CN108255184A - Unmanned plane and vehicular platform following control system and its follow-up control method - Google Patents
Unmanned plane and vehicular platform following control system and its follow-up control method Download PDFInfo
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- CN108255184A CN108255184A CN201611242638.1A CN201611242638A CN108255184A CN 108255184 A CN108255184 A CN 108255184A CN 201611242638 A CN201611242638 A CN 201611242638A CN 108255184 A CN108255184 A CN 108255184A
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- unmanned plane
- vehicular
- vehicular platform
- aerial vehicle
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The present invention relates to a kind of unmanned planes and vehicular platform following control system and follow-up control method.It includes unmanned aerial vehicle platform, vehicular platform and communication link, unmanned aerial vehicle platform includes unmanned aerial vehicle (UAV) control device, unmanned plane position sensor, height sensor and inertial sensor, and vehicular platform includes vehicular platform control device, vehicle-mounted position sensor, vehicular speeds sensor, vehicle-mounted direction sensor；The vehicular platform horizontal position detected, vehicular platform speed and the vehicular platform direction are sent to unmanned aerial vehicle (UAV) control device by vehicular platform by communication link；Inertial sensor is according to the unmanned plane horizontal position detected, the posture and speed of unmanned plane height calculating unmanned plane；The gesture stability that vehicular platform control device resolves the unmanned plane according to the relative position of vehicular platform and unmanned plane, relative velocity and unmanned plane height by algorithm instructs, the relative position of unmanned plane and vehicular platform is changed by the variation of UAV Attitude, and then realizes that unmanned plane follows vehicular platform.
Description
Technical field
The present invention relates to a kind of unmanned plane field, the vehicle-mounted follow-up control method of more particularly to a kind of unmanned plane and its device.
Background technology
Unmanned plane, such as unmanned plane is tethered at, pass through a cable（Or data line）Simultaneously Following Car is connect with vehicular platform
Carrying platform moves together.But in the prior art, it is servo-actuated inaccurate and timely between unmanned plane and vehicular platform, thus
Cable is caused to be pulled apart or and then the risk that is destroyed of unmanned plane.
Invention content
Therefore, to solve the above-mentioned problems, it is necessary to which a kind of vehicle-mounted follow-up control method of unmanned plane and its device are provided.This
The unmanned plane provided and the system that vehicular platform is servo-actuated are provided and include unmanned aerial vehicle platform, vehicular platform and communication link, wherein, institute
Unmanned aerial vehicle platform is stated to include unmanned aerial vehicle (UAV) control device, the unmanned plane position sensor for detecting unmanned plane horizontal position, detect nobody
The unmanned plane height sensor and inertial sensor of machine height, the vehicular platform include vehicular platform control device, detection vehicle
The vehicle-mounted position sensor of carrying platform horizontal position, the vehicular speeds sensor for detecting vehicular platform speed, detection vehicular platform
The vehicle-mounted direction sensor in direction；Wherein, the vehicular platform is by the vehicular platform horizontal position detected, described vehicle-mounted
Platform speed and the vehicular platform direction are sent to the unmanned aerial vehicle (UAV) control device by the communication link；Wherein, it is described
Inertial sensor according to the unmanned plane horizontal position that detects, the unmanned plane height calculate the unmanned plane posture and
Speed；Wherein, the vehicular platform control device is according to the vehicular platform and the relative position of the unmanned plane, relatively speed
The gesture stability that degree and the unmanned plane height resolve the unmanned plane by algorithm instructs, and passes through the variation of UAV Attitude
Change the relative position of unmanned plane and vehicular platform, and then realize that unmanned plane follows vehicular platform.
The present invention also provides a kind of control method for being tethered at unmanned plane and vehicular platform and being servo-actuated, including：
A) position that the unmanned plane position data and the vehicular platform that is measured by the position sensor of UAV flight are carried
The vehicular platform position data of sensor measurement calculates the relative position error between the unmanned plane and the vehicular platform；
The desired speed of the unmanned aerial vehicle platform is resolved using gesture stability algorithm according to described the relative position error；According to described vehicle-mounted
The vehicular platform speed data that the velocity sensor that platform carries measures is by blending algorithm to described in the unmanned aerial vehicle platform
Desired speed is modified to obtain revised desired speed；B) is surveyed according to the inertial sensor that the unmanned aerial vehicle platform carries
The data of amount calculate the present speed of the unmanned aerial vehicle platform by attitude algorithm；C) the described of unmanned aerial vehicle platform described in is worked as
Preceding speed subtracts each other to obtain velocity error with the revised desired speed, and speed control algorithm is used according to the velocity error
Calculate the expectation acceleration of the unmanned aerial vehicle platform；D) is obtained described after the expectation acceleration is filtered and is converted
The expectation posture of unmanned aerial vehicle platform；E) data that the inertial sensor that is carried according to the unmanned aerial vehicle platform measures cross posture solution
The current pose that algorithm calculates the unmanned aerial vehicle platform is calculated, the expectation posture subtracts each other to obtain the nothing with the current pose
The attitude error of man-machine platform, the gesture stability that the unmanned aerial vehicle platform is calculated by gesture stability algorithm instruct；F) postures
Control instruction is transferred to the driving device of the unmanned plane to control it.
Description of the drawings
Fig. 1 is the system that the unmanned plane described in first embodiment of the invention is servo-actuated with vehicular platform.
Fig. 2 is the vehicle-mounted follow-up control method of unmanned plane described in first embodiment of the invention.
Specific embodiment
As illustrated in fig. 1 and 2, unmanned plane according to an embodiment of the invention includes nobody with the system that vehicular platform is servo-actuated
Machine platform, vehicular platform and communication link.
Wherein, unmanned aerial vehicle platform includes unmanned aerial vehicle (UAV) control device, the unmanned plane position sensing for detecting unmanned plane horizontal position
Device, the unmanned plane height sensor and inertial sensor for detecting unmanned plane height.Vehicular platform
Including vehicular platform control device, the vehicle-mounted position sensor of detection vehicular platform horizontal position, detection vehicular platform speed
The vehicular speeds sensor of degree, the vehicle-mounted direction sensor in detection vehicular platform direction.
Wherein, vehicular platform is by the vehicular platform horizontal position detected, the vehicular platform speed and the vehicle
Carrying platform direction is sent to the unmanned aerial vehicle (UAV) control device by the communication link.Inertial sensor is according to what is detected
Unmanned plane horizontal position, the unmanned plane height calculate the posture and speed of the unmanned plane.Vehicular platform control device according to
Described in relative position, relative velocity and the unmanned plane height of the vehicular platform and the unmanned plane are resolved by algorithm
The gesture stability instruction of unmanned plane changes the relative position of unmanned plane and vehicular platform by the variation of UAV Attitude, and then
Realize that unmanned plane follows vehicular platform.
Unmanned plane can be multiselect wing unmanned plane, fixed-wing unmanned plane, be tethered at unmanned plane or helicopter.
Vehicular platform is ground or water surface transportation work, it is preferred that vehicular platform is vehicle or ship.
Communication link includes wired or wireless communication apparatus.For being tethered at unmanned plane, which is to be tethered at
Data line.
The unmanned plane according to an embodiment of the invention that is tethered at includes with the control method that vehicular platform is servo-actuated：
A) position that the unmanned plane position data and the vehicular platform that is measured by the position sensor of UAV flight are carried
The vehicular platform position data of sensor measurement calculates the relative position error between the unmanned plane and the vehicular platform；
The desired speed of the unmanned aerial vehicle platform is resolved using gesture stability algorithm according to described the relative position error；According to described vehicle-mounted
The vehicular platform speed data that the velocity sensor that platform carries measures is by blending algorithm to described in the unmanned aerial vehicle platform
Desired speed is modified to obtain revised desired speed；
B) data that is carried according to the unmanned aerial vehicle platform inertial sensor measures by attitude algorithm calculate it is described nobody
The present speed of machine platform；
C) present speed of unmanned aerial vehicle platform described in subtracts each other to obtain velocity error, root with the revised desired speed
The expectation acceleration of the unmanned aerial vehicle platform is calculated using speed control algorithm according to the velocity error；
D) obtains the expectation posture of the unmanned aerial vehicle platform after the expectation acceleration is filtered and is converted；
E) data that the inertial sensor that is carried according to the unmanned aerial vehicle platform measures cross attitude algorithm algorithm and calculate the nothing
The current pose of man-machine platform, it is described it is expected that posture subtracts each other to obtain the posture mistake of the unmanned aerial vehicle platform with the current pose
Difference, the gesture stability that the unmanned aerial vehicle platform is calculated by gesture stability algorithm instruct；
F) gesture stabilities instruction is transferred to the driving device of the unmanned plane to control it.
Further, driving device includes steering engine or motor speed exports.
Present invention applicant is described in detail and describes to the embodiment of the present invention with reference to Figure of description, but this
Field technology personnel are merely to illustrate the present invention, wherein respectively it should be understood that a kind of embodiment of the above example only present invention
Structure, connection mode of component etc. can all change, and explanation is intended merely to that reader is helped to more fully understand this hair in detail
Bright spirit, and it is not intended to limit the protection scope of the present invention, on the contrary, any changing of being made of any spirit based on the present invention
Into or modification and equivalents and improve should not exclude except protection scope of the present invention.
Claims (8)
1. a kind of unmanned plane and vehicular platform following control system, which is characterized in that including unmanned aerial vehicle platform, vehicular platform and lead to
Link is interrogated, wherein,
The unmanned aerial vehicle platform includes unmanned aerial vehicle (UAV) control device, the unmanned plane position sensor of detection unmanned plane horizontal position, inspection
The unmanned plane height sensor and inertial sensor of unmanned plane height are surveyed,
The vehicular platform includes vehicular platform control device, the vehicle-mounted position sensor of detection vehicular platform horizontal position, inspection
The vehicular speeds sensor of measuring car carrying platform speed, the vehicle-mounted direction sensor in detection vehicular platform direction；
Wherein, the vehicular platform is by the vehicular platform horizontal position detected, the vehicular platform speed and the vehicle
Carrying platform direction is sent to the unmanned aerial vehicle (UAV) control device by the communication link；
Wherein, the inertial sensor according to detect the unmanned plane horizontal position, the unmanned plane height calculate described in
The posture and speed of unmanned plane；
Wherein, the vehicular platform control device according to the relative position of the vehicular platform and the unmanned plane, relative velocity,
The gesture stability for resolving the unmanned plane by algorithm with the unmanned plane height instructs, and is changed by the variation of UAV Attitude
The relative position of unmanned plane and vehicular platform, and then realize that unmanned plane follows vehicular platform.
2. system according to claim 1, which is characterized in that the unmanned plane be multiselect wing unmanned plane, fixed-wing nobody
Machine is tethered at unmanned plane or helicopter.
3. system according to claim 1, which is characterized in that the vehicular platform is ground or water surface transportation work.
4. system according to claim 1, which is characterized in that the vehicular platform is vehicle or ship.
5. system according to claim 1, which is characterized in that the communication link includes wired or wireless telecommunications and fills
It puts.
6. system according to claim 1, which is characterized in that the communication link is the tethered data for being tethered at unmanned plane
Line.
7. a kind of control method for being tethered at unmanned plane and being servo-actuated with vehicular platform, which is characterized in that including：
A) position that the unmanned plane position data and the vehicular platform that is measured by the position sensor of UAV flight are carried
The vehicular platform position data of sensor measurement calculates the relative position error between the unmanned plane and the vehicular platform；
The desired speed of the unmanned aerial vehicle platform is resolved using gesture stability algorithm according to described the relative position error；According to described vehicle-mounted
The vehicular platform speed data that the velocity sensor that platform carries measures is by blending algorithm to described in the unmanned aerial vehicle platform
Desired speed is modified to obtain revised desired speed；
B) data that is carried according to the unmanned aerial vehicle platform inertial sensor measures by attitude algorithm calculate it is described nobody
The present speed of machine platform；
C) present speed of unmanned aerial vehicle platform described in subtracts each other to obtain velocity error, root with the revised desired speed
The expectation acceleration of the unmanned aerial vehicle platform is calculated using speed control algorithm according to the velocity error；
D) obtains the expectation posture of the unmanned aerial vehicle platform after the expectation acceleration is filtered and is converted；
E) data that the inertial sensor that is carried according to the unmanned aerial vehicle platform measures cross attitude algorithm algorithm and calculate the nothing
The current pose of man-machine platform, it is described it is expected that posture subtracts each other to obtain the posture mistake of the unmanned aerial vehicle platform with the current pose
Difference, the gesture stability that the unmanned aerial vehicle platform is calculated by gesture stability algorithm instruct；
F) gesture stabilities instruction is transferred to the driving device of the unmanned plane to control it.
8. control method according to claim 6, which is characterized in that the driving device includes steering engine or motor speed is defeated
Go out.
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| CN201611242638.1A CN108255184A (en) | 2016-12-29 | 2016-12-29 | Unmanned plane and vehicular platform following control system and its follow-up control method |
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| CN201611242638.1A CN108255184A (en) | 2016-12-29 | 2016-12-29 | Unmanned plane and vehicular platform following control system and its follow-up control method |
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Cited By (10)
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| CN108803648A (en) * | 2018-08-17 | 2018-11-13 | 北京航空航天大学 | Unmanned vehicle robust attitude control method, device and electronic equipment |
| CN108974365A (en) * | 2018-07-31 | 2018-12-11 | 佛山市高明曦逻科技有限公司 | Brainpower insufflation pesticide system |
| CN109189088A (en) * | 2018-08-21 | 2019-01-11 | 中南林业科技大学 | Captive unmanned plane adaptive cruise tracking, terminal and storage medium |
| CN110119147A (en) * | 2019-05-09 | 2019-08-13 | 深圳市速腾聚创科技有限公司 | Vehicular automatic driving method, apparatus, computer equipment and storage medium |
| CN110794852A (en) * | 2019-10-28 | 2020-02-14 | 深圳供电局有限公司 | Auxiliary unmanned aerial vehicle landing device and method and unmanned aerial vehicle landing method |
| CN113022879A (en) * | 2021-05-17 | 2021-06-25 | 南京航天国器智能装备有限公司 | Follow car and tie unmanned aerial vehicle and keep away barrier system |
| WO2021151364A1 (en) * | 2020-01-31 | 2021-08-05 | Ningbo Geely Automobile Research & Development Co., Ltd. | Unmanned aerial vehicle configured to be operated relative to a land vehicle |
| CN113238568A (en) * | 2021-04-26 | 2021-08-10 | 天津小鲨鱼智能科技有限公司 | Following method, aircraft and first equipment |
| CN113625752A (en) * | 2021-08-06 | 2021-11-09 | 航天时代飞鹏有限公司 | Vehicle-mounted six-rotor unmanned aerial vehicle control method and device based on satellite navigation positioning |
| CN117250995A (en) * | 2023-11-20 | 2023-12-19 | 西安天成益邦电子科技有限公司 | Bearing platform posture correction control method and system |
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| CN109189088B (en) * | 2018-08-21 | 2021-10-08 | 中南林业科技大学 | Self-adaptive cruise tracking method, terminal and storage medium for tethered unmanned aerial vehicle |
| CN109189088A (en) * | 2018-08-21 | 2019-01-11 | 中南林业科技大学 | Captive unmanned plane adaptive cruise tracking, terminal and storage medium |
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| CN110794852A (en) * | 2019-10-28 | 2020-02-14 | 深圳供电局有限公司 | Auxiliary unmanned aerial vehicle landing device and method and unmanned aerial vehicle landing method |
| WO2021151364A1 (en) * | 2020-01-31 | 2021-08-05 | Ningbo Geely Automobile Research & Development Co., Ltd. | Unmanned aerial vehicle configured to be operated relative to a land vehicle |
| CN113238568A (en) * | 2021-04-26 | 2021-08-10 | 天津小鲨鱼智能科技有限公司 | Following method, aircraft and first equipment |
| CN113022879A (en) * | 2021-05-17 | 2021-06-25 | 南京航天国器智能装备有限公司 | Follow car and tie unmanned aerial vehicle and keep away barrier system |
| CN113625752A (en) * | 2021-08-06 | 2021-11-09 | 航天时代飞鹏有限公司 | Vehicle-mounted six-rotor unmanned aerial vehicle control method and device based on satellite navigation positioning |
| CN117250995A (en) * | 2023-11-20 | 2023-12-19 | 西安天成益邦电子科技有限公司 | Bearing platform posture correction control method and system |
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