CN107515617B - Method for controlling smooth switching of air route of fixed-wing unmanned aerial vehicle - Google Patents

Method for controlling smooth switching of air route of fixed-wing unmanned aerial vehicle Download PDF

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CN107515617B
CN107515617B CN201710694409.1A CN201710694409A CN107515617B CN 107515617 B CN107515617 B CN 107515617B CN 201710694409 A CN201710694409 A CN 201710694409A CN 107515617 B CN107515617 B CN 107515617B
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unmanned aerial
aerial vehicle
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steering engine
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CN107515617A (en
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肖佳伟
贾伟
孙恒义
赵娜
冷月香
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Northwestern Polytechnical University
Xian Aisheng Technology Group Co Ltd
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Xian Aisheng Technology Group Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models

Abstract

The invention relates to a method for controlling smooth switching of air routes of a fixed wing unmanned aerial vehicle, which adopts a switching mode of 'straight line-circle-straight line' to control air route switching, wherein the mode that an unmanned aerial vehicle is guided to fly from a source flight point to a target flight point is a straight line mode, the mode that the unmanned aerial vehicle flies from the target flight point to the next flight point of the target flight point is a straight line mode, and a circular spiral control mode is adopted for transition between two air routes, so that the switching process between the two air routes is natural and smooth, the waste of flight time caused by the position adjustment of the unmanned aerial vehicle is avoided, and the effective task time is improved.

Description

Method for controlling smooth switching of air route of fixed-wing unmanned aerial vehicle
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a control method for smooth air route switching of a fixed-wing unmanned aerial vehicle.
Background
The unmanned aerial vehicle flies in the air according to a preset air route, the air route generally consists of a plurality of waypoints connected by line segments, and the unmanned aerial vehicle is switched according to the sequence of the waypoints in the flying process so as to realize the flight with a preset track.
The existing flight point switching mode is that after the unmanned aerial vehicle flies above the point, the target point is switched to the next flight point, and due to the limitation of the turning radius of the fixed wing unmanned aerial vehicle, flight path oscillation can occur in the mode, and the shape of the track is shown in the attached figure 1. The method can increase the time for the unmanned aerial vehicle to adjust the posture and shorten the time for the unmanned aerial vehicle to execute the task.
There is also a method of switching waypoints by giving a fixed flap control amount before the drone reaches a target waypoint, controlling the drone to hover, and then switching waypoints to the next waypoint. The method has the defects that the connection transition of the two air routes in flight is not smooth, and the two air routes are easily interfered by crosswind, so that the execution precision of tasks is influenced.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a control method for smooth switching of the waypoints of the fixed-wing unmanned aerial vehicle, which realizes the smoothness and the rapidness of the waypoint switching process of the unmanned aerial vehicle, shortens the time for adjusting the attitude of the aircraft, increases the effective duration for the unmanned aerial vehicle to execute tasks, and can ensure that the unmanned aerial vehicle flies according to the expected flight path under the condition of crosswind interference.
Technical scheme
A control method for smooth switching of waypoints of a fixed-wing unmanned aerial vehicle is characterized by comprising the following steps:
step 1: obtaining latitude and longitude coordinates (B) of a source range point in a current flight segment of the fixed-wing unmanned aerial vehicles,Ls) Latitude, longitude coordinates of target waypoint (B)t,Lt) And the latitude, longitude coordinate of the next waypoint of the target range point (B)n,Ln) And obtaining latitude and longitude coordinates (B) of the unmanned aerial vehicle according to the satellite positioning resultu,Lu)；
Step 2: sequentially converting the four position coordinates in the step 1 into rectangular coordinates (X) according to a Gaussian coordinate conversion formulas,Ys)，(Xt,Yt)，(Xn,Yn)，(Xu,Yu) (ii) a Calculating the azimuth angle theta of the source range point pointing to the target range point according to the following formula from the positions of the first three points1：
If (Y)t-Ys)≥0
Figure BDA0001378751420000021
If (Y)t-Ys)＜0
Figure BDA0001378751420000022
The position of the next waypoint of the target waypoint pointing to the target waypoint is calculated in the same wayAngle theta2And the azimuth angle theta of the target range point pointing to the next range point of the target range point3：
If (Y)t-Yn)≥0
Figure BDA0001378751420000023
If (Y)t-Yn)＜0
Figure BDA0001378751420000024
If (Y)n-Yt)≥0
Figure BDA0001378751420000025
If (Y)n-Yt)＜0
Figure BDA0001378751420000026
And step 3: from θ calculated in step 21And theta2Determining an included angle theta between the two paths according to the following formula:
Figure BDA0001378751420000027
determining the transition direction of the two routes according to the following coordinate conversion formula:
D＝(Ys-Yt)·cos(θ3)-(Xs-Xt)·sin(θ3)
Figure BDA0001378751420000031
the virtual transition hover center position (X) is calculated according to the following formulav,Yv)：
Xv＝Xt+cos(θl)·L
Yv＝Yt+sin(θl)·L
Figure BDA0001378751420000032
If it is
Figure BDA0001378751420000033
If it is
Figure BDA0001378751420000034
Wherein R is the minimum hovering radius of the unmanned aerial vehicle, and the numerical value can be found on an unmanned aerial vehicle performance manual; if theta is less than 10, the target course point is directly set as the position of the virtual transitional hovering central point without calculating by using the above formula;
and 4, step 4: guiding the unmanned aerial vehicle to fly from the source range point to the target range point: desired heading for unmanned aerial vehicle flight
Figure BDA0001378751420000035
Calculated according to the following formula:
Figure BDA0001378751420000036
Dd＝(Yu-Yt)·cos(θ1)-(Xu-Xt)·sin(θ1)
wherein, KpAs a proportional control coefficient, KiFor integrating the control coefficient, DdIs the track deviation value; outputting the calculated expected course to a transverse lateral controller, obtaining steering engine control quantity, and finally sending the steering engine control quantity to a steering engine for execution;
calculating the distance S between the airplane and the target voyage point in real time in the guiding processt：
Figure BDA0001378751420000037
And 5: and (3) comparing the distance between the unmanned aerial vehicle and the target range point with the minimum turning radius of the unmanned aerial vehicle in the step (3), wherein the calculation formula is as follows:
ΔS＝St-R-C
wherein C is a distance constant, the value of the distance is the flying distance of the unmanned aerial vehicle within 2 seconds, and the distance is used for enabling the unmanned aerial vehicle to establish an inclined attitude in advance; if the delta S is less than 0, entering a step 6, otherwise, continuing to guide the unmanned aerial vehicle to fly in the mode of the step 4;
step 6: if the transition direction obtained in the step 3 is clockwise, guiding the unmanned aerial vehicle to enter a clockwise circular spiral track with the virtual center point as the circle center and the R as the spiral radius, and calculating the distance D from the unmanned aerial vehicle to the virtual circle centervAzimuth angle thetav：
Figure BDA0001378751420000041
Figure BDA0001378751420000042
Desired heading for unmanned aerial vehicle flight
Figure BDA0001378751420000043
Calculated according to the following formula:
Figure BDA0001378751420000044
D′d＝(Dv-R)
if the transition direction obtained in the step 3 is anticlockwise, guiding the unmanned aerial vehicle to enter an anticlockwise circular spiral track with the virtual center point as the circle center and the R as the spiral radius, and calculating the distance D from the unmanned aerial vehicle to the virtual circle centervAzimuth angle thetav：
Figure BDA0001378751420000045
Figure BDA0001378751420000046
Desired heading for unmanned aerial vehicle flight
Figure BDA0001378751420000047
Calculated according to the following formula:
Figure BDA0001378751420000048
D′d＝(Dv-R)
outputting the calculated expected course to a transverse lateral controller, obtaining steering engine control quantity, and finally sending the steering engine control quantity to a steering engine for execution;
and 7: calculating the current course of the unmanned aerial vehicle in real time
Figure BDA0001378751420000049
And theta3A difference of (a) if
Figure BDA00013787514200000410
Step 8 is carried out, otherwise, the guidance is continuously executed according to step 7;
and 8: guiding the unmanned aerial vehicle to fly to the next waypoint of the target waypoint from the target waypoint; desired heading for unmanned aerial vehicle flight
Figure BDA00013787514200000411
Calculated according to the following formula:
Figure BDA0001378751420000051
D″d＝(Yu-Yn)·cos(θ3)-(Xu-Xn)·sin(θ3)
and outputting the calculated expected course to a transverse lateral controller, obtaining the steering engine control quantity, and finally sending the steering engine control quantity to a steering engine for execution.
Said KpIs-0.1 to-1.
Said KiIs-0.01 to-0.05.
Advantageous effects
The invention provides a control method for smooth switching of waypoints of a fixed-wing unmanned aerial vehicle, which has the following beneficial effects:
1. the switching of the air routes is controlled by adopting a switching mode of 'straight line-circle-straight line', so that the switching process between the two air routes is natural and smooth, the waste of flight time caused by the adjustment of the position of the unmanned aerial vehicle is avoided, and the effective task time is improved.
2. And a continuously-changing control quantity calculation method is adopted, and the air route switching time is dynamically adjusted according to the hovering capacity and the air route shape of the unmanned aerial vehicle, so that the air route switching is finished at the highest speed, and the cutting-in and cutting-out processes of the air route are smooth and controllable.
3. In the switching process, a circle circling control mode is adopted, and the control quantity of a steering engine is calculated according to the distance between the unmanned aerial vehicle and the circle center of circling, so that the unmanned aerial vehicle can carry out circling flight according to a preset track under the condition of side wind interference.
Drawings
FIG. 1 is a schematic diagram of an existing waypoint-switching flight implementation
FIG. 2 is a schematic diagram of the implementation of the waypoint switching flight of the present invention
FIG. 3 shows a flowchart for implementing waypoint switching
FIG. 4 waypoint switching control principles
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
step 1: obtaining latitude and longitude coordinates (B) of a source range point in a current flight segment of the unmanned aerial vehicles,Ls) Latitude, longitude coordinates of target waypoint (B)t,Lt) And the latitude, longitude coordinate of the next waypoint of the target range point (B)n,Ln) And obtaining latitude and longitude coordinates (B) of the unmanned aerial vehicle according to the satellite positioning resultu,Lu) All coordinates are taken to be values in the WGS-84 coordinate system.
Step 2: performing Gaussian-Luck projection on the reference center space rectangular coordinate system, converting the reference center space rectangular coordinate system into a Gaussian plane rectangular coordinate system, and converting the four position coordinates in the step 1Converted to a position in rectangular coordinates, defined in turn as (X)s,Ys)，(Xt,Yt)，(Xn,Yn)，(Xu,Yu). The following operations are performed in a planar rectangular coordinate system.
According to the positions of the front three points, calculating the azimuth angle theta of the source range point pointing to the target range point according to the following formula1。
If (Y)t-Ys)≥0
Figure BDA0001378751420000061
If (Y)t-Ys)＜0
Figure BDA0001378751420000062
Similarly, the azimuth angle theta of the next waypoint of the target waypoint pointing to the target waypoint is calculated2And the azimuth angle theta of the target range point pointing to the next range point of the target range point3。
If (Y)t-Yn)≥0
Figure BDA0001378751420000063
If (Y)t-Yn)＜0
Figure BDA0001378751420000064
If (Y)n-Yt)≥0
Figure BDA0001378751420000065
If (Y)n-Yt)＜0
Figure BDA0001378751420000066
And step 3: according to theta calculated in step 21And theta2The angle θ between the two paths is determined according to the following formula.
Figure BDA0001378751420000071
According to the data calculated above and according to the following coordinate transformation formula, the transition direction of the two routes is determined.
D＝(Ys-Yt)·cos(θ3)-(Xs-Xt)·sin(θ3)
Figure BDA0001378751420000072
Based on the data calculated above, and according to the following formula, the virtual transitional hover center position (X) is calculatedv,Yv)：
Xv＝Xt+cos(θl)·L
Yv＝Yt+sin(θl)·L
Figure BDA0001378751420000073
If it is
Figure BDA0001378751420000074
If it is
Figure BDA0001378751420000075
Wherein, R is unmanned aerial vehicle minimum turning radius, takes value 800. If theta is less than 10, the calculation is not carried out by using the above formula, and the position of the virtual transitional spiral center point is directly set as the position of the target point.
And 4, step 4: and guiding the unmanned aerial vehicle to fly from the source range point to the target range point. Desired heading for unmanned aerial vehicle flight
Figure BDA0001378751420000078
Calculated according to the following formula:
Figure BDA0001378751420000076
Dd＝(Yu-Yt)·cos(θ1)-(Xu-Xt)·sin(θ1)
wherein, KpIs a proportional control coefficient, and takes the value of-0.5, KiIs an integral control coefficient, and takes the value of-0.02, DdIs the amount of track deviation. And outputting the calculated expected course to a transverse lateral controller, obtaining the control quantity of the steering engine, and finally sending the control quantity to the steering engine for execution to ensure that the unmanned aerial vehicle flies along the given course.
Calculating the distance S between the airplane and the target voyage point in real time in the guiding processtCalculated according to the following formula:
Figure BDA0001378751420000077
and 5: and (3) comparing the distance between the unmanned aerial vehicle and the target course point with the hovering radius of the unmanned aerial vehicle in the step (3), wherein the calculation formula is as follows:
ΔS＝St-R-C
wherein C is a distance constant, the cruising speed of the airplane is 150km/h, and the distance constant is 80, so that the unmanned aerial vehicle can establish the inclined attitude in advance. And if the delta S is less than 0, entering a step 6, otherwise, continuing to guide the unmanned aerial vehicle to fly in the mode of the step 4.
Step 6: if the transition direction obtained in the step 3 is clockwise, guiding the unmanned aerial vehicle to enter a clockwise circular spiral track with the virtual center point as the circle center and the R as the spiral radius, and calculating the distance D from the unmanned aerial vehicle to the virtual circle centervAzimuth angle thetav：
Figure BDA0001378751420000081
Figure BDA0001378751420000082
Desired heading for unmanned aerial vehicle flight
Figure BDA0001378751420000083
Calculated according to the following formula:
Figure BDA0001378751420000084
Dd＝(Dv-R)
if the transition direction obtained in the step 3 is anticlockwise, guiding the unmanned aerial vehicle to enter an anticlockwise circular spiral track with the virtual center point as the circle center and the R as the spiral radius, and calculating the distance D from the unmanned aerial vehicle to the virtual circle centervAzimuth angle thetav：
Figure BDA0001378751420000085
Figure BDA0001378751420000086
Desired heading for unmanned aerial vehicle flight
Figure BDA0001378751420000087
Calculated according to the following formula:
Figure BDA0001378751420000088
Dd＝(Dv-R)
wherein, KpIs a proportional control coefficient, and takes the value of-0.5, KiAnd (3) taking the value of-0.02 as an integral control coefficient, outputting the calculated expected course to a transverse lateral controller, obtaining the control quantity of a steering engine, and finally sending the expected course to the steering engine for execution to ensure that the unmanned aerial vehicle flies along the given course.
And 7: calculating the current course of the unmanned aerial vehicle in real time according to the calculated data
Figure BDA0001378751420000089
And theta3A difference of (a) if
Figure BDA00013787514200000810
Then step 8 is carried out, otherwise, the booting is continuously carried out according to step 7.
And 8: and guiding the unmanned aerial vehicle to fly to the next waypoint of the target waypoint from the target waypoint. Desired heading for unmanned aerial vehicle flight
Figure BDA0001378751420000091
Calculated according to the following formula:
Figure BDA0001378751420000092
Dd＝(Yu-Yn)·cos(θ3)-(Xu-Xn)·sin(θ3)
wherein, KpIs a proportional control coefficient, and takes the value of-0.5, KiAnd (3) taking the value of-0.02 as an integral control coefficient, outputting the calculated expected course to a transverse lateral controller, obtaining the control quantity of a steering engine, and finally sending the expected course to the steering engine for execution to ensure that the unmanned aerial vehicle flies along the given course.
Therefore, the smooth switching of the air routes of the unmanned aerial vehicle is realized.

Claims (3)

1. A control method for smooth switching of waypoints of a fixed-wing unmanned aerial vehicle is characterized by comprising the following steps:
step 1: obtaining latitude and longitude coordinates (B) of a source range point in a current flight segment of the fixed-wing unmanned aerial vehicles,Ls) Latitude, longitude coordinates of target waypoint (B)t,Lt) And the latitude, longitude coordinate of the next waypoint of the target range point (B)n,Ln) And obtaining latitude and longitude coordinates (B) of the unmanned aerial vehicle according to the satellite positioning resultu,Lu)；
Step 2: according to a Gaussian coordinate conversion formula, converting the result of the step 1The four position coordinates are sequentially converted into rectangular coordinates (X)s,Ys)，(Xt,Yt)，(Xn,Yn)，(Xu,Yu) (ii) a Calculating the azimuth angle theta of the source range point pointing to the target range point according to the following formula from the positions of the first three points1：
If (Y)t-Ys)≥0
Figure FDA0002430062290000011
If (Y)t-Ys)＜0
Figure FDA0002430062290000012
Similarly, the azimuth angle theta of the next waypoint of the target waypoint pointing to the target waypoint is calculated2And the azimuth angle theta of the target range point pointing to the next range point of the target range point3：
If (Y)t-Yn)≥0
Figure FDA0002430062290000013
If (Y)t-Yn)＜0
Figure FDA0002430062290000014
If (Y)n-Yt)≥0
Figure FDA0002430062290000015
If (Y)n-Yt)＜0
Figure FDA0002430062290000016
And step 3: from θ calculated in step 21And theta2Determining an included angle theta between the two paths according to the following formula:
θ＝|θ1-θ2|，
Figure FDA0002430062290000021
determining the transition direction of the two routes according to the following coordinate conversion formula:
D＝(Ys-Yt)·cos(θ3)-(Xs-Xt)·sin(θ3)
Figure FDA0002430062290000022
the virtual transition hover center position (X) is calculated according to the following formulav,Yv)：
Xv＝Xt+cos(θl)·L
Yv＝Yt+sin(θl)·L
Figure FDA0002430062290000023
If D is more than or equal to 0,
Figure FDA0002430062290000024
if the D is less than 0,
Figure FDA0002430062290000025
wherein R is the minimum circle radius of the unmanned aerial vehicle, and the numerical value of R can be found on an unmanned aerial vehicle performance manual; if theta is less than 10, the target course point is directly set as the position of the virtual transitional hovering central point without calculating by using the above formula;
and 4, step 4: guiding the unmanned aerial vehicle to fly from the source range point to the target range point: desired heading for unmanned aerial vehicle flight
Figure FDA0002430062290000026
Calculated according to the following formula:
Figure FDA0002430062290000027
Dd＝(Yu-Yt)·cos(θ1)-(Xu-Xt)·sin(θ1)
wherein, KpAs a proportional control coefficient, KiFor integrating the control coefficient, DdIs the track deviation value; outputting the calculated expected course to a transverse lateral controller, obtaining steering engine control quantity, and finally sending the steering engine control quantity to a steering engine for execution;
calculating the distance S between the airplane and the target voyage point in real time in the guiding processt：
Figure FDA0002430062290000028
And 5: and (3) comparing the distance between the unmanned aerial vehicle and the target range point with the minimum turning radius of the unmanned aerial vehicle in the step (3), wherein the calculation formula is as follows:
ΔS＝St-R-C
wherein C is a distance constant, the value of the distance is the flying distance of the unmanned aerial vehicle within 2 seconds, and the distance is used for enabling the unmanned aerial vehicle to establish an inclined attitude in advance; if the delta S is less than 0, entering a step 6, otherwise, continuing to guide the unmanned aerial vehicle to fly in the mode of the step 4;
step 6: if the transition direction obtained in the step 3 is clockwise, guiding the unmanned aerial vehicle to enter a clockwise circular spiral track with the virtual center point as the circle center and the R as the spiral radius, and calculating the distance D from the unmanned aerial vehicle to the virtual circle centervAzimuth angle thetav：
Figure FDA0002430062290000031
Figure FDA0002430062290000032
Desired heading for unmanned aerial vehicle flight
Figure FDA0002430062290000033
Calculated according to the following formula:
Figure FDA0002430062290000034
D′d＝(Dv-R)
if the transition direction obtained in the step 3 is anticlockwise, guiding the unmanned aerial vehicle to enter an anticlockwise circular spiral track with the virtual center point as the circle center and the R as the spiral radius, and calculating the distance D from the unmanned aerial vehicle to the virtual circle centervAzimuth angle thetav：
Figure FDA0002430062290000035
Figure FDA0002430062290000036
Desired heading for unmanned aerial vehicle flight
Figure FDA0002430062290000037
Calculated according to the following formula:
Figure FDA0002430062290000038
D′d＝(Dv-R)
outputting the calculated expected course to a transverse lateral controller, obtaining steering engine control quantity, and finally sending the steering engine control quantity to a steering engine for execution;
and 7: calculating the current course of the unmanned aerial vehicle in real time
Figure FDA0002430062290000039
And theta3A difference of (a) if
Figure FDA00024300622900000310
Step 8 is carried out, otherwise, the guidance is continuously executed according to step 7;
and 8: guiding the unmanned aerial vehicle to fly to the next waypoint of the target waypoint from the target waypoint; desired heading for unmanned aerial vehicle flight
Figure FDA0002430062290000041
Calculated according to the following formula:
Figure FDA0002430062290000042
D″d＝(Yu-Yn)·cos(θ3)-(Xu-Xn)·sin(θ3)
and outputting the calculated expected course to a transverse lateral controller, obtaining the steering engine control quantity, and finally sending the steering engine control quantity to a steering engine for execution.
2. The method of claim 1, wherein K is K, where K is a number of variables selected from the group consisting of a number of variables, and a number of variablespIs-0.1 to-1.
3. The method of claim 1, wherein K is K, where K is a number of variables selected from the group consisting of a number of variables, and a number of variablesiIs-0.01 to-0.05.
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