CN108415459A - A kind of unmanned plane is around the circumvolant control method and device of target point - Google Patents
A kind of unmanned plane is around the circumvolant control method and device of target point Download PDFInfo
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- CN108415459A CN108415459A CN201810502793.5A CN201810502793A CN108415459A CN 108415459 A CN108415459 A CN 108415459A CN 201810502793 A CN201810502793 A CN 201810502793A CN 108415459 A CN108415459 A CN 108415459A
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- unmanned plane
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims abstract description 14
- 230000011514 reflex Effects 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 230000033001 locomotion 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
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Around the circumvolant control method and device of target point, which includes the laser range sensor being installed on unmanned plane, is placed on the laser reflection stick at target object center for a kind of unmanned plane；Synchronous motor is added on the unmanned plane, synchronous motor connects laser range sensor, and synchronous motor enables laser to be irradiated on the echo area of laser reflection stick for adjusting laser range sensor pitch angle；The laser reflection stick is used for reflection laser.The laser reflection stick is telescopic structure, including sequentially connected reflective bar ontology, transparent support bar, transparent base from top to bottom, the reflective bar ontology include scalable echo area, fixation reflex area.Using the present invention, the data that unmanned plane is measured according to laser range sensor accurately adjust flight radius of circle, and precision reaches grade；The circular flight of target point can also be carried out by not receiving the place of GPS indoors.
Description
Technical field
The present invention relates to air vehicle technique field, specifically a kind of unmanned plane around the circumvolant control method of target point and
Device.
Background technology
Recently as the fast development of unmanned air vehicle technique, unmanned plane photography is obtained because of its excellent visual angle that shows
Greatly application.Unmanned plane carries out target point to be in the air a common photographed scene around shooting, by around shooting
One group of photo is handled, and the displaying photo of 360 ° of target object can be generated, and can also pass through image modeling Program Generating mesh
Mark the Computerized three-dimensional three-dimensional model of object.
Existing unmanned plane is in order to realize that the circular flight of target point needs to use GPS satellite positioning system.Operating personnel are logical
Earth station or remote control equipment are crossed, target point longitude and latitude and the radius of circle that is diversion are sent to unmanned plane, unmanned plane is according to itself longitude and latitude
It spends and radius of circle dynamic of being diversion calculates flight path and controls unmanned plane by flight control system and flies along track.
This control mode has following defect：
1）, at present civilian GPS location precision rest on 5 meters always, cause unmanned plane can not accurately according to predetermined radius of circle fly
Row shooting.
2）, also have a kind of GPS RTK measuring techniques now, the precision of GPS can be increased to Centimeter Level, but the program
Base station and flowing station equipment cooperation is needed to realize that equipment is complicated and expensive, it is difficult to apply and promote in civilian unmanned plane field.
3）, GPS positioning need receive satellite-signal, if target point is indoors, unmanned plane does not receive GPS signal,
Being diversion for target point can not then be carried out.
Invention content
The defect that target point is diversion is carried out using GPS for current unmanned plane, a kind of unmanned plane of present invention offer is around target
The circumvolant control method and device of point so that unmanned plane does not depend on GPS and carries out surrounding flight to target point, the advantages of having
It is：The data that unmanned plane is measured according to laser range sensor accurately adjust flight radius of circle, and precision reaches grade.In room
The circular flight of target point can also be carried out by not receiving the place of GPS inside.
The technical solution that the present invention takes is：
Around the circumvolant device of target point, which includes the laser ranging sensing being installed on unmanned plane for a kind of unmanned plane
Device is placed on the laser reflection stick at target object center；Synchronous motor is added on the unmanned plane, synchronous motor connects laser
Distance measuring sensor, synchronous motor enable laser to be irradiated to laser reflection stick for adjusting laser range sensor pitch angle
On echo area；The laser reflection stick is used for reflection laser.
The laser reflection stick is telescopic structure, including sequentially connected reflective bar ontology, transparent support from top to bottom
Bar, transparent base, the reflective bar ontology include scalable echo area, fixation reflex area.
Electronic compass is added on the unmanned plane, electronic compass is used to obtain the course angle of unmanned plane.
Barometer is added on the unmanned plane, barometer is used to measure the flying height of unmanned plane.
For a kind of unmanned plane of the present invention around the circumvolant control method and device of target point, technique effect is as follows：
1, the target point horizontal accuracy that is diversion can reach grade, be far above civilian GPS accuracy.
2, target point can also be carried out in the interior of no GPS signal to be diversion.
3, material requested, original paper are that market is common, are easy to obtain, of low cost.
Description of the drawings
Fig. 1 is that unmanned plane of the present invention shoots schematic diagram.
Fig. 2 is unmanned plane during flying track of the present invention vertical view（Counterclockwise fly）.
Fig. 3 is the laser reflection stick structural schematic diagram of the present invention.
Specific implementation mode
As shown in Fig. 1 ~ 3, around the circumvolant device of target point, which includes being installed at unmanned plane 1 for a kind of unmanned plane
On laser range sensor 2, be placed on the laser reflection stick 4 at 3 center of target object.
Synchronous motor is added on the unmanned plane 1, synchronous motor connects laser range sensor 2, and synchronous motor is used for
2 pitch angle of laser range sensor is adjusted, laser is enable to be irradiated on the echo area of laser reflection stick 4.
The laser reflection stick 4 is used for reflection laser.
The laser reflection stick 4 is telescopic structure, can 4 length of flexible modulation laser reflection stick as needed.Laser
Reflective bar 4 includes from top to bottom sequentially connected reflective bar ontology, transparent support bar 7, transparent base 8, the reflective bar ontology
Including scalable echo area 5, fixation reflex area 6.
Scalable echo area 5 can increase the length in laser reflection area as needed, make laser be easier to be reflected back toward it is sharp
Ligh-ranging sensor.
The laser reflection that laser range sensor transmitting comes can be gone back, laser range sensor is made to survey by fixation reflex area 6
Go out distance.
Transparent support bar 7 is the supporting rod of laser reflection stick, plays a supporting role that material is transparent to facilitate later stage photo to scratch
Figure.
Transparent base 8 plays the role of laser reflection stick being fixed on target object for the pedestal of laser reflection stick,
Material is transparent to facilitate later stage photo to scratch figure.
Electronic compass is added on the unmanned plane 1, electronic compass is used to obtain the course angle of unmanned plane 1.
Barometer is added on the unmanned plane 1, barometer is used to measure the flying height of unmanned plane 1.
Laser range sensor 2 plays the role of searching for the target point center of circle, while distance measurement value makes for calculating flight radius of circle
With；
Unmanned plane 1 refers to being capable of hovering and with the rotor class unmanned plane of the flat winged ability of all around four direction.
Laser range sensor 2 is directed toward 1 heading of unmanned plane always, can only do pitching movement.Laser range sensor 2
Using HIREED HI50 laser range sensors.
Synchronous motor plays adjustment 2 pitch angle of laser range sensor, and laser is enable to be irradiated to sharp laser reflection stick 4
On echo area, synchronous motor can accurately be rotated according to given angle.
Laser reflection stick 4 is placed at 3 center of target object, unmanned plane 1, which rises, flies to certain altitude hovering, and operator's adjustment swashs
Ligh-ranging sensor 2 is directed toward 4 direction of laser reflection stick, it is ensured that when unmanned plane is horizontal winged, laser can be irradiated to laser reflection stick 4.
Operator will be diversion radius of circle and photograph taking quantity, and unmanned plane 1 is sent to by instruction, and unmanned plane 1, which goes as course, horizontal flies one
When set a distance, laser range sensor 2 is able to detect that distance value becomes much smaller suddenly, and unmanned plane head has been directed toward target at this time
3 center of circle of object, unmanned plane 1 calculate practical flight radius according to 2 pitch angle of distance measurement value and laser range sensor, keep boat
To constant, front and back adjustment practical flight radius is to preset radius of circle, after being adjusted in place, shoots first photo.It shoots next
Before opening photo, unmanned plane 1 calculates course deflection angle according to photograph taking quantity, waits for that unmanned plane 1 adjusts boat according to deflection angle
Backward, according to step：It is horizontal to fly-detection laser reflection stick 4- adjustment flying radius-shooting photo-course deflecting steps, constantly weight
It is multiple, you can to complete the circular shooting of entire target object.
Objectives point is diversion, and steps are as follows：
Step 1：Laser reflection stick 4 shown in Fig. 3 is first placed on 3 center of top O points of target object as center of circle object of reference.
Step 2：As shown in Fig. 2, unmanned plane 1 is placed into the ground of 3 certain distance of distance objective object, operator's control
After unmanned plane 1 takes off, so that unmanned plane 1 is risen to predetermined altitude H in Fig. 1 and hover, the heading of unmanned plane 1 is directed toward in circle, is led to
Earth station or remote controler adjustment 2 pitch angle of laser range sensor are crossed, 4 direction of laser alignment laser reflection stick is made, it is ensured that nobody
When machine 1 is horizontal winged, laser can be irradiated to laser reflection stick 4.
Step 3：Be diversion radius of circle and photograph taking quantity is arranged to unmanned plane 1 in operator, and sends out around shooting instruction.
Step 4：Unmanned plane 1 receives after clapping instruction, starts independently to shoot around target object 3.
1., entirely in the flight course, unmanned plane 1 remains flying height（H in Fig. 1）It is constant.
2., unmanned plane goes as course constant horizontal flight since the A points of Fig. 2, while constantly reading laser ranging sensing
2 distance measurement value of device（S in Fig. 1）, distance measurement value mutates when B points are arrived in flight, reduces before distance measurement value ratio very much, at this time Laser Measuring
It is directed toward laser reflection stick 4 away from sensor 2, the head of unmanned plane 1 is directed toward the target object center of circle, and unmanned plane 1 preserves lower current boat
To d1.
3., unmanned plane 1 according to the triangle relation in Fig. 1, calculate currently practical flying radius R=S*cos β, by R with set
The radius of circle set is compared, and is gone as course constant, is moved forward or back from the B points of attached drawing 2, and adjustment practical flight radius R is in advance
If radius of circle, eventually settle at C points, shoot first photo.
4., unmanned plane 1 course angular deflection α to course d2, d2=d1+ α, α=360/n (n be photograph taking quantity)；
5., unmanned plane 1 go as course the constant horizontal flights of d2, when flight is to D points, distance measurement value becomes much smaller suddenly, at this time laser
Distance measuring sensor 2 has been again directed to laser reflection stick 4, and the head of unmanned plane 1 is directed toward the target object center of circle, preserves current course.
6., unmanned plane 1 go as course constant, retreat, be adjusted to preset radius of circle, shoot photo.
7., repeat step 4., 5., 6., until reach F points, reach the photograph taking quantity of setting, completed around clapping.Fig. 2 is real
Line is unmanned plane during flying track, and photograph taking quantity is more, and unmanned plane during flying track is closer to positive round.
Separately：
（1）, unmanned plane 1 camera 9 to shoot the photo come include laser reflection stick, photo disposal software can be used laser
Reflective bar is scratched.
（2）If, plus camera target object center object of reference is tracked by mode identification technology, nobody can be saved
The time of machine finding center point.
（3）, unmanned plane is diversion can also overlook progress clockwise, method with overlook it is similar counterclockwise.
Claims (6)
1. a kind of unmanned plane is around the circumvolant device of target point, it is characterised in that：The device includes being installed at unmanned plane（1）On
Laser range sensor（2）, it is placed on target object（3）The laser reflection stick at center（4）；The unmanned plane（1）Upper installation
There are synchronous motor, synchronous motor to connect laser range sensor（2）, synchronous motor is for adjusting laser range sensor（2）It bows
The elevation angle enables laser to be irradiated to laser reflection stick（4）Echo area on；The laser reflection stick（4）, it is used for reflection laser.
2. a kind of unmanned plane is around the circumvolant device of target point according to claim 1, it is characterised in that：The laser is anti-
Penetrate stick（4）For telescopic structure, including sequentially connected reflective bar ontology, transparent support bar from top to bottom（7）, transparent base
（8）, the reflective bar ontology includes scalable echo area（5）, fixation reflex area（6）.
3. a kind of unmanned plane is around the circumvolant device of target point according to claim 1, it is characterised in that：The unmanned plane
（1）On add electronic compass, electronic compass is for obtaining unmanned plane（1）Course angle.
4. a kind of unmanned plane is around the circumvolant device of target point according to claim 1, it is characterised in that：The unmanned plane
（1）On add barometer, barometer is for measuring unmanned plane（1）Flying height.
5. a kind of unmanned plane is around target point around flying method, it is characterised in that include the following steps：
Step 1：First by laser reflection stick（4）It is placed on target object（3）Center of top O points are as center of circle object of reference；
Step 2：By unmanned plane（1）It is placed into distance objective object（3）The ground of certain distance, operator control unmanned plane（1）
After taking off, make unmanned plane（1）Rise to predetermined altitude H hoverings, unmanned plane（1）Heading be directed toward circle in, pass through earth station
Or remote controler adjusts laser range sensor（2）Pitch angle makes laser alignment laser reflection stick（4）Direction, it is ensured that unmanned plane（1）
When horizontal winged, laser can be irradiated to laser reflection stick（4）；
Step 3：Operator is to unmanned plane（1）Be diversion radius of circle and photograph taking quantity are set, and sent out around shooting instruction；
Step 4：Unmanned plane（1）It receives after clapping instruction, starts independently around target object（3）Shooting.
6. a kind of unmanned plane is around target point around flying method, it is characterised in that：
In target object（3）Place laser reflection stick in center（4）, unmanned plane（1）It rises and flies to certain altitude hovering, operator's adjustment
Laser range sensor（2）It is directed toward laser reflection stick（4）Direction, it is ensured that when unmanned plane is horizontal winged, it is anti-that laser can be irradiated to laser
Penetrate stick 4；
Operator will be diversion radius of circle and photograph taking quantity, and unmanned plane is sent to by instruction（1）, unmanned plane（1）Keep boat
When to horizontal winged certain distance, laser range sensor（2）It is able to detect that distance value becomes much smaller suddenly, at this time unmanned plane head
It has been directed toward target object（3）The center of circle, unmanned plane（1）According to distance measurement value and laser range sensor（2）Pitch angle calculates reality
Flying radius goes as course constant, and front and back adjustment practical flight radius is to preset radius of circle, after being adjusted in place, shooting first
Open photo；
Before shooting next photo, unmanned plane（1）According to photograph taking quantity, course deflection angle is calculated, waits for unmanned plane（1）It presses
After adjusting course according to deflection angle, according to step：It is horizontal to fly-detection laser reflection stick（4）Adjust flying radius-shooting photo-boat
To deflecting step, constantly repeat, you can complete the circular shooting of entire target object.
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| CN201810502793.5A CN108415459A (en) | 2018-05-23 | 2018-05-23 | A kind of unmanned plane is around the circumvolant control method and device of target point |
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Cited By (3)
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| CN109669478A (en) * | 2019-02-20 | 2019-04-23 | 广州愿托科技有限公司 | The adherent circular control method of unmanned plane spacing and unmanned plane based on distance measuring sensor |
| CN111637871A (en) * | 2020-05-28 | 2020-09-08 | 武汉大学 | Unmanned aerial vehicle camera steady self-checking method and device based on rotary flight |
| CN112731442A (en) * | 2021-01-12 | 2021-04-30 | 桂林航天工业学院 | Surveying instrument with adjustable unmanned aerial vehicle survey and drawing is used |
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