CN107329157A - What a kind of auxiliary fixed-wing unmanned plane was dynamically reclaimed realizes device and implementation method - Google Patents
What a kind of auxiliary fixed-wing unmanned plane was dynamically reclaimed realizes device and implementation method Download PDFInfo
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- CN107329157A CN107329157A CN201710762625.5A CN201710762625A CN107329157A CN 107329157 A CN107329157 A CN 107329157A CN 201710762625 A CN201710762625 A CN 201710762625A CN 107329157 A CN107329157 A CN 107329157A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012937 correction Methods 0.000 claims abstract description 15
- 230000009897 systematic effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 16
- 238000005516 engineering process Methods 0.000 abstract description 10
- 238000004064 recycling Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
- 230000000607 poisoning effect Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 244000062645 predators Species 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Device and implementation method are realized the invention discloses what a kind of auxiliary fixed-wing unmanned plane was dynamically reclaimed, belongs to unmanned plane recovery technology field.The present invention is mounted with differential satellite receiver, satellite earth antenna, data radio station, data radio station antenna on landing platform.Data radio station receives the differential corrections amount that differential satellite base station is sent, and the exact position of landing platform is calculated with reference to itself differential satellite receiver, and the exact position of landing platform is sent into unmanned aerial vehicle station and unmanned plane again by data radio station.The present invention uses differential satellite location technology, when unmanned plane and landing platform are apart from each other, you can the landing attitude amendment to unmanned plane is realized, with raising Navigation of Pilotless Aircraft precision and the meaning in cruising time.By the present invention, two kinds of ways of recycling of unmanned plane can be achieved.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, it is related to one kind using differential satellite location technology auxiliary fixed-wing unmanned plane
What dynamic was reclaimed realizes device.
Background technology
The recovery operation of unmanned plane is particularly significant awing, is also one of emphasis and difficult point, compared with other offline mode more
Easily go wrong, fixed wing aircraft majority is reclaimed using undercarriage running landings at this stage, this mode to site requirements compared with
Height, with the raising of technology, new way of recycling emerges in an endless stream.Reclaim in line with simple, cost is low, light weight, small volume
Principle, can reclaim any point out of working range, be adapted to long term storage, insensitive to damaging, and improve the expense effect that unmanned plane is used
Than (expense/efficiency), situation of the World UAV by the past based on disposable is increasingly intended to muptiple-use use.
Common way of recycling has undercarriage running landing recovery (predator, global hawk, pterosaur), parachute to reclaim, block
Cut and net recovery, air bag recovery, air cushion recovery, aerial recovery, vertical landing and splashing recovery, wherein interception net recovery is divided into
Dynamic block and static block.
Dynamic net collision recovery technology is the new way of recycling that fixed-wing unmanned plane is used at this stage, and its principle is netted back with hitting
Receive similar, this technical advantage can allow unmanned plane no longer to need weight on undercarriage, mitigation machine, when making the aircraft stay longer in the air
Between, and for more common net collision recovery technology, the requirement to aircraft landing place is lower.By on mobile landing platform
The elastic deformation of block absorbs the kinetic energy of unmanned plane.
Mobile landing platform is dynamic in the course of the work with unmanned plane, and the cooperation of unmanned plane and mobile platform is dynamic
The method of the key of net collision recovery technology, wherein mate-assist is a lot, such as artificial landing, camera sensing device, sonar sensor
Etc..
Fig. 1 is the schematic diagram of the dynamic land of auxiliary unmanned plane used at this stage, passes through the sensing on unmanned plane
Device (camera, sonar etc.) coordinates with the sensor identifying system on landing platform realizes landing.Biography on unmanned plane
Sensor makes to produce burden in terms of the weight of unmanned plane, energy consumption, and sensor is merely able to the competence exertion in cog region and acted on, to behaviour
For vertical slower big span long endurance unmanned aircraft, low clearance, the situation of low velocity can make unmanned plane in sensor cog region
Driving efficiency is reduced, and even results in recovery failure.
The content of the invention
The present invention aids in fixed-wing unmanned plane dynamic to solve the not enough of existing unmanned plane recovery technology there is provided one kind
That reclaims realizes device and implementation method.The present invention uses differential satellite location technology, and unmanned plane passes through the cooperation with earth station
Safe retrieving, has reached the purpose of high-precision net collision recovery.When unmanned plane and landing platform are apart from each other, you can realize to nothing
Man-machine landing attitude amendment, with raising Navigation of Pilotless Aircraft precision and the meaning in cruising time.
What the auxiliary fixed-wing unmanned plane that the present invention is provided dynamically was reclaimed realizes device, including unmanned aerial vehicle station, difference
Satellite base station and landing platform, are provided with differential satellite receiver and data radio station on described landing platform, described
Communicated respectively between landing platform and differential satellite base station, earth station and unmanned plane, differential satellite base station is received first
After differential corrections amount, the accurate location that landing platform is calculated by itself differential satellite receiver, by described landing platform
Accurate location is sent respectively to earth station and unmanned plane.
Differential satellite base station is main to be passed by differential satellite receiver, satellite earth antenna, battery, data radio station, number
Radio station transmitting antenna composition.Differential satellite earth station is calculated in satellite earth antenna phase by differential satellite receiver first
The position data of the heart, then the position and the accurate position data demarcated in advance are made the difference, obtain satellite pseudo range measurement in region
The systematic error of data, mobile terminal (nothing is transferred to as differential corrections amount, and by Radio Link by described differential corrections amount
Man-machine and landing platform), mobile terminal is realized the accurate differential satellite positioning for removing error.
It is mounted with that differential satellite receiver, satellite earth antenna, battery, data radio station, number conduct electricity on landing platform
Platform antenna.Data radio station receives the differential corrections amount that differential satellite base station is sent, and is calculated with reference to itself differential satellite receiver
Go out the exact position of landing platform, and the exact position of landing platform is sent to unmanned aerial vehicle station again by data radio station
And unmanned plane.
The advantage of the invention is that：
(1) realization that conventional platform lands needs separately to install the sensors such as camera, sonar additional on unmanned plane；The present invention
Optimize system on unmanned plane machine, be that platform can be achieved to land without adding equipment on unmanned plane, ensureing that navigation accuracy is constant
On the basis of, load and system complexity on reduction machine.
(2) conventional differential satellite base station is served only for improving the self poisoning precision of aircraft；The present invention more makes full use of
Differential satellite base station, realizes two kinds of purposes of a set of equipment, and the present invention realizes same set of differential reference station except improving nobody
Outside machine self poisoning precision, the positioning precision of landing platform can be also improved.
(3) unmanned plane can carry out touch down attitude amendment in advance, and relative to other sensors, unmanned plane landing lead is significantly
Increase.Conventional platform lands the sensors such as applied camera, sonar needs can in sensor in unmanned plane and landing platform
It can just be played a role in the case of the apparent distance, but now unmanned plane comes into state of landing when participating in the cintest, and highly low, speed is slow, this
Shi Zaici is modified to the posture of unmanned plane, can make the action of fixed-wing unmanned plane can slow or even stall, increase landing risk.
Using the present invention, the network connection before differential satellite base station, landing platform, unmanned plane can reach dozens or even hundreds of public affairs
In, before unmanned plane is marched into the arena attitude rectification can be carried out to unmanned plane in advance.
(4) delay reduction, conventional camera, the identification of sonar sensor are needed by unmanned plane initiative recognition landing platform
Position, feed back passback sensor, by carrying out the amendment of itself posture after calculating, feedback cycle is longer.In this patent, unmanned plane
It is passive in real time to receive the self-position that landing platform is sent, by carrying out itself attitude rectification, system delay reduction after calculating.
(5) landing modes redundance, by the present invention, can be achieved two kinds of ways of recycling of unmanned plane.
Brief description of the drawings
Fig. 1 is the principle schematic of the dynamic land of auxiliary unmanned plane used at this stage.
Fig. 2 realizes schematic device for what a kind of auxiliary unmanned plane of the present invention was dynamically reclaimed.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
As shown in Fig. 2 a kind of auxiliary fixed-wing unmanned plane for providing of the present invention dynamically reclaim realize device, including nobody
Machine earth station, differential satellite base station and landing platform.The dynamic retracting device of existing unmanned plane, as shown in figure 1, it is flat to land
Connected between platform and unmanned plane by sensor signal, therefore only unmanned plane enters within the identification range of sensor, ability
Landing is guided to reclaim.The present invention is improved on the basis of the existing way of recycling, specifically, on landing platform
Differential satellite receiver and data radio station are installed, the correction and GNSS signal of differential satellite base station is received, it is fixed by difference
Position, calculates the accurate location of landing platform, and the accurate location of landing platform is sent to nobody again by data radio station
Machine earth station and unmanned plane.
Described unmanned aerial vehicle station is also known as control station, remote control station or task plan and control station.Earth station is ground dough figurine
Member and the communication bridge of unmanned plane.Its function is broadly divided into command scheduling, mission planning, operational control, display record.Commander adjusts
Degree mainly includes contact between superior instructions reception, system, internal system scheduling.Mission planning mainly includes air Route Planning Method
Drawn with weight-normality, mission payload work planning and weight-normality are drawn.Operational control function mainly include landing manipulation, flight control operation,
Mission payload operation, Data-Link control.Display writing function mainly include flight status parameter show with record, Target track displaying and
Record, mission payload presentation of information and record etc..In the UAS that scale is increased, can there are several earth stations or control
System station, the earth station of these difference in functionalitys or control station are connected by communication equipment, constitute unmanned aerial vehicle station system.
Described differential satellite base station it is main by differential satellite receiver (such as Shanghai compass in ancient China Navigation, LTD
K706 or the ad eundem GNSS boards that function is resolved with difference), satellite earth antenna, battery, data radio station (for example plus take
Big MICROHARD N920 double-direction radios data radio station or same level can realize the data radio station of long-range many transparent transmissions),
Data radio station transmitting antenna is constituted.In unmanned plane approach and rolling start stage, it is necessary to which accurately control aircraft is with respect to runway
Or the position of landing platform, it is therefore desirable to the positional information of the accurate landing platform of onboard satellite navigation equipment offer, but by
In the presence of the factors such as ionosphere delay error, tropospheric delay error, ephemeris error and clock clock correction, receiver is caused to measure
Satellite pseudo range data there is slowly varying systematic error, using same measuring method in the same area of tens kilometers of radius
The domain error is essentially identical.Described differential satellite base station calculates satellite earth antenna by differential satellite receiver first
The position data of phase center, then by the position of the satellite earth antenna phase center and the accurate position data demarcated in advance
Make the difference, obtain the systematic error of satellite pseudo range measurement data in region, and by Radio Link be transferred to systematic error airborne
DVB.Described differential satellite receiver is to be used to send differential bit to mobile terminal (including unmanned plane and landing platform)
The equipment for putting correction, its principle is the benchmark where the positional information and script itself calculated by itself DVB
Position is made the difference, and difference is sent to mobile terminal (unmanned plane, landing platform), mobile terminal is realized the accurate difference for removing error
Satellite fix.The effect of differential satellite base station in the present invention is to send differential corrections to unmanned generator terminal and landing platform end
Amount, due to described differential corrections amount circumference tens kilometers in it is essentially identical, so, unmanned generator terminal and landing platform end can be same
The differential corrections amount that Shi Liyong difference ground base station is sent so that unmanned generator terminal and landing platform end can accurately calculate itself
Simultaneously further apply position.
Accessory system when landing platform is UAV Landing, when runway pavement quality, length violation close unmanned plane landing
During condition, landing platform can be used as unmanned plane landing instrument.In landing mission, unmanned plane and landing platform geo-stationary
In the case of achieve a butt joint, acceleration is subtracted so that unmanned plane can be with fast braking by landing platform afterwards, it is to avoid ground is faced
The injury of unmanned plane undercarriage even fully phases out undercarriage, you can provide safe retrieving to unmanned plane.Landing platform of today
It itself can be disturbed mostly by extraneous factor, for example, the landing platform drawn be done by pilot steering automobile, can be driven by driver
Sail the influence of the factors such as custom so that it is female that landing platform can not do the aviation travelled in simple preferably linear uniform motion, the water surface
Warship can be influenceed by factors such as ripples so that landing platform can not also do simple preferably linear uniform motion, the situation of the above,
So that unmanned plane recovery difficult is increased.Differential satellite receiver (such as Shanghai compass in ancient China is mounted with the present invention on landing platform
The K706 GNSS of Navigation, LTD or with difference resolve function ad eundem GNSS boards), satellite earth antenna, electric power storage
(such as Canada MICROHARD N920 double-direction radios data radio station or same level can realize long-range many thoroughly for pond, data radio station
The data radio station of bright transmission), data radio station antenna.Data radio station receives the differential satellite base for being originally used for aiding in Navigation of Pilotless Aircraft
The differential corrections amount that quasi- station is sent, the exact position of landing platform is calculated with reference to itself DVB, and by position again
Unmanned aerial vehicle station end and unmanned generator terminal are sent to by data radio station.
What the auxiliary fixed-wing unmanned plane provided using the present invention was dynamically reclaimed realizes device, it is possible to achieve two ways
Unmanned plane is reclaimed：
Mode one, unmanned aerial vehicle station end can receive the elaborate position of unmanned plane, landing platform, by unmanned plane
Manipulation so that unmanned plane can follow the trail of landing platform on the move, and realize landing, and detailed process is：
Step 1：Unmanned aerial vehicle station receives the accurate location of landing platform and the accurate location of unmanned plane.
Step 2：Unmanned aerial vehicle station is by controlling unmanned plane to make the locus of unmanned plane and the space bit of landing platform
Put and be fitted.
Step 3：Landing purpose is can reach when two locus are overlapped.
Mode two, unmanned generator terminal can receive the exact position of landing platform, by being manipulated to the amendment of itself so that from
Body follows the trail of landing platform on the move, and realizes landing, and detailed process is：
Step 1：Pre-set landing operation in unmanned plane self-driving system, is carried out certainly according to the position of landing platform
Body amendment is simultaneously fitted with landing platform.
Step 2：Unmanned aerial vehicle station is sent to after the differential signal of landing platform when unmanned plane is received.
Step 3：Unmanned aerial vehicle station sends instruction of landing after obtaining unmanned plane feedback.
Step 4：Unmanned plane receives landing instruction, follows the trail of landing platform, reaches landing purpose.
Claims (3)
1. a kind of implementation method for aiding in fixed-wing unmanned plane dynamically to reclaim, it is characterised in that：Difference is set on landing platform
DVB and data radio station, lead to respectively between described landing platform and differential satellite base station, earth station and unmanned plane
News, receive the differential corrections amount of differential satellite base station first, and the standard of landing platform is calculated by itself differential satellite receiver
Behind true position, the accurate location of described landing platform is sent respectively to earth station and unmanned plane；Described communication passes through nothing
Wired link is realized.
2. a kind of implementation method for aiding in fixed-wing unmanned plane dynamically to reclaim according to claim 1, it is characterised in that：Difference
Satellite base station is divided to be made up of differential satellite receiver, satellite earth antenna, data radio station, data radio station transmitting antenna, difference
Ground satellite station calculates the position data of satellite earth antenna phase center by differential satellite receiver first, then should
Position makes the difference with the accurate position data demarcated in advance, obtains the systematic error of satellite pseudo range measurement data in region, is used as difference
Divide correction, described differential corrections amount is transferred to unmanned plane by data radio station transmitting antenna and landed flat by data radio station
Platform.
3. a kind of implementation method for aiding in fixed-wing unmanned plane dynamically to reclaim according to claim 1, it is characterised in that：Bag
The unmanned plane for including two ways is reclaimed, and is respectively：
Mode one, unmanned aerial vehicle station end can receive the elaborate position of unmanned plane, landing platform, pass through the behaviour to unmanned plane
Control so that unmanned plane can follow the trail of landing platform on the move, and realize landing, and detailed process is：
Step 1：Unmanned aerial vehicle station receives the accurate location of landing platform and the accurate location of unmanned plane；
Step 2：Unmanned aerial vehicle station is by controlling unmanned plane to enter the locus of unmanned plane and the locus of landing platform
Row fitting；
Step 3：Landing purpose is can reach when two locus are overlapped；
Mode two, unmanned plane terminates the exact position for receiving landing platform, by being manipulated to the amendment of itself so that itself is followed the trail of
Landing platform on the move, and landing is realized, detailed process is：
Step 1：Pre-set landing operation in unmanned plane self-driving system, carries out itself repairing according to the position of landing platform
Just and with landing platform it is fitted；
Step 2：Unmanned aerial vehicle station is sent to after the differential signal of landing platform when unmanned plane is received；
Step 3：Unmanned aerial vehicle station sends instruction of landing after obtaining unmanned plane feedback；
Step 4：Unmanned plane receives landing instruction, follows the trail of landing platform, reaches landing purpose.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710762625.5A CN107329157A (en) | 2017-08-30 | 2017-08-30 | What a kind of auxiliary fixed-wing unmanned plane was dynamically reclaimed realizes device and implementation method |
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Cited By (6)
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| CN109613929A (en) * | 2018-12-12 | 2019-04-12 | 北京卫星信息工程研究所 | A kind of flight precision approach and landing concept and system |
| CN109839650A (en) * | 2019-01-04 | 2019-06-04 | 哈瓦国际航空技术（深圳）有限公司 | A kind of compatible RTK localization method of unmanned plane, system, equipment and storage medium |
| CN110809747A (en) * | 2018-10-26 | 2020-02-18 | 深圳市大疆创新科技有限公司 | High-precision unmanned aerial vehicle flight path measurement system and machine readable storage medium |
| CN111888707A (en) * | 2020-07-20 | 2020-11-06 | 安琳 | Following type customized net body structure moving system and method |
| CN112631336A (en) * | 2020-12-30 | 2021-04-09 | 中电科特种飞机系统工程有限公司 | Control method, system and device of unmanned aerial vehicle |
| CN114545957A (en) * | 2022-01-25 | 2022-05-27 | 中国舰船研究设计中心 | Unmanned aerial vehicle retrieves bootstrap system |
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