CN108255192A - A kind of small-sized Shipborne UAV recycling routeing management method - Google Patents
A kind of small-sized Shipborne UAV recycling routeing management method Download PDFInfo
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- CN108255192A CN108255192A CN201711294036.5A CN201711294036A CN108255192A CN 108255192 A CN108255192 A CN 108255192A CN 201711294036 A CN201711294036 A CN 201711294036A CN 108255192 A CN108255192 A CN 108255192A
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- 238000004064 recycling Methods 0.000 title claims abstract description 65
- 238000007726 management method Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 33
- 229940082150 encore Drugs 0.000 claims description 35
- 210000000481 breast Anatomy 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010606 normalization Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000009372 pisciculture Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—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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Abstract
The invention belongs to flying vehicles control technologies, are related to a kind of small-sized Shipborne UAV recycling routeing management method.The present invention includes the following steps：According to small-sized Shipborne UAV removal process and flight characteristic, the air route in unmanned plane removal process is divided into air route of making a return voyage, approach path, recycling air route and air route of going around, waits for air route；Air route of making a return voyage, approach path, recycling air route and air route of going around, the waiting specific course line in air route are planned in real time according to unmanned plane position, naval vessel position, Ship Motion course parameter；Fly pipe computer and stage control and management are carried out into nearly recycling air route to unmanned plane according to tasks carrying, recycling cond, control the logic switch in air route stage until unmanned plane recycles successfully.The present invention realizes effective control of small-sized Shipborne UAV air route flow and calculating logic of navigating, and the perfect flight standard process of small-sized Shipborne UAV improves organic efficiency and safety.
Description
Technical field
The invention belongs to flying vehicles control technologies, are related to a kind of small-sized Shipborne UAV recycling routeing management method.
Background technology
Path Planning for Unmanned Aircraft Vehicle management is to carry out divided stages management to unmanned plane during flying process, according to different mission phases
The requirements such as mission requirements, navigation, safety form the air route plan that is high, safe, adapting to mission requirements of navigation accuracy,
It is the important means for improving unmanned plane fighting efficiency.
Continental rise Path Planning for Unmanned Aircraft Vehicle manages generally use static state global approach, according to unmanned plane during flying environment and fixes
The determining information on airport is dropped, planning and designing are carried out under unmanned plane off-line state, unmanned plane flies along prebriefed pattern.Continental rise nobody
Machine make a return voyage landing period air route be generally configured with FAF circle, march into the arena, glide and even up landing etc. mission phases, adapt to unmanned plane fix
The landing alignment correction of runway and the control of height deflection ratio.
Small-sized Shipborne UAV uses more to be hit net or hits the modes such as rope in the enterprising action pedestal recycling of moving ship, recycling position
Put with the air routes parameter real-time change such as orientation, the static routeing management of conventional continental rise unmanned plane and stage division method can not
The characteristics of adapting to air route dynamic change during small-sized Shipborne UAV recovery stage and the use demand recycled real-time, because
This, it is necessary to research is suitable for the routeing management method of small-sized Shipborne UAV recycling, according to flight status and naval vessel
The movable information of carrier carries out air route Dynamic Programming, ensures the accuracy and effectively in small-sized Shipborne UAV removal process air route
Property, divided stages management is carried out to the air route in small-sized Shipborne UAV removal process, improves small-sized Shipborne UAV moving base
Recycle normalization and the safety in air route.
Invention content
The purpose of the present invention is：In order to solve the air route Dynamic Programming pipe in small-sized Shipborne UAV moving base removal process
Reason problem proposes a kind of small-sized Shipborne UAV recycling routeing management method, ensures small-sized Shipborne UAV removal process
The accuracy and validity of middle flight route improve normalization and the safety of small-sized Shipborne UAV removal process.
The present invention is mainly achieved through the following technical solutions：A kind of small-sized Shipborne UAV recycling routeing manager
Method includes the following steps：
D) according to small-sized Shipborne UAV removal process and flight characteristic, the air route in unmanned plane removal process is divided into and is returned
Boat air route, approach path, recycling air route and air route of going around wait for air route；
E) it is navigated according to unmanned plane position, naval vessel position, Ship Motion course parameter to air route of making a return voyage, approach path, recycling
Road and air route of going around wait for the specific course line in air route to be planned in real time；
F) fly pipe computer and stage control is carried out into nearly recycling air route to unmanned plane according to tasks carrying, recycling cond
And management, the logic switch in air route stage is controlled until unmanned plane recycles successfully.
The beneficial effects of the invention are as follows：The present invention is advised in real time by the dynamic air route in small-sized Shipborne UAV removal process
Draw and air route dynamic manage, make a return voyage to small-sized Shipborne UAV, into it is near, recycle, go around and the plan of the air route of loitering phase carries out
Planning in real time realizes effective control of small-sized Shipborne UAV air route flow and calculating logic of navigating, perfect small-sized carrier-borne
The flight standard process of unmanned plane, improves organic efficiency and safety, which has been successfully applied to the small-sized fixation of fish-farming operation
On wing unmanned plane.
Description of the drawings
Fig. 1 is the giving an encore, march into the arena of a kind of specific embodiment, exhausting section routeing schematic diagram in the present invention；
Fig. 2 is that a kind of specific embodiment goes around, waits for section routeing schematic diagram in the present invention；
Fig. 3 is the automatic air route stage management logic chart of unmanned plane of the present invention.
Specific embodiment
The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings.
It, will be in unmanned plane removal process according to small-sized Shipborne UAV removal process and flight characteristic referring to Fig. 1, Fig. 2
Air route is divided into the following air route stage, and air route is planned in real time according to the parameters such as aircraft and naval vessel position, naval vessel course, air route rule
The method of drawing is as follows：
A) it gives an encore air route
Since section of giving an encore give an encore instruction or tasks carrying finishes receive, and is terminated after reaching IAF points.Air route of giving an encore is divided into
Two sections, first segment starting point is transferred to the current location for section of giving an encore for aircraft, and terminal is ToIAF points, is located at an IAF points left side by approach course
Side or right side；Second segment starting point is ToIAF points, and terminal is IAF points, reversed one spacing of position away from ship when giving an encore along ship's head
From；IAF points are i.e. initially near point；
B) approach path
Approach path starting point is since IAF points, and terminal is recycling starting point, along ship course reversely apart from ship certain distance；
C) air route is recycled
Starting point is recycling starting point, and terminal is naval vessel position, with the movement real-time update on naval vessel；
D) it goes around air route
It breasts the tape section when entering, however, it was found that being unsatisfactory for recycling condition or being connected to when going around instruction, aircraft enters go-around procedure；
Aircraft overshoot air route is divided into two benches, and the first stage is the arc section that goes around, and aircraft rolls left or right rolling；Second stage is the straight line that goes around
Section, starting point are aircraft current location at the end of the first stage, and terminal is updated ToIAF points；
E) air route is waited for
When entering waiting section, aircraft can be according to approach course in the height such as naval vessel left or right side, waiting flight, aircraft
It is initially awaiting orders into spiraling near near point, until ground artificial cancels the prohibition of recycling switch；It is using IAF as starting point to wait for air route
Square course line.
The recycling air route for specifically designing certain type unmanned plane is as follows：
A) it gives an encore air route
Since section of giving an encore give an encore instruction or tasks carrying finishes receive, and arrival initially terminates afterwards near point (IAF points).
Air route of giving an encore is divided into two sections, and first segment starting point is transferred to the current location for section of giving an encore for aircraft, and terminal is ToIAF points, by the side of marching into the arena
To at 120 ° of IAF points left or right side, distance 1km；Second segment starting point is ToIAF points, and terminal is IAF points, along the boat of ship
To the position 1.5km reversely away from ship when giving an encore.
B) approach path
Approach path starting point is since IAF points, and terminal is recycling starting point, along ship course reversely apart from ship 1km.
C) air route is recycled
Starting point is recycling starting point, and terminal is naval vessel position, with the movement real-time update on naval vessel.
It gives an encore, march into the arena, the air route for section of breasting the tape is illustrated as shown in Figure 1.
D) it goes around air route
It breasts the tape section when entering, however, it was found that being unsatisfactory for recycling condition or being connected to when going around instruction, aircraft enters go-around procedure.
Aircraft overshoot air route is divided into two benches, and the first stage is the arc section that goes around, and aircraft is rolled left with 20 ° of roll angles or right rolling, and course becomes
Terminate the first stage after changing more than 160 °；Second stage is the straightway that goes around, and starting point is aircraft present bit at the end of the first stage
It puts, terminal is updated ToIAF points.
E) air route is waited for
When entering waiting section, aircraft can be according to approach course in the height such as naval vessel left or right side, waiting flight, aircraft
It is initially awaiting orders into spiraling near near point, until ground artificial cancels the prohibition of recycling switch.It is using IAF as starting point to wait for air route
The square course line of length of side 1km.
It goes around, wait for the signal of section air route as shown in Figure 2.
The overall process air route that the small-sized Shipborne UAV of the present invention recycles automatically is divided into air route of giving an encore, approach path, breasts the tape
Recycling air route is gone around air route and waiting air route multiple stages.Fly pipe computer according to shapes such as unmanned plane tasks carrying, recycling conditions
State carries out stage control and management as shown in figure 3, air route management logic is specific as follows to unmanned plane into nearly recycling air route：
A) aircraft ends task or is planned when taking home and enter air route of giving an encore；
B) aircraft terminate to give an encore Route reform when plan and enter approach path, aircraft is real-time in approach path flight course
Judge recycling condition, in a state that aircraft recycling condition is unsatisfactory for and forbids recycling, aircraft, which is planned and entered, waits for air route；
C) aircraft, which is planned and entered after approach path flight is terminated under meeting recycling cond, recycles air route, recycling boat
Aircraft real-time judge recycles condition in the flight course of road, in a state that aircraft recycling condition is unsatisfactory for and forbids recycling, aircraft
It plans and enters and wait for air route；
D) aircraft carries out judgement of going around in real time in air route is recycled, find beyond recycling window or be connected to go around instruction when,
Aircraft enters air route of going around；
E) weight-normality is drawn and enters air route of giving an encore after the completion of aircraft overshoot air route；
F) aircraft can perform waiting of spiraling until meeting recycling condition and cancelling the prohibition of recycling after entering waiting air route, lay equal stress on
It is new to plan and enter air route of giving an encore.
Claims (4)
1. a kind of small-sized Shipborne UAV recycling routeing management method, it is characterized in that the described method comprises the following steps：
A) according to small-sized Shipborne UAV removal process and flight characteristic, the air route in unmanned plane removal process is divided into boat of making a return voyage
Road, approach path, recycling air route and air route of going around wait for air route；
B) according to unmanned plane position, naval vessel position, Ship Motion course parameter to air route of making a return voyage, approach path, recycling air route with
And air route of going around, the waiting specific course line in air route are planned in real time；
C) fly pipe computer and stage control and pipe are carried out into nearly recycling air route to unmanned plane according to tasks carrying, recycling cond
Reason controls the logic switch in air route stage until unmanned plane recycles successfully.
2. small-sized Shipborne UAV recycling routeing management method according to claim 1, it is characterized in that the method
According to small-sized Shipborne UAV removal process and flight characteristic, the air route in unmanned plane removal process is divided into following air route
Stage, air route plan that Route planner is as follows in real time according to aircraft and naval vessel position, naval vessel course parameter：
A) it gives an encore air route
Since section of giving an encore give an encore instruction or tasks carrying finishes receive, and is terminated after reaching IAF points.Air route of giving an encore is divided into two
Section, first segment starting point are transferred to the current location for section of giving an encore for aircraft, and terminal is ToIAF points, are located on the left of IAF points by approach course
Or right side；Second segment starting point is ToIAF points, and terminal is IAF points, reversed one spacing of position away from ship when giving an encore along ship's head
From；IAF points are i.e. initially near point；
B) approach path
Approach path starting point is since IAF points, and terminal is recycling starting point, along ship course reversely apart from ship certain distance；
C) air route is recycled
Starting point is recycling starting point, and terminal is naval vessel position, with the movement real-time update on naval vessel；
D) it goes around air route
It breasts the tape section when entering, however, it was found that being unsatisfactory for recycling condition or being connected to when going around instruction, aircraft enters go-around procedure；Aircraft
Air route of going around is divided into two benches, and the first stage is the arc section that goes around, and aircraft rolls left or right rolling；Second stage is the straightway that goes around,
Starting point is aircraft current location at the end of the first stage, and terminal is updated ToIAF points；
E) air route is waited for
When entering waiting section, aircraft can be according to approach course in the height such as naval vessel left or right side, and waiting is flown, and aircraft is first
Begin nearby to spiral near point and await orders, until ground artificial cancels the prohibition of recycling switch；It is the pros using IAF as starting point to wait for air route
Shape course line.
3. small-sized Shipborne UAV recycling routeing management method according to claim 1, it is characterized in that according to described
The air route management logic of method is specific as follows：
A) aircraft ends task or is planned when taking home and enter air route of giving an encore；
B) aircraft terminate to give an encore Route reform when plan and enter approach path, aircraft real-time judge in approach path flight course
Recycling condition, in a state that aircraft recycling condition is unsatisfactory for and forbids recycling, aircraft, which is planned and entered, waits for air route；
C) aircraft, which is planned and entered after approach path flight is terminated under meeting recycling cond, recycles air route, and recycling air route flies
Aircraft real-time judge recycles condition during row, in a state that aircraft recycling condition is unsatisfactory for and forbids recycling, aircraft planning
And enter and wait for air route；
D) aircraft carries out judgement of going around in real time in air route is recycled, find beyond recycling window or be connected to go around instruction when, aircraft
Into air route of going around；
E) weight-normality is drawn and enters air route of giving an encore after the completion of aircraft overshoot air route；
F) aircraft can perform waiting of spiraling until meeting recycling condition and cancelling the prohibition of recycling, and advise again after entering waiting air route
It draws and enters air route of giving an encore.
4. small-sized Shipborne UAV recycling routeing management method according to claim 1 or 2, it is characterized in that the side
Air route in unmanned plane removal process is divided into following boat by method according to small-sized Shipborne UAV removal process and flight characteristic
Road stage, air route plan that Route planner is as follows in real time according to aircraft and naval vessel position, naval vessel course parameter：
A) it gives an encore air route
Since section of giving an encore give an encore instruction or tasks carrying finishes receive, and is terminated after reaching IAF points.Air route of giving an encore is divided into two
Section, first segment starting point are transferred to the current location for section of giving an encore for aircraft, and terminal is ToIAF points, are located on the left of IAF points by approach course
Or 120 ° of right side, at distance 1km；Second segment starting point is ToIAF points, and terminal is IAF points, along ship's head reversely away from ship when giving an encore
Position 1.5km；IAF points are i.e. initially near point；
B) approach path
Approach path starting point is since IAF points, and terminal is recycling starting point, along ship course reversely apart from ship 1km；
C) air route is recycled
Starting point is recycling starting point, and terminal is naval vessel position, with the movement real-time update on naval vessel；
D) it goes around air route
It breasts the tape section when entering, however, it was found that being unsatisfactory for recycling condition or being connected to when going around instruction, aircraft enters go-around procedure；Aircraft
Air route of going around is divided into two benches, and the first stage is the arc section that goes around, and aircraft is rolled left with 20 ° of roll angles or right rolling, and course variation is super
Terminate the first stage after crossing 160 °；Second stage is the straightway that goes around, and starting point is aircraft current location at the end of the first stage, eventually
Point is updated ToIAF points；
E) air route is waited for
When entering waiting section, aircraft can be according to approach course in the height such as naval vessel left or right side, and waiting is flown, and aircraft is first
Begin nearby to spiral near point and await orders, until ground artificial cancels the prohibition of recycling switch；It is the length of side using IAF as starting point to wait for air route
The square course line of 1km.
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Cited By (11)
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| CN109885094A (en) * | 2019-03-28 | 2019-06-14 | 河南机电职业学院 | Unmanned target drone is with warship Route planner and unmanned target drone with warship flight control method |
| CN109933088A (en) * | 2019-03-18 | 2019-06-25 | 西安爱生技术集团公司 | A kind of unmanned plane course line automatic generation method suitable for bimodulus recycling |
| CN110262552A (en) * | 2019-06-26 | 2019-09-20 | 南京拓兴智控科技有限公司 | Flight control method, device, equipment and the storage medium of unmanned plane |
| CN110530374A (en) * | 2019-10-08 | 2019-12-03 | 西安爱生技术集团公司 | A kind of unmanned plane skyhook recovery stage course-line deviation display methods |
| CN111077903A (en) * | 2019-12-12 | 2020-04-28 | 南京航空航天大学 | High-fault-tolerance skyhook recovery method based on window decision |
| CN112198896A (en) * | 2020-09-11 | 2021-01-08 | 中国航空工业集团公司成都飞机设计研究所 | Unmanned aerial vehicle multi-mode electronic fence autonomous flight method |
| CN112269399A (en) * | 2020-11-06 | 2021-01-26 | 北京理工大学 | Active recovery control method and device applied to unmanned aerial vehicle |
| CN112416017A (en) * | 2020-11-20 | 2021-02-26 | 中国直升机设计研究所 | Course guide control method for return flight approach of ship-borne unmanned helicopter |
| CN112711270A (en) * | 2020-12-08 | 2021-04-27 | 中国航空工业集团公司沈阳飞机设计研究所 | Aircraft navigation guiding method and device based on track and field circle waiting route |
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| CN114049798A (en) * | 2021-11-10 | 2022-02-15 | 中国人民解放军国防科技大学 | Automatic generation method and device for unmanned aerial vehicle autonomous net-collision recovery route |
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| CN109933088A (en) * | 2019-03-18 | 2019-06-25 | 西安爱生技术集团公司 | A kind of unmanned plane course line automatic generation method suitable for bimodulus recycling |
| CN109933088B (en) * | 2019-03-18 | 2022-03-01 | 西安爱生技术集团公司 | Automatic unmanned aerial vehicle route generation method suitable for dual-mode recovery |
| CN109885094A (en) * | 2019-03-28 | 2019-06-14 | 河南机电职业学院 | Unmanned target drone is with warship Route planner and unmanned target drone with warship flight control method |
| CN110262552A (en) * | 2019-06-26 | 2019-09-20 | 南京拓兴智控科技有限公司 | Flight control method, device, equipment and the storage medium of unmanned plane |
| CN110262552B (en) * | 2019-06-26 | 2022-04-12 | 南京拓兴智控科技有限公司 | Flight control method, device and equipment of unmanned aerial vehicle and storage medium |
| CN110530374A (en) * | 2019-10-08 | 2019-12-03 | 西安爱生技术集团公司 | A kind of unmanned plane skyhook recovery stage course-line deviation display methods |
| CN110530374B (en) * | 2019-10-08 | 2023-06-23 | 西安爱生技术集团公司 | Unmanned aerial vehicle astronomical hook recovery stage track deviation display method |
| CN111077903A (en) * | 2019-12-12 | 2020-04-28 | 南京航空航天大学 | High-fault-tolerance skyhook recovery method based on window decision |
| CN111077903B (en) * | 2019-12-12 | 2021-11-16 | 南京航空航天大学 | High-fault-tolerance skyhook recovery method based on window decision |
| CN112198896A (en) * | 2020-09-11 | 2021-01-08 | 中国航空工业集团公司成都飞机设计研究所 | Unmanned aerial vehicle multi-mode electronic fence autonomous flight method |
| CN112198896B (en) * | 2020-09-11 | 2022-05-27 | 中国航空工业集团公司成都飞机设计研究所 | Unmanned aerial vehicle multi-mode electronic fence autonomous flight method |
| CN112269399A (en) * | 2020-11-06 | 2021-01-26 | 北京理工大学 | Active recovery control method and device applied to unmanned aerial vehicle |
| CN112416017A (en) * | 2020-11-20 | 2021-02-26 | 中国直升机设计研究所 | Course guide control method for return flight approach of ship-borne unmanned helicopter |
| CN112416017B (en) * | 2020-11-20 | 2023-03-28 | 中国直升机设计研究所 | Course guide control method for return flight approach of ship-borne unmanned helicopter |
| CN112711270A (en) * | 2020-12-08 | 2021-04-27 | 中国航空工业集团公司沈阳飞机设计研究所 | Aircraft navigation guiding method and device based on track and field circle waiting route |
| CN112711270B (en) * | 2020-12-08 | 2023-08-18 | 中国航空工业集团公司沈阳飞机设计研究所 | Airplane navigation guiding method and device based on track-and-field circle holding route |
| CN114020014A (en) * | 2021-10-27 | 2022-02-08 | 中国船舶工业系统工程研究院 | Unmanned aerial vehicle recovery process route planning control method, device, equipment and medium |
| CN114020014B (en) * | 2021-10-27 | 2023-08-15 | 中国船舶工业系统工程研究院 | Unmanned aerial vehicle recovery process route planning control method, device, equipment and medium |
| CN114049798B (en) * | 2021-11-10 | 2022-07-29 | 中国人民解放军国防科技大学 | Automatic generation method and device for unmanned aerial vehicle autonomous net-collision recovery route |
| CN114049798A (en) * | 2021-11-10 | 2022-02-15 | 中国人民解放军国防科技大学 | Automatic generation method and device for unmanned aerial vehicle autonomous net-collision recovery route |
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