CN108255190B - Accurate landing method based on multiple sensors and tethered unmanned aerial vehicle using same - Google Patents
Accurate landing method based on multiple sensors and tethered unmanned aerial vehicle using same Download PDFInfo
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- CN108255190B CN108255190B CN201611231445.6A CN201611231445A CN108255190B CN 108255190 B CN108255190 B CN 108255190B CN 201611231445 A CN201611231445 A CN 201611231445A CN 108255190 B CN108255190 B CN 108255190B
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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
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- 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 invention provides an accurate landing method based on multiple sensors and a tethered unmanned aerial vehicle using the method. The method comprises the following steps: a first GPS receiver installed on the ground working station acquires the three-dimensional position data of the ground working station and calculates the three-dimensional position coordinate P of the ground working station ground(X,Y,Z) The method comprises the steps of carrying out a first treatment on the surface of the The three-dimensional position coordinates P ground(X,Y,Z) Transmitting to a second GPS receiver via a cable; the second GPS receiver acquires three-dimensional position data of the tethered unmanned aerial vehicle and calculates a three-dimensional position coordinate P aero(X,Y,Z) The method comprises the steps of carrying out a first treatment on the surface of the Three-dimensional position coordinate P ground(X,Y,Z) For three-dimensional position coordinates P aero(X,Y,Z) Correction and difference are carried out to obtain a relative position coordinate P between the ground workstation and the tethered unmanned aerial vehicle relative(X,Y,Z) The method comprises the steps of carrying out a first treatment on the surface of the Relative position coordinate P relative(X,Y,Z) Is transferred to the control unit; relative position coordinate P relative(X,Y,Z) The next position to be reached of the tethered unmanned aerial vehicle is reflected; when at a height of about 10 meters or less, cameras and millimeter wave radar are enabled to control the tethered drone to land to a designated location.
Description
Technical Field
The invention belongs to a tethered unmanned aerial vehicle. More particularly, the invention relates to a tethered unmanned aerial vehicle based on differential GPS (differential GPS- "DGPS"), millimeter wave radar and visual positioning technology, which can ensure that the tethered unmanned aerial vehicle can accurately and quickly drop into a land vehicle-mounted shelter.
Background
The tethered unmanned aerial vehicle can be used in military or other fields. Typically, for ease of transportation and operation, the tethered drone and its power supply system are stored in the shelter of the vehicle at the same time. When the tethered unmanned aerial vehicle is transported to a designated place along with a vehicle, the shelter is opened, and the tethered unmanned aerial vehicle takes off and is supplied with power uninterruptedly through a cable, so that long-time uninterruptedly air monitoring and emergency communication are realized.
However, the size of the platform on which the shelter can be landed by the unmanned aerial vehicle is limited, and thus, there is a need in the art for a method of enabling the tethered unmanned aerial vehicle to be quickly and accurately lowered into the shelter for the purpose of quick recovery and quick transfer of the array.
Disclosure of Invention
In order to solve the above problems, the present invention provides an accurate landing method of a tethered unmanned aerial vehicle, comprising: when the tethered drone is in the air above a particular altitude, the method includes:
a first GPS receiver installed on a ground workstation acquires three-dimensional position data of the ground workstation and calculates three-dimensional position coordinates Pgroup (X, Y, Z) of the ground workstation; the three-dimensional position coordinates Pgroup (X, Y, Z) are transmitted to a second GPS receiver installed on the tethered unmanned aerial vehicle through a cable; the second GPS receiver acquires three-dimensional position data of the tethered unmanned aerial vehicle and calculates three-dimensional position coordinates Paero (X, Y, Z) of the tethered unmanned aerial vehicle; correcting and differentiating the three-dimensional position coordinate Paero (X, Y, Z) by the three-dimensional position coordinate Pgroup (X, Y, Z) to obtain a relative position coordinate early (X, Y, Z) between the ground workstation and the tethered unmanned aerial vehicle; the relative position coordinates prefix (X, Y, Z) are transferred to a control unit; wherein the relative position coordinates (X, Y, Z) reflect the next position to be reached by the tethered unmanned aerial vehicle; when the tethered drone is at an altitude of 10 meters or less, the method includes: enabling a camera and millimeter wave radar to control the tethered drone to land to a designated location, wherein the designated location is stored in a shelter of a vehicle of the tethered drone.
The invention also provides a tethered unmanned aerial vehicle capable of accurately landing, comprising: a first GPS receiver mounted to the ground station, capable of acquiring three-dimensional position data of the ground station and calculating three-dimensional position coordinates Pgroup (X, Y, Z) of the ground station; the second GPS receiver is arranged on the tethered unmanned aerial vehicle, can acquire three-dimensional position data of the tethered unmanned aerial vehicle, and can calculate three-dimensional position coordinates Paero (X, Y, Z) of the tethered unmanned aerial vehicle; a cable connecting the tethered drone and the ground workstation, which communicates the three-dimensional position coordinates Pground (X, Y, Z) to the second GPS receiver through the cable; a control unit for controlling the attitude of the tethered unmanned aerial vehicle, the attitude comprising a position, a speed and a flight attitude; and the camera and the millimeter wave radar are arranged at the lower part of the tethered unmanned aerial vehicle.
Further, the specific height is 10 meters.
The beneficial effects of the invention are as follows:
the landing of the tethered unmanned aerial vehicle is controlled by combining the differential GPS, the millimeter wave radar and the visual image processing, so that the purposes of higher safety, higher speed and more accurate landing are achieved, the unmanned aerial vehicle can be quickly recovered, and the array is convenient to transfer. The multi-sensor fusion technology plays the advantages of the respective sensors at different stages, can adapt to more complex combat environments, and protects the safety of the tethered unmanned aerial vehicle and the airborne avionics to the greatest extent.
Drawings
FIG. 1 is a block diagram of tethered unmanned aerial vehicle accurate landing control in accordance with a specific embodiment of the present invention.
Detailed Description
The invention aims to measure the accurate position difference (mm-level error) between a ground workstation and an airplane mobile station by utilizing a differential GPS, ensure that a tethered unmanned aerial vehicle falls above a vehicle and cannot deviate too much, and because differential signals of the differential GPS are easy to lose, unpredictable results occur once the differential signals are lost, the existence of the differential GPS ensures that a marker on a shelter at the final stage of falling can stably and clearly appear in a lens so as to finish horizontal positioning at the final stage by utilizing a visual positioning technology; on the other hand, because the tethered unmanned aerial vehicle platform in the shelter is the metal level, when the tethered unmanned aerial vehicle is in the last stage of landing, because aircraft weight is bigger, the tethered unmanned aerial vehicle has very strong ground effect, so that the disturbance to the air flow can be very big at this time, the influence to the barometer is very big, the altitude measurement can be disturbed, and the probability of pursuing is greatly increased. Therefore, millimeter wave radar is adopted to measure the height, and the accuracy of height control is achieved. This will be described in more detail in the following sections.
To give a clearer description, the landing process of the tethered unmanned aerial vehicle of the present invention will be described separately in two sub-processes.
I. The first step involves the tethered drone operating at a high altitude of 100m and above and landing from a high altitude of 100m to a low altitude of 10m after a landing command is received.
Differential GPS and other sensors can stabilize the tethered drone in the air or follow the movement of a ground vehicle while the tethered drone is performing tasks at high altitudes. The differential GPS is divided into two parts, the first part being a first GPS receiver mounted to a ground station, the antenna of which is preferably mounted on top of the ground station (e.g., a ground-based vehicle platform, more particularly a ground vehicle); another part is a second GPS receiver mounted to the tethered drone, with its antenna preferably mounted to the upper housing of the tethered drone.
The first GPS receiver acquires three-dimensional position data of the ground work station and calculates three-dimensional position coordinates of the ground work station. The calculated three-dimensional position coordinates Pground (X, Y, Z) are typically not identical to the actual coordinates of the ground station, i.e., there are errors, due to the presence of orbit errors, clock errors, SA effects, atmospheric effects, and other errors, etc. The ground station transmits this corrected three-dimensional position coordinate data Pground (X, Y, Z) to the tethered unmanned aerial vehicle using a cable.
The second GPS receiver acquires three-dimensional position data of the tethered unmanned aerial vehicle and calculates three-dimensional position coordinates Paero (X, Y, Z) of the tethered unmanned aerial vehicle. The second GPS receiver corrects and differentiates Paero (X, Y, Z) based on the three-dimensional position coordinates Pgroup (X, Y, Z) transmitted by the ground workstation, so as to obtain accurate relative position coordinates (X, Y, Z) between the ground workstation and the tethered unmanned aerial vehicle.
More specifically, by configuring the differential GPS to operate in a dynamic-dynamic mode, i.e., when both the ground station and the tethered drone are in motion, the tethered drone outputs stable absolute positioning information Paero (X, Y, Z) and accurate relative position information Prelative (X, Y, Z). Carrying out a Kalman navigation algorithm on absolute positioning information Paero (X, Y, Z) to obtain a stable hovering effect; accurate relative position information, pre (X, Y, Z), is used to transmit the tethered drone to the control loop, causing the tethered drone to follow the ground vehicle motion.
The invention also includes the use of Gps sensors, gyro sensing gyroscopes (for measuring the horizontal, vertical, pitch, heading and angular velocity of the tethered unmanned aerial vehicle), adaptive cruise control systems (Acc) and Compass sensors (Compass) and Differential Gps (DGPS). The differential GPS can generate stable absolute position information by the method described above, which is transmitted together with data acquired from the GPS sensor, the Gyro sensor, the adaptive cruise control system and the compass sensor to a navigation terminal, which can be provided in the tethered unmanned aerial vehicle or the on-board workstation. The data are fused through Kalman filtering to obtain information such as flight attitude, position, speed and the like of the tethered unmanned aerial vehicle; these data are then passed to the position controller. The position controller fuses the data into the accurate position error of the differential GPS to obtain an attitude instruction together; then transmitting the gesture command to a gesture controller; and finally, outputting the signal to an actuating mechanism of the tethered unmanned aerial vehicle, so that the tethered unmanned aerial vehicle accurately follows a ground vehicle in the air and stably hovers.
After the ground station sends a landing instruction, the tethered unmanned aerial vehicle is controlled to start landing above the ground vehicle by means of the position error output by the differential GPS in the height stage of 10m to 100m, and in the high-altitude stage, the onboard GPS antenna is shielded by no obstacle, so that the positioning effect is ideal.
The second step involves the tethered drone landing on the platform from a height of 10 meters. Because the signals of the differential GPS are difficult to lose due to the influence of different environments, a high-definition camera is arranged right below the unmanned aerial vehicle, and a marker convenient to identify can be preferably placed on the landing platform, so that the positioning in the horizontal direction by the differential GPS is switched to the visual positioning. Because the tethered unmanned aerial vehicle has relatively large weight under the condition of load, has ground effect and relatively turbulent air flow under the condition of height less than 10m, and the data of the barometer is invalid, the millimeter wave radar is started, and the reliable measurement range is 10m, so that the accurate control of the height direction can be achieved by adopting the control mode.
According to another embodiment of the present invention, a method of precisely landing a tethered unmanned aerial vehicle includes: a first GPS receiver mounted to the ground station, capable of acquiring three-dimensional position data of the ground station and calculating three-dimensional position coordinates Pgroup (X, Y, Z) of the ground station; the second GPS receiver is arranged on the tethered unmanned aerial vehicle, can acquire three-dimensional position data of the tethered unmanned aerial vehicle, and can calculate three-dimensional position coordinates Paero (X, Y, Z) of the tethered unmanned aerial vehicle; a cable connecting the tethered drone and the ground workstation, which communicates the three-dimensional position coordinates Pground (X, Y, Z) to the second GPS receiver through the cable; and a control unit for controlling the attitude of the tethered unmanned aerial vehicle, wherein the attitude comprises position, speed and flight attitude.
The tethered unmanned aerial vehicle further comprises a camera and a millimeter wave radar which are arranged at the lower part of the tethered unmanned aerial vehicle and used for controlling the tethered unmanned aerial vehicle to land at a specified position, wherein the specified position is in a shelter for storing a vehicle of the tethered unmanned aerial vehicle.
The tethered drone further includes at least one of a GPS sensor, a Gyro gyroscope, an adaptive cruise control system, and a compass sensor that obtain at least one of position data, flight attitude data, and speed data of the tethered drone, which are communicated to a control unit.
Claims (5)
1. The accurate landing method of the tethered unmanned aerial vehicle based on the multiple sensors is characterized by comprising the following steps of:
when the tethered drone is in the air above 10 meters, the method includes:
a first GPS receiver installed on a ground working station acquires three-dimensional position data of the ground working station and calculates three-dimensional position coordinates P of the ground working station ground (X,Y,Z) The method comprises the steps of carrying out a first treatment on the surface of the The three-dimensional position coordinates P ground (X,Y,Z) Transmitting the signal to a second GPS receiver installed on the tethered unmanned aerial vehicle through a cable;
the second GPS receiver acquires three-dimensional position data of the tethered unmanned aerial vehicle and calculates three-dimensional position coordinates P of the tethered unmanned aerial vehicle aero (X,Y,Z) ；
Second GPS receiverBased on the three-dimensional position coordinates P ground (X,Y,Z) For the three-dimensional position coordinates P aero (X,Y,Z) Correcting and differentiating to obtain a relative position coordinate P between the ground workstation and the tethered unmanned aerial vehicle relative (X,Y,Z) The method comprises the steps of carrying out a first treatment on the surface of the The relative position coordinates P relative (X,Y,Z) Is transferred to the control unit;
wherein the relative position coordinates P relative (X,Y,Z) Reflecting the next position to be reached of the tethered unmanned aerial vehicle;
when the tethered drone is at an altitude of 10 meters or less, the method includes:
enabling a camera and millimeter wave radar to control the tethered drone to land to a designated location, wherein the designated location is stored in a shelter of a vehicle of the tethered drone.
2. The method of claim 1, further comprising, for the three-dimensional position coordinates P aero (X,Y,Z) And performing a Kalman navigation algorithm to obtain hover data of the tethered unmanned aerial vehicle at the next position.
3. The method of claim 1, further comprising obtaining at least one of position data, flight attitude data, and speed data of the tethered drone with at least one of a GPS sensor, a Gyro, an adaptive cruise control system, and a compass sensor, the at least one of position data, flight attitude data, and speed data being communicated to a control unit.
4. The tethered unmanned aerial vehicle of claim 1, comprising:
a first GPS receiver mounted on a ground workstation and capable of acquiring three-dimensional position data of the ground workstation and calculating three-dimensional position coordinates P of the ground workstation ground (X,Y,Z) ；
A second GPS receiver mounted to the tethered drone capable of acquiringThe three-dimensional position data of the tethered unmanned aerial vehicle are calculated, and the three-dimensional position coordinate P of the tethered unmanned aerial vehicle is calculated aero (X,Y,Z) ；
A cable connecting the tethered drone and the ground workstation, which coordinates the three-dimensional position P ground (X,Y,Z) Transmitting to the second GPS receiver via a cable;
a control unit for controlling the attitude of the tethered unmanned aerial vehicle, the attitude comprising a position, a speed and a flight attitude;
and the camera and the millimeter wave radar are arranged at the lower part of the tethered unmanned aerial vehicle.
5. The tethered drone of claim 4, further comprising at least one of a GPS sensor, a Gyro gyroscope, an adaptive cruise control system, and a compass sensor to obtain at least one of position data, flight attitude data, and speed data of the tethered drone, the at least one of position data, flight attitude data, and speed data being communicated to a control unit.
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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 |
| 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 |
| 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 |
| 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 |
| 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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