CN108496131A - Unmanned plane searching method and ground control terminal - Google Patents
Unmanned plane searching method and ground control terminal Download PDFInfo
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- CN108496131A CN108496131A CN201780004918.5A CN201780004918A CN108496131A CN 108496131 A CN108496131 A CN 108496131A CN 201780004918 A CN201780004918 A CN 201780004918A CN 108496131 A CN108496131 A CN 108496131A
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- 238000004891 communication Methods 0.000 claims abstract description 17
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- 238000005516 engineering process Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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- 230000004888 barrier function Effects 0.000 description 1
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
- H01Q15/14—Reflecting surfaces; Equivalent structures
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
- H01Q19/10—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/005—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using remotely controlled antenna positioning or scanning
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Astronomy & Astrophysics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Radar Systems Or Details Thereof (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of unmanned plane searching method and ground control terminal (10).Unmanned plane searching method is used to control the unmanned plane (20) of ground control terminal (10) the search lost contact with directional aerial (12).Unmanned plane searching method includes step：Judge unmanned plane (20) whether lost contact；In unmanned plane (20) lost contact according to before the control parameter and lost contact of unmanned plane (20) state of flight and the lost contact time determine unmanned plane (20) estimate position；Control directional aerial (12) direction estimates position.The unmanned plane searching method and ground control terminal (10) of embodiment of the present invention, in unmanned plane (20) lost contact, search for the position of unmanned plane (20) automatically by adjusting directional aerial (12), position is estimated by determination, control directional aerial (12) is aligned and estimates position, in this way, directional aerial (12) may be locked with unmanned plane (20) radio frequency, communication is established, unmanned plane (20) is recovered.
Description
Technical field
The present invention relates to the communication technology, more particularly to a kind of unmanned plane searching method and ground control terminal.
Background technology
The remote controler of existing unmanned plane generally uses directional aerial to enhance the signal strength of target direction, therefore needs hand
Dynamic remote controller is so that directional aerial is aligned with unmanned plane, in this way, when unmanned plane lost contact, user need to be manually operated remote controler and sweep
Search unmanned plane is retouched, accuracy is low.
Invention content
A kind of unmanned plane searching method of embodiments of the present invention offer and ground control terminal.
The unmanned plane searching method of embodiment of the present invention loses for controlling the ground control terminal search with directional aerial
The unmanned plane of connection, the unmanned plane searching method include the following steps：
Judge the unmanned plane whether lost contact；
When in the unmanned plane lost contact according to the state of flight and lost contact before the control parameter and lost contact of the unmanned plane
Between determine the unmanned plane estimate position；With
It controls the directional aerial and estimates position described in.
The unmanned plane searching method of embodiment of the present invention is searched in unmanned plane lost contact by adjusting directional aerial automatically
Position is estimated in the position of rope unmanned plane by determining, position is estimated in control directional aerial alignment, in this way, directional aerial may be with
Unmanned plane radio frequency locks, and establishes communication, recovers unmanned plane.
The ground control terminal of embodiment of the present invention, for controlling the ground control terminal search lost contact with directional aerial
Unmanned plane, the ground control terminal include directional aerial and processor, and the processor is used for：
Judge the unmanned plane whether lost contact；
In the unmanned plane lost contact according to before the unmanned aerial vehicle (UAV) control parameter and lost contact state of flight and the lost contact time
Determine the unmanned plane estimates position；With
It controls the directional aerial and estimates position described in.
The ground control terminal of embodiment of the present invention searches for nothing automatically in unmanned plane lost contact by adjusting directional aerial
Position is estimated in man-machine position by determining, position is estimated in control directional aerial alignment, in this way, directional aerial may be with nobody
Machine radio frequency locks, and establishes communication, recovers unmanned plane.
The additional aspect and advantage of embodiments of the present invention will be set forth in part in the description, partly will be from following
Description in become apparent, or the practice of embodiment through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention is from combining in description of the following accompanying drawings to embodiment by change
It obtains obviously and is readily appreciated that, wherein：
Fig. 1 is the flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Fig. 2 be certain embodiments of the present invention unmanned plane searching method be applied to unmanned plane and ground control terminal when field
Scape schematic diagram；
Fig. 3 is the module diagram of the ground control terminal of certain embodiments of the present invention；
Fig. 4 is the flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Fig. 5 is another flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Fig. 6 is the flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Fig. 7 be certain embodiments of the present invention unmanned plane searching method be applied to unmanned plane and ground control terminal when field
Scape schematic diagram；
Fig. 8 is the flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Fig. 9 is the module diagram of the ground control terminal of certain embodiments of the present invention；
Figure 10 is the flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Figure 11 is the flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Figure 12 is the flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Figure 13 is the flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Figure 14 is the flow diagram of the unmanned plane searching method of certain embodiments of the present invention；
Figure 15 is the module diagram of the unmanned plane of certain embodiments of the present invention.
Main element symbol description：
Ground control terminal 10, directional aerial 12, processor 14 track antenna assembly 16, holder 162, unmanned plane 20, the whole world
Receiver of satellite navigation system 22, barometer 24.
Specific implementation mode
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indicating or implies relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more feature.In description of the invention
In, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be to be electrically connected or can be in communication with each other to be mechanical connection；It can be directly connected, it can also be by between intermediary
It connects connected, can be the interaction relationship of the connection or two elements inside two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
Referring to Fig. 1, the unmanned plane searching method of embodiment of the present invention, for controlling the ground with directional aerial 12
Control terminal 10 searches for the unmanned plane 20 of lost contact, and unmanned plane searching method includes the following steps：
S11：Judge unmanned plane 20 whether lost contact；
S12：When in 20 lost contact of unmanned plane according to the state of flight and lost contact before the control parameter and lost contact of unmanned plane 20
Between determine unmanned plane 20 estimate position；With
S13：Control directional aerial 12 is towards estimating position.
The unmanned plane searching method of embodiment of the present invention can be realized by the ground control terminal 10 of embodiment of the present invention.
Please refer to Fig. 2 and Fig. 3, the ground control terminal 10 of embodiment of the present invention, for controlling with directional aerial 12
Ground control terminal 10 searches for the unmanned plane 20 of lost contact, and ground control terminal 10 includes directional aerial 12 and processor 14, processor 14
For：
Judge unmanned plane 20 whether lost contact；
In 20 lost contact of unmanned plane according to before 20 control parameter of unmanned plane and lost contact state of flight and the lost contact time determine
Unmanned plane 20 estimates position；
Control directional aerial 12 is towards estimating position；
Judge whether directional aerial 12 and unmanned plane 20 can realize that radio frequency locks；With
Multiple precalculated positions are scanned until directional aerial 12 and nothing cannot achieve radio-frequency lock timing controlled directional aerial 12
Man-machine 20 realize radio frequency locking.
In other words, step S11, S12, S13, S14 and S15 can be realized by processor 14.
The unmanned plane searching method and ground control terminal 10 of embodiment of the present invention pass through tune in 20 lost contact of unmanned plane
Whole directional aerial 12 searches for the position of unmanned plane 20 automatically, and position is estimated by determining, position is estimated in the control alignment of directional aerial 12
It sets, in this way, directional aerial 12 may be locked with 20 radio frequency of unmanned plane, establishes communication, recover unmanned plane 20.
It is appreciated that after ground control terminal 10 searches unmanned plane 20, it can receive unmanned plane 20 and be back to ground control
The location information at end 10 processed, directional aerial 12 can be according to the logical of the location information adjust automatically directional aerial 12 of unmanned plane 20 at this time
Believe direction, to ensure that ground control terminal 10 is in optimal communications status always with unmanned plane 20, promotes ground control terminal 10
The stability communicated between unmanned plane 20.
Specifically, 20 lost contact of unmanned plane, which is primarily referred to as ground control terminal 10, can not receive the location information of unmanned plane 20.
For example, the system of unmanned plane 20 has just started or the system reboot of unmanned plane 20, unmanned plane 20 is within the time for starting or restarting
Location information can not be sent out, therefore, ground control terminal 10 can not receive the position of unmanned plane 20, be properly termed as interrupt-type mistake
Connection.In another example in 20 flight course of unmanned plane, barrier block or signal interference etc. due to, cause ground control terminal 10 temporary
Shi Wufa receives the location information of unmanned plane 20, is properly termed as transience lost contact, and in this case, ground control terminal 10 can
Using by the location information before 20 lost contact of unmanned plane as refer to foundation, in conjunction with control parameter and lost contact time, for determining nobody
Machine 20 estimates position.
In a specific embodiment of the present invention, directional aerial 12 is using gain directional antenna 12.High-gain orients day
Line 12 has higher antenna gain, and the transmission range of wireless signal is farther, can promote unmanned plane 20 and ground control terminal 10
Between wireless signal transmission quality.Meanwhile the highly directional property of gain directional antenna 12 makes directional aerial 12 except logical
Believe that other directions outer on direction form gain zero, can effectively reduce the interference on other directions in addition on communication direction
Signal.
Also referring to Fig. 1 and Fig. 4, in some embodiments, step S11 includes the following steps：
S112：Judge whether radio frequency locks directional aerial 12 with unmanned plane 20；With
S114：In directional aerial 12 and 20 non-20 lost contact of radio-frequency lock timing determination unmanned plane of unmanned plane.
In some embodiments, processor 14 is used for：
Judge whether radio frequency locks directional aerial 12 with unmanned plane 20；With
In directional aerial 12 and 20 non-20 lost contact of radio-frequency lock timing determination unmanned plane of unmanned plane.
In other words, step S112 and S114 can be realized by processor 14.
In this way, when unmanned plane 20 and 10 lost contact of ground control terminal, after ground control terminal 10 can find and carry out in time
The step of continuous automatic search unmanned plane 20, be conducive to the position for making ground control terminal 10 that can determine unmanned plane 20 as early as possible and with nothing
Man-machine 20 restore communication.
Referring to Fig. 5, alternatively, in some embodiments, step S11 includes the following steps：
S116：Judge whether to receive the location information of unmanned plane 20；With
S118：Determining that the when of being not received by the location information of unmanned plane 20 determines 20 lost contact of unmanned plane.
In some embodiments, processor 14 is used for：
Judge whether to receive the location information of unmanned plane 20；With
Determining that the when of being not received by the location information of unmanned plane 20 determines 20 lost contact of unmanned plane.
In other words, step S112 and S114 can be realized by processor 14.
Also referring to Fig. 1 and Fig. 6, in some embodiments, lost-control protection pattern is entered after 20 lost contact of unmanned plane；Step
Rapid S12 includes the following steps：
S121：Obtain first control parameter of the ground control terminal 10 to unmanned plane 20；
S123：Obtain second control parameter of the unmanned plane 20 under lost-control protection pattern；
S125：Obtain the environment trajectory parameters of unmanned plane 20；With
S127：Position is estimated according to the determination of at least one of the first control parameter, the second control parameter, environment trajectory parameters
It sets.
In some embodiments, processor 14 is used for：
Obtain first control parameter of the ground control terminal 10 to unmanned plane 20；
Obtain second control parameter of the unmanned plane 20 under lost-control protection pattern；
Obtain the environment trajectory parameters of unmanned plane 20；With
Position is estimated according to the determination of at least one of the first control parameter, the second control parameter, environment trajectory parameters.
In other words, step S121, S123, S125 and S127 can be realized by processor 14.
In this way, by way of estimation, can quickly obtain unmanned plane 20 estimates position, is conducive to of short duration in unmanned plane 20
Property lost contact when, rapidly search for unmanned plane 20 and determine the position of unmanned plane 20.
It is appreciated that can be according only to any one in the first control parameter, the second control parameter or environment trajectory parameters
Position is estimated in a determination；Position can also be estimated according to the first control parameter and the determination of the second control parameter or according to first
Control parameter and the determination of environment trajectory parameters are estimated position or are estimated according to the second control parameter and the determination of environment trajectory parameters
Position；It can also be determined according to the first control parameter, the second control parameter and environment trajectory parameters and estimate position.
Since the upload control radio frequency link of ground control terminal 10 to unmanned plane 20 generally uses bpsk to modulate, and unmanned plane
20 to ground control terminal 10 downlink radio frequency link generally use qam modulate, bpsk high sensitivities, operating distance is remote, therefore, greatly
In most cases, only it is that the downlink radio frequency link of unmanned plane 20 to ground control terminal 10 disconnects when 20 lost contact of unmanned plane, unmanned plane
20 can not send location information to ground control terminal 10, and ground control terminal 10 can also send control parameter to unmanned plane 20,
Therefore after 20 lost contact of unmanned plane, ground control terminal 10 is still determined for unmanned plane 20 to the control parameter of unmanned plane 20
Estimate position.In this way, when ground control terminal 10 is determined with 20 lost contact of unmanned plane, first according to ground control terminal 10 to unmanned plane 20
Control parameter and lost contact before state of flight and the lost contact time determine unmanned plane 20 estimate position.First control parameter is
Determine the control parameter of ground control terminal 10 when estimating position to unmanned plane after 20 lost contact of unmanned plane, for example, direction controlling parameter and
Speed control parameter etc..
In addition, can generally enter lost-control protection pattern after 20 lost contact of unmanned plane, for example, hover 3 seconds first, if 3 seconds
Inside all without restoring (still lost contact), then enter pattern (making a return voyage along flight path) of making a return voyage.Therefore, unmanned plane 20 is losing in entrance
The self-contr ol parameter in lost-control protection pattern is the second control parameter after connection.
Further more, state of flight before 20 lost contact of unmanned plane, including the factor (such as crosswind) of inertia and environment etc. are for pre-
The confirmation for estimating position also has an impact.Therefore, the state of flight before 20 lost contact of unmanned plane is environment trajectory parameters.
Therefore, position is estimated to can refer in the first control parameter, the second control parameter, environment trajectory parameters three kinds of parameters
At least one.
Can first it be joined respectively according to the first control parameter, the second control parameter, environment track specifically, determining and estimating position
Number three kinds of parameters determine respectively three it is preliminary estimate position, then by three it is preliminary estimate position and be multiplied by corresponding weight be worth to
Estimate position.
Inside some examples, it is contemplated that the first control parameter is affected for estimating the determination of position, therefore, according to
It can be 0.6 that the first control parameter obtained, which tentatively estimates the weights that position is converted into until estimating,.Second control parameter for
It estimates position and is fixed sound really and take second place, therefore, preliminary estimated until position is converted into and estimates according to what the second control parameter obtained
Weights can be 0.3.Environment trajectory parameters for estimate position really be fixed sound it is smaller, therefore, according to environment trajectory parameters
It can be 0.1 that is obtained, which tentatively estimates the weights that position is converted into until estimating,.
Therefore, Fig. 2 and Fig. 7 is please referred to, inside an example, it is preliminary pre- first can be obtained according to the first control parameter
Estimate position (PA1, YA1), it can obtain second according to the second control parameter and tentatively estimate position (PA2, YA2), joined according to environment track
Number can obtain third and tentatively estimate position (PA3, YA3), then it preliminary estimate position by first, second preliminary estimate position and the
Three preliminary estimate after accordingly weighted value is multiplied by position respectively obtain estimating position (PA, YA) equation be：
(PA, YA)=(PA1, YA1)*0.6+(PA2, YA2)*0.3+(PA3, YA3)*0.1。
It should be noted that the weights in the above embodiment are determined according to specific model and specific Consideration, because
This simultaneously should not necessarily be limited by present embodiment, and in other embodiments can be depending on specific requirements.
Wherein, P aboveA1、PA2、PA3、PARefer to that directional aerial 12 estimates pitch angle (pitch shaft angles), and YA1、
YA2、YA3、YAIt is to estimate horizontal azimuth (Yaw shaft angles) to antenna 10.
It please refers to Fig.1, Fig. 7, Fig. 8 and Fig. 9, in some embodiments, ground control terminal 10 includes tracking antenna assembly
16, tracking antenna assembly 16 includes the holder 162 for horizontally rotating directional aerial 12, estimates position (PA, YA) fixed for determining
To the target level azimuth Y of antenna 12A；Step S13 includes the following steps：
S132：Holder 162 is controlled so that directional aerial 12 turns to target level azimuth YA。
In some embodiments, processor 14 is used for：
Holder 162 is controlled so that directional aerial 12 turns to target level azimuth YA。
In other words, step S132 can be realized by processor 14.
Directional aerial 12 is set to go to target level azimuth Y in this way, processor 14 controls holder 162A, make directional aerial 12
Direction estimates position (PA, YA)。
Specifically, holder 162 includes the Yaw shafts rotated in vertical axial direction in the horizontal direction H, and directional aerial 12 is arranged
On holder 162.In this way, when Yaw shafts rotate, directional aerial 12 is rotated with holder 162 so that directional aerial 12 turns to mesh
Mark horizontal azimuth YA。
Further, tracking antenna assembly 16 is communicated with processor 14, and tracking antenna assembly 16 is for receiving unmanned plane 20
Location information and location information is transmitted to processor 14, processor 14 controls tracking day according to the location information of unmanned plane 20
Line apparatus 16 adjusts directional aerial 12, and directional aerial 12 is made to be directed at unmanned plane 20.
It please refers to Fig.1, Fig. 2, Fig. 9 and Figure 10, in some embodiments, ground control terminal 10 includes tracking antenna assembly
16, tracking antenna assembly 16 includes holder 162 of the adjustment for 12 pitching of directional aerial, estimates position for determining directional aerial
12 target pitch angle PA；Step S13 includes the following steps：
S134：Holder 162 is controlled so that directional aerial 12 turns to target pitch angle PA。
In some embodiments, processor 14 is used for：
Holder 162 is controlled so that directional aerial 12 turns to target pitch angle PA。
In other words, step S134 can be realized by processor 14.
Directional aerial 12 is set to go to target pitch P in this way, processor 14 controls holder 162AAngle makes 12 direction of directional aerial
Estimate position (PA, YA)。
Specifically, holder 162 includes the Pitch shafts rotated on pitch orientation V around horizontal axis, and directional aerial 12 is set
It sets on holder 162.In this way, when Pitch shafts rotate, directional aerial 12 is rotated with holder 162 so that directional aerial 12 rotates
To target pitch angle PA。
It is appreciated that in embodiment of the present invention, holder 162 is two axle The Cloud Terraces, i.e. holder 162 can drive directional aerial
12 adjust along the dynamic realization pitch angle of Pitch shaft rotations and/or alignment antenna 12 can be driven along the dynamic realization horizontal angle tune of Yaw shaft rotations
It is whole.It is appreciated that such, it is already possible to control directional aerial 12 in space search unmanned plane 20.
Certainly, holder 162 should not necessarily be limited by the above embodiment, and can use as needed in other embodiments
Other suitable holders, such as three axis holders.
If directional aerial 12 is towards estimating position (PA, YA) after, directional aerial 12 realizes radio frequency locking with unmanned plane 20,
Then illustrate that unmanned plane 20 has searched out unmanned plane 20 automatically.
1 is please referred to Fig.1, in some embodiments, unmanned plane searching method is further comprising the steps of：
S14：Judge that directional aerial 12 is estimating whether position and unmanned plane 20 can realize that radio frequency locks；With
S15：Multiple precalculated positions are scanned until directional aerial 12 cannot achieve radio-frequency lock timing controlled directional aerial 12
Radio frequency locking is realized with unmanned plane 20.
In some embodiments, processor 14 is additionally operable to：
Judge that directional aerial 12 is estimating whether position and unmanned plane 20 can realize that radio frequency locks；With
Multiple precalculated positions are scanned until directional aerial 12 and nothing cannot achieve radio-frequency lock timing controlled directional aerial 12
Man-machine 20 realize radio frequency locking.
In other words, step S14 and step S15 can be realized by processor 14.
In this way, when directional aerial 12 estimate position and unmanned plane 20 can not radio-frequency lock timing, control directional aerial 12 sweeps
Retouch the position for being conducive to make ground control terminal 10 to determine unmanned plane 20 as early as possible to continue search for the unmanned plane 20 of lost contact and with nobody
Machine 20 restores communication.
Also referring to Figure 11 and Figure 12, in some embodiments, step S15 is further comprising the steps of：
S151：Cannot achieve radio-frequency lock timing be immediately controlled directional aerial 12 scan multiple precalculated positions until orientation day
Line 12 realizes radio frequency locking with unmanned plane 20.
In some embodiments, processor 14 is used for：
Multiple precalculated positions are scanned until directional aerial 12 cannot achieve radio-frequency lock timing directional aerial 12 is immediately controlled
Radio frequency locking is realized with unmanned plane 20.
In other words, step S151 can be realized by processor 14.
In this way, when directional aerial 12 estimate position and unmanned plane 20 can not radio-frequency lock timing, directional aerial is immediately controlled
The 12 multiple precalculated positions of scanning avoid wasting the excessive time estimating position, contribute to the unmanned plane for searching lost contact as early as possible
20。
Specifically, directional aerial 12 is towards after estimating position, estimate position residence time slightly larger than unmanned plane 20 with
Directional aerial 12 establishes the time needed for radio frequency locking.So, it is ensured that directional aerial 12 estimate position have the sufficient time with
Unmanned plane establishes radio frequency locking, avoids that position residence time is too short to lead to directional aerial 12 and nothing estimating because of directional aerial 12
Man-machine 20 cannot achieve radio frequency locking, and then cause to search the time lengthening needed for unmanned plane 20.
It please refers to Fig.1 and Figure 13, in some embodiments, step S15 includes the following steps：
S152：Judge whether the lost contact time is greater than or equal to the predetermined time in the timing of non-radio-frequency lock；
S154 and/or S164；
S154：Step S12 is returned to when the lost contact time being less than the predetermined time, repeats step S12, step S13, step
S14, step S152 and step S154.
S156：The lost contact time more than or equal to predetermined time time control directional aerial 12 scan multiple precalculated positions until
Directional aerial 12 is locked with 20 radio frequency of unmanned plane.
In some embodiments, processor 14 is used for：
Judge whether the lost contact time is greater than or equal to the predetermined time in the timing of non-radio-frequency lock；
According to the control before 20 lost contact of unmanned plane when being returned in 20 lost contact of unmanned plane when the lost contact time being less than the predetermined time
Parameter and state of flight and lost contact time determine the step of estimating position of unmanned plane 20, and/or, it is more than or waits in the lost contact time
Multiple precalculated positions are scanned in predetermined time time control directional aerial 12 until directional aerial 12 is locked with 20 radio frequency of unmanned plane.
In other words, step S152, S154 and S156 can be realized by processor 14.
In this way, so that unmanned plane 20 is repeatedly calculated in the given time estimates position (PA, YA), when estimating position for the first time
(PA, YA) inaccurate (i.e. directional aerial 12 and unmanned plane 20 can not radio frequency locking) when, weighted value can be adjusted immediately and calculated again in advance
Estimate position (PA, YA), when avoiding to lead to long with the locking of unmanned plane 20 again radio frequency in time in 20 transience lost contact of unmanned plane
Between lost contact.
Specifically, the predetermined time can be used as the reference frame for distinguishing transience lost contact and interrupt-type lost contact.For example, when pre-
Interior realization ground control terminal 10 of fixing time realizes radio-frequency lock timing with unmanned plane 20, you can is determined as transience lost contact.
Predetermined time can be designed according to different unmanned planes 20.In one example, the reboot time of unmanned plane 20
Comparatively fast, the processing speed of processor 14 is very fast, then will can be arranged the predetermined time more a little bit smaller, such as 2s.In another example
In, the processing speed of processor 14 is slower, then can will be arranged the predetermined time to grow a bit, such as 5s.Certainly, in other implementations
In mode, the predetermined time is not limited to the above-mentioned time, for example, can also will be set as the predetermined time 2.3s, 2.5s, 4s, 6s or other
The suitable time.
Fig. 2 and Fig. 7 is please referred to, when directional aerial 12 is towards estimating position (PA, YA) after, directional aerial 12 and unmanned plane 20
Radio frequency locking is cannot achieve, then control directional aerial 12 is needed to scan multiple precalculated positions.
Specifically, ground control terminal 10 includes holder 162, and holder 162 is used to adjust the water of 12 horizontal direction of directional aerial
The pitch angle P of square parallactic angle Y and pitch orientation.Wherein, the range P of the pitch angle of holder 162 is 1~β of-β 2, for example, working as β 1
It is 60 °, when β 2 is 60 °, ranging from -60 °~60 ° of the pitch angle of holder 162.It is corresponding that directional aerial 12 meets target gain
Field angle is 2 α, for example, when α is 10 °, field angle is 20 °.In the pitch direction, 12 surrounding space of directional aerial is divided into n
A precalculated position, at least the angular range size of a precalculated position (n-1) in the pitch direction are 2 α.For example, holder 162 is bowed
Ranging from -60 ° of the elevation angle~60 ° share 6 precalculated positions, each precalculated position is in the pitch direction when field angle is 20 °
Angular dimension be 20 °.Alternatively, working as ranging from -75 °~75 ° of the pitch angle of holder 162, when field angle is 20 °, 8 are shared
Precalculated position, wherein the angular dimension of 7 precalculated positions in the pitch direction is 20 °, 1 precalculated position is in the pitch direction
Angular dimension is 10 °.
When directional aerial 12 often enters a precalculated position scanning, pitch angle P is constant, and directional aerial 12 rotates, and it is fixed to make
It is scanned in 0~360 ° to the horizontal azimuth of antenna 12.It is appreciated that pitch angle P=- β 1+2 α * N, wherein N are big when scanning
In or be equal to 0, be less than (β 1+ β 2)/2 α+1.
Radio frequency locking is established due to unmanned plane 20 and ground control terminal 10 and needs certain time t, directional aerial 12 exists
The angular speed v of horizontal direction rotation is less than 2 α/t.
4 are please referred to Fig.1, in some embodiments, unmanned plane searching method further includes following step after the step s 15
Suddenly：
S16：Judge whether to receive the first spatial positional information of the unmanned plane 20 that unmanned plane 20 is sent out；
S17：Judge whether ground control terminal 10 can determine the second space location information where ground control terminal 10；
S18：When receiving the first spatial positional information and second space location information being determined, according to the first space bit
Confidence ceases and relative position of the second space positional information calculation unmanned plane 20 relative to ground control terminal 10；
S19：Controlling adjustment directional aerial 12 according to relative position makes directional aerial 12 be aligned with unmanned plane 20；With
S20：When being not received by the first spatial positional information and/or not can determine that second space location information, control
Directional aerial 12 is finely tuned until the communication strength between directional aerial 12 and unmanned plane 20 to peaking.
In some embodiments, processor 14 is additionally operable to：
Judge whether to receive the first spatial positional information of the unmanned plane 20 that unmanned plane 20 is sent out；
Judge whether ground control terminal 10 can determine the second space location information where ground control terminal 10；
When receiving the first spatial positional information and second space location information being determined, according to the first space bit confidence
Breath and relative position of the second space positional information calculation unmanned plane 20 relative to ground control terminal 10；
Controlling adjustment directional aerial 12 according to relative position makes directional aerial 12 be aligned with unmanned plane 20；With
When being not received by the first spatial positional information and/or not can determine that second space location information, control fine tuning
Directional aerial 12 is until the communication strength between directional aerial 12 and unmanned plane 20 to peaking.
In other words, step S16, S17, S18, S19 and S20 can be realized by processor 14.
In this way, after directional aerial 12 and unmanned plane 20 realize radio frequency locking, directional aerial 12 is made to be further aligned nothing
Man-machine 20, so that ground control terminal 10 is in optimal communications status with unmanned plane 20, improves ground control terminal 10 and unmanned plane 20
Between communication quality.
It is appreciated that the first spatial positional information is the spatial positional information where unmanned plane 20；Believe second space position
Breath includes the spatial positional information where ground control terminal 10.
Specifically, the normal direction f that directional aerial 12 meets the corresponding field angle of target gain is maximum gain direction.It can
To understand, it refers to that adjustment directional aerial 12 makes directional aerial that adjustment directional aerial 12, which makes directional aerial 12 be aligned with unmanned plane 20,
The line coincident or distance of 12 normal direction f and ground control terminal 10 and unmanned plane 20 are less than predetermined threshold.
Further, 5 are please referred to Fig.1, equipped with Global Satellite Navigation System (GNSS, Global on unmanned plane 20
Navigation Satellite System) receiver 22 and barometer 24, the first spatial positional information can receive by GNSS
Machine 22 and barometer 24 obtain, wherein GNSS receiver 22 is used to obtain the first latitude and longitude information of unmanned plane 20, barometer 24
The first elevation information for obtaining unmanned plane 20.First latitude and longitude information and the fusion of the first elevation information can be respectively obtained
First spatial positional information.It is empty for obtaining second that ground control terminal 10 is again provided with GNSS receiver 22 and barometer 24
Between location information.Similarly, GNSS receiver 22 is used to obtain the second latitude and longitude information of ground control terminal 10, and barometer 24 is used for
Obtain the first elevation information of ground control terminal 10.Second latitude and longitude information and the fusion of the second elevation information can be respectively obtained
Second space location information.
GNSS receiver 22 includes american global positioning system receiver, Chinese Beidou satellite navigation system receiver, Russia
Ross GLONASS receiver of satellite navigation system or European Galileo satellite navigation system receiver, are not limited herein.
Incorporated by reference to Fig. 2 and Fig. 7, after unmanned plane 20 and the locking of 10 radio frequency of ground control terminal, even if ground control terminal 10 does not have
It receives the first spatial positional information and/or not can determine that second space location information, the maximum gain side of directional aerial 12
It is also closer to the direction with unmanned plane 20 relative to ground control terminal 10, finely tunes directional aerial 12 at this time, it is strong when reaching communication
When spending peak value, the maximum gain direction of directional aerial 12 has been overlapped with the line of ground control terminal 10 and unmanned plane 20.It that is to say
It says, the normal direction f of directional aerial 12 has been overlapped with the line of ground control terminal 10 and unmanned plane 20.According to directional aerial at this time
The pitch angle and horizontal azimuth of 12 normal direction f is pitch angle and level of the unmanned plane 20 relative to ground control terminal 10
Azimuth.
In the description of this specification, reference term " certain embodiments ", " embodiment ", " an embodiment party
The description meaning of formula ", " some embodiments ", " exemplary embodiment ", " example ", " specific example " or " some examples " etc.
Refer at least one reality that the present invention is contained in conjunction with embodiment or example particular features, structures, materials, or characteristics described
It applies in mode or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment
Or example.Moreover, particular features, structures, materials, or characteristics described can in any one or more embodiments or
It can be combined in any suitable manner in example.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three,
Unless otherwise specifically defined.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification, and the scope of the present invention is limited by claim and its equivalent.
Claims (20)
1. a kind of unmanned plane searching method, the unmanned plane for controlling the ground control terminal search lost contact with directional aerial,
It is characterized in that, the unmanned plane searching method includes the following steps：
Judge the unmanned plane whether lost contact；
In the unmanned plane lost contact according to before the control parameter and lost contact of the unmanned plane state of flight and the lost contact time it is true
The fixed unmanned plane estimates position；With
It controls the directional aerial and estimates position described in.
2. unmanned plane searching method according to claim 1, which is characterized in that it is described judge the unmanned plane whether lost contact
The step of include the following steps：
Judge whether radio frequency locks the directional aerial with the unmanned plane；With
The unmanned plane lost contact described in the directional aerial and the non-radio-frequency lock timing determination of the unmanned plane.
3. unmanned plane searching method according to claim 1, which is characterized in that it is described judge the unmanned plane whether lost contact
The step of include the following steps：
Judge whether to receive the location information of the unmanned plane；With
Determining that the when of not receiving the location information of the unmanned plane determines the unmanned plane lost contact.
4. unmanned plane searching method according to claim 1, which is characterized in that enter guarantor out of control after the unmanned plane lost contact
Shield pattern；It is described in the unmanned plane lost contact according to before the unmanned aerial vehicle (UAV) control parameter and lost contact state of flight determine described in
Unmanned plane includes the following steps the step of estimating position：
The ground control terminal is obtained to the first control parameter of the unmanned plane, the unmanned plane in the lost-control protection pattern
Under the second control parameter, at least one of three kinds of parameters of environment trajectory parameters of the unmanned plane；
Position is estimated according to described in the determination of at least one of described three kinds of parameters.
5. unmanned plane searching method according to claim 1, which is characterized in that the ground control terminal includes tracking antenna
Device, the tracking antenna assembly include the holder for horizontally rotating the directional aerial, and the position of estimating is for determining
The target level azimuth of the directional aerial；The step of control directional aerial estimates position described in include with
Lower step：
The holder is controlled so that the directional aerial turns to the target level azimuth.
6. unmanned plane searching method according to claim 1, which is characterized in that the ground control terminal includes tracking antenna
Device, the tracking antenna assembly include holder of the adjustment for the directional aerial pitching, and the position of estimating is for determining
The target pitch angle of the directional aerial；The step of control directional aerial estimates position described in includes following step
Suddenly：
The holder is controlled so that the directional aerial turns to the target pitch angle.
7. unmanned plane searching method according to claim 1, which is characterized in that the unmanned plane searching method further include with
Lower step：
Judge that the directional aerial estimates whether position and the unmanned plane can realize that radio frequency locks described；With
The multiple precalculated positions of directional antenna scan described in radio-frequency lock timing controlled cannot achieve until the directional aerial and institute
It states unmanned plane and realizes radio frequency locking.
8. unmanned plane searching method according to claim 7, which is characterized in that described to cannot achieve radio-frequency lock timing control
The multiple precalculated positions of the directional antenna scan are made until the step of directional aerial realizes radio frequency locking with the unmanned plane
Include the following steps：
The multiple precalculated positions of the directional antenna scan are immediately controlled until the directional aerial cannot achieve radio-frequency lock timing
Radio frequency locking is realized with the unmanned plane.
9. unmanned plane searching method according to claim 7, which is characterized in that described to cannot achieve radio-frequency lock timing control
Make the multiple precalculated positions of the directional antenna scan until the directional aerial and the unmanned plane realize radio frequency locking include with
Lower step：
Judge whether the lost contact time is greater than or equal to the predetermined time in the timing of non-radio-frequency lock；
According to the unmanned plane when described in being returned to when the lost contact time being less than the predetermined time in the unmanned plane lost contact
Control parameter and state of flight and lost contact time before lost contact determine the position of estimating of the unmanned plane, and/or, in the lost contact
Time, the directional antenna scan multiple precalculated positions were controlled when being greater than or equal to the predetermined time until the directional aerial
It is locked with the unmanned plane radio frequency.
10. unmanned plane searching method according to claim 1, which is characterized in that the unmanned plane searching method is described
It is further comprising the steps of after the step of directional aerial realizes radio frequency locking with the unmanned plane：
Judge whether to receive the first spatial positional information of the unmanned plane that the unmanned plane is sent out；
Judge whether the ground control terminal can determine the second space location information where the ground control terminal；
It is empty according to described first when receiving first spatial positional information and the second space location information being determined
Between relative position of the unmanned plane relative to the ground control terminal described in location information and the second space positional information calculation；
Adjusting the directional aerial according to relative position control makes the directional aerial be aligned with the unmanned plane；With
When being not received by first spatial positional information and/or not can determine that the second space location information, control
The directional aerial is finely tuned until the communication strength between the directional aerial and the unmanned plane to peaking.
11. a kind of ground control terminal, the unmanned plane for controlling the ground control terminal search lost contact with directional aerial, feature
It is, the ground control terminal includes directional aerial and processor, and the processor is used for：
Judge the unmanned plane whether lost contact；
In the unmanned plane lost contact according to before the unmanned aerial vehicle (UAV) control parameter and lost contact state of flight and the lost contact time determine
The unmanned plane estimates position；With
It controls the directional aerial and estimates position described in.
12. ground control terminal according to claim 11, which is characterized in that the processor is further used for：
Judge whether radio frequency locks the directional aerial with the unmanned plane；With
The unmanned plane lost contact described in the directional aerial and the non-radio-frequency lock timing determination of the unmanned plane.
13. ground control terminal according to claim 11, which is characterized in that the processor is further used for：
Judge whether to receive the location information of the unmanned plane；With
Determining that the when of not receiving the location information of the unmanned plane determines the unmanned plane lost contact.
14. ground control terminal according to claim 11, which is characterized in that enter lost-control protection after the unmanned plane lost contact
Pattern；The processor is further used for：
The ground control terminal is obtained to the first control parameter of the unmanned plane, the unmanned plane in the lost-control protection pattern
Under the second control parameter, at least one of three kinds of parameters of environment trajectory parameters of the unmanned plane；
Position is estimated according to described in the determination of at least one of described three kinds of parameters.
15. ground control terminal according to claim 11, which is characterized in that the ground control terminal includes that tracking day is traditional thread binding
It sets, the tracking antenna assembly includes the holder for horizontally rotating the directional aerial, and the position of estimating is for determining institute
State the target level azimuth of directional aerial；The processor is further used for：
The holder is controlled so that the directional aerial turns to the target level azimuth.
16. ground control terminal according to claim 11, which is characterized in that the ground control terminal includes that tracking day is traditional thread binding
It sets, the tracking antenna assembly includes holder of the adjustment for the directional aerial pitching, and the position of estimating is for determining institute
State the target pitch angle of directional aerial；The processor is further used for：
The holder is controlled so that the directional aerial turns to the target pitch angle.
17. ground control terminal according to claim 11, which is characterized in that the processor is additionally operable to：
Judge that the directional aerial estimates whether position and the unmanned plane can realize that radio frequency locks described；With
The multiple precalculated positions of directional antenna scan described in radio-frequency lock timing controlled cannot achieve until the directional aerial and institute
It states unmanned plane and realizes radio frequency locking.
18. ground control terminal according to claim 17, which is characterized in that the processor is further used for：
The multiple precalculated positions of the directional antenna scan are immediately controlled until the directional aerial cannot achieve radio-frequency lock timing
Radio frequency locking is realized with the unmanned plane.
19. ground control terminal according to claim 17, which is characterized in that the processor is further used for：
Judge whether the lost contact time is greater than or equal to the predetermined time in the timing of non-radio-frequency lock；
According to the unmanned plane when described in being returned to when the lost contact time being less than the predetermined time in the unmanned plane lost contact
Control parameter and state of flight and lost contact time before lost contact determine the position of estimating of the unmanned plane, and/or, in the lost contact
Time, the directional antenna scan multiple precalculated positions were controlled when being greater than or equal to the predetermined time until the directional aerial
It is locked with the unmanned plane radio frequency.
20. ground control terminal according to claim 11, which is characterized in that the processor is additionally operable to：
Judge whether to receive the first spatial positional information of the unmanned plane that the unmanned plane is sent out；
Judge whether the ground control terminal can determine the second space location information where the ground control terminal；
It is empty according to described first when receiving first spatial positional information and the second space location information being determined
Between relative position of the unmanned plane relative to the ground control terminal described in location information and the second space positional information calculation；
Adjusting the directional aerial according to relative position control makes the directional aerial be aligned with the unmanned plane；With
When being not received by first spatial positional information and/or not can determine that the second space location information, control
The directional aerial is finely tuned until the communication strength between the directional aerial and the unmanned plane to peaking.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/081536 WO2018191986A1 (en) | 2017-04-21 | 2017-04-21 | Search method for unmanned aerial vehicle, and ground control terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108496131A true CN108496131A (en) | 2018-09-04 |
| CN108496131B CN108496131B (en) | 2022-03-22 |
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| CN201780004918.5A Expired - Fee Related CN108496131B (en) | 2017-04-21 | 2017-04-21 | Unmanned aerial vehicle searching method and ground control terminal |
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| WO (1) | WO2018191986A1 (en) |
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| CN111380405B (en) * | 2018-12-29 | 2021-01-15 | 北京理工大学 | Guidance control system of high-dynamic aircraft with strapdown seeker |
| CN112909547A (en) * | 2019-12-04 | 2021-06-04 | 中国移动通信集团上海有限公司 | System and method for adjusting directional antenna of unmanned aerial vehicle |
| CN112909547B (en) * | 2019-12-04 | 2022-12-02 | 中国移动通信集团上海有限公司 | System and method for adjusting directional antenna of unmanned aerial vehicle |
| CN110989397A (en) * | 2019-12-10 | 2020-04-10 | 四川大学 | Aircraft accident search simulation method and system |
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| CN112083736A (en) * | 2020-08-11 | 2020-12-15 | 广东电网有限责任公司电力科学研究院 | Unmanned aerial vehicle tracking method |
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| CN111862550B (en) * | 2020-08-13 | 2021-11-30 | 深圳市高巨创新科技开发有限公司 | Formation unmanned aerial vehicle group departure alarm method and system |
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| Publication number | Publication date |
|---|---|
| WO2018191986A1 (en) | 2018-10-25 |
| CN108496131B (en) | 2022-03-22 |
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