CN108490215A - A kind of flight wind direction monitoring device of unmanned plane, monitoring system and monitoring method - Google Patents
A kind of flight wind direction monitoring device of unmanned plane, monitoring system and monitoring method Download PDFInfo
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- CN108490215A CN108490215A CN201810359296.4A CN201810359296A CN108490215A CN 108490215 A CN108490215 A CN 108490215A CN 201810359296 A CN201810359296 A CN 201810359296A CN 108490215 A CN108490215 A CN 108490215A
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- unmanned plane
- flight
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- flight wind
- monitoring
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/025—Indicating direction only, e.g. by weather vane indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
Abstract
The invention discloses a kind of flight wind direction monitoring device of unmanned plane, monitoring system and monitoring methods, wherein the wind direction monitoring device includes mounting bracket, flight wind vane and the visual sensor being arranged on flight wind vane；Wherein, the mounting bracket includes body mounting base, supporting rod and orientation dial plate, and orientation dial plate upper surface is equipped with azimuth scale；The flight wind vane is arranged in the top of azimuth tables disk center, including head, empennage, horizon bar and vertical connecting rod, wherein the horizon bar is arranged between head and empennage, one end of the vertical connecting rod is rotatablely connected with horizon bar, and the other end is arranged on the orientation dial plate；The information storage module of the visual sensor and unmanned plane connects.Wind direction when the wind direction monitoring device can be to unmanned plane during flying monitors with carrying out in real time, to which the planning of the unmanned plane space flight route to carry out a step and the real-time adjustment of flight attitude are ready.
Description
Technical field
The present invention relates to unmanned planes, and in particular to a kind of flight wind direction monitoring device of unmanned plane, monitoring system and monitoring
Method.
Background technology
With the development and application of aeronautical and space technology, electronic information technology and new material, unmanned plane is as a kind of high
Degree automation, intelligentized equipment ensure letter in view of its exclusive small, light-weight, cheap, widely used and air duty
List, zero injures and deaths, many advantages, such as not limited by human physiology condition, agricultural plant protection, take photo by plane, security protection, electric power, the fields quilt such as logistics
Extensive use.
Wherein, in the flight course of unmanned plane, wind is to influence extremely serious one kind greatly for aircraft flight characteristic
Fate dynamic characteristic, the not individual natural wind direction (wind direction relative to ground) of the unmanned plane wind direction suffered in space flight,
It further include the wind direction generated relative to unmanned plane body itself.Since unmanned plane energy itself is low, maneuvering performance is also poor, wind direction pair
Its influence is more serious to the energy loss of unmanned plane with regard to bigger, the threat of bigger is will also result in flight safety, therefore try
Imagine：It is flowed to relative to unmanned plane during flying wind field if can accurately be detected in real time during unmanned plane during flying, energy
It is enough that correction is adjusted to the flight attitude of unmanned plane and flight path according to wind field flow direction in real time, it can either drop in this way
The energy loss of low unmanned plane, and robustness of the unmanned plane itself to atmospheric perturbation can be improved, improve the steady of unmanned plane during flying
It is qualitative, to enhance the survival ability of unmanned plane, in addition, after understanding exact flight wind field flow direction, for aeronautical meteorology
The fields such as detection, agriculture exploration, environmental protection, forest fires Traffic monitoring and ocean land investigation also play an important roll.And it is existing
Wind direction to measure all be wind direction on geodetic face, do not survey the practical wind direction of unmanned plane body, therefore it is real to carry out unmanned plane body
The measurement research of border space wind direction has great importance to aerospace and industrial and agricultural production.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of flight wind direction monitoring device of unmanned plane,
The flight wind direction monitoring device can real-time and accurately determine the real-time flight wind direction during unmanned plane during flying.
Second object of the present invention is to provide nobody of a kind of flight wind direction monitoring device including above-mentioned unmanned plane
The flight wind direction of machine monitors system, and wind direction when which can be to unmanned plane during flying is monitored and can
It assists unmanned plane preferably to manipulate its state of flight according to the result of monitoring, reference is provided for unmanned plane during flying strategy.
Third object of the present invention is to provide a kind of flight wind direction monitoring method of unmanned plane.
The present invention solve above-mentioned technical problem technical solution be：
A kind of flight wind direction monitoring device of unmanned plane, the wind direction monitoring device are mounted on the top of unmanned plane body, packet
Include mounting bracket, the flight wind vane being arranged above mounting bracket and the visual sensor being arranged on flight wind vane；
Wherein, the mounting bracket includes the body mounting base positioned at lower part, the supporting rod positioned at middle part and is located at upper
The orientation dial plate in portion, orientation dial plate upper surface are equipped with azimuth scale；The flight wind vane is arranged in orientation dial plate
The top of the heart, including head, empennage, horizon bar and vertical connecting rod, wherein horizon bar setting head and empennage it
Between, one end and the horizon bar of the vertical connecting rod are rotatablely connected, and the other end is arranged on the orientation dial plate；The vision passes
The information storage module of sensor and unmanned plane connects.
Preferably, the supporting rod is made of telescopic rod, which is equipped with the spiral shell for being fastened to telescopic rod
Pit and positioning screw.When work, telescopic rod is elongated or is contracted to optimum bit by the pulling force first passed through under being applied with to telescopic rod
It sets, then turns positioning screw again and the telescopic rod after adjusting is locked, to realize the height of the monitoring to flight wind vane
The adjusting of degree.The advantages of this arrangement are as follows can be in monitoring device installation, by finding unmanned plane to the adjusting of telescopic rod
The best measurement position in top and height, to further increase the accuracy of measurement result.
Preferably, the visual sensor is arranged by fixing piece in the top of orientation dial plate, and the fixing piece includes perpendicular
Straight portion and the upper horizontal part positioned at vertical portion both ends and lower horizontal part, wherein the visual sensor is mounted on upper horizontal part
On, one end of the lower horizontal part is fixedly connected with the mounting bracket, shape between upper horizontal part, lower horizontal part and vertical portion
At the holding tank for accommodating the orientation dial plate, the orientation turntable is horizontally set in the holding tank.It is above-mentioned by being arranged
Fixing piece can either realize and be fixed to the installation of visual sensor, while again with simple in structure, easy processing, at low cost excellent
Point.
Preferably, the body mounting base is made of square plate, which welds together with the supporting rod, is set in square plate
There are multiple installation threaded holes and mounting screw, the top of unmanned plane body to be equipped with mounting bracket, which is equipped with and the peace
Fill the matched fixing screwed hole of threaded hole.When installation, mounting screw coordinates after passing through installation threaded hole with the fixing screwed hole,
The installation of body mounting base is fixed in realization.
Preferably, the vertical connecting rod is by round platform bar construction, the one end and the orientation that are relatively large in diameter on the round platform stick
Dial plate connects, and the smaller one end of diameter is connect with the horizon bar on round platform stick.The purpose being arranged in this way is, by increase side
Stability when support force and rotation of the weight at position dial plate end to increase flight wind vane.
A kind of flight wind direction monitoring device operation principle of unmanned plane of the present invention is：
When flight, due at the top position of unmanned plane not only by natural wind action, but also by unmanned plane rotor itself
Wind action is generated, therefore at this location by the setting of unmanned plane during flying monitoring device, can truely and accurately detect nobody
The machine wind direction suffered in practical flight.
Specifically wind direction monitoring principle is：
In flight, wind direction suffered by the unmanned plane with flight wind vane at a certain angle of cut when, wind is to flight wind vane meeting
Pressure is generated, since the head wind area of flight wind vane is smaller, the wind pressure suffered by head is smaller, empennage wind surface
Product is bigger, therefore the wind pressure suffered by empennage is larger, the wind pressure not of uniform size can make the horizon bar of flight wind vane around
Axis where vertical connecting rod rotates, in rotation, when flight wind vane head just face wind come to when, due to
Empennage and head are parallel with wind direction, flight wind vane entirety stress balance, therefore flight wind vane is just stablized in the orientation, this
When, the direction of the head meaning of flight wind vane is the wind direction suffered by unmanned plane reality.
Flight wind vane in this programme is arranged right below orientation dial plate, which is equipped with azimuth scale, when
When flight wind vane is rotated around shaft, azimuth scale different on orientation dial plate is directed toward on the head on flight wind vane, with this
To determine relative position of the heading mark relative to unmanned plane, that is, opposite position of the determining current wind direction relative to unmanned plane
It sets.The top of flight wind vane is equipped with visual sensor, which can be by the orientation of flight wind vane head meaning
Calibration record gets off, and transfers data in information storage module and kept in, and then message processing module again deposits information
Processing is identified in Chu Mo image informations in the block, obtains wind direction suffered when unmanned plane current flight, to be next
The flight attitude adjustment and the planning of flight path of unmanned plane are ready.
A kind of flight wind direction monitoring system of unmanned plane, it includes the machine being arranged on unmanned plane which, which monitors system,
Upper monitoring system and ground monitoring system, wherein the system that monitored on the machine includes for the current flight shape to unmanned plane
Mould is communicated on monitoring modular that state is monitored in real time, data memory module and machine for being stored to monitoring data
Block, wherein the monitoring modular includes flight wind direction monitoring unit, the flight wind direction monitoring unit by the unmanned plane flight
Wind direction monitoring device is constituted；
The ground monitoring system includes ground communication module for being communicated between unmanned plane and for will be from
The message processing module that the flight wind direction monitoring information received on unmanned plane is handled.
The operation principle of above-mentioned flight control system is：When work, the flight wind direction monitoring unit in the monitoring modular
Wind direction when to unmanned plane current flight is monitored, and will be carried out in the real-time data transmission to data memory module after monitoring
Storage, then communication module is communicated with ground communication module on data storing module recycling machine, extremely by data transferring
Message processing module in ground control system after message processing module handles data, obtains unmanned plane current flight
When wind direction information, and will after the wind direction information working process again pass through the flight of ground communication module transfer to unmanned plane control
In system, the flight control system of unmanned plane is organized in conjunction with the wind direction data later recommends best opportunity and flight optimization side
Formula to reduce the consumption of the flight energy, and then improves nothing to ensure best energy loaded matching and flight precision
Man-machine flight duration, reduces flight risk, and huge improve is brought to the flight condition of unmanned plane.
Preferably, the monitoring modular further includes monitoring list for obtaining the spatial position of unmanned plane spatial positional information
Member, the spatial position monitoring unit are connect with the data memory module.When work, spatial position monitoring unit can be to nobody
The spatial position (including geographical location and flying height) of machine is monitored, and monitoring result is kept in data memory module
The message processing module being transmitted further in ground monitoring system, after message processing module handles spatial position data reception, knot
The real-time flight wind direction for closing unmanned plane body carries out analyzing processing again to flight course parameter, obtains relative to the real-time of ground
Flight wind direction, and draw out unmanned plane space flight wind vector distribution map；Then the unmanned plane space flight wind that will be obtained again
It is directed into the control module of unmanned plane during flying to the transmission of change profile figure, assists unmanned plane during flying, be unmanned plane during flying tissue
Carry out best opportunity and the flight optimization mode of recommending, and then ensures best energy loaded matching and flight precision.
Preferably, the monitoring modular further includes the spatial attitude monitoring being monitored for the spatial attitude to unmanned plane
Unit, the spatial attitude monitoring unit are connect with the data memory module.When work, when unmanned plane receives terrestrial transmission
Wind direction data, after the state of flight of unmanned plane is adjusted by UAV Flight Control System, spatial attitude monitoring unit
The flight attitude current to unmanned plane is monitored again, and the data after monitoring are first transferred to data memory module, then machine
Upper communication module transmits that data to the message processing module in ground monitoring system again, and message processing module receives nobody
After machine flight attitude data, in conjunction with unmanned plane currently suffered by flight wind direction and spatial positional information draw out unmanned plane space flight
Wind vector distribution map；And the transmission of obtained unmanned plane space flight wind vector distribution map is directed into the flight control of unmanned plane
System processed assists unmanned plane during flying, best opportunity and the flight optimization mode of recommending is organized for unmanned plane during flying, and then ensure
Best energy loaded matching and flight precision.The advantages of this arrangement are as follows monitoring list by the way that above-mentioned spatial attitude is arranged
After member, the current flight posture state of unmanned plane can be fed back, so that the tune of the flight attitude of entire unmanned plane
Section becomes closed loop from original adjusted open loop and adjusts, therefore considerably increases the precision and reliability of adjusting.
A kind of flight wind direction monitoring method of unmanned plane, includes the following steps：
A, the flight wind direction monitoring device of unmanned plane is debugged first on the ground, ensures that it can be worked normally；
B, the flight wind direction monitoring device of unmanned plane is installed on the unmanned plane for carrying out wind direction measurement, according to unmanned plane
Actual conditions adjust the installation site and mounting height of flight wind direction monitoring device；
C, it is debugged before taking off to unmanned plane, ensures unmanned plane monitoring system, ground monitoring system and unmanned plane
Flight control system Three Party Communication is normal, and it is normal that data-link receives processing；
D, unmanned plane takes off, and the flight wind direction monitoring device of remote control unmanned plane is started to work；
E, the visual sensor in flight wind direction monitoring device starts to shoot the variation of flight wind vane, obtains
Video image information is stored in data memory module in real time；
F, the wind direction data that data memory module stores is back to ground control by communication module in real time on the machine of unmanned plane
System；
G, the message processing module of ground control system carries out processing analysis to data, obtains relative to unmanned plane body
Real-time Two-dimensional flight wind direction；
H, spatial position monitoring unit (being made of the airborne end of BEI-DOU position system) and spatial attitude monitoring unit return in real time
The accurate flight course parameter information and the message processing module in body posture information to ground monitoring system for passing unmanned plane；
I, the Real-time Two-dimensional flight wind direction relative to unmanned plane body that message processing module combination step g is obtained is to flight
Course parameter and posture information carry out analyzing processing again, by course parameter, posture information and Real-time Two-dimensional flight wind direction data
Three dimensions fitting is carried out in message processing module, is obtained relative to the real-time space flight wind direction on ground and relative to nobody
The real-time space flight wind direction of machine body, and draw out unmanned plane space flight wind vector distribution map；
J, the transmission of obtained unmanned plane space flight wind vector distribution map is directed into the flight control system of unmanned plane,
Unmanned plane during flying is assisted, best opportunity and the flight optimization mode of recommending are organized for unmanned plane during flying, and then ensure most preferably
Energy loaded matching and flight precision.
The present invention has advantageous effect below compared with prior art：
1, a kind of flight wind direction monitoring device of unmanned plane of the invention can monitor unmanned plane in flight when institute in real time
The wind direction received, and the wind direction information after monitoring can be passed to information storage module and the message processing module progress of unmanned plane
Processing, obtains current wind direction information, to be ready for the adjustment of next unmanned plane during flying posture and flight path.
2, a kind of flight wind direction monitoring device of unmanned plane of the invention is by using orientation turntable and flight wind vane phase
The mode of cooperation determines the relative position in unmanned plane currently suffered direction and unmanned plane, and can according to demand carry out orientation
It more meticulously divides and (36 azimuth scales is distributed on circumference as before, now increase to 72), so that flight wind vane
Direction definitely, the orientation of the wind vane obtained is more accurate.
3, a kind of flight wind direction monitoring device of unmanned plane of the invention by using visual sensor to flight wind vane
Orientation be acquired, for other acquisition methods, the visual sensor picking rate is very fast, can be when extremely short
The interior acquisition for completing data and storage conveying task keep unmanned function fast to significantly shorten the period of wind direction monitoring
Current flight information is obtained fastly, and according to the information correction adjustment can be carried out to flight attitude and flight path in time.
4, a kind of flight wind direction monitoring device light weight degree of unmanned plane of the invention is high, small, does not influence nobody
Machine normal flight operation, while the flow field error brought by monitoring device own vol is reduced, therefore the precision of monitoring result
It is higher.
5, overall structure of the present invention is simple, easy to use and flexible, easy maintenance, is easily installed, dismantles, at low cost, is easy to
It popularizes.Strong applicability simultaneously is suitble to all kinds of more rotors, single rotor and non-rotor wing unmanned aerial vehicle, installation to be placed on unmanned plane machine
Above body, it is able to record the moment, can also individually uses on the ground, the measurement for real-time space wind direction on ground.
6, the flight wind direction information measured using a kind of flight wind direction monitoring device of unmanned plane of the present invention, can recognize
With grasp unmanned plane during flying wind turbulence characteristics and development law, to improve to the accurate forecast of flight wind field and to strong wind weather
Diagnostic analysis ability.
7, a kind of flight wind direction monitoring system of unmanned plane of the invention can awing obtain unmanned plane and fly in real time
Suffered wind direction when row, on the one hand, can be that unmanned plane during flying be organized and recommend best opportunity and most by the wind direction data
Good flying method plays booster action, on the other hand, by the wind direction data, in conjunction with flight parameter (track, direction, speed,
Posture etc.) etc. surface wind direction of data when can calculate flight, by by the surface wind direction and flight wind direction, flight attitude,
The data such as flight path carry out analysis comparison, can be derived that quantitative effect of each factor to state of flight.In this way, flying subsequent
During row, quantitative adjusting can be carried out to each flight parameter according to the quantitative effect result of each factor, so that unmanned plane
In safety and the minimum state of flight of energy consumption.
Description of the drawings
Fig. 1 is a kind of stereochemical structure of a specific implementation mode of the flight wind direction monitoring device of unmanned plane of the present invention
Schematic diagram.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is a kind of operation principle flow chart of wind direction monitor control system of the present invention.
Specific implementation mode
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Referring to Fig. 1 and Fig. 2, a kind of flight wind direction monitoring device of unmanned plane of the invention is mounted on the upper of unmanned plane body
Side, including mounting bracket 1, the flight wind vane 2 that is arranged above mounting bracket 1 and regarding on flight wind vane 2 is set
Feel sensor 3；
Wherein, the mounting bracket 1 include positioned at lower part body mounting base 1-1, positioned at middle part supporting rod 1-2 and
Superposed orientation dial plate 1-3, the upper surfaces orientation dial plate 1-3 are equipped with azimuth scale；The flight wind vane 2 is arranged
Top at the orientation centers dial plate 1-3, including head 2-1, empennage 2-2, horizon bar 2-3 and vertical connecting rod 2-4, wherein
The horizon bar 2-3 is arranged between head 2-1 and empennage 2-2, and one end and the horizon bar 2-3 of the vertical connecting rod 2-4 turn
Dynamic connection, the other end are arranged on the orientation dial plate 1-3；The visual sensor 3 and the information storage module of unmanned plane connect
It connects.
Referring to Fig. 1 and Fig. 2, the supporting rod 1-2 is made of telescopic rod, which is equipped with for being carried out to telescopic rod
The threaded hole and positioning screw 1-21 of fastening.When work, first pass through pulling force under being applied with to telescopic rod telescopic rod is elongated or
It is contracted to optimum position, positioning screw 1-21 is then turned again and the telescopic rod after adjusting is locked, to realize to flying
The adjusting of the monitoring height of row wind vane 2.The advantages of this arrangement are as follows can be in monitoring device installation, by flexible
Measurement position and height best above unmanned plane are found in the adjusting of bar, to further increase the accurate of measurement result
Property.
Referring to Fig. 1 and Fig. 2, the visual sensor 3 is arranged by fixing piece 3-1 in the top of orientation dial plate 1-3, described
Fixing piece 3-1 includes vertical portion and the upper horizontal part positioned at vertical portion both ends and lower horizontal part, wherein the visual sensor
3 are mounted on upper horizontal part, and one end of the lower horizontal part is fixedly connected with the mounting bracket 1, upper horizontal part, lower horizontal part
And holding tank of the formation for accommodating the orientation dial plate 1-3, the orientation turntable are horizontally set on the appearance between vertical portion
It receives in slot.By the way that above-mentioned fixing piece 3-1 is arranged, it can either realize that the installation to visual sensor 3 is fixed, while there is structure again
Simply, easy processing, advantage at low cost.
Referring to Fig. 1 and Fig. 2, the body mounting base 1-1 is made of square plate, which is welded on the supporting rod 1-2
Together, square plate is equipped with multiple installation threaded holes and mounting screw, and the top of unmanned plane body is equipped with mounting bracket, on the mounting bracket
Equipped with the matched fixing screwed hole of the installation threaded hole.When installation, mounting screw pass through installation threaded hole after with it is described solid
Determine threaded hole cooperation, the installation of body mounting base 1-1 is fixed in realization.
Referring to Fig. 1 and Fig. 2, the vertical connecting rod 2-4 is by round platform bar construction, the one end being relatively large in diameter on the round platform stick with
The orientation dial plate 1-3 connections, the smaller one end of diameter is connect with the horizon bar 2-3 on round platform stick.The purpose being arranged in this way
It is, by increasing stability when support force and rotation of the weight at the orientation ends dial plate 1-3 to increase flight wind vane 2.
Referring to Fig. 1 and Fig. 2, a kind of flight wind direction monitoring device operation principle of unmanned plane of the invention is：When flight, by
Not only by natural wind action at the top position of unmanned plane, but also by unmanned plane rotor itself generation wind action, therefore
At this location by the setting of unmanned plane during flying monitoring device, it is suffered in practical flight unmanned plane can truely and accurately to be detected
Wind direction, i.e., can either detect the wind direction of natural wind suffered by unmanned plane, but can detect rotor generate wind wind direction.
Specifically wind direction monitoring principle is：
In flight, wind direction suffered by the unmanned plane with flight wind vane 2 at a certain angle of cut when, wind is to flight wind vane 2
Pressure is will produce, since the head 2-1 wind areas of flight wind vane 2 are smaller, the wind pressure suffered by the 2-1 of head is smaller,
Empennage 2-2 wind areas are bigger, therefore the wind pressure suffered by empennage 2-2 is larger, which can make flight wind
It rotates to the horizon bar 2-3 of mark 2 around the axis where vertical connecting rod 2-4, in rotation, when flight wind vane 2
Portion 2-1 just face wind come to when, since empennage 2-2 and head 2-1 are parallel with wind direction, the whole stress of flight wind vane 2 is flat
Weighing apparatus, therefore flight wind vane 2 is just stablized in the orientation, at this point, the direction of the head 2-1 meanings of flight wind vane 2 is for nobody
Wind direction suffered by machine reality.Flight wind vane 2 in this programme is arranged right below orientation dial plate 1-3, on orientation dial plate 1-3
Equipped with azimuth scale, when flight wind vane 2 is rotated around shaft, the head 2-1 on flight wind vane 2 is directed toward orientation dial plate 1-
Different azimuth scale on 3 determines relative position of the heading mark relative to unmanned plane with this, that is, determines current wind direction
Relative position relative to unmanned plane.The lower section of flight wind vane 2 is equipped with visual sensor 3, which can will fly
The azimuth scale of 2 head 2-1 meanings of row wind vane is recorded, and is transferred data in information storage module and kept in,
Then message processing module is again handled the information in information storage module, obtains wind suffered when unmanned plane current flight
To be ready for the adjustment of the flight attitude of next unmanned plane and the planning of flight path.
Referring to Fig. 3, a kind of flight wind direction monitoring system of unmanned plane of the invention includes on the machine being arranged on unmanned plane
Monitoring system and ground monitoring system, wherein the system that monitored on the machine includes for the current state of flight to unmanned plane
Communication module on the monitoring modular that is monitored in real time, data memory module and machine for being stored to monitoring data,
Wherein, the monitoring modular includes flight wind direction monitoring unit, the flight wind direction monitoring unit by the unmanned plane flight wind
It is constituted to monitoring device；
The ground monitoring system includes ground communication module for being communicated between unmanned plane and for will be from
The message processing module that the flight wind direction monitoring information received on unmanned plane is handled.
The operation principle of above-mentioned flight control system is：When work, the flight wind direction monitoring unit in the monitoring modular
Wind direction when to unmanned plane current flight is monitored, and will be carried out in the real-time data transmission to data memory module after monitoring
Storage, then communication module is communicated with ground communication module on data storing module recycling machine, extremely by data transferring
Message processing module in ground control system after message processing module handles data, obtains unmanned plane current flight
When wind direction information, and will after the wind direction information working process again pass through the flight of ground communication module transfer to unmanned plane control
In system, the flight control system of unmanned plane is organized in conjunction with the wind direction data later recommends best opportunity and flight optimization side
Formula to reduce the consumption of the flight energy, and then improves nothing to ensure best energy loaded matching and flight precision
Man-machine flight duration, reduces flight risk, and huge improve is brought to the flight condition of unmanned plane.
Referring to Fig. 3, the monitoring modular further includes monitoring list for obtaining the spatial position of unmanned plane spatial positional information
Member, the spatial position monitoring unit are connect with the data memory module.When work, spatial position monitoring unit can be to nobody
The spatial position (including geographical location and flying height) of machine is monitored, and monitoring result is kept in data memory module
The message processing module being transmitted further in ground monitoring system, after message processing module handles spatial position data reception, knot
The real-time flight wind direction for closing unmanned plane body carries out analyzing processing again to flight course parameter, obtains relative to the real-time of ground
Flight wind direction, and draw out unmanned plane space flight wind vector distribution map；Then the unmanned plane space flight wind that will be obtained again
It is directed into the control module of unmanned plane during flying to the transmission of change profile figure, assists unmanned plane during flying, be unmanned plane during flying tissue
Carry out best opportunity and the flight optimization mode of recommending, and then ensures best energy loaded matching and flight precision.
Referring to Fig. 3, the monitoring modular further includes the spatial attitude prison being monitored for the spatial attitude to unmanned plane
Unit is surveyed, which connect with the data memory module.When work, when unmanned plane receives terrestrial transmission
Wind direction data, after the state of flight of unmanned plane is adjusted by UAV Flight Control System, spatial attitude monitoring is single
The flight attitude current to unmanned plane is monitored member again, and the data after monitoring are first transferred to data memory module, then
Communication module transmits that data to the message processing module in ground monitoring system again on machine, and message processing module receives nothing
After man-machine flight attitude data, in conjunction with unmanned plane currently suffered by flight wind direction and spatial positional information draw out unmanned plane space and fly
Sector-style is to change profile figure；And the transmission of obtained unmanned plane space flight wind vector distribution map is directed into the flight of unmanned plane
Control system assists unmanned plane during flying, is organized for unmanned plane during flying and recommends best opportunity and flight optimization mode, Jin Erbao
Demonstrate,prove best energy loaded matching and flight precision.The advantages of this arrangement are as follows being monitored by the way that above-mentioned spatial attitude is arranged
After unit, the current flight posture state of unmanned plane can be fed back, so that the flight attitude of entire unmanned plane
Adjust becomes closed loop from original adjusted open loop is adjusted, therefore considerably increases the precision and reliability of adjusting.
Referring to Fig. 3, a kind of flight wind direction monitoring method of unmanned plane of the invention includes the following steps：
A, the flight wind direction monitoring device of unmanned plane is debugged first on the ground, ensures that it can be worked normally；
B, the flight wind direction monitoring device of unmanned plane is installed on the unmanned plane for carrying out wind direction measurement, according to unmanned plane
Actual conditions adjust the installation site and mounting height of flight wind direction monitoring device；
C, it is debugged before taking off to unmanned plane, ensures unmanned plane monitoring system, ground monitoring system and unmanned plane
Flight control system Three Party Communication is normal, and it is normal that data-link receives processing；
D, unmanned plane takes off, and the flight wind direction monitoring device of remote control unmanned plane is started to work；
E, the visual sensor in flight wind direction monitoring device starts to shoot the variation of flight wind vane, obtains
Video image information is stored in data memory module in real time；
F, the wind direction data that data memory module stores is back to ground control by communication module in real time on the machine of unmanned plane
System；
G, the message processing module of ground control system carries out processing analysis to data, obtains relative to unmanned plane body
Real-time Two-dimensional flight wind direction；
H, spatial position monitoring unit (being made of the airborne end of BEI-DOU position system) and spatial attitude monitoring unit return in real time
The accurate flight course parameter information and the message processing module in body posture information to ground monitoring system for passing unmanned plane；
I, the Real-time Two-dimensional flight wind direction relative to unmanned plane body that message processing module combination step g is obtained is to flight
Course parameter and posture information carry out analyzing processing again, by course parameter, posture information and Real-time Two-dimensional flight wind direction data
Three dimensions fitting is carried out in message processing module, is obtained relative to the real-time space flight wind direction on ground and relative to nobody
The real-time space flight wind direction of machine body, and draw out unmanned plane space flight wind vector distribution map；
J, the transmission of obtained unmanned plane space flight wind vector distribution map is directed into the flight control system of unmanned plane,
Unmanned plane during flying is assisted, best opportunity and the flight optimization mode of recommending are organized for unmanned plane during flying, and then ensure most preferably
Energy loaded matching and flight precision.
Above-mentioned is the preferable embodiment of the present invention, but embodiments of the present invention are not limited by the foregoing content,
He it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications, should be
The substitute mode of effect, is included within the scope of the present invention.
Claims (9)
1. a kind of flight wind direction monitoring device of unmanned plane, which is characterized in that the flight wind direction monitoring device is mounted on unmanned plane
The top of body, including mounting bracket, the flight wind vane that is arranged above mounting bracket and be arranged on flight wind vane
Visual sensor；
Wherein, the mounting bracket includes positioned at the body mounting base of lower part, positioned at the supporting rod at middle part and superposed
The upper surface of orientation dial plate, the orientation dial plate is equipped with azimuth scale；The flight wind vane is arranged in azimuth tables disk center
Top, including head, empennage, horizon bar and vertical connecting rod, wherein the horizon bar setting head and empennage it
Between, one end and the horizon bar of the vertical connecting rod are rotatablely connected, and the other end is arranged on the orientation dial plate；The vision passes
The information storage module of sensor and unmanned plane connects.
2. the flight wind direction monitoring device of the unmanned plane according to right 1, which is characterized in that the supporting rod is by telescopic rod structure
At the telescopic rod is equipped with threaded hole and positioning screw for being fastened to telescopic rod.
3. the flight wind direction monitoring device of the unmanned plane according to right 2, which is characterized in that the visual sensor passes through solid
Determine part to be arranged in the top of orientation dial plate, the fixing piece include vertical portion and positioned at vertical portion both ends upper horizontal part and under
Horizontal part, wherein the visual sensor is mounted on upper horizontal part, and one end of the lower horizontal part and the mounting bracket are solid
Fixed connection forms the holding tank for accommodating the orientation dial plate, the side between upper horizontal part, lower horizontal part and vertical portion
Position turntable is horizontally set in the holding tank.
4. the flight wind direction monitoring device of the unmanned plane according to right 3, which is characterized in that the body mounting base is by square plate
It constitutes, which welds together with the supporting rod, and square plate is equipped with multiple installation threaded holes and mounting screw, unmanned plane machine
The top of body is equipped with mounting bracket, which is equipped with and the matched fixing screwed hole of the installation threaded hole.
5. the flight wind direction monitoring device of the unmanned plane according to right 4, which is characterized in that the vertical connecting rod is by round platform
Bar construction, the one end being relatively large in diameter on the round platform stick are connect with the orientation dial plate, the smaller one end of diameter and institute on round platform stick
State horizon bar connection.
6. a kind of flight wind of the unmanned plane of the flight wind direction monitoring device comprising claim 1-5 any one of them unmanned planes
To monitoring system, which is characterized in that flight wind direction monitoring system further include on the machine that is arranged on unmanned plane monitoring system and
Ground monitoring system, wherein the state of flight when system that monitored on the machine includes for unmanned plane during flying is supervised in real time
Communication module on the monitoring modular of survey, data memory module and machine for being stored to monitoring data, wherein the prison
It includes flight wind direction monitoring unit to survey module, the flight wind direction monitoring unit by the unmanned plane flight wind direction monitoring device structure
At；The ground monitoring system includes ground communication module for being communicated between unmanned plane and for will be from unmanned plane
On the message processing module that is handled of the flight wind direction monitoring information that receives.
7. the flight wind direction of unmanned plane according to claim 6 monitors system, which is characterized in that the monitoring modular also wraps
The spatial position monitoring unit for obtaining the hollow location information of unmanned plane is included, the spatial position monitoring unit and the data
Memory module connects.
8. the flight wind direction of unmanned plane according to claim 7 monitors system, which is characterized in that the monitoring modular also wraps
The spatial attitude monitoring unit being monitored for the spatial attitude to unmanned plane is included, the spatial attitude monitoring unit and the number
It is connected according to memory module.
9. a kind of unmanned plane monitoring system realization according to the flight wind direction of claim 6-8 any one of them unmanned planes flies
Sector-style is to monitoring method, which is characterized in that includes the following steps：
A, the flight wind direction monitoring device of unmanned plane is debugged first on the ground, ensures that it can be worked normally；
B, the flight wind direction monitoring device of unmanned plane is installed on the unmanned plane for carrying out wind direction measurement, according to the reality of unmanned plane
Situation adjusts the installation site and mounting height of flight wind direction monitoring device；
C, it is debugged before taking off to unmanned plane, ensures the flight of unmanned plane monitoring system, ground monitoring system and unmanned plane
Control system Three Party Communication is normal, and it is normal that data-link receives processing；
D, unmanned plane takes off, and the flight wind direction monitoring device of remote control unmanned plane is started to work；
E, the visual sensor in flight wind direction monitoring device starts to shoot the variation of flight wind vane, obtained video
Image information is stored in data memory module in real time；
F, the wind direction data that data memory module stores is back to ground control system by communication module in real time on the machine of unmanned plane；
G, the message processing module of ground control system carries out processing analysis to data, obtains relative to the real-time of unmanned plane body
Two-dimentional flight wind direction；
H, spatial position monitoring unit and spatial attitude monitoring unit return the accurate flight course parameter information of unmanned plane in real time
And the message processing module in body posture information to ground monitoring system；
I, the Real-time Two-dimensional flight wind direction relative to unmanned plane body that message processing module combination step g is obtained is to flight course
Parameter and posture information carry out analyzing processing again, and course parameter, posture information and Real-time Two-dimensional flight wind direction data are being believed
It ceases and carries out three dimensions fitting in processing module, obtain relative to the real-time space flight wind direction on ground and relative to unmanned plane machine
The real-time space flight wind direction of body, and draw out unmanned plane space flight wind vector distribution map；
J, the transmission of obtained unmanned plane space flight wind vector distribution map is directed into the flight control system of unmanned plane, auxiliary
Unmanned plane during flying organizes best opportunity and the flight optimization mode of recommending for unmanned plane during flying, and then ensures the best energy
Loaded matching and flight precision.
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