CN108255190A - Precision landing method based on multisensor and it is tethered at unmanned plane using this method - Google Patents
Precision landing method based on multisensor and it is tethered at unmanned plane using this method Download PDFInfo
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- CN108255190A CN108255190A CN201611231445.6A CN201611231445A CN108255190A CN 108255190 A CN108255190 A CN 108255190A CN 201611231445 A CN201611231445 A CN 201611231445A CN 108255190 A CN108255190 A CN 108255190A
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- tethered
- unmanned plane
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The present invention provides a kind of precision landing method based on multisensor and is tethered at unmanned plane using this method.Wherein, method includes：The first GPS receiver for being installed on ground handling station obtains the three-dimensional location data at ground handling station and calculates the three-dimensional location coordinates P at ground handling stationground(X,Y,Z)；The three-dimensional location coordinates Pground(X,Y,Z)Second GPS receiver is transmitted to by cable；Second GPS receiver obtains the three-dimensional location data for being tethered at unmanned plane, and calculates three-dimensional location coordinates Paero(X,Y,Z)；Three-dimensional location coordinates Pground(X,Y,Z)To three-dimensional location coordinates Paero(X,Y,Z)It is corrected and difference, the relative position coordinates P for obtaining ground handling station and being tethered between unmanned planerelative(X,Y,Z)；Relative position coordinates Prelative(X,Y,Z)It is passed to control unit；Relative position coordinates Prelative(X,Y,Z)The next position that will be reached for being tethered at unmanned plane is reacted；When in less than about 10 meters of height, enable video camera and millimetre-wave radar is tethered at UAV Landing to designated position to control.
Description
Technical field
The invention belongs to be tethered at unmanned plane.More particularly it relates to a kind of be based on differential GPS (differential
GPS-" DGPS "), millimetre-wave radar, vision positioning technology be tethered at unmanned plane, it can be ensured that be tethered at unmanned plane can accurately, it is fast
The system that prompt drop drops into land vehicle mounted square cabin.
Background technology
Being tethered at unmanned plane can apply in military or other field.In general, transport and operation for convenience, is tethered at nobody
Machine and its electric power system are stored concurrently in the shelter of vehicle.When be tethered at unmanned plane with vehicle transport to appointed place after, side
Cabin is opened, and is tethered at unmanned plane and is taken off and powered incessantly via single line cable, so as to fulfill continual for a long time aerial
Monitoring and emergency communication.
However, shelter is limited for the platform size of UAV Landing, therefore, this field needs are a kind of to be made to be tethered at nobody
Machine quickly and accurately lands into the method in shelter, to achieve the purpose that quickly recycling, fast transfer position.
Invention content
To solve the above problems, the present invention provides a kind of precision landing method for being tethered at unmanned plane, including：It is tethered at when described
When unmanned plane is in more than certain height aerial, the method includes：
The first GPS receiver for being installed on ground handling station obtains the three-dimensional location data at the ground handling station and calculates institute
State the three-dimensional location coordinates P at ground handling stationground (X,Y,Z)；The three-dimensional location coordinates Pground (X,Y,Z)It is transmitted by cable
To being installed on the second GPS receiver for being tethered at unmanned plane；The three-dimensional position of unmanned plane is tethered at described in the second GPS receiver acquisition
Data are put, and calculate the three-dimensional location coordinates P for being tethered at unmanned planeaero (X,Y,Z)；The three-dimensional location coordinates
Pground (X,Y,Z)To the three-dimensional location coordinates Paero (X,Y,Z)Corrected and difference, obtain the ground handling station with it is described
The relative position coordinates P being tethered between unmanned planerelative (X,Y,Z)；The relative position coordinates Prelative (X,Y,Z)It is passed to
Control unit；Wherein, the relative position coordinates Prelative (X,Y,Z)It has reacted described and has been tethered at will reaching down for unmanned plane
One position；When it is described be tethered at unmanned plane and be in less than about 10 meters of height when, the method includes：Enable video camera and millimeter wave
Radar come control it is described be tethered at UAV Landing to designated position, wherein, the designated position refer to store described in be tethered at nobody
In the shelter of the vehicle of machine.
The present invention also provides it is a kind of be capable of precision landing be tethered at unmanned plane, including：It is installed on the ground handling station
First GPS receiver can obtain the three-dimensional location data at the ground handling station and calculate the ground handling station
Three-dimensional location coordinates Pground (X,Y,Z)；Second GPS receiver for being tethered at unmanned plane is installed on, described be tethered at can be obtained
The three-dimensional location data of unmanned plane, and calculate the three-dimensional location coordinates P for being tethered at unmanned planeaero (X,Y,Z)；Connect the system
Unmanned plane and the cable at the ground handling station are stayed, by the three-dimensional location coordinates Pground (X,Y,Z)Institute is transmitted to by cable
State the second GPS receiver；The control unit of the posture of unmanned plane is tethered at described in control, the posture includes position, speed and flies
Row posture；Mounted on the video camera and millimetre-wave radar for being tethered at unmanned plane lower part.
Further, the value range of the certain height is 5 meters to 20 meters.
It is further preferred that value is 10 meters.
The beneficial effects of the invention are as follows：
The present invention using differential GPS, millimetre-wave radar, the visual pattern mode that is combined of processing come control be tethered at unmanned plane
Land has achieved the purpose that safety higher, speed faster, are more accurately landed, therefore can quickly recycle unmanned plane, convenient to turn
Move position.The technology of this Multi-sensor Fusion plays the advantage of respective sensor in different phase, adapts to more complicated work
War environment, as much as possible protection are tethered at the safety of unmanned plane and airborne Aerial Electronic Equipment.
Description of the drawings
Fig. 1 is to be tethered at unmanned plane precision landing control block diagram according to one specific embodiment of the present invention.
Specific embodiment
The purpose of the present invention is can measure ground handling station with the accurate position between aircraft movement station using differential GPS
Put poor (mm grades of errors), it is ensured that be tethered at unmanned plane and drop to vehicle up direction, and will not deviation it is too many, since differential GPS difference is believed
It number is easily lost, once unpredictable consequence will be occurred by losing, therefore the presence of differential GPS ensure that in landing final stage
Marker on shelter can be stablized, clearly appear in camera lens, to complete the level of final stage using vision positioning technology
Positioning；On the other hand, due to being tethered at unmanned aerial vehicle platform as metal flat in shelter, when being tethered at unmanned plane in last rank of landing
Section since aircraft weight is bigger, has very strong ground effect, therefore, at this time can be very big to the disturbance of air-flow, to barometrical shadow
Sound is very big, and elevation carrection is pursued and attacked probability and greatly increased with that can be interfered.So measuring height using millimetre-wave radar, do
To the accurate of height control.It will more specifically be introduced with lower part herein.
In order to provide clearer description, the landing mission for being tethered at unmanned plane of the invention is classified into two subprocess difference
Description.
I. the first step be related to being tethered at unmanned plane be operated in about 100m and more than high-altitude and after instruction of landing is received from
The high-altitude of about 100m drops to the low latitude of about 10m.
When being tethered at unmanned plane in high-altitude execution task, differential GPS and other sensors can will be tethered at unmanned plane stabilization
In the air or follow the movement of surface car.Differential GPS is divided into two parts, and first part is mounted to the first of ground handling station
GPS receiver, antenna are preferably set up in ground handling station（For example, ground on-vehicle platform, more specifically surface car）
Top；Another part is mounted to be tethered at the second GPS receiver of unmanned plane, and antenna is preferably set up in and is tethered at unmanned plane
Upper casing.
First GPS receiver obtains the three-dimensional location data at ground handling station, and calculates the three-dimensional position at ground handling station
Put coordinate.Due to there is orbit error, clocking error, SA influence, atmospheric effect and other errors etc., the three-dimensional calculated
Position coordinates Pground (X,Y,Z)Typically different with the actual coordinate at ground handling station, i.e., there are errors.Ground handling station
The three-dimensional location coordinates data P for being corrected this using cableground (X,Y,Z)It is sent to and is tethered at unmanned plane.
Second GPS receiver obtains the three-dimensional location data for being tethered at unmanned plane, and calculates the three-dimensional position for being tethered at unmanned plane
Put coordinate Paero (X,Y,Z).Second GPS receiver based on ground handling station transmit come three-dimensional location coordinates Pground (X,Y,Z)It is right
Paero (X,Y,Z)It is corrected, difference, so as to the accurate relative position coordinates for obtaining ground handling station and being tethered between unmanned plane
Prelative (X,Y,Z)。
More specifically, by the way that differential GPS to be configured to work under dynamic-dynamic model formula, i.e., ground handling station and it is tethered at nobody
When machine is all in motion state, it is tethered at the stable absolute fix information P of unmanned plane outputaero (X,Y,Z)With accurate relative position
Information Prelative (X,Y,Z).To absolute fix information Paero (X,Y,Z)Kalman's navigation algorithm is carried out, obtains stable hovering effect
Fruit；By accurate relative position information Prelative (X,Y,Z)Control loop is transmitted to for being tethered at unmanned plane, makes to be tethered at unmanned plane
Surface car is followed to move.
The invention also includes utilize Gps sensors, Gyro sensing gyroscope instrument（The horizontal, vertical of unmanned plane is tethered at for measuring
Directly, pitching, course and angular speed）, adaptive cruise control system（) and compass sensor Acc（Compass）And differential GPS
（DGPS）.Differential GPS can generate stable absolute location information by method as described above, the absolute location information and from
The data that Gps sensors, Gyro sensing gyroscopes instrument, adaptive cruise control system and compass sensor obtain are collectively delivered to
Navigation end, which, which may be disposed at, is tethered at unmanned plane or vehicle-mounted workstation.These data are merged by Kalman filtering
To information such as flight attitude, position, the speed for being tethered at unmanned plane；Then these data are delivered to positioner.It controls position
These data fusions into the cumulative tolerance of differential GPS, are obtained attitude command by device processed jointly；Then attitude command is passed
Pass attitude controller；It is finally output to be tethered at the executing agency of unmanned plane, to be tethered at unmanned plane accurate in the air so as to reach
Follow the hovering of surface car and stabilization.
After earth station, which sends, lands instruction, in about 10m to the level stages of about 100m, unmanned plane is tethered at by difference
The site error of GPS outputs, control are tethered at unmanned plane and start to land above surface car, and in the high-altitude stage, accessible
Object blocks airborne GPS antenna, and locating effect is more satisfactory.
II. bis- Walk, which are related to being tethered at unmanned plane, drops to from about 10 meters of height on platform.Due to the shadow by varying environment
It rings, it is difficult to ensure that the signal of differential GPS is not lost, therefore installs high-definition camera in the underface of unmanned plane, on landing platform
The marker convenient for identification is preferably placed, differential GPS positioning in the horizontal direction thus will be leaned on to be switched to and determined using vision
Position.Due to being tethered at unmanned plane under load condition, weight compare it is larger, under the altitudes less than 10m, have ground effect
Should, air-flow is more disorderly, and barometrical data have failed, and therefore, starts millimetre-wave radar, the measurement range of millimetre-wave radar exists
Within 50m, 10m's is reliable measurements range, therefore uses this control mode, can reach the accurate control of short transverse.
According to another embodiment of the present invention, a kind of precision landing method that can be tethered at unmanned plane includes：It is installed on the ground
First GPS receiver of work station can obtain the three-dimensional location data at the ground handling station and calculate the ground
The three-dimensional location coordinates P of work stationground (X,Y,Z)；Second GPS receiver for being tethered at unmanned plane is installed on, can be obtained
It is described to be tethered at the three-dimensional location data of unmanned plane, and calculate the three-dimensional location coordinates P for being tethered at unmanned planeaero (X,Y,Z)；Even
Unmanned plane and the cable at the ground handling station are tethered at described in connecing, by the three-dimensional location coordinates Pground (X,Y,Z)Pass through cable
It is transmitted to second GPS receiver；Be tethered at the control unit of the posture of unmanned plane described in control, the posture include position,
Speed and flight attitude.
This is tethered at unmanned plane and further includes mounted on the video camera and millimetre-wave radar for being tethered at unmanned plane lower part, is used for
UAV Landing is tethered at described in control to designated position, wherein, the designated position refers to be tethered at the vehicle of unmanned plane described in storage
Shelter in.
This is tethered at the position data, flight attitude data and speed that unmanned plane further comprises being tethered at unmanned plane described in acquisition
In the GPS sensings of at least one of data, Gyro gyroscopes, adaptive cruise control system and compass sensor at least
At least one of one, the position data, flight attitude data and speed data is passed to control unit.
Claims (7)
- A kind of 1. precision landing method for being tethered at unmanned plane based on multisensor, which is characterized in that including：When it is described be tethered at unmanned plane be in more than setting height it is aerial when, the method includes：The first GPS receiver for being installed on ground handling station obtains the three-dimensional location data at the ground handling station and calculates institute State the three-dimensional location coordinates P at ground handling stationground (X,Y,Z)；The three-dimensional location coordinates Pground (X,Y,Z)It is transmitted by cable To being installed on the second GPS receiver for being tethered at unmanned plane；Second GPS receiver is tethered at the three-dimensional location data of unmanned plane described in obtaining, and calculates and described be tethered at unmanned plane Three-dimensional location coordinates Paero (X,Y,Z)；The three-dimensional location coordinates Pground (X,Y,Z)To the three-dimensional location coordinates Paero (X,Y,Z)It is corrected and difference, is obtained The ground handling station and the relative position coordinates P being tethered between unmanned planerelative (X,Y,Z)；The relative position coordinates Prelative (X,Y,Z)It is passed to control unit；Wherein, the relative position coordinates Prelative (X,Y,Z)Described the next position that will be reached for being tethered at unmanned plane is reacted；When it is described be tethered at unmanned plane and be in less than about 10 meters of height when, the method includes：Enable video camera and millimetre-wave radar control it is described be tethered at UAV Landing to designated position, wherein, the specific bit It puts in the shelter of vehicle for referring to be tethered at unmanned plane described in storage.
- 2. according to the method described in claim 1, it is characterized in that, further comprise to the three-dimensional location coordinates Paero (X,Y,Z)Kalman's navigation algorithm is carried out, described hovering data of the unmanned plane at described the next position are tethered at so as to obtain.
- 3. according to the method described in claim 1, it is characterized in that, further comprise using GPS sensings, Gyro gyroscopes, oneself Adapt to be tethered at position data, the flight appearance of unmanned plane described in the acquisition of at least one of cruise control system and compass sensor At least one of at least one of state data and speed data, the position data, flight attitude data and speed data It is passed to control unit.
- 4. it is a kind of be capable of precision landing be tethered at unmanned plane, which is characterized in that including：First GPS receiver at the ground handling station is installed on, the three-dimensional position number at the ground handling station can be obtained According to and calculate the three-dimensional location coordinates P at the ground handling stationground (X,Y,Z)；Second GPS receiver for being tethered at unmanned plane is installed on, the three-dimensional position number for being tethered at unmanned plane can be obtained According to, and calculate the three-dimensional location coordinates P for being tethered at unmanned planeaero (X,Y,Z)；Unmanned plane and the cable at the ground handling station are tethered at described in connection, by the three-dimensional location coordinates Pground (X,Y,Z)It is logical It crosses cable and is transmitted to second GPS receiver；The control unit of the posture of unmanned plane is tethered at described in control, the posture includes position, speed and flight attitude；Mounted on the video camera and millimetre-wave radar for being tethered at unmanned plane lower part.
- 5. according to claim 4 be tethered at unmanned plane, which is characterized in that further comprises being tethered at unmanned plane described in acquisition The GPS sensings of at least one of position data, flight attitude data and speed data, Gyro gyroscopes, adaptive cruise control At least one of system processed and compass sensor, in the position data, flight attitude data and speed data at least One is passed to control unit.
- 6. unmanned plane is tethered at according to claim 1-5 any one of them, which is characterized in that the value range of the certain height It is 5 meters to 20 meters.
- 7. according to claim 6 be tethered at unmanned plane, which is characterized in that the value of the certain height is 10 meters.
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| CN109270519A (en) * | 2018-09-14 | 2019-01-25 | 吉林大学 | Vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system and method based on millimetre-wave radar |
| CN109407708A (en) * | 2018-12-11 | 2019-03-01 | 湖南华诺星空电子技术有限公司 | A kind of accurate landing control system and Landing Control method based on multi-information fusion |
| CN110879616A (en) * | 2019-12-25 | 2020-03-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Non-satellite unmanned aerial vehicle landing method and system |
| CN112082551A (en) * | 2020-09-17 | 2020-12-15 | 蓝箭航天空间科技股份有限公司 | Navigation system capable of recycling space carrier |
| CN112650304A (en) * | 2021-01-20 | 2021-04-13 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Unmanned aerial vehicle autonomous landing system and method and unmanned aerial vehicle |
| CN112977855A (en) * | 2021-01-26 | 2021-06-18 | 广州成至智能机器科技有限公司 | Method, device, equipment and system for adjusting automatic landing of tethered unmanned aerial vehicle |
| CN113110573A (en) * | 2021-04-12 | 2021-07-13 | 上海交通大学 | Mooring unmanned aerial vehicle system capable of being used as automobile automatic driving sensor carrying platform |
| CN113495579A (en) * | 2021-09-08 | 2021-10-12 | 智己汽车科技有限公司 | Flight control system and method of vehicle-mounted unmanned aerial vehicle |
| CN114721441A (en) * | 2022-06-10 | 2022-07-08 | 南京航空航天大学 | Multi-information-source integrated vehicle-mounted unmanned aerial vehicle autonomous landing control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109270519A (en) * | 2018-09-14 | 2019-01-25 | 吉林大学 | Vehicle-mounted rotor wing unmanned aerial vehicle recycling guidance system and method based on millimetre-wave radar |
| CN109407708A (en) * | 2018-12-11 | 2019-03-01 | 湖南华诺星空电子技术有限公司 | A kind of accurate landing control system and Landing Control method based on multi-information fusion |
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| CN112082551A (en) * | 2020-09-17 | 2020-12-15 | 蓝箭航天空间科技股份有限公司 | Navigation system capable of recycling space carrier |
| CN112082551B (en) * | 2020-09-17 | 2021-08-20 | 蓝箭航天空间科技股份有限公司 | Navigation system capable of recycling space carrier |
| CN112650304A (en) * | 2021-01-20 | 2021-04-13 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Unmanned aerial vehicle autonomous landing system and method and unmanned aerial vehicle |
| CN112650304B (en) * | 2021-01-20 | 2024-03-05 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Unmanned aerial vehicle autonomous landing system and method and unmanned aerial vehicle |
| CN112977855B (en) * | 2021-01-26 | 2022-11-04 | 广州成至智能机器科技有限公司 | Method, device, equipment and system for adjusting automatic landing of tethered unmanned aerial vehicle |
| CN112977855A (en) * | 2021-01-26 | 2021-06-18 | 广州成至智能机器科技有限公司 | Method, device, equipment and system for adjusting automatic landing of tethered unmanned aerial vehicle |
| CN113110573A (en) * | 2021-04-12 | 2021-07-13 | 上海交通大学 | Mooring unmanned aerial vehicle system capable of being used as automobile automatic driving sensor carrying platform |
| CN113495579B (en) * | 2021-09-08 | 2021-11-30 | 智己汽车科技有限公司 | Flight control system and method of vehicle-mounted unmanned aerial vehicle |
| CN113495579A (en) * | 2021-09-08 | 2021-10-12 | 智己汽车科技有限公司 | Flight control system and method of vehicle-mounted unmanned aerial vehicle |
| CN114721441A (en) * | 2022-06-10 | 2022-07-08 | 南京航空航天大学 | Multi-information-source integrated vehicle-mounted unmanned aerial vehicle autonomous landing control method and device |
| CN114721441B (en) * | 2022-06-10 | 2022-08-05 | 南京航空航天大学 | Multi-information-source integrated vehicle-mounted unmanned aerial vehicle autonomous landing control method and device |
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