CN108357660A - A kind of Stratospheric Airship in Position-Attitude safe retrieving method - Google Patents
A kind of Stratospheric Airship in Position-Attitude safe retrieving method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
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Abstract
A kind of Stratospheric Airship in Position-Attitude safe retrieving method, including：Stratospheric Airship in Position-Attitude safe retrieving strategy, stratospheric airship safe retrieving prediction landing track algorithm, stratospheric airship low altitude safe recovery method and stratospheric airship safe recovery device design method.This method realizes that the fixed point of dirigible is given an encore safely recycling, it is easy to accomplish, the 100% intact recycling of guarantee dirigible component.Dirigible is equipped with high two sets of propulsion systems in low latitude, without additional addition speed governing and Variable Pitch mechanism, adapts to high low-latitude flying operating mode, increases its dynamical system reliability.It predicts that landing technology makes dirigible be not necessarily to carry out big powered maneuver flight in abrupt wind area in this method, reduces the design constraint of its dynamical system and energy resource system, reduce abrupt wind area and carry out risk caused by active flight.The design of landing-gear can effectively reduce the aircraft accident in dirigible descent caused by crosswind, improve recycling safety；Control unknown risks can be greatly lowered in recycling platform, improve organic efficiency.
Description
Technical field
A kind of Stratospheric Airship in Position-Attitude forming of present invention offer is given an encore and safe retrieving scheme, it is provided for stratospheric airship
A kind of forming safe retrieving scheme being easily achieved, belongs to stratospheric airship design field.
Background technology
With the continuous development of science and technology, the wireless network covering in global range, earth remote sensing imaging, spatial observation, big
The demand of gas measurement, monitoring resource and military surveillance etc. is more and more stronger.Develop reliable stratosphere flight device platform
It is to solve the problems, such as one of effective means of the demand.Stratospheric airship is the low dynamic platform of stratosphere of current mainstream, relatively
In other types aircraft, stratospheric airship is long, cheap with residence time, overlay area is wide, response is relatively rapid etc.
Advantage, thus one of the hot fields for falling over each other to develop as various countries in recent years.
As the tool of exploitation near space, stratospheric airship must have complete lift-off, stay sky and landing ability.It is flat
The lift-off of fluid layer dirigible has been presented for kinds of schemes with section in idle loop, and has obtained corresponding flight test verification；Its landing side
There has been no the solutions of relative maturity for case.Currently, most of stratospheric airship landing is non-shaped landing.Non-shaped drop
Scheme is fallen to realize simply, it is easily controllable.But non-shaped landing scheme randomness is larger, can not ensure that all components 100% are complete
Good assigned spot recovery.Therefore, exploitation has high reliability, the landing scheme of high multiplexing capacity is to realize the weight of stratospheric airship application
Want one of content.
Stratospheric airship inertia is larger, dynamical system is relatively weak, is controlled across the dirigible in high-altitude and the low latitude spatial domains Liang Ge
Difficulty is larger, therefore the accurate recovery technology difficulty of giving an encore of stratospheric airship is higher.In addition, large-scale low latitude routine dirigible give an encore it is winged
Easily influenced, crashed by crosswind when returning boathouse, there are larger security risk, be the limited reason of dirigible application it
One.Stratospheric airship realizes high reliability recycling, need to solve the problems, such as that large scale, large inertia aircraft precise and safety are given an encore, avoid
It gives an encore accident.
Invention content
The present invention is provided from engineering reality, using existing stratospheric airship technology in conjunction with its actual condition that lands
It is a kind of to have high reliability, the forming safe retrieving scheme of high multiplexing capacity.
The present invention flow be：
Stratospheric Airship in Position-Attitude forming give an encore recovery scheme by it is motor-driven to prediction drop point, pass through rapids zone, low latitude is given an encore and
Four step compositions are recycled in landing.First, it reversely calculates that high-altitude starts landing place using prediction landing track algorithm, and controls
Dirigible flies to the precalculated position, closes high-altitude propulsion device；Then, start landing procedure, utilize main bag body valve and balloonet
Valve regulated dirigible ties up shape, quickly passes through rapids zone；Then, after dirigible arrives at predetermined altitude, start low latitude propulsion device, control
Dirigible processed flies to ground drop zone overhead (landing of low latitude three-dimensional)；Finally, dirigible arrives at landing place 5~50m of overhead, opens
Dynamic Rapid degassing, makes dirigible drop to predetermined protection zone.
A kind of Stratospheric Airship in Position-Attitude forming scheme of giving an encore of the present invention consists of the following parts：
1. Stratospheric Airship in Position-Attitude safe retrieving strategy
As shown in Figure 1, Stratospheric Airship in Position-Attitude safe retrieving strategy is slightly made of following four step：It is motor-driven extremely to predict
Beginning drop point, safety pass through rapids zone, low altitude safe is given an encore recycles with safe falling.Stratospheric airship is calculated in advance by landing track
Method, calculates the high altitude location droping to needed for predetermined drop point, and maneuvering flight to high-altitude precalculated position starts landing procedure；It utilizes
Buoyancy regulating system carries out dirigible and ties up shape, fast and safely passes through troposphere rapids zone；Low latitude is carried out using low latitude propulsion system to return
Field is motor-driven；Implement Rapid degassing and recovery after motor-driven to predetermined landing-gear.
2. stratospheric airship safe retrieving predicts landing track algorithm
The required troposphere weather environment passed through is complicated when stratospheric airship landing, and Partial Height abrupt wind area wind speed is reachable
50m/s.And with height change, atmospheric density variation is violent, and the efficiency fluctuation of dirigible dynamical system is larger.Therefore, volume is huge
Greatly, the weaker dirigible of power can not keep continuous driving force flight in abrupt wind area, need unpowered quickly to pass through rapids zone.This programme
In before starting and landing, stratospheric airship is calculated using prediction landing algorithm and under current wind field environment drop to recovery site overhead
Required high-altitude starts point, and planning is flown to the straight line air route of the startup point, and to it into line trace by current location, makes to fly
Ship flies to the position, closes high-altitude dynamical system, starts landing procedure.
3. stratospheric airship low altitude safe recovery method
Due to the error of weather forecast and prediction landing model, dirigible, can be with the plane position of recovery site when being down to low latitude
It sets with certain error, this programme eliminates this error using low-altitude maneuver recovery method.First, according to stratospheric airship present bit
It sets and plans three-dimensional air route with recovery site position；Then, start low latitude dynamical system, the boat is tracked using three-dimensional path track algorithm
Road, it is motor-driven to carry out Rapid degassing at 5~50m of landing-gear overhead, implement recovery.
4. stratospheric airship safe recovery device design scheme
This programme carries out landing retracting device design for stratospheric airship own characteristic, improves conventional dirigible and gives an encore landing
Scheme.As shown, landing-gear avoids pile area, it is arranged in flat open ground.Landing-gear main body is to be furnished with to fill
The large area flexible platform of gas formula buffering seine.After at airship low-altitude maneuvering flight to 5~50m of flexibility platform overhead, institute is closed
There is propulsion system, open all valves, implements Rapid degassing, so that dirigible is drop to flexibility platform with smaller speed, landed
Protection utricule and other component are paid attention in journey；After the completion of landing, staff carries out recovery to each component of dirigible.It has recycled
At transition transport is carried out, complete detection is carried out to it and is safeguarded, be ready for next aerial mission.
By technical scheme of the present invention, details are as follows below：A kind of Stratospheric Airship in Position-Attitude safe retrieving method, including under
State four steps：
Step 1：It is motor-driven that prediction landing startup point, (spatial domains 20km or more, wind speed are patrolled less than stratospheric airship high-altitude is specified
Speed of a ship or plane degree, about 25m/s)
1) stratospheric airship calculates height using prediction landing algorithm and is spaced apart according to current wind field and intended landing area domain position
Begin to implement initial position required when landing procedure.Wherein,
The current wind field is provided by meteorological support department according to Fixed Time Interval and vertical separation, and the current wind field is
Prediction data；
The intended landing area domain position is assigned spot recovery field fixed position；
The initial position is dirigible by the current actual positions measured by hybrid navigation equipment；
The prediction lands algorithm by dirigible six-freedom motion and kinetic model, thermodynamical model and external wind field structure
At, be mainly used for estimate dirigible under the premise of maintaining shape rely on the unpowered high-altitude of passing through of gravity to the horizontal plane in low latitude section
Interior change in location.
2) stratospheric airship is planned pre- when flying to high-altitude startup landing by dirigible current location using Route Planning Algorithm
Position the plane air route set.Wherein, startup level point position is translated by upper step prediction landing drop point and is obtained in the opposite direction.Due to
Upper airspace is more free, therefore planned air route is generally straight line air route.
3) stratospheric airship tracks above-mentioned planned air route using air route track algorithm, and flight to scheduled high-altitude, which starts, drops
Drop point.The air route track algorithm is made of three parts：Guidance Law, Attitude Tracking algorithm and control allocation algorithm；Guidance Law according to
Current location and desired locations difference, which resolve, it is expected posture；Attitude Tracking algorithm calculates the virtual controlling tracked needed for the expectation posture
Amount；Control allocation algorithm resolves above-mentioned virtual controlling amount to the practical controlled quentity controlled variable of dirigible, such as motor speed；
Step 2：Rapids zone (2~20km height spatial domain, no wind speed requirement) is passed through in forming
1) after stratospheric airship flies to start landing place to scheduled high-altitude, high-altitude propulsion device is closed, is opened simultaneously
Helium valves start landing procedure.Wherein, the control operation of the helium valves is according to dirigible inside and outside differential pressure dynamic regulation.
2) the unpowered descent of aerodynamic configuration is maintained in stratospheric airship, needed by adjusting buoyance control system, it is right
Its utricule pressure difference is adjusted with sinking speed.The buoyance control system is determined that such as single utricule dirigible is helium by the configuration of dirigible
Gas main valve；Combination utricule dirigible is main balloonet valve, adjusts helium capsule and air bag pressure respectively.
3) it when stratospheric airship drop to predetermined low latitude height, adjusts utricule pressure difference to zone of reasonableness and (maintains utricule stream
Line shape) helium valves are closed afterwards, open simultaneously low latitude propulsion device.
Step 3：Low-altitude maneuver is given an encore, and (apart from ground 50m~2km height spatial domain, wind speed is less than stratospheric airship low latitude volume
Determine cruising speed, about 15m/s)
1) when stratospheric airship arrives at predetermined low latitude (such as 2km) height, existing for prediction model and forecast wind field
Error, dirigible position can deviate landing-gear overhead.Dirigible according to current altitude wind field, current location and landing-gear position,
It is given an encore three-dimensional air route using the planning low-altitude maneuver of air route track algorithm.
2) the three-dimensional air route track algorithm tracking of stratospheric airship is aforementioned plans that three-dimensional air route makes weigh-off to landing
Device overhead.The three-dimensional air route track algorithm is made of three parts：Three-dimensional guidance rule, Attitude Tracking algorithm, control allocation algorithm,
Guidance Law resolves the expectation posture needed for the three-dimensional air route of tracking according to current location and desired locations difference, and Attitude Tracking algorithm calculates
The virtual controlling amount needed for the expectation posture is tracked, control allocation algorithm resolves above-mentioned virtual controlling amount to the practical control of dirigible
Amount, such as motor speed；
3) when stratospheric airship arrives at landing-gear overhead 5~50m height, low latitude propulsion device is closed.
Step 4：Landing recycling (50m or less height spatial domain, wind speed are less than 5m/s)
1) while stratospheric airship low-altitude maneuver is given an encore, arrangement landing-gear carries out landing preparation, by safe retrieving
Platform is arranged to precalculated position, and the buffer subsystem that lands is unfolded.As shown in Fig. 2, landing-gear main body is to be furnished with inflatable cushioning drawing
The large area flexible platform of net.As shown in figure 3, the recycling platform props a landing buffering seine, the buffering by four pillars
It is online to be disposed with landing padded coaming (such as inflation seine) and anchorage line.
2) when dirigible flies to landing-gear overhead 5~50m height, low latitude propulsion device is closed, adjustment airship's posture makes
Itself and safe retrieving platform parallel, closing posture adjusting device implement Rapid degassing, and dirigible is made to drop to rapidly on landing buffer subsystem.
Then, continue to deflate, while being fixed dirigible and buffering seine using anchorage line.After the completion of landing, staff is to dirigible
Each component carries out recovery.
3) transition transport is carried out after the completion of recycling, complete detection is carried out to it and is safeguarded, is ready for next aerial mission.
It is an advantage of the invention that：
1) this stratospheric airship recovery scheme can realize that the fixed point of dirigible is given an encore safely recycling, it is easy to accomplish, it is ensured that fly
The 100% intact recycling of ship component；It is remarkably improved the reliability of recovery scheme, the multiplexing capacity of safety and dirigible, is significantly dropped
The use cost of low flight ship；
2) based on the stratospheric airship designed by this recovery scheme, it is equipped with two sets of high low latitude propulsion system, without additionally adding
Add speed governing and Variable Pitch mechanism, you can adapt to high low-latitude flying operating mode, increase its dynamical system reliability；
3) it predicts that landing technology makes dirigible be not necessarily to carry out big powered maneuver flight in abrupt wind area in this programme, reduces it
The design constraint of dynamical system and energy resource system reduces abrupt wind area and carries out risk caused by active flight, improves dirigible
Safety；Low-altitude maneuver flight scenario can realize prediction error correction simultaneously, ensure that this programme in existing weather prognosis
Under the conditions of implementation condition；
4) it can effectively be reduced in dirigible descent based on the landing-gear designed by stratosphere blimp in this programme
Aircraft accident caused by crosswind improves recycling safety；And can large-scale flexible recycling platform can be greatly lowered not
Know risk, improves organic efficiency.
Description of the drawings
Fig. 1 Stratospheric Airship in Position-Attitude safe retrieving protocol procedures figures.
Fig. 2 Stratospheric Airship in Position-Attitude safe retrieving scheme schematic diagrames.
Fig. 3 Stratospheric Airship in Position-Attitude recycles landing-gear scheme schematic diagram.
Figure label meaning is as follows：
1. representing step 1；2. representing step 2；3. representing step 3；4. representing step 4；
5. safe retrieving platform；6. measurement and control center；The buffer subsystem 7. dirigible 8. in deflating lands；
9. inflation seine；10. buffer subsystem pillar.
Specific implementation mode
Following further describes the present invention with reference to the drawings.Fig. 1,2 be respectively this programme implementing procedure block diagram with
Schematic diagram, Fig. 3 are landing-gear design diagram in this programme.
It is as shown in Figure 1, 2 to shape take-back strategy implementing procedure of giving an encore for Stratospheric Airship in Position-Attitude in the present invention.The present invention is divided into
Four steps are implemented, and are as follows：
Step 1：Motor-driven land to prediction starts point.
As shown in ① in Figure 1, stratospheric airship is calculated according to current wind field and intended landing area domain position using prediction landing
Method calculates high-altitude and comes into effect initial position required when landing procedure.Dirigible is regarded as fluttering in the wind completely, in meteorological department
The different height gradient wind of offer carries out freely falling body and flutters in the wind off field, lands as dirigible starts from 20km, drop to 2km
Height takes around 40min, and by being integrated to different height wind speed, the position offset in its horizontal plane can be obtained；Initially
Position is the startup level point position in next step.Wherein, the current wind field by meteorological support department according to Fixed Time Interval
It is provided with vertical separation, which is the wind field prediction data in dirigible landing time section, and data type is within the period
The horizontal wind speed of different height gradient, and current wind field is prediction data；The intended landing area domain position is solid for assigned spot recovery field
Positioning is set, and is pre-set；The current location is dirigible by the current actual positions measured by hybrid navigation equipment；This is pre-
It surveys landing algorithm to be made of dirigible six-freedom motion and kinetic model, thermodynamical model and external wind field, be mainly used for
Estimate that dirigible passes through change in location in high-altitude to the horizontal plane in low latitude section under the premise of maintaining shape by gravity is unpowered.
As shown in ① in Figure 1, stratospheric airship (can refer to paper Direct trajectory using Route Planning Algorithm
Optimization based on a mapped Chebyshev pseudospectral method) planning it is current by dirigible
Position fly to high-altitude start landing when precalculated position plane air route.Wherein, start level point position to predict to land by upper step
Drop point is back-calculated to obtain.Dirigible start level point be set as origin, by prediction landing algorithm calculate dirigible drop to low latitude 2km height position
It is east orientation 20km, south orientation 10km to set offset, then dirigible startup level point is thought that west adjusts 20km, northwards adjust 10km.Due to height
Absolutely empty domain is more free, therefore planned air route is generally straight line air route.
As shown in ① in Figure 1, stratospheric airship tracks above-mentioned planned air route using air route track algorithm, flies to predetermined
High-altitude (for the cruising altitude of dirigible, generally 18~30km height) start level point.The air route track algorithm (can refer to opinion
Text：Trajectory tracking control for underactuated stratospheric airship) by three
Divide and constitutes：Guidance Law, Attitude Tracking algorithm, control allocation algorithm, Guidance Law resolve the phase according to current location and desired locations difference
Posture, Attitude Tracking algorithm is hoped to calculate the virtual controlling amount tracked needed for the expectation posture, control allocation algorithm will be above-mentioned virtual
Controlled quentity controlled variable is resolved to the practical controlled quentity controlled variable of dirigible, such as motor speed；
Step 2：Rapids zone is passed through in forming
As shown in ② in Figure 1, it after stratospheric airship flies to start landing place to scheduled high-altitude, is controlled by measurement and control center 6
Dirigible processed closes high-altitude propulsion device, opens simultaneously helium valves, starts landing procedure.Wherein, the control behaviour of the helium valves
Form the basis dirigible inside and outside differential pressure dynamic regulation.
As shown in ② in Figure 1, the unpowered descent of aerodynamic configuration is maintained in stratospheric airship, needed by adjusting buoyancy
Its utricule pressure difference is adjusted with sinking speed for control system.Differential pressure pickup measures utricule inside and outside differential pressure, passes through utricule valve
Door and balloonet equal-pressure-difference regulating device, using feedback regulation principle, adjusting utricule pressure difference makes dirigible in designed safety pressure
Its streamline shape is maintained in poor range.The buoyance control system is determined that such as single utricule dirigible is helium main valve by the configuration of dirigible
Door；Combination utricule is main balloonet valve, adjusts helium capsule and air bag pressure respectively.
As shown in ② in Figure 1, when stratospheric airship drop to predetermined low latitude height, utricule pressure difference is adjusted to zone of reasonableness
After close helium valves, open simultaneously low latitude propulsion device.Utricule pressure difference is related to envelop materials, and reasonable criterion is that dirigible is made to exist
Its streamline shape is maintained within the scope of designed safe pressure differential.
Step 3：Low-altitude maneuver is given an encore
As shown in ③ in Figure 1, when stratospheric airship arrives at predetermined low latitude (such as 2km) height, due to prediction model and in advance
Error existing for wind field is reported, dirigible position can deviate landing-gear overhead.Dirigible is according to current altitude wind field, current location and drop
Dropping control device position is given an encore three-dimensional air route using the planning low-altitude maneuver of air route track algorithm.
As shown in ③ in Figure 1, the three-dimensional air route track algorithm tracking of stratospheric airship is aforementioned plans that three-dimensional air route makes to fly
Ship is motor-driven to landing-gear overhead.The air route track algorithm is made of three parts：Guidance Law, Attitude Tracking algorithm, control distribution
Algorithm, Guidance Law is resolved according to current location and desired locations difference it is expected posture, and Attitude Tracking algorithm, which calculates, tracks the expectation appearance
Virtual controlling amount needed for state, control allocation algorithm resolve above-mentioned virtual controlling amount to the practical controlled quentity controlled variable of dirigible, as motor turns
Speed etc.；
As shown in ③ in Figure 1, it when stratospheric airship arrives at landing-gear overhead 5~50m height, closes low latitude and promotes dress
It sets.
Step 4：Landing recycling.
As, 4. with shown in Fig. 2, while stratospheric airship low-altitude maneuver is given an encore, arrangement landing-gear is dropped in Fig. 1
Preparation is fallen, safe retrieving platform 5 is arranged to precalculated position, and the buffer subsystem 7 that lands is unfolded.As shown in Fig. 2, landing-gear main body
To be furnished with the large area flexible platform of inflatable cushioning seine.As shown in figure 3, the recycling platform is by four 10, buffer subsystem pillars
A landing buffering seine is played, landing padded coaming (such as inflation seine 9) and anchorage line are disposed on the buffer subsystem.
If, 4. with shown in Fig. 2, when dirigible flies to landing-gear overhead 5~50m height, propeller is promoted mainly in closing in Fig. 1,
Adjustment airship's posture keeps it parallel with safe retrieving platform 5, closes posture adjusting device, implements Rapid degassing, makes the dirigible 7 in deflation
It is rapid to drop on landing buffer subsystem 7.Then, continue to deflate, while being fixed dirigible and buffer subsystem using anchorage line.Landing
After the completion, staff carries out recovery to each component of dirigible.
Transition transport is carried out after the completion of recycling, complete detection is carried out to it and is safeguarded, is ready for next aerial mission.
Claims (9)
1. a kind of Stratospheric Airship in Position-Attitude safe retrieving method, which is characterized in that including following four steps：
Step 1：Motor-driven land to prediction starts point
1.1 stratospheric airships calculate high-altitude according to current wind field and intended landing area domain position, using prediction landing algorithm and start
Implement initial position required when landing procedure；
1.2 stratospheric airships plan pre-determined bit when flying to high-altitude startup landing by dirigible current location using Route Planning Algorithm
The plane air route set；
1.3 stratospheric airships track above-mentioned planned air route using air route track algorithm, and flight to scheduled high-altitude, which starts, lands
Point；
Step 2：Rapids zone is passed through in forming
2.1 after stratospheric airship flies to start landing place to scheduled high-altitude, closes high-altitude propulsion device, opens simultaneously helium
Valve starts landing procedure；
2.2 maintain the unpowered descent of aerodynamic configuration in stratospheric airship, need by adjusting buoyance control system, to its capsule
Body pressure difference is adjusted with sinking speed；The buoyance control system is determined that single utricule dirigible is helium main valve by the configuration of dirigible
Door；Combination utricule dirigible is main balloonet valve, adjusts helium capsule and air bag pressure respectively；
2.3 when stratospheric airship drop to predetermined low latitude height, and helium valves are closed after adjusting utricule pressure difference to zone of reasonableness,
Open simultaneously low latitude propulsion device；
Step 3：Low-altitude maneuver is given an encore
3.1 when stratospheric airship arrives at predetermined low latitude height, due to prediction model and error, dirigible position existing for forecast wind field
Landing-gear overhead can be deviateed by setting；Dirigible is tracked according to current altitude wind field, current location and landing-gear position using air route
Algorithmic rule low-altitude maneuver is given an encore three-dimensional air route；
The track algorithm tracking of 3.2 stratospheric airships three-dimensional air route is aforementioned to plan that three-dimensional air route makes weigh-off to landing-gear
Overhead；
3.3, when stratospheric airship arrives at landing-gear overhead 5~50m height, close low latitude propulsion device；
Step 4：Landing recycling
4.1 while stratospheric airship low-altitude maneuver is given an encore, and arrangement landing-gear carries out landing preparation, by safe retrieving platform
The buffer subsystem that lands is unfolded to precalculated position in arrangement；Landing-gear main body is to be furnished with the large area flexible of inflatable cushioning seine
Platform；
4.2 when dirigible flies to landing-gear overhead 5~50m height, close low latitude propulsion device, adjustment airship's posture make its with
Safe retrieving platform parallel closes posture adjusting device, implements Rapid degassing, and dirigible is made to drop to rapidly on landing buffer subsystem；Then,
Continue to deflate, while being fixed dirigible and buffering seine using anchorage line；After the completion of landing, staff is to each component of dirigible
Carry out recovery；
Transition transport is carried out after the completion of 4.3 recycling, complete detection is carried out and safeguards, prepares next aerial mission.
2. a kind of Stratospheric Airship in Position-Attitude safe retrieving method according to claim 1, it is characterised in that：Step 1 exists
The spatial domains 20km or more, wind speed are less than the specified cruising speed in stratospheric airship high-altitude, are 25m/s；Step 2 is empty in 2~20km height
Domain, no wind speed requirement；For step 3 apart from ground 50m~2km height spatial domain, wind speed is less than the specified cruise in stratospheric airship low latitude
Speed is 15m/s；Step 4 is less than 5m/s in 50m or less height spatial domain, wind speed.
3. a kind of Stratospheric Airship in Position-Attitude safe retrieving method according to claim 1, it is characterised in that：In step 1, when
Preceding wind field is provided by meteorological support department according to Fixed Time Interval and vertical separation, and the current wind field is prediction data；In advance
It is assigned spot recovery field fixed position to determine drop zone position；Initial position is dirigible by the current reality measured by hybrid navigation equipment
Border position；Prediction landing algorithm is made of dirigible six-freedom motion and kinetic model, thermodynamical model and external wind field,
For estimating dirigible position in high-altitude to the horizontal plane in low latitude section is passed through by gravity is unpowered under the premise of maintaining shape
Variation.
4. a kind of Stratospheric Airship in Position-Attitude safe retrieving method according to claim 1, it is characterised in that：It is opened in step 1
It predicts that landing drop point translates in the opposite direction by upper step and obtains in dynamic level point position；Since upper airspace is more free, institute
Planning air route is straight line air route.
5. a kind of Stratospheric Airship in Position-Attitude safe retrieving method according to claim 1, it is characterised in that：Step 1 Air China
Road track algorithm is made of three parts：Guidance Law, Attitude Tracking algorithm and control allocation algorithm；Guidance Law according to current location and
Desired locations difference, which resolves, it is expected posture；Attitude Tracking algorithm calculates the virtual controlling amount tracked needed for the expectation posture；Control point
Above-mentioned virtual controlling amount is resolved to the practical controlled quentity controlled variable of dirigible with algorithm.
6. a kind of Stratospheric Airship in Position-Attitude safe retrieving method according to claim 1, it is characterised in that：It should in step 2
The control operation of helium valves is according to dirigible inside and outside differential pressure dynamic regulation.
7. a kind of Stratospheric Airship in Position-Attitude safe retrieving method according to claim 1, it is characterised in that：It should in step 3
Three-dimensional air route track algorithm is made of three parts：Three-dimensional guidance rule, Attitude Tracking algorithm, control allocation algorithm, Guidance Law according to
Current location and desired locations difference resolve the expectation posture needed for the three-dimensional air route of tracking, and Attitude Tracking algorithm, which calculates, tracks the expectation
Virtual controlling amount needed for posture, control allocation algorithm resolve above-mentioned virtual controlling amount to the practical controlled quentity controlled variable of dirigible.
8. a kind of Stratospheric Airship in Position-Attitude safe retrieving method according to claim 1, it is characterised in that：It is returned in step 4
It is closed flat platform and props a landing buffering seine by four pillars, landing padded coaming and anchorage line are disposed on the buffer subsystem.
9. a kind of Stratospheric Airship in Position-Attitude safe retrieving method according to claim 1 or 8, it is characterised in that：Landing is slow
It is that inflation is drawn in the net to rush material.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109250061A (en) * | 2018-11-14 | 2019-01-22 | 北京空天高科技有限公司 | Stratospheric airship device for adjusting posture |
| CN110889256A (en) * | 2019-12-04 | 2020-03-17 | 中国特种飞行器研究所 | Method for predicting flight path of medium-low air ball |
| CN111186553A (en) * | 2019-11-01 | 2020-05-22 | 中国科学院光电研究院 | Aerostatics carries on planet sampling reentry module and retrieves test system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109250061A (en) * | 2018-11-14 | 2019-01-22 | 北京空天高科技有限公司 | Stratospheric airship device for adjusting posture |
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| CN111186553A (en) * | 2019-11-01 | 2020-05-22 | 中国科学院光电研究院 | Aerostatics carries on planet sampling reentry module and retrieves test system |
| CN110889256A (en) * | 2019-12-04 | 2020-03-17 | 中国特种飞行器研究所 | Method for predicting flight path of medium-low air ball |
| CN110889256B (en) * | 2019-12-04 | 2023-12-22 | 中国特种飞行器研究所 | Method for predicting middle-low air ball flight path |
| CN112660358A (en) * | 2020-12-24 | 2021-04-16 | 中国特种飞行器研究所 | Mode-selectable stratospheric airship descent trajectory prediction method |
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