CN108037772A - A kind of method that unmanned plane carries out escape flight using jamming pattern - Google Patents
A kind of method that unmanned plane carries out escape flight using jamming pattern Download PDFInfo
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- CN108037772A CN108037772A CN201711325405.2A CN201711325405A CN108037772A CN 108037772 A CN108037772 A CN 108037772A CN 201711325405 A CN201711325405 A CN 201711325405A CN 108037772 A CN108037772 A CN 108037772A
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- 230000001133 acceleration Effects 0.000 description 2
- 208000032365 Electromagnetic interference Diseases 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
- G05D1/12—Target-seeking control
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Abstract
A kind of method for being carried out escape flight using jamming pattern the invention discloses unmanned plane, is comprised the following steps successively：Benumb mission phase：Unmanned plane is set to fly from initial position between jamming pattern and risk object；Accelerate adjustment mission phase：Unmanned plane is set to carry out turning to flight between the jamming pattern and the risk object to depart from the field range of the risk object；Persistently hide mission phase：Make no aircraft flight to the sight rear of the risk object and follow-on mission to the threat range for departing from the risk object.The method that a kind of unmanned plane provided by the invention carries out escape flight using jamming pattern; by way of finding jamming pattern Binding change state of flight; can effectively escape from danger target Eye-controlling focus; High Altitude UAV is set to carry out the protection of itself during remote tasks carrying, so as to avoid being caught or attack.
Description
Technical field
The present invention relates to a kind of unmanned plane during flying intelligence control system technical field, particularly a kind of unmanned plane utilizes interference
The method that background carries out escape flight.
Background technology
With the continuous development of remotely-piloted vehicle, that is, unmanned plane with real-time imaging collection transfer function, unmanned plane flies
Line range also constantly increases.But for the larger unmanned plane of some flight ranges, it performs the place of task away from operator
Either operate base thus operator or operation base directly can not provide protection for unmanned plane, this kind of unmanned plane is remote
May come under observation during the execution task, then be captured or attacked, if cannot provide it is a kind of effectively
Protect unmanned plane method, then remote tasks carrying will be difficult to carry out.
Usually there is preferable security in the unmanned plane of high-altitude flight, but as various remote electromagnetic interferences are set
Standby, long-range shooting type destroys or catches the appearance of equipment so that the unmanned plane during flying security of less than 500 meters flying heights by
Serious threat is arrived.Based on the above situation, applicant proposed a kind of sight of elder generation target out of danger, further away from dangerous mesh
Target flying method, enables the Eye-controlling focus of unmanned plane escape from danger target in high-altitude flight, so as to ensure inherently safe.
The content of the invention
For overcome the deficiencies in the prior art, escape flight is carried out using jamming pattern the present invention provides a kind of unmanned plane
Method, the Eye-controlling focus of the risk object from ground can be hidden, make High Altitude UAV in remote tasks carrying mistake
The protection of itself can be carried out in journey, so as to avoid being caught or attack.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of method that unmanned plane carries out escape flight using jamming pattern, comprises the following steps successively：
Benumb mission phase：Unmanned plane is set to fly from initial position between jamming pattern and risk object；
Accelerate adjustment mission phase：Unmanned plane is set to carry out turning to flight between the jamming pattern and the risk object with de-
From the field range of the risk object；
Persistently hide mission phase：Make described in no aircraft flight to the sight rear of the risk object and follow-on mission to disengaging
The threat range of risk object.
Further as above-mentioned technical proposal is improved, both ends and the danger in the maximum length direction of the jamming pattern
The angle angle using the risk object as vertex of dangerous target configuration is more than the one of the viewing angle of the risk object sight
Half.
Further as above-mentioned technical proposal is improved, and the distance between unmanned plane initial position and described jamming pattern are
Current background distance, the distance between the risk object and the jamming pattern are target background distance, unmanned plane start bit
It is current goal distance to put the distance between described risk object；The both ends in the maximum length direction of the jamming pattern and institute
The angle using the risk object as vertex for stating risk object composition is target observations angle, the maximum length of the jamming pattern
The angle using unmanned plane initial position as vertex that the both ends in direction are formed with unmanned plane initial position is current viewing angle；
If the smaller in the current background distance and target background distance is more than or equal to the current goal distance
10 times, then：The current viewing angle is as the target observations angle；
If the smaller in the current background distance and target background distance is less than 10 times of the current goal distance,
Then：Calculated by mensuration distance and angle-data and obtain the target observations angle.
Further as above-mentioned technical proposal is improved, and the viewing angle of the risk object sight is 45 °~50 °.
Further as above-mentioned technical proposal is improved, heading of the unmanned plane in the paralysis mission phase terminal
Perpendicular to the maximum length direction of the jamming pattern, unmanned plane accelerates to adjust the heading after mission phase turns to described
It is conllinear with the maximum length direction of the jamming pattern.
Further as above-mentioned technical proposal is improved, described to accelerate adjustment mission phase to fly in the jamming pattern
The angle angle using the risk object as vertex that walking along the street footpath beginning and end is formed with the risk object is more than the danger
The half of the viewing angle of dangerous line of sight.
Further as above-mentioned technical proposal is improved, and unmanned plane is straight line in the flight path of the paralysis mission phase
Or camber line, and unmanned plane it is described paralysis mission phase arc flight path using the risk object as the center of circle, with unmanned plane
Initial position and the distance between the risk object be radius.
Further as above-mentioned technical proposal is improved, and unmanned plane is in the flight linear velocity for accelerating adjustment mission phase
More than the flight linear velocity in the paralysis mission phase.The flight linear velocity for accelerating adjustment mission phase is more than described
The flight linear velocity of mission phase is benumbed, on the one hand the risk object can be benumbed by the low speed of the paralysis mission phase
Judgement, flight linear velocity of the risk object to unmanned plane is produced erroneous judgement, therefore the risk object is losing target
Search range radius is less than unmanned plane in the practical flight distance for accelerating adjustment mission phase afterwards；On the other hand the paralysis
The low speed of mission phase is conducive to unmanned plane and accelerates adjustment mission phase quickly to be turned to described, reduces unmanned plane and turns
To when motional inertia.
Further as above-mentioned technical proposal is improved, and mission phase is persistently hidden described, and unmanned plane is towards the danger
The surface flight of dangerous target, is flown to the sight rear of the risk object with crossing the risk object.
Compared with prior art, the beneficial effects of the invention are as follows：
The method that a kind of unmanned plane provided by the present invention carries out escape flight using jamming pattern, by finding jamming pattern knot
Close the mode of change of flight state, can effectively escape from danger target Eye-controlling focus；Present invention is particularly suitable for unmanned plane
Hide the Eye-controlling focus of the risk object from ground in high-altitude flight, make High Altitude UAV in remote tasks carrying mistake
The protection of itself can be carried out in journey, so as to avoid being caught or attack.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the position view of jamming pattern described in the specific embodiment of the invention, risk object and unmanned plane；
Fig. 2 is the schematic diagram for hiding flight path described in the specific embodiment of the invention.
Embodiment
Risk object of the present invention is primarily referred to as the people for having seizure and attack attempt to unmanned plane or by people's industry control
Make the conventional image forming apparatus traced and monitored, the conventional image forming apparatus refers to not by the mode such as infrared into line trace, only
It is the visual pattern that the similar human eye of collection obtains.High Altitude UAV of the present invention is relative to conventional 1~5 meter of low-latitude flying
For unmanned plane, general flying height is 10~500 meters, this is also conventional remote electromagnetic interference equipment, long-range shooting
Type destroys or catches the reached sphere of action of equipment.
A kind of method for carrying out escape flight using jamming pattern the present embodiment provides unmanned plane, it entirely hides flight road
Footpath is largely divided into paralysis mission phase, accelerates adjustment mission phase and persistently hide mission phase：
Paralysis mission phase can be the flying method of the any-modes such as horizontal, vertical or inclination, and the purpose is to reach the interference back of the body
Scene area and benumb risk object and be allowed to produce erroneous judgement to the flying speed of unmanned plane and path；
It is that the steering for making approximate right angle with paralysis mission phase accelerates to fly to accelerate adjustment mission phase, and accelerates adjustment flight rank
The path of section should be approximately perpendicular to the line between risk object and unmanned plane, and the purpose is to escape out the sight of risk object
Angular range, so as to be hidden in the sight of risk object；
The purpose for persistently hiding mission phase is flown to the rear of risk object sight, is flown in order to subsequently carry out continuing concealment
OK, until completely disengaging the threat range of risk object.
Specifically, a kind of method that unmanned plane carries out escape flight using jamming pattern, mainly includes the following steps that：
S10：Determine the orientation of risk object, the distance between unmanned plane and the risk object are measured by distance-measuring equipment；It is logical
Cross the background video picture around image modalities acquisition unmanned plane, selection and unmanned plane from the background video picture of acquisition
The close region of appearance color is as jamming pattern.
S11：Determine risk object direction and the distance to threaten to unmanned plane：
Since unmanned plane is artificial straighforward operation, it is described that remote control personnel can artificially judge that possible threat determines
Risk object, then issues an order to unmanned plane, therefore the position of the risk object is given.
S12：Obtain the omni-directional visual background information around unmanned plane：
By being arranged on the wide-angle monitor of unmanned plane surface position or being provided in multiple rotatable on unmanned plane
Wide-angle monitor the background of incomplete sphere around unmanned plane is all acquired, since the lower section of unmanned plane is ground,
Therefore unmanned plane can fly hide using risk object as the center of circle, with the distance between unmanned plane and risk object for radius
The sphere that flight path summation is formed is incomplete.
S13：Analysis obtains the position of jamming pattern from incomplete sphere background：
When unmanned plane color is more numerous and diverse, color can be selected numerous and diverse and dry close to the background conduct of unmanned plane body color
Background is disturbed, when unmanned plane color is more single, the background that color is closer to unmanned plane color can be selected to be carried on the back as interference
Scape.
Jamming pattern should preferably continuous length it is larger, in order to unmanned plane accelerate adjustment mission phase path on
The jamming pattern that can have abundant length is protected.Specifically, the both ends in the maximum length direction of the jamming pattern with it is described
The angle angle using the risk object as vertex that risk object is formed is more than the viewing angle of the risk object sight
Half.
The distance between unmanned plane initial position and the jamming pattern are current background distance, the risk object and institute
It is target background distance to state the distance between jamming pattern, and the distance between unmanned plane initial position and the risk object are to work as
Preceding target range；The both ends in the maximum length direction of the jamming pattern are with risk object composition with the risk object
Angle for vertex is target observations angle, and both ends and the unmanned plane initial position in the maximum length direction of the jamming pattern are formed
The angle using unmanned plane initial position as vertex be current viewing angle；
If the smaller in the current background distance and target background distance is more than or equal to the current goal distance
10 times, then：The current viewing angle is as the target observations angle；
If the smaller in the current background distance and target background distance is less than 10 times of the current goal distance,
Then：Calculated by mensuration distance and angle-data and obtain the target observations angle.
Specifically, as shown in Figure 1, MN is the both ends in the jamming pattern maximum length direction, F is the start bit of unmanned plane
Put, A is the position of the risk object.
By measuring the length of FN, FM, and measure ∠ MFN and can obtain the length of MN；By measuring ∠ AFN, and combine
The length of AF and FN can obtain the length of AN；By measuring ∠ AFM, and the length for combining AF and MF can obtain the length of AM
Degree；∠ MAN can be obtained by the length of AN, AM and MN.
In addition, the length of jamming pattern should be with the flight path near normal of unmanned plane to jamming pattern, because accelerating
It is more vertical with the path for benumbing mission phase to adjust the path of mission phase, then unmanned plane is fled from adjustment mission phase is accelerated
The required time of risk object visual line of sight is shorter, is promptly hidden so as to be conducive to unmanned plane.
S20：The flight path for hiding Eye-controlling focus is obtained according to the analysis of the jamming pattern of selection；The flight path
Mission phase is hidden including paralysis mission phase, acceleration adjustment mission phase and persistently, the paralysis mission phase makes unmanned plane
Fly from initial position between the jamming pattern and the risk object, the acceleration adjustment mission phase makes unmanned plane exist
Turned between the jamming pattern and the risk object to depart from the field range of the risk object, it is described lasting hidden
Mission phase of hideing makes no aircraft flight to the sight rear of the risk object and follow-on mission to departing from the risk object
Threat range.
Multiple preferable jamming patterns can be selected in step s 13, then according to the length side of each jamming pattern
To with position it is each determine a flight path.Specifically as shown in Fig. 2, wherein MN is the jamming pattern maximum length direction
Both ends, F are the initial position of unmanned plane, and A is the position of the risk object, and FK is K perpendicular to MN and intersection point；Then flight path
In：
The path of paralysis mission phase is FK or is the curve for connecting FK both ends；It is further preferred that make connection FK both ends
Curve and the risk object between minimum range be more than etc. between risk object and the unmanned plane initial position away from
From.
The path for accelerating adjustment mission phase is KM or KN；Have two along NM flights at the intersection point K of NM and FK
A direction is available, i.e., N-terminal direction and M extreme directions shown in Fig. 2, if according to actual conditions K very close to N-terminal, it is clear that
Unmanned plane flies only towards M extreme directions, if K and the enough unmanned planes of the distance between N-terminal and M ends fly out, risk object regards
The scope of the viewing angle α of line, then N-terminal direction and M extreme directions can randomly choose.
The risk object is taking human as example：In the case where direction of visual lines determines, the visual field angle of people is about 45 °, i.e.,
Respectively there is 20 °~25 ° of sight remaining light scope up or down；Therefore the viewing angle α of the risk object sight can be set
It is set to 45 °~50 °.
Persistently hide mission phase can with risk object keep safe distance on the premise of, select any one without
Cross risk object visual line of sight and flight is to the shortest path at the rear of risk object sight, be then within risk object sight
Rear carries out constantly concealment flight.
S30：A flight path for hiding Eye-controlling focus is performed at random to fly.
By setting enough restrictive condition or evaluating, it is clear that row can be made to all feasible flight paths
It is optimal at sequence and analysis to hide flight path, but so on the one hand the program of analyzing and processing is more complicated, it is computationally intensive, influence
The efficiency of analysis, on the other hand after risk object obtains the analysis method for hiding flight path, can pass through same point
Analysis mode is made the counter Eye-controlling focus hidden and is acted to hiding for unmanned plane, and use multiple flight path schemes carry out with
The mode of machine selection, on the one hand can reduce the computationally intensive of analyzing and processing, hide even if another aspect risk object obtains
After the analysis method of flight path, the concrete scheme for hiding action of unmanned plane still can not be drawn, counter hide so as to can not take
The Eye-controlling focus action kept away.
Above to the present invention better embodiment illustrated, certainly, the present invention can also use with it is above-mentioned
The different form of embodiment, those skilled in the art are made equivalent on the premise of without prejudice to spirit of the invention
Conversion or corresponding change, should all belong in protection scope of the present invention.
Claims (9)
1. a kind of method that unmanned plane carries out escape flight using jamming pattern, it is characterised in that comprise the following steps successively：
Benumb mission phase：Unmanned plane is set to fly from initial position between jamming pattern and risk object；
Accelerate adjustment mission phase：Unmanned plane is set to carry out turning to flight between the jamming pattern and the risk object with de-
From the field range of the risk object；
Persistently hide mission phase：Make described in no aircraft flight to the sight rear of the risk object and follow-on mission to disengaging
The threat range of risk object.
2. the method that a kind of unmanned plane according to claim 1 carries out escape flight using jamming pattern, it is characterised in that：
The folder using the risk object as vertex that the both ends in the maximum length direction of the jamming pattern are formed with the risk object
Angle angle is more than the half of the viewing angle of the risk object sight.
3. the method that a kind of unmanned plane according to claim 2 carries out escape flight using jamming pattern, it is characterised in that：
The distance between unmanned plane initial position and the jamming pattern are current background distance, and the risk object is carried on the back with the interference
The distance between scape is target background distance, the distance between unmanned plane initial position and the risk object for current goal away from
From；The both ends in the maximum length direction of the jamming pattern are with risk object composition using the risk object as vertex
Angle is target observations angle, both ends and the unmanned plane initial position in the maximum length direction of the jamming pattern form with nobody
Machine initial position is that the angle on vertex is current viewing angle；
If the smaller in the current background distance and target background distance is more than or equal to the current goal distance
10 times, then：The current viewing angle is as the target observations angle；
If the smaller in the current background distance and target background distance is less than 10 times of the current goal distance,
Then：Calculated by mensuration distance and angle-data and obtain the target observations angle.
4. the method that a kind of unmanned plane according to claim 2 carries out escape flight using jamming pattern, it is characterised in that：
The viewing angle of the risk object sight is 45 °~50 °.
5. the method that a kind of unmanned plane according to claim 1 carries out escape flight using jamming pattern, it is characterised in that：
Heading of the unmanned plane in the paralysis mission phase terminal perpendicular to the maximum length direction of the jamming pattern, nobody
Machine is conllinear with the maximum length direction of the jamming pattern in the heading accelerated after adjustment mission phase steering.
6. the method that a kind of unmanned plane according to claim 5 carries out escape flight using jamming pattern, it is characterised in that：
It is described to accelerate what flight path beginning and end of the adjustment mission phase in the jamming pattern was formed with the risk object
Angle angle using the risk object as vertex is more than the half of the viewing angle of the risk object sight.
7. the method that a kind of unmanned plane according to claim 5 carries out escape flight using jamming pattern, it is characterised in that：
Unmanned plane is straight line or camber line in the flight path of the paralysis mission phase, and unmanned plane is in the arc of the paralysis mission phase
Shape flight path is half using the risk object as the center of circle, with the distance between the initial position of unmanned plane and the risk object
Footpath.
8. the method that a kind of unmanned plane according to claim 1 carries out escape flight using jamming pattern, it is characterised in that：
Unmanned plane is more than in the flight linear velocity for benumbing mission phase in the flight linear velocity for accelerating adjustment mission phase.
9. the method that a kind of unmanned plane according to claim 1 carries out escape flight using jamming pattern, it is characterised in that：
Mission phase is persistently hidden described, unmanned plane flies towards the surface of the risk object, to cross the risk object
Fly to the sight rear of the risk object.
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| CN105333771A (en) * | 2015-11-17 | 2016-02-17 | 河海大学 | Visual camouflaging and hiding equipment |
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| CN105652884A (en) * | 2016-02-15 | 2016-06-08 | 英华达（上海）科技有限公司 | Unmanned aerial vehicle flying method and unmanned aerial vehicle flying system |
-
2017
- 2017-12-13 CN CN201711325405.2A patent/CN108037772A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6459076B1 (en) * | 2000-01-28 | 2002-10-01 | Wesley E. Schlenker | On-board camouflage lighting system using directional light sources |
| GB2362283A (en) * | 2000-04-07 | 2001-11-14 | Andrew James Hawke | Dynamically adaptive observability coatings system |
| CN105277069A (en) * | 2014-07-25 | 2016-01-27 | 北京航天发射技术研究所 | Target infrared and visible light characteristic self-adaptation control device |
| CN205131675U (en) * | 2015-11-14 | 2016-04-06 | 深圳市易特科信息技术有限公司 | Intelligence unmanned aerial vehicle system based on long -range target of listening of infrared ray |
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