CN107885195A - A kind of robot automatic navigation method based on undercarriage - Google Patents
A kind of robot automatic navigation method based on undercarriage Download PDFInfo
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- CN107885195A CN107885195A CN201711468752.0A CN201711468752A CN107885195A CN 107885195 A CN107885195 A CN 107885195A CN 201711468752 A CN201711468752 A CN 201711468752A CN 107885195 A CN107885195 A CN 107885195A
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- undercarriage
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- automatic navigation
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000006243 chemical reaction Methods 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
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- 230000000630 rising effect Effects 0.000 description 1
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
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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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Health & Medical Sciences (AREA)
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- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of robot automatic navigation method based on undercarriage, comprise the following steps：Then start monitoring after aircraft enters runway；Color reaction device is equipped with undercarriage, then color runway is set in the both sides of runway, when having sensed deviation equipped with color reaction device on undercarriage, color reaction device can be automatically adjusted control by aircraft control system, it is determined that from current location to secure path when taking off；The present invention is by determining instantaneous position of the aircraft in take-off process, then runway is carried out by a variety of accurate calculating and analysis and moves decision-making, vector aircraft navigation it can enable automatically according to predetermined runway course, to taking off in correct time, safe completes predetermined navigational duty, and independence is high, reliable operation, can continuously it work, panoramic radar navigation is not limited by meteorological condition, and navigation and positioning accuracy is also higher.
Description
Technical field
The present invention relates to automatic navigation technology field, specially a kind of self-navigation side of robot based on undercarriage
Method.
Background technology
Aircraft refers to that the power set with a tool or more tool engines produce the thrust advanced or pulling force, by consolidating for fuselage
Determine wing and produce lift, in the airborne vehicle for overweighting air of endoatmosphere flight.Aircraft is a kind of most common fixed-wing aviation
Device.The engine type used according to it can be divided into jet airplane and propeller aeroplane again, and undercarriage is under aircraft
Portion is used for take off landing or ground（The water surface）Aircraft is supported when sliding and is used for ground（The water surface）Mobile accessories apparatus.Undercarriage
It is a kind of unique part for supporting whole airplane, therefore it is the inseparable scarce some of aircraft；Without it, aircraft just can not be
Ground moving.After taking off, undercarriage can be withdrawn depending on flying quality, and existing aircraft when taking off, it is necessary to right
It is positioned, and this just needs the robot for using self-navigation, and the robot of existing self-navigation can not meet it is existing
The demand in market.
So how to design a kind of robot automatic navigation method based on undercarriage, turning into us will currently solve
Certainly the problem of.
The content of the invention
The present invention provides a kind of robot automatic navigation method based on undercarriage, is flown over by determining aircraft rising
Instantaneous position in journey, runway is then carried out by a variety of accurate calculating and analysis and moves decision-making, can be guided automatically
Aircraft navigation enables according to predetermined runway course, and to taking off in correct time, safe completion is predetermined
Navigational duty, independence is high, reliable operation, can continuously work, and panoramic radar navigation is not limited by meteorological condition, navigator fix
Precision is also higher, can effectively solve the problems, such as in above-mentioned background technology.
To achieve the above object, the present invention provides following technical scheme：A kind of robot based on undercarriage is automatic
Air navigation aid, comprise the following steps：
1）Monitoring navigation：Then start monitoring after aircraft enters runway；Obtain the field of the current aircraft runway of camera system shooting
Scape video；Especially to be sent to guider to aircraft into both sides camera shooting and video after runway and be entered according to scene video
Row analysis decision, and by calculating the locus of aircraft and the specific distance apart from runway both sides in camera system；Then
Time correlation matching is carried out to the two field pictures of same aircraft Time Continuous, generates first environment aircraft depth map；Difference is flown
The two field pictures of machine same time carry out space correlation matching, generate second environment aircraft depth map；Undercarriage is according to the first ring
Border aircraft depth map and second environment aircraft depth map, structure take off map；Map maps will be taken off to safety
Metric space；
2）Runway navigates：Color reaction device is equipped with undercarriage, color runway then is set in the both sides of runway,
When having sensed deviation equipped with color reaction device on undercarriage, color reaction device can pass through aircraft control system
Automatically adjust control, it is determined that from current location to secure path when taking off.
According to above-mentioned technical proposal, the automatic navigation method also include instrument flight according to airspeed-indicator, heading instrument and
The data such as aircraft airspeed that other view tables measure, course, posture, the angle of attack, drift angle, wind speed and direction, voyage reckoning is carried out, from
And determine runway departure paths.
According to above-mentioned technical proposal, the automatic navigation method also includes panoramic radar navigation and utilizes radar intake surface figure
Compared with picture, then the ground image with producing in advance, so that it is determined that go out the position of aircraft, based on panoramic radar navigates,
Also develop into automatic digital map navigation.
According to above-mentioned technical proposal, the automatic navigation method also includes TV navigation and observes ground by television equipment,
Then by image compared with map, so that it is determined that the position of aircraft.
According to above-mentioned technical proposal, the automatic navigation method also includes radionavigation and advised according to the propagation of radio wave
Rule measures distance or orientation of the aircraft with respect to Land Navigation Installation, and position of the Land Navigation Installation on runway is known, therefore passes through
After crossing calculating, the position of aircraft can be determined, ultrashort wave transmitter and receiver are set simultaneously with earth station aboard, from
The impulse wave that emitter is launched on aircraft is received by ground receiver, and then the signal is re-emitted out by earth station emitter
Come, then received by receiver on aircraft, the time of echo-signal is measured according to airboarne receiver, aircraft and earth station can be obtained
The distance between, the angle and the magnetic heading angle of aircraft rotated further according to reception antenna on aircraft relative to body, it can be flown
Magnetic azimuth between machine and earth station, if using earth station as polar origin, the distance between aircraft and earth station orientation
Angle oneself when knowing, can determine the location of aircraft by polar coordinates positioning principle.
According to above-mentioned technical proposal, the automatic navigation method also includes Doppler navigation testing the speed using Doppler radar
Principle measures speed of the aircraft with respect to ground, the parameter such as the vector measured further according to instrument and drift angle, by calculating it
Afterwards, then it can determine that the position of aircraft.
According to above-mentioned technical proposal, the automatic navigation method also includes satellite navigation to be come by wireless device on aircraft
Measure the position of aircraft relative satellite, further according to the satellite measured by earth station with respect to runway position, after calculating, then
The position of aircraft is can determine that, specific ground station receiver is used for observation satellite motion conditions, and computer is according to observation data
The orbit parameter of satellite is calculated, the orbit parameter is sent to satellite by emitter, and airboarne receiver then receives to be transferred by satellite
It is relative to calculate aircraft according to the orbit parameter of satellite and the location parameter of aircraft relative satellite for the orbit parameter come, computer
The position indicator of runway shows this result.
Compared with prior art, beneficial effects of the present invention：By determining instantaneous position of the aircraft in take-off process, so
Afterwards by a variety of accurate calculating and analysis carry out runway move decision-making, can automatically vector aircraft navigate by water enable by
According to predetermined runway course, to taking off in correct time, the predetermined navigational duty of safe completion, independence is high,
Reliable operation, can continuously it work, panoramic radar navigation is not limited by meteorological condition, and navigation and positioning accuracy is also higher.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.
In the accompanying drawings：
Fig. 1 is the method block diagram of the present invention；
Fig. 2 is the undercarriage of the present invention and the relative figure of runway.
Embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that described herein preferred real
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
Embodiment：As shown in Figure 1-2, the present invention provides a kind of robot automatic navigation method based on undercarriage,
Comprise the following steps：
1）Monitoring navigation：Then start monitoring after aircraft enters runway；Obtain the field of the current aircraft runway of camera system shooting
Scape video；Especially to be sent to guider to aircraft into both sides camera shooting and video after runway and be entered according to scene video
Row analysis decision, and by calculating the locus of aircraft and the specific distance apart from runway both sides in camera system；Then
Time correlation matching is carried out to the two field pictures of same aircraft Time Continuous, generates first environment aircraft depth map；Difference is flown
The two field pictures of machine same time carry out space correlation matching, generate second environment aircraft depth map；Undercarriage is according to the first ring
Border aircraft depth map and second environment aircraft depth map, structure take off map；Map maps will be taken off to safety
Metric space；
2）Runway navigates：Color reaction device is equipped with undercarriage, color runway then is set in the both sides of runway,
When having sensed deviation equipped with color reaction device on undercarriage, color reaction device can pass through aircraft control system
Automatically adjust control, it is determined that from current location to secure path when taking off.
According to above-mentioned technical proposal, the automatic navigation method also include instrument flight according to airspeed-indicator, heading instrument and
The data such as aircraft airspeed that other view tables measure, course, posture, the angle of attack, drift angle, wind speed and direction, voyage reckoning is carried out, from
And determine runway departure paths.
According to above-mentioned technical proposal, the automatic navigation method also includes panoramic radar navigation and utilizes radar intake surface figure
Compared with picture, then the ground image with producing in advance, so that it is determined that go out the position of aircraft, based on panoramic radar navigates,
Also develop into automatic digital map navigation.
According to above-mentioned technical proposal, the automatic navigation method also includes TV navigation and observes ground by television equipment,
Then by image compared with map, so that it is determined that the position of aircraft.
According to above-mentioned technical proposal, the automatic navigation method also includes radionavigation and advised according to the propagation of radio wave
Rule measures distance or orientation of the aircraft with respect to Land Navigation Installation, and position of the Land Navigation Installation on runway is known, therefore passes through
After crossing calculating, the position of aircraft can be determined, ultrashort wave transmitter and receiver are set simultaneously with earth station aboard, from
The impulse wave that emitter is launched on aircraft is received by ground receiver, and then the signal is re-emitted out by earth station emitter
Come, then received by receiver on aircraft, the time of echo-signal is measured according to airboarne receiver, aircraft and earth station can be obtained
The distance between, the angle and the magnetic heading angle of aircraft rotated further according to reception antenna on aircraft relative to body, it can be flown
Magnetic azimuth between machine and earth station, if using earth station as polar origin, the distance between aircraft and earth station orientation
Angle oneself when knowing, can determine the location of aircraft by polar coordinates positioning principle.
According to above-mentioned technical proposal, the automatic navigation method also includes Doppler navigation testing the speed using Doppler radar
Principle measures speed of the aircraft with respect to ground, the parameter such as the vector measured further according to instrument and drift angle, by calculating it
Afterwards, then it can determine that the position of aircraft.
According to above-mentioned technical proposal, the automatic navigation method also includes satellite navigation to be come by wireless device on aircraft
Measure the position of aircraft relative satellite, further according to the satellite measured by earth station with respect to runway position, after calculating, then
The position of aircraft is can determine that, specific ground station receiver is used for observation satellite motion conditions, and computer is according to observation data
The orbit parameter of satellite is calculated, the orbit parameter is sent to satellite by emitter, and airboarne receiver then receives to be transferred by satellite
It is relative to calculate aircraft according to the orbit parameter of satellite and the location parameter of aircraft relative satellite for the orbit parameter come, computer
The position indicator of runway shows this result.
Based on above-mentioned, it is an advantage of the current invention that by determining instantaneous position of the aircraft in take-off process, then pass through
A variety of accurate calculating and analysis carry out runway motion decision-making, vector aircraft navigation can enable automatically according to predetermined
Runway course, to taking off in correct time, the predetermined navigational duty of safe completion, independence is high, and work can
Lean on, can continuously work, panoramic radar navigation is not limited by meteorological condition, and navigation and positioning accuracy is also higher.
Finally it should be noted that：The preferred embodiment of the present invention is the foregoing is only, is not intended to limit the invention, to the greatest extent
The present invention is described in detail with reference to the foregoing embodiments for pipe, and for the technology patient of this area, it still can be with
Technical scheme described in foregoing embodiments is modified, or equivalent substitution is carried out to which part technical characteristic.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc., it should be included in the guarantor of the present invention
Within the scope of shield.
Claims (7)
- A kind of 1. robot automatic navigation method based on undercarriage, it is characterised in that：Comprise the following steps：1）Monitoring navigation：Then start monitoring after aircraft enters runway；Obtain the field of the current aircraft runway of camera system shooting Scape video；Especially to be sent to guider to aircraft into both sides camera shooting and video after runway and be entered according to scene video Row analysis decision, and by calculating the locus of aircraft and the specific distance apart from runway both sides in camera system；Then Time correlation matching is carried out to the two field pictures of same aircraft Time Continuous, generates first environment aircraft depth map；Difference is flown The two field pictures of machine same time carry out space correlation matching, generate second environment aircraft depth map；Undercarriage is according to the first ring Border aircraft depth map and second environment aircraft depth map, structure take off map；Map maps will be taken off to safety Metric space；2）Runway navigates：Color reaction device is equipped with undercarriage, color runway then is set in the both sides of runway, When having sensed deviation equipped with color reaction device on undercarriage, color reaction device can pass through aircraft control system Automatically adjust control, it is determined that from current location to secure path when taking off.
- A kind of 2. robot automatic navigation method based on undercarriage according to claim 1, it is characterised in that：Institute State automatic navigation method also include instrument flight measured according to airspeed-indicator, heading instrument and other view tables aircraft airspeed, course, The data such as posture, the angle of attack, drift angle, wind speed and direction, voyage reckoning is carried out, so that it is determined that going out runway departure paths.
- A kind of 3. robot automatic navigation method based on undercarriage according to claim 1, it is characterised in that：Institute State automatic navigation method also utilizes radar intake surface image, then the ground image with producing in advance to enter including panoramic radar navigation Row compares, so that it is determined that going out the position of aircraft, based on panoramic radar navigates, also develops into automatic digital map navigation.
- A kind of 4. robot automatic navigation method based on undercarriage according to claim 1, it is characterised in that：Institute State automatic navigation method and ground is also observed by television equipment including TV navigation, then by image compared with map, from And determine the position of aircraft.
- A kind of 5. robot automatic navigation method based on undercarriage according to claim 1, it is characterised in that：Institute State automatic navigation method and aircraft is also measured with respect to Land Navigation Installation according to the propagation law of radio wave including radionavigation Distance or orientation, and position of the Land Navigation Installation on runway is known, therefore after calculating, the position of aircraft can be determined Put, aboard with earth station simultaneously ultrashort wave transmitter and receiver are set, from aircraft emitter launch impulse wave by Ground receiver receives, and then the signal is re-emitted out by earth station emitter, then received by receiver on aircraft, root The time of echo-signal is measured according to airboarne receiver, the distance between aircraft and earth station can be obtained, further according to being connect on aircraft The angle and the magnetic heading angle of aircraft that receipts antenna rotates relative to body, can obtain the magnetic azimuth between aircraft and earth station, If using earth station as polar origin, the distance between aircraft and earth station azimuth oneself when knowing, by polar coordinates positioning principle The location of aircraft can be determined.
- A kind of 6. robot automatic navigation method based on undercarriage according to claim 1, it is characterised in that：Institute Stating automatic navigation method also includes the speed that Doppler navigation measures the relative ground of aircraft using the measuring principle of Doppler radar, The parameter such as the vector measured further according to instrument and drift angle, after calculating, then it can determine that the position of aircraft.
- A kind of 7. robot automatic navigation method based on undercarriage according to claim 1, it is characterised in that：Institute Stating automatic navigation method also includes the position that aircraft relative satellite is measured in satellite navigation by wireless device on aircraft, then root According to position of the satellite measured by earth station with respect to runway, after calculating, then the position of aircraft is can determine that, specifically Face station receiver is used for observation satellite motion conditions, and computer calculates the orbit parameter of satellite, emitter according to observation data The orbit parameter is sent to satellite, airboarne receiver then receive by satellite transfer Lai orbit parameter, computer is according to satellite Orbit parameter and aircraft relative satellite location parameter, the position indicator for calculating aircraft with respect to runway shows this result Show to come.
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| CN201711468752.0A CN107885195A (en) | 2017-12-29 | 2017-12-29 | A kind of robot automatic navigation method based on undercarriage |
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| CN201711468752.0A CN107885195A (en) | 2017-12-29 | 2017-12-29 | A kind of robot automatic navigation method based on undercarriage |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112083421A (en) * | 2020-09-11 | 2020-12-15 | 中国民航科学技术研究院 | Runway intrusion early warning system and method based on millimeter wave radar technology |
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| CN104309811A (en) * | 2014-09-28 | 2015-01-28 | 中国船舶工业系统工程研究院 | Aircraft aid landing system and centering guide method |
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| CN106586026A (en) * | 2016-12-06 | 2017-04-26 | 中国航空工业集团公司洛阳电光设备研究所 | Method for measuring deviation rate of airplane relative to side direction of runway |
| CN106931961A (en) * | 2017-03-20 | 2017-07-07 | 成都通甲优博科技有限责任公司 | A kind of automatic navigation method and device |
| CN206649345U (en) * | 2017-03-22 | 2017-11-17 | 桂林电子科技大学 | A kind of Navigation of Pilotless Aircraft device based on ultra-wideband communications |
-
2017
- 2017-12-29 CN CN201711468752.0A patent/CN107885195A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110040431A1 (en) * | 2009-08-11 | 2011-02-17 | Honeywell International Inc. | Automated take off control system and method |
| CN103245948A (en) * | 2012-02-09 | 2013-08-14 | 中国科学院电子学研究所 | Image match navigation method for double-area image formation synthetic aperture radars |
| CN104309811A (en) * | 2014-09-28 | 2015-01-28 | 中国船舶工业系统工程研究院 | Aircraft aid landing system and centering guide method |
| CN105611277A (en) * | 2016-01-16 | 2016-05-25 | 深圳先进技术研究院 | Video mapping system based on barrier-free navigation airship |
| CN106586026A (en) * | 2016-12-06 | 2017-04-26 | 中国航空工业集团公司洛阳电光设备研究所 | Method for measuring deviation rate of airplane relative to side direction of runway |
| CN106931961A (en) * | 2017-03-20 | 2017-07-07 | 成都通甲优博科技有限责任公司 | A kind of automatic navigation method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112083421A (en) * | 2020-09-11 | 2020-12-15 | 中国民航科学技术研究院 | Runway intrusion early warning system and method based on millimeter wave radar technology |
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