CN108082438A - The acquisition methods and device of initial velocity when unmanned plane is launched - Google Patents
The acquisition methods and device of initial velocity when unmanned plane is launched Download PDFInfo
- Publication number
- CN108082438A CN108082438A CN201711324831.4A CN201711324831A CN108082438A CN 108082438 A CN108082438 A CN 108082438A CN 201711324831 A CN201711324831 A CN 201711324831A CN 108082438 A CN108082438 A CN 108082438A
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- Prior art keywords
- unmanned plane
- speed
- fixation kit
- monitoring
- height
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/40—Balloons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- 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
Abstract
The present invention provides the acquisition methods of initial velocity during a kind of dispensing of unmanned plane, including：Monitoring is equipped with height of the carrying platform of unmanned plane in uphill process, when this highly reaches predetermined release altitude, transfers to fix the fixation kit of the unmanned plane so that unmanned plane glides under the traction of fixation kit；And speed of the monitoring unmanned plane during downslide, when the speed reaches predetermined dispensing speed, the fixation kit is cut off, launches unmanned plane.The invention also discloses the acquisition device of initial velocity during a kind of dispensing of unmanned plane.The present invention enables to unmanned plane when leaving carrying platform and launching with certain initial velocity, and device is simple, at low cost, it is easy to accomplish.
Description
Technical field
The acquisition methods and device of initial velocity when being launched the present invention relates to unmanned plane field more particularly to a kind of unmanned plane.
Background technology
Near space refers to that apart from the spatial domain of ground 20-100km it is located at space-based satellite platform and aviation UAV platform
Between, do not paid attention to especially for a long time.But near space has huge potential value, this part in Military Application
The atmospheric density in space is thin, and most of fixed-wing unmanned plane and surface-to-air ballistic missile can not all reach this height in the world,
Aircraft near space possibility under attack is low；It is generally defended simultaneously as the height of this segment space is far below
The operation height of star provides advantage to information investigation, collection and communication.Near space is the important of national space safety
Strategic area.The target of national space strategy is near space, resident near space and then controls near space.Close on sky
Between overlength endurance aircraft can be resident near space for a long time, and then realize the target of control near space, obtained extensively
Concern.
At present, unmanned plane enters there are mainly two types of the modes of near space：It independently climbs and carrying is taken off.First way
It is that unmanned plane climbs in the power set by itself to predetermined cruising altitude, which is to the motor performance requirement ratio of unmanned plane
It is higher, and in the case where gross energy is certain, when excessive energy expenditure will certainly influence subsequent cruise during climbing
Between；In addition, excessive energy requirement also implies that the power set for needing to provide bigger energy, this also can increase unmanned plane in itself
Construction weight, reduce its load-carrying ability.The second way is that unmanned plane is carried to the height specified using carrying platform again
It is launched, which avoids the energy expenditure during unmanned plane climbs, when design of electrical motor need to only consider cruising condition
Power consumption, energy requirement can be reduced to greatest extent, ensure the longer cruise time, and to reduce body
The weight of itself increases load-carrying ability and provides advantage.
However, carrying the unmanned plane to take off is faced with a severe control problem, i.e. unmanned plane and carrying platform separation
Moment, unmanned plane is no initial velocity in itself, at this point, the steerage of unmanned plane itself does not work, control system can not and
When amendment is made to UAV Attitude situation.In this way, when the instant of release there is external disturbance, fuselage rolling etc. may result in
Phenomenon directly results in the failure of this subtask.Therefore, how to ensure that there are one can make control system to unmanned plane in the instant of release
The critical speed to play a role is the engineering roadblock of urgent need to resolve.
The content of the invention
(1) technical problems to be solved
It is above-mentioned to solve it is an object of the invention to provide the acquisition methods and device of initial velocity during a kind of dispensing of unmanned plane
At least one of technical problem.
(2) technical solution
An aspect of of the present present invention provides a kind of acquisition methods of initial velocity when unmanned plane is launched, including：
Monitoring is equipped with height of the carrying platform of unmanned plane in uphill process, when this highly reaches predetermined release altitude
When, it transfers to fix the fixation kit of the unmanned plane so that unmanned plane glides under the traction of fixation kit；And monitoring
Speed of the unmanned plane during downslide when the speed reaches predetermined dispensing speed, is cut off the fixation kit, is launched
Unmanned plane.
In some embodiments of the invention, monitoring is equipped with height of the carrying platform of unmanned plane in uphill process,
It is to be realized by the first sensor of carrying platform.
In some embodiments of the invention, speed of the unmanned plane during downslide is monitored, is to pass through unmanned plane
Second sensor realize.
In some embodiments of the invention, before unmanned plane is launched, step is further included：Unmanned plane is estimated in fixed group
The downslide height to glide under the traction of part, the downslide height are not more than the length of the fixation kit.
In some embodiments of the invention, before unmanned plane is launched, step is further included：Adjust the flight appearance of unmanned plane
State so that unmanned plane reaches predetermined and launches posture.
Another aspect of the present invention additionally provides a kind of acquisition device of initial velocity when unmanned plane is launched, including：
First monitoring unit, for monitoring height of the carrying platform for being equipped with unmanned plane in uphill process, when the height
When degree reaches predetermined release altitude, transfer to fix the fixation kit of the unmanned plane so that unmanned plane is in fixation kit
Traction is lower to glide；And
Second monitoring unit, for monitoring speed of the unmanned plane during downslide, when the speed reaches predetermined throwing
When putting speed, the fixation kit is cut off, launches unmanned plane.
In some embodiments of the invention, the first monitoring unit includes：The first sensor being arranged on carrying platform,
For monitoring height of the carrying platform for being equipped with unmanned plane in uphill process.
In some embodiments of the invention, the second monitoring unit includes：The second sensor being arranged on unmanned plane is used
In speed of the monitoring unmanned plane during downslide.
In some embodiments of the invention, adjustment unit is further included, for adjusting the flight attitude of unmanned plane so that nothing
It is man-machine to reach predetermined dispensing posture.
In some embodiments of the invention, the carrying platform includes balloon and dirigible；And/or the fixation kit is
Hawser with intensity and elasticity, and the length of the hawser is more than the downslide height of unmanned plane.
(3) advantageous effect
The acquisition methods of initial velocity and device are compared with the prior art when unmanned plane of the present invention is launched, at least with following
Advantage：
1st, when monitoring that carrying platform reaches predetermined release altitude, fixation kit is transferred so that unmanned plane is in fixed group
It glides under the traction of part, ensure that controllability of the unmanned plane during downslide.
2nd, when the gliding speed for detecting unmanned plane reaches predetermined dispensing speed, fixation kit is cut off, launches unmanned plane,
So that unmanned plane possesses initial velocity at this time, realizing unmanned plane has the dispensing of initial velocity.
3rd, before unmanned plane dispensing, its flight attitude is also adjusted so that unmanned plane reaches predetermined and launches posture, Neng Goufang
The problem of causing when only launching due to flight attitude discomfort, safety guarantee is provided for the unmanned plane after dispensing.
4th, the device of the invention is simple in structure, and method is easy to implement, and is suitable for engineering.
Description of the drawings
Fig. 1 is the step flow chart of the acquisition methods of initial velocity when the unmanned plane of the embodiment of the present invention is launched.
Fig. 2 is the structure diagram of the acquisition device of initial velocity when the unmanned plane of the embodiment of the present invention is launched.
Specific embodiment
Its initial velocity is zero when being separated based on unmanned plane existing in the prior art with carrying platform, at this time unmanned plane itself
Steerage does not work, and UAV Attitude is uncontrollable to be likely to occur the problem of posture rolling causes mission failure, the present invention provides
The acquisition methods and device of initial velocity when a kind of unmanned plane is launched monitor the height of carrying platform in uphill process in real time, when taking
When carrying platform highly reaches predetermined release altitude, fixation kit is discharged, unmanned plane is allowed to glide automatically under fixation kit traction；When
When monitoring that the speed of unmanned plane reaches controllable predetermined dispensing speed, the fixation kit of fixed unmanned plane is cut, discharges nothing
It is man-machine, the posture of the control system effect adjustment unmanned plane of unmanned plane itself is then relied on, unmanned plane is made to reach smooth flight
State.This method structure is realized simply, of low cost, workable, beneficial to Project Realization, while can guarantee that unmanned plane has
Certain initial velocity, so as to provide safety guarantee for the flight course after launching.
Purpose, technical scheme and advantage to make the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
The disclosure is further described in attached drawing.
The one side of the embodiment of the present invention, provides a kind of acquisition methods of initial velocity when unmanned plane is launched, and Fig. 1 is this hair
The step flow chart of the acquisition methods of initial velocity when the unmanned plane of bright embodiment is launched, as shown in Figure 1, this method includes following step
Suddenly：
S1, monitoring are equipped with height of the carrying platform of unmanned plane in uphill process, when this highly reaches predetermined dispensing
During height, transfer to fix the fixation kit of the unmanned plane so that unmanned plane glides under the traction of fixation kit.This is pre-
Determining release altitude can be changed according to the actual demand of user.
Wherein, monitoring is equipped with the height of the carrying platform of unmanned plane in uphill process, is the by carrying platform
What one sensor was realized.In general, the sensor for unmanned plane measurement height has following three kinds：Utilize radio-wave reflection
Elevation carrection is converted to the measurement to the time by feature measurement flying height；By the line for measuring unmanned plane vertical ground motions
Acceleration come measure height；And measure height by measuring atmospheric parameter.The model of common first sensor include but
It is not limited to MS5540C, MS5534 and HPA200-W2DB (silicon piezoresistance type pressure sensor).
, it is necessary to estimate the downslide height that unmanned plane glides under the traction of fixation kit during selection fixation kit, and it is described
The height that glides is not more than the length of the fixation kit, prevents unmanned plane from cannot reach predetermined and launching speed.
Speed of the unmanned plane during downslide is monitored, is realized by the second sensor of unmanned plane.Generally
For, second sensor can be (such as the MEMS inertia sensings such as magnetoelectric transducer, Hall sensor or Inertial Measurement Unit
Device).Preferably Inertial Measurement Unit combines GPS, maintains direction and flight path, while additionally uses more magnetic axises and pass
Sensor, can perceived direction, CPU is sent data to, so as to indicate direction and speed.It is understood that in other implementations
In example, other velocity sensors may be employed.
The speed of S2, the monitoring unmanned plane during downslide launches speed (i.e. unmanned plane when the speed reaches predetermined
The initial velocity obtained during dispensing) when, the fixation kit is cut off, launches unmanned plane.This predetermined dispensing speed can be according to user
Actual demand be adjusted.In general, making a reservation for launch speed is had with the demand of unmanned plane parameter in itself and user
It closes, should be greater than the stalling speed of unmanned plane.
The problem of causing when launching in order to prevent due to flight attitude discomfort, safe guarantor is provided for the unmanned plane after dispensing
Barrier, in embodiments of the present invention, before unmanned plane is launched, can also increase step S201：The flight attitude of unmanned plane is adjusted,
Such as change the length of fixation kit to change the pitch angle of unmanned plane so that unmanned plane reaches predetermined and launches posture, to prevent
The problem of being caused during dispensing due to flight attitude discomfort, provides safety guarantee for the unmanned plane after dispensing.Wherein, make a reservation for launch
Posture and the relating to parameters of unmanned plane in itself, in embodiments of the present invention, it is predetermined launch posture refer to body pitch angle can be-
90 °~-76 °.
The another aspect of the embodiment of the present invention additionally provides a kind of acquisition device of initial velocity when unmanned plane is launched, such as Fig. 2
Shown, which has the first monitoring unit 21 and the second monitoring unit 22.
First monitoring unit 21, for monitoring height of the carrying platform for being equipped with unmanned plane in uphill process, when this
When highly reaching predetermined release altitude, transfer to fix the fixation kit of the unmanned plane so that unmanned plane is in fixation kit
Traction under glide.
Wherein, which includes the first sensor being arranged on carrying platform, is equipped with for monitoring
Height of the carrying platform of unmanned plane in uphill process.The selection of details are not described herein again first sensor.Carrying platform can be with
For balloon, dirigible etc., not restriction of the invention.
Second monitoring unit 22, for monitoring speed of the unmanned plane during downslide, when the speed reaches predetermined
When launching speed, the fixation kit is cut off, launches unmanned plane.
Wherein, which includes being arranged at second sensor on unmanned plane, for monitor it is described nobody
Speed of the machine during downslide.The selection for second sensor that details are not described herein again.Fixation kit can be with high intensity and
The hawser of elasticity, can guarantee after hawser is cut, and the rudder of unmanned plane will not occur because of the side force of release moment hawser
Structural failure in other embodiments, can also use the fixation kit of other forms, the present invention also not restriction.It needs to note
Meaning, the length of the hawser should be more than the downslide height of unmanned plane, prevent unmanned plane from cannot reach predetermined when launching
Launch speed.
The problem of causing when launching in order to prevent due to flight attitude discomfort, safe guarantor is provided for the unmanned plane after dispensing
Barrier, in some embodiments, the device can also include adjustment unit, for before unmanned plane is launched, such as change fixation
The length of component changes the pitch angle of unmanned plane, so as to adjust the flight attitude of unmanned plane so that unmanned plane reaches predetermined throwing
Put posture.
The acquisition methods and device of initial velocity when the unmanned plane of the present invention is launched measure the height of balloon platform in real time, when
When carrying platform highly reaches predetermined release altitude, the fixation kit on gondola is transferred, allows unmanned plane in the traction of fixation kit
Lower automatic downslide；When the speed for detecting unmanned plane reaches controllable predetermined dispensing speed, fixation kit is cut off, is then thrown
Unmanned plane is put, unmanned plane adjusts aerodynamic force so as to reach the state of smooth flight by itself again.It can be seen that the structure of the device is real
Now simple, of low cost, method is workable, beneficial to engineer application.
Unless there are known entitled phase otherwise meaning, the numerical parameter in this specification and appended claims are approximations, energy
Enough required characteristic changings according to as obtained by content of this disclosure.Specifically, it is all to be used in specification and claim
The number of the middle content for representing composition, reaction condition etc., it is thus understood that be that the term of " about " is subject to be repaiied in all situations
Decorations.Under normal circumstances, the meaning of expression refers to include by specific quantity ± 10% variation in some embodiments, at some
± 5% variation in embodiment, ± 1% variation in some embodiments, in some embodiments ± 0.5% variation.
Furthermore "comprising" does not exclude the presence of element or step not listed in the claims." one " before element
Or "one" does not exclude the presence of multiple such elements.
Specification and the word of ordinal number such as " first ", " second ", " the 3rd " etc. used in claim, with modification
Corresponding element, itself is not meant to that the element has any ordinal number, does not also represent the suitable of a certain element and another element
Order in sequence or manufacturing method, the use of those ordinal numbers are only used for enabling the element with certain name and another tool
The element for having identical name can make clear differentiation.Particular embodiments described above, to the purpose of the present invention, technical solution and
Advantageous effect has been further described, it should be understood that the above is only a specific embodiment of the present invention,
It is not intended to limit the invention, within the spirit and principles of the invention, any modification, equivalent substitution, improvement and etc. done,
It should all be included in the protection scope of the present invention.
Claims (10)
- The acquisition methods of initial velocity when 1. a kind of unmanned plane is launched, including：Monitoring is equipped with height of the carrying platform of unmanned plane in uphill process, when this highly reaches predetermined release altitude, It transfers to fix the fixation kit of the unmanned plane so that unmanned plane glides under the traction of fixation kit；AndSpeed of the unmanned plane during downslide is monitored, when the speed reaches predetermined dispensing speed, cuts off the fixation Component launches unmanned plane.
- 2. according to the method described in claim 1, wherein, monitoring is equipped with height of the carrying platform of unmanned plane in uphill process Degree, is realized by the first sensor of carrying platform.
- 3. according to the method described in claim 1, wherein, speed of the unmanned plane during downslide is monitored, is to pass through nothing What man-machine second sensor was realized.
- 4. according to the method described in claim 1, wherein, before unmanned plane is launched, further include step：Unmanned plane is estimated solid Determine the downslide height to glide under the traction of component, the downslide height is not more than the length of the fixation kit.
- 5. according to the method described in claim 1, wherein, before unmanned plane is launched, further include step：Adjust the flight attitude of unmanned plane so that unmanned plane reaches predetermined and launches posture.
- The acquisition device of initial velocity when 6. a kind of unmanned plane is launched, including：First monitoring unit, for monitoring height of the carrying platform for being equipped with unmanned plane in uphill process, when this is highly reached During to predetermined release altitude, transfer to fix the fixation kit of the unmanned plane so that unmanned plane is in the traction of fixation kit Lower downslide；AndFor monitoring speed of the unmanned plane during downslide, speed is launched when the speed reaches predetermined for second monitoring unit When spending, the fixation kit is cut off, launches unmanned plane.
- 7. device according to claim 6, wherein, the first monitoring unit includes：First be arranged on carrying platform passes Sensor, for monitoring height of the carrying platform for being equipped with unmanned plane in uphill process.
- 8. device according to claim 6, wherein, the second monitoring unit includes：The second sensing being arranged on unmanned plane Device, for monitoring speed of the unmanned plane during downslide.
- 9. device according to claim 6, wherein, adjustment unit is further included, for adjusting the flight attitude of unmanned plane, is made It obtains unmanned plane and reaches predetermined dispensing posture.
- 10. device according to claim 6, wherein, the carrying platform includes balloon and dirigible；And/orThe fixation kit is the hawser with intensity and elasticity, and the length of the hawser is more than the downslide height of unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711324831.4A CN108082438B (en) | 2017-12-12 | 2017-12-12 | Method and device for acquiring initial speed of unmanned aerial vehicle during release |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711324831.4A CN108082438B (en) | 2017-12-12 | 2017-12-12 | Method and device for acquiring initial speed of unmanned aerial vehicle during release |
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| CN108082438A true CN108082438A (en) | 2018-05-29 |
| CN108082438B CN108082438B (en) | 2021-04-13 |
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| CN108820222A (en) * | 2018-09-03 | 2018-11-16 | 中国科学院工程热物理研究所 | Balloon borne solar energy unmanned plane launches control method |
| CN109739251A (en) * | 2018-12-28 | 2019-05-10 | 中国科学院工程热物理研究所 | Unmanned plane Time-sharing control method |
| CN113942062A (en) * | 2021-09-23 | 2022-01-18 | 天津长荣科技集团股份有限公司 | Method and system for calculating in-place of paper |
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| CN108082438B (en) | 2021-04-13 |
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