CN107368093A - One kind is tethered at unmanned plane synchronization system for tracking - Google Patents
One kind is tethered at unmanned plane synchronization system for tracking Download PDFInfo
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- CN107368093A CN107368093A CN201710460081.7A CN201710460081A CN107368093A CN 107368093 A CN107368093 A CN 107368093A CN 201710460081 A CN201710460081 A CN 201710460081A CN 107368093 A CN107368093 A CN 107368093A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses one kind to be tethered at unmanned plane synchronization system for tracking, including ground control's platform, it is tethered at cable and unmanned plane, ground control's platform is made up of conveying arrangement, mooring module, ground control centre and RTK base stations, the mooring module, ground control centre and RTK base stations composition are fixedly mounted on conveying arrangement, the RTK base stations are electrically connected with ground control centre, the cable that is tethered at is connected with the electrical two-phase in ground control centre, and be fixedly connected with mooring module, it is described to be tethered at cable and the two-way electric connection of unmanned plane.It is tethered at that unmanned plane obtains the location coordinate information of ground control's platform in real time and motion state and automatic synchronization follow, follows the pinpoint landing that accuracy is high, is easy to unmanned plane, automaticity is higher, can stagnant sky for a long time without worrying continuation of the journey problem.
Description
Technical field
The invention belongs to unmanned plane field, and in particular to one kind is tethered at unmanned plane synchronization system for tracking.
Background technology
Unmanned plane is tethered at due to prolonged stagnant empty ability can be provided, in multiple fields such as real-time monitoring, signal relayings
With extensive use.However, because being tethered at cable, unmanned plane needs pinpoint landing, and landing difficulty is larger, using operating personnel
The landing of manually implemented unmanned plane and following for the vehicles, low precision is followed, at the same it is higher to operating personnel's technical requirements,
It is difficult to complete under actual environment.
Application number CN201610479898.4 discloses a kind of unmanned vehicle system for tracking based on differential satellite navigation
And method, the system include the first Satellite Navigation Set, the second Satellite Navigation Set, difference and resolve module and navigation module, institute
The first Satellite Navigation Set is stated to be arranged at the earth station of unmanned vehicle and receive the first satellite location data；Second satellite
Guider is arranged at the unmanned vehicle and receives the second satellite location data；The difference resolves module according to described the
One satellite location data and the second satellite location data calculate position of the unmanned vehicle relative to earth station；It is described to lead
Model plane root tuber controls institute according to the unmanned vehicle relative to position passing ratio-Integrated Derivative pid control mode of earth station
State the surface that unmanned vehicle is in the earth station.This application file does not provide perfect system architecture, can not realize
It is increasingly automated, do not solve the problems, such as stagnant empty continuation of the journey for a long time.
The content of the invention
The present invention provides one kind and is tethered at unmanned plane synchronization system for tracking, is tethered at unmanned plane and obtains ground control's platform in real time
Simultaneously automatic synchronization follows for location coordinate information and motion state, follows the pinpoint landing that accuracy is high, is easy to unmanned plane, automation
Degree is higher, can the stagnant sky of long-time without worrying continuation of the journey problem.
To achieve these goals, the technical scheme taken of the present invention is：One kind is tethered at unmanned plane synchronization system for tracking, bag
Include ground control's platform, be tethered at cable and unmanned plane, ground control's platform is controlled by conveying arrangement, mooring module, ground
Center and RTK base stations composition, the mooring module, ground control centre and RTK base stations composition are fixedly mounted on conveying arrangement
On, the RTK base stations are electrically connected with ground control centre, and the cable that is tethered at is connected with the electrical two-phase in ground control centre,
And be fixedly connected with mooring module, it is described to be tethered at cable and the two-way electric connection of unmanned plane.
Preferably, the mooring module is made up of generator, DC high-voltage power supply and automatic retraction device for cable, the generating
Machine is electrically connected with DC high-voltage power supply, and the DC high-voltage power supply is electrically connected with automatic retraction device for cable, described to be tethered at electricity
Cable is fixedly connected on automatic retraction device for cable.
Preferably, the conveying arrangement can be vehicle or ship.
Preferably, the cable that is tethered at is by load cable, direct current supply line, telecommunication optical fiber, grounded metal net and outer tube
Composition.
Preferably, the unmanned plane is by rechargeable battery, navigation module, data reception module, winged control module and RTK group of base stations
Into the navigation module, data reception module, winged control module and RTK base stations are electrically connected with rechargeable battery, the charging electricity
Pond and be tethered at cable electric connection, on the one hand the data reception module is electrically bi-directionally connected with being tethered at cable, on the other hand with
Navigation module is electrically connected with, and navigation module is electrically connected with flying control module.
Preferably, the data reception module is provided with the receiver of RTK base stations as rover station.
Beneficial effect using above technical scheme is：The invention is that one kind is tethered at unmanned plane synchronization system for tracking, ground
The electrical power generators of maneuvering platform, electric energy persistently is stored to DC high-voltage power supply, can filling to unmanned plane by being tethered at cable
Battery is charged, it is possible to achieve round-the-clock uninterrupted stagnant sky, earthward control centre's feedback is sat for the RTK base stations of ground control's platform
Information is marked, the also earthward control centre's feedback coordinates information of the data reception module on unmanned plane, ground control centre is integrated point
Two kinds of coordinate position differences are analysed, and position difference information is fed back into data reception module, data by the form of control signal
Control signal is fed back to navigation module by receiving module, and navigation module, which feeds back to Coordinate Adjusting signal, flies control module, Ran Houwu
Man-machine adjust automatically flying speed and direction, the conveying arrangement on ground is synchronously followed, be tethered at cable and primarily serve transmission electric energy, passed
The effect of defeated signal, ground control's platform automatically control unmanned plane by ground control centre and moved, and it is automatic that unmanned plane can be achieved
Hovering and follow commander's conveying arrangement automatically, by ground control centre set unmanned plane during flying height, support one key take off, one
Key lands and recovery.When commanding conveying arrangement static, unmanned plane is hovered over above ground control's platform, when commander's conveying arrangement
During motion, unmanned plane follows ground control's platform to move automatically, in summary, is tethered at unmanned plane and obtains ground control's platform in real time
Location coordinate information and motion state and automatic synchronization follow, follow the pinpoint landing that accuracy is high, is easy to unmanned plane, automatically
Change degree is higher, can the stagnant sky of long-time without worrying continuation of the journey problem.
Brief description of the drawings
Fig. 1 is a kind of theory diagram for being tethered at unmanned plane synchronization system for tracking provided by the invention.
Embodiment
Below against accompanying drawing, by the description to embodiment, embodiment of the invention is made further details of
Explanation, it is therefore an objective to help those skilled in the art to have more complete, accurate and deep reason to design of the invention, technical scheme
Solution, and contribute to its implementation.
Show the embodiment of the present invention as shown in Figure 1：One kind is tethered at unmanned plane synchronization system for tracking, including ground
Maneuvering platform, be tethered at cable and unmanned plane, ground control's platform by conveying arrangement, mooring module, ground control centre and
RTK base stations are formed, and the mooring module, ground control centre and RTK base stations composition are fixedly mounted on conveying arrangement, described
RTK base stations are electrically connected with ground control centre, and the cable that is tethered at is connected with the electrical two-phase in ground control centre, and and mooring
Module is fixedly connected, described to be tethered at cable and the two-way electric connection of unmanned plane.The mooring module is by generator, DC high-voltage
Source and automatic retraction device for cable composition, the generator are electrically connected with DC high-voltage power supply, the DC high-voltage power supply and electricity
Cable automatic retraction device is electrically connected with, and the cable that is tethered at is fixedly connected on automatic retraction device for cable.The conveying arrangement can be with
It is vehicle or ship.The cable that is tethered at is by load cable, direct current supply line, telecommunication optical fiber, grounded metal net and outer tube
Composition.The unmanned plane is made up of rechargeable battery, navigation module, data reception module, winged control module and RTK base stations, described to lead
Model plane block, data reception module, fly control module and RTK base stations with rechargeable battery electric connection, the rechargeable battery is with being tethered at
Cable is electrically connected with, on the one hand the data reception module is electrically bi-directionally connected with being tethered at cable, another aspect and navigation module
It is electrically connected with, navigation module is electrically connected with flying control module.The data reception module is provided with the receiver of RTK base stations as stream
Dynamic station.
The course of work and principle of the present invention：
The invention is that one kind is tethered at unmanned plane synchronization system for tracking, the electrical power generators of ground control's platform, persistently to straight
Flow high voltage power supply storage electric energy, by be tethered at cable can give unmanned plane rechargeable battery charge, it is possible to achieve it is round-the-clock not between
Break stagnant sky, the RTK base stations of ground control's platform earthward control centre's feedback coordinates information, the data reception module on unmanned plane
Also earthward control centre's feedback coordinates information, two kinds of coordinate position differences of ground control centre confluence analysis, and by alternate position spike
Different information feeds back to data reception module by the form of control signal, and control signal is fed back to navigation mould by data reception module
Block, navigation module, which feeds back to Coordinate Adjusting signal, flies control module, and then unmanned plane adjust automatically flying speed and direction, synchronous
The conveying arrangement on ground is followed, cable is tethered at and primarily serves transmission electric energy, the effect of transmission signal, ground control's platform passes through ground
Face control centre automatically controls unmanned plane motion, and unmanned plane can be achieved and hover automatically and follow commander's conveying arrangement automatically, pass through
Ground control centre sets unmanned plane during flying height, supports a key to take off, a key lands and recovery.When commander's conveying arrangement is static
When, unmanned plane is hovered over above ground control's platform, and when commanding conveying arrangement motion, unmanned plane follows ground control to put down automatically
Platform moves, and in summary, is tethered at location coordinate information and motion state and automatic that unmanned plane obtains ground control's platform in real time
Synchronously follow, follow the pinpoint landing that accuracy is high, is easy to unmanned plane, automaticity is higher, can without worrying continuation of the journey problem
With stagnant sky for a long time.
The present invention is exemplarily described above in association with accompanying drawing, it is clear that present invention specific implementation is not by above-mentioned side
The limitation of formula, as long as employ the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress；Or not
It is improved, the above-mentioned design of the present invention and technical scheme are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (6)
1. one kind is tethered at unmanned plane synchronization system for tracking, it is characterised in that：Including ground control's platform, it is tethered at cable and nobody
Machine, ground control's platform are made up of conveying arrangement, mooring module, ground control centre and RTK base stations, the mooring mould
Block, ground control centre and RTK base stations composition are fixedly mounted on conveying arrangement, the RTK base stations and ground control centre
It is electrically connected with, the cable that is tethered at is connected with the electrical two-phase in ground control centre, and is fixedly connected with mooring module, described to be tethered at
Cable and the two-way electric connection of unmanned plane.
2. one kind according to claim 1 is tethered at unmanned plane synchronization system for tracking, it is characterised in that:The mooring module by
Generator, DC high-voltage power supply and automatic retraction device for cable composition, the generator is electrically connected with DC high-voltage power supply, described
DC high-voltage power supply is electrically connected with automatic retraction device for cable, and the cable that is tethered at is fixedly connected on automatic retraction device for cable.
3. one kind according to claim 1 is tethered at unmanned plane synchronization system for tracking, it is characterised in that:The conveying arrangement can
To be vehicle or ship.
4. one kind according to claim 1 is tethered at unmanned plane synchronization system for tracking, it is characterised in that:It is described be tethered at cable by
Load cable, direct current supply line, telecommunication optical fiber, grounded metal net and outer tube composition.
5. one kind according to claim 1 is tethered at unmanned plane synchronization system for tracking, it is characterised in that：The unmanned plane is by filling
Battery, navigation module, data reception module, fly control module and RTK base stations composition, the navigation module, data reception module,
Fly control module and RTK base stations to be electrically connected with rechargeable battery, the rechargeable battery is with being tethered at cable electric connection, the data
On the one hand receiving module is electrically bi-directionally connected with being tethered at cable, be on the other hand electrically connected with navigation module, and navigation module is with flying
Module is controlled to be electrically connected with.
6. one kind according to claim 5 is tethered at unmanned plane synchronization system for tracking, it is characterised in that：The data reception
Block is provided with the receiver of RTK base stations as rover station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710460081.7A CN107368093A (en) | 2017-06-17 | 2017-06-17 | One kind is tethered at unmanned plane synchronization system for tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710460081.7A CN107368093A (en) | 2017-06-17 | 2017-06-17 | One kind is tethered at unmanned plane synchronization system for tracking |
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| Publication Number | Publication Date |
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| CN107368093A true CN107368093A (en) | 2017-11-21 |
Family
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| CN201710460081.7A Pending CN107368093A (en) | 2017-06-17 | 2017-06-17 | One kind is tethered at unmanned plane synchronization system for tracking |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108234950A (en) * | 2018-01-19 | 2018-06-29 | 深圳市科卫泰实业发展有限公司 | Based on the Chuan Zai lookouts and monitoring system for being tethered at unmanned plane |
| CN108227732A (en) * | 2017-11-27 | 2018-06-29 | 华南农业大学 | A kind of unmanned plane during flying attitude sensing system |
| CN108388267A (en) * | 2018-04-13 | 2018-08-10 | 北京天赢测控技术有限公司 | Unmanned plane managing and control system |
| CN109856591A (en) * | 2019-01-24 | 2019-06-07 | 腾讯科技（深圳）有限公司 | Localization method, device, computer-readable medium and the electronic equipment of mobile terminal |
| CN110979568A (en) * | 2019-11-22 | 2020-04-10 | 上海海事大学 | Offshore material supply method |
| WO2021151364A1 (en) * | 2020-01-31 | 2021-08-05 | Ningbo Geely Automobile Research & Development Co., Ltd. | Unmanned aerial vehicle configured to be operated relative to a land vehicle |
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| CN105109704A (en) * | 2015-09-02 | 2015-12-02 | 南京国业科技有限公司 | Mooring system based on multi-rotor flight platform |
| CN105318888A (en) * | 2015-12-07 | 2016-02-10 | 北京航空航天大学 | Unmanned perception based unmanned aerial vehicle route planning method |
| CN105629995A (en) * | 2016-03-17 | 2016-06-01 | 北京大工科技有限公司 | Mooring following system and method |
| CN106200656A (en) * | 2016-06-27 | 2016-12-07 | 北京大工科技有限公司 | Unmanned vehicle system for tracking based on differential satellite navigation and method |
| CN206012962U (en) * | 2016-08-04 | 2017-03-15 | 零度智控（北京）智能科技有限公司 | One kind is portable to be tethered at unmanned plane |
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2017
- 2017-06-17 CN CN201710460081.7A patent/CN107368093A/en active Pending
Patent Citations (5)
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|---|---|---|---|---|
| CN105109704A (en) * | 2015-09-02 | 2015-12-02 | 南京国业科技有限公司 | Mooring system based on multi-rotor flight platform |
| CN105318888A (en) * | 2015-12-07 | 2016-02-10 | 北京航空航天大学 | Unmanned perception based unmanned aerial vehicle route planning method |
| CN105629995A (en) * | 2016-03-17 | 2016-06-01 | 北京大工科技有限公司 | Mooring following system and method |
| CN106200656A (en) * | 2016-06-27 | 2016-12-07 | 北京大工科技有限公司 | Unmanned vehicle system for tracking based on differential satellite navigation and method |
| CN206012962U (en) * | 2016-08-04 | 2017-03-15 | 零度智控（北京）智能科技有限公司 | One kind is portable to be tethered at unmanned plane |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108227732A (en) * | 2017-11-27 | 2018-06-29 | 华南农业大学 | A kind of unmanned plane during flying attitude sensing system |
| CN108234950A (en) * | 2018-01-19 | 2018-06-29 | 深圳市科卫泰实业发展有限公司 | Based on the Chuan Zai lookouts and monitoring system for being tethered at unmanned plane |
| CN108388267A (en) * | 2018-04-13 | 2018-08-10 | 北京天赢测控技术有限公司 | Unmanned plane managing and control system |
| CN109856591A (en) * | 2019-01-24 | 2019-06-07 | 腾讯科技（深圳）有限公司 | Localization method, device, computer-readable medium and the electronic equipment of mobile terminal |
| CN110979568A (en) * | 2019-11-22 | 2020-04-10 | 上海海事大学 | Offshore material supply method |
| WO2021151364A1 (en) * | 2020-01-31 | 2021-08-05 | Ningbo Geely Automobile Research & Development Co., Ltd. | Unmanned aerial vehicle configured to be operated relative to a land vehicle |
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Application publication date: 20171121 |