, electrical filter, decoder, signal identifier；
Ground level point light guide platform transmitting guiding light beam, in photelectric receiver, first passes through optical filter, filters out ground
With remaining aerial light interference signal, then from photoelectric transformer optical signal will be guided to be changed into electric signal；In electrical filter, filter out
Useless noise and interference signal；The decoder docking collection of letters number is decoded, and demodulates the light guide platform transmitting of ground level point
The coding information included in optical signal is guided, coordinates signal identifier to identify whether as one's own side's landing guiding signal and be
The no falling signal for the machine, recognition result electric signal output, for rear end azimuth comparator carry out aspect ratio compared with；
Unmanned plane is during light beam guiding declines, if deviateing guiding light beam, photoelectricity azimuthal error receiver receives light guiding letter
Number, extract unmanned plane landing azimuth deviation by azimuth comparator；
According to azimuth deviation signal, control unmanned plane carries out touch down attitude control, and unmanned plane flies back in guiding light beam range of exposures,
Until unmanned plane completes landing.
2. a kind of unmanned plane light guiding landing system according to claim 1, it is characterised in that described azimuth comparator
Including 2n X azimuth comparator and 2n Y azimuth comparator, n >=1；Unmanned plane draws during light beam guiding declines if deviateing
Light guide bundles, photoelectricity azimuthal error receiver receives light guiding signal, and nothing is extracted by X azimuth comparators and Y azimuth comparators
The landing azimuth deviation of man-machine horizontal direction bidimensional.
3. a kind of unmanned plane light guides landing method, it is characterised in that including herein below：
Unmanned plane enters drop zone：Unmanned plane enters drop zone, and light guide platform transmitting in ground level point guides light beam,
The whole unmanned plane of light beam irradiation covering；
Optical signal is guided to receive identification：Ground level point light guide platform transmitting guiding light beam, in photelectric receiver, is first passed through
Optical filter is crossed, ground and remaining aerial light interference signal is filtered out, then from photoelectric transformer optical signal will be guided to be changed into telecommunications
Number；In electrical filter, useless noise and interference signal are filtered out；The decoder docking collection of letters number is decoded, and demodulates ground
Coding information included in landing stage transmitting guiding optical signal, coordinates signal identifier and is guided to identify whether to land for one's own side
Signal and whether be the machine falling signal, recognition result electric signal output, for rear end azimuth comparator carry out aspect ratio compared with；
Photoelectricity azimuthal error is extracted：Unmanned plane is during light beam guiding declines, if deviateing guiding light beam, photoelectricity azimuthal error connects
Receive device and receive light guiding signal, unmanned plane horizontal direction landing azimuth deviation is extracted by azimuth comparator；
Unmanned plane touch down attitude amendment：The landing azimuth deviation signal that unmanned plane is exported according to photoelectricity azimuthal error receiver, control
Unmanned plane processed carries out touch down attitude control, and unmanned plane flies back in guiding light beam range of exposures, until unmanned plane completes landing.
4. a kind of unmanned plane light guiding landing system according to claim 3, it is characterised in that described azimuth comparator
Including 2n X azimuth comparator and 2n Y azimuth comparator, n >=1；Unmanned plane draws during light beam guiding declines if deviateing
Light guide bundles, photoelectricity azimuthal error receiver receives light guiding signal, and nothing is extracted by X azimuth comparators and Y azimuth comparators
The landing azimuth deviation of man-machine horizontal direction bidimensional.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710589862.6A CN107264821A (en) | 2017-07-19 | 2017-07-19 | A kind of unmanned plane light guiding landing system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710589862.6A CN107264821A (en) | 2017-07-19 | 2017-07-19 | A kind of unmanned plane light guiding landing system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114815905A (en) * | 2022-06-29 | 2022-07-29 | 中国航空工业集团公司沈阳飞机设计研究所 | Multi-machine continuous landing guide control method and device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103092211A (en) * | 2013-01-05 | 2013-05-08 | 中国航天空气动力技术研究院 | Unmanned aerial vehicle emergent land method based on guidance of radio and laser |
| CN105905309A (en) * | 2016-04-12 | 2016-08-31 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Laser-assisted aircraft night landing guidance system |
| CN106143932A (en) * | 2016-08-05 | 2016-11-23 | 西安方元明科技股份有限公司 | A kind of unmanned plane recovery system based on laser-beam riding |
-
2017
- 2017-07-19 CN CN201710589862.6A patent/CN107264821A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103092211A (en) * | 2013-01-05 | 2013-05-08 | 中国航天空气动力技术研究院 | Unmanned aerial vehicle emergent land method based on guidance of radio and laser |
| CN105905309A (en) * | 2016-04-12 | 2016-08-31 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Laser-assisted aircraft night landing guidance system |
| CN106143932A (en) * | 2016-08-05 | 2016-11-23 | 西安方元明科技股份有限公司 | A kind of unmanned plane recovery system based on laser-beam riding |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114815905A (en) * | 2022-06-29 | 2022-07-29 | 中国航空工业集团公司沈阳飞机设计研究所 | Multi-machine continuous landing guide control method and device |
| CN114815905B (en) * | 2022-06-29 | 2022-09-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Multi-machine continuous landing guide control method and device |
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