CN108592905A - A kind of accurate air navigation aid of unmanned plane that can quickly correct course - Google Patents
A kind of accurate air navigation aid of unmanned plane that can quickly correct course Download PDFInfo
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- CN108592905A CN108592905A CN201711467823.5A CN201711467823A CN108592905A CN 108592905 A CN108592905 A CN 108592905A CN 201711467823 A CN201711467823 A CN 201711467823A CN 108592905 A CN108592905 A CN 108592905A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of accurate air navigation aids of unmanned plane that can quickly correct course, the invention discloses a kind of unmanned plane night convoy methods, by conveying password or operation handheld terminal, selection unmanned plane is in follow the mode and still navigates pattern, when the distance-sensor of unmanned plane detects information, unmanned plane hovers, watering can is under the drive of rotating mechanism, spray goes to suitable position, pass through password or operation handheld terminal, the watering can of unmanned plane sprays liquid, and when user presses " one touch dial key ", module is sent to unmanned plane to information by radio communication；Its unmanned plane includes body and undercarriage；The bottom of the body is equipped with the first camera, watering can, LED light, loudspeaker, sound pick-up, buzzer, range sensor；The inside of the body is equipped with control device and memory.The present invention can not only realize illumination and navigation, but also can protect the safety of user with dialing the police emergency number by spraying liquid, easy to operate, highly practical.
Description
Technical field
The present invention relates to air vehicle technique field, the accurate side of navigation of specially a kind of unmanned plane that can quickly correct course
Method.
Background technology
UAV is to utilize radio remote-controlled telemetry equipment and the presetting apparatus provided for oneself referred to as " unmanned plane "
The not manned aircraft manipulated.The equipment such as navigation and flight control, presetting apparatus and power and power supply are installed on machine.
Ground remote control telemetry station personnel into line trace, positioning, remote control, telemetering and carry out real time data by equipment such as data-links, to it
Transmission.Compared with manned aircraft, it has the characteristics that adapt to a variety of flight environment of vehicle requirements, can especially undertake beyond human effort
The flight of long endurance or high risk flight, the line of flight and attitude control accuracy are high, can be widely used for air remote sensing, meteorology is ground
Study carefully, in agriculture plant seeds by airplane and the prevention and control of plant diseases, pest control；Special advantage is had more in war, be can be widely used for aerial reconnaissance, monitoring, is led to
Letter, antisubmarine, electronic interferences and weapon strike etc..
Currently, the flight navigation of unmanned plane is generally combined life with airborne inertial navigation set using onboard satellite navigation device
At combination navigation data, has many advantages, such as navigation accuracy height, be suitble to flying for long time, but above-mentioned air navigation aid is to satellite navigation
Dependence is larger.When human interference occur in satellite navigation information appearance generation mutation or wartime or artificially satellite navigation are caused to cheat
When information, unmanned aerial vehicle control system can only carry out pure inertia due to losing satellite navigation information by airborne inertial navigation set
Navigation pattern, or cut the Integrated navigation mode of celestial navigation information and inertial navigation set.Celestial navigation, which usually requires that, not to be had
There are 7000 meters or more flights of heavy clouds to use, terrain match, which usually requires that fly under conditions of the near-earth visibility good of low latitude, to be made
With Doppler navigation applicable elements are wider, but these navigation equipments are heavier, and power consumption, navigation accuracy is poor, and unmanned plane is caused to lose
Remove the satellite navigation information of satellite navigation or acceptance error and substantial deviation prebriefed pattern.In addition, to ensure surface structures and people
Member is safe and other security needs, and should limit unmanned plane cannot arrive in certain spatial domains by plane（No-fly spatial domain）Or lands or compel in unmanned plane
Make every effort to control unmanned plane during drop not in certain places（Prohibit landing domain）Surprisingly lands or fall.
Invention content
Existing insufficient in view of the above technology, the present invention provides a kind of unmanned planes that can quickly correct course precisely to navigate
Method, it is excessive and in navigation procedure to solve traditional Navigation of Pilotless Aircraft error, the problem of can not quickly correcting course, can be really
It protects unmanned plane to remain to complete aerial mission by prebriefed pattern in the case where losing satellite navigation, and it is no-fly to prevent unmanned plane from leaping
Spatial domain is landed prohibiting landing domain.
To achieve the above object, the present invention provides the following technical solutions：
A kind of accurate air navigation aid of unmanned plane that can quickly correct course, the method includes：
The course line detection module that function is calculated with course data is added on unmanned plane, which can be according to machine
It carries flight attitude, the speed of a ship or plane and height parameter that equipment provides and extrapolates the real-time navigation data for not depending on satellite navigation；
In unmanned plane during flying, existing Satellite Navigation Set is combined in conjunction with generation with existing inertial navigation set on machine and is led on machine
Boat data, course line detection module constantly compare real-time navigation data and integrated navigation data；
According to the confidence level for comparing data and judging satellite navigation, when satellite navigation is normal, unmanned plane preferentially uses integrated navigation number
According to flying, and temporarily real-time navigation data are hung up；
When satellite navigation is abnormal, unmanned plane enables real-time navigation data and flies automatically.
Further, in the present invention, the method includes：
The course line detection module can calculate the no-fly spatial domain to be passed through of prebriefed pattern；By in real-time navigation data coordinate with
The spatial position coordinate in the no-fly spatial domain stored in airborne equipment is compared, and is modified automatically to real-time navigation data,
No-fly spatial domain is got around, is flown around prebriefed pattern is pressed behind no-fly spatial domain again.
Further, in the present invention, the course data calculates that function is real-time according to the aircraft of existing airborne equipment
Flight attitude, the speed of a ship or plane and height extrapolate the real-time navigation data for not depending on satellite navigation.
Further, in the present invention, the method further includes：
The course line detection module, which can calculate prebriefed pattern, to land domain by the taboo on spatial domain close beneath ground；
When unmanned plane lands or breaks down forced landing, coordinate and airborne equipment in the lasting data by real-time navigation of unmanned plane
The geographical coordinate in the taboo landing domain of middle storage is compared；
And estimation landing point constantly is modified to real-time navigation data, control unmanned plane downslide course is avoided prohibiting landing domain, with
Ensure surface structures or personnel safety.
Further, in the present invention, the method includes：
The course line detection module is provided simultaneously with course data and calculates, gets around no-fly spatial domain and avoid the function of prohibiting landing domain；Or
Have course data to calculate, get around no-fly spatial domain and avoid prohibiting any one in landing three kinds of domain function or arbitrary two kinds of work(
Energy.
The beneficial effects of the invention are as follows：It is stored in coordinate and airborne equipment in the lasting data by real-time navigation of unmanned plane
The geographical coordinate in taboo landing domain be compared, and constantly real-time navigation data are modified, estimation landing point controls nobody
Machine downslide course, to avoid prohibiting landing domain, to ensure surface structures or personnel safety.The course line detection module is provided simultaneously with boat
Line number it is estimated that, get around no-fly spatial domain and avoid the function of prohibiting landing domain；Or have course data calculate, get around no-fly spatial domain and
Avoid prohibiting one kind or the arbitrary two kinds of functions in the function in landing domain.
Specific implementation mode
The following is a clear and complete description of the technical scheme in the embodiments of the invention, it is clear that described embodiment
Only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
The every other embodiment that art personnel are obtained without making creative work belongs to the model that the present invention protects
It encloses.
Embodiment 1：
A kind of accurate air navigation aid of unmanned plane that can quickly correct course, being added on unmanned plane has the function of course data reckoning
Course line detection module；The module can extrapolate the reality for not depending on satellite navigation according to the prebriefed pattern stored in airborne equipment
When navigation data；Unmanned plane still uses existing integrated navigation data, the integrated navigation data are by machine in normal flight
Existing Satellite Navigation Set is combined generation with existing inertial navigation set on machine.In flight course, course line detection module
It is continual by the integrated navigation data for relying on satellite navigation information and do not depend on the real-time navigation data of satellite navigation information into
Row compares, when the difference for comparing data（Criterion value）When less than 1 kilometer, then it is assumed that satellite navigation is normal, is continuing with existing
Integrated navigation data.When satellite navigation is broken down for a long time, the integrated navigation data for relying on satellite navigation information are losing
It will produce drift in the case of satellite navigation information.The difference for the comparison data that course line detection module generates is more than 1 kilometer, then recognizes
It breaks down for satellite navigation information or satellite navigation information may be disturbed or occur false navigation information, unmanned plane temporarily will
Integrated navigation data are hung up；Unmanned plane enables real-time navigation data and flies automatically.Course line detection module is still uninterrupted simultaneously
The integrated navigation data for relying on satellite navigation information are compared with the real-time navigation data for not depending on satellite navigation information,
When the difference for comparing data is returned within 1 kilometer, and continue after ten minutes, it is believed that satellite navigation information restores normal, nothing
It is man-machine to reuse existing integrated navigation data.
Embodiment 2：
It is added on unmanned plane with the course line detection module for getting around no-fly spatial domain function；The module can calculate prebriefed pattern
The no-fly spatial domain that may pass through；By the spatial position in the no-fly spatial domain stored in the coordinate and airborne equipment in real-time navigation data
Coordinate is compared, and is modified automatically to real-time navigation data, and no-fly spatial domain is got around, pre- around being pressed again behind no-fly spatial domain
Tramp-liner is flown.If certain unmanned plane apart from the mountain area of 200 kilometers of ground control station when carrying out 2500 meters of low-latitude flyings, occur
Satellite navigation information outage.Unmanned plane occurs tight spiral near point according to pre-set program, in failure and waits for
The recovery of satellite navigation information.After several minutes, unmanned plane is still not received by satellite navigation information, switchs to make a return voyage automatically.It returns
Course line road is line between airport where the position of fault to ground control station, and control logic of making a return voyage is first to climb to 3500 meters,
3000 meters of mountain area highest mountain peak is avoided, flat airport overhead of flying to nearby declines landing.High mountain at 3 kilometers away from return route point
3000 meters are blocked in course line, and unmanned plane needs to climb to 3500 meters before 1 kilometer of mountain peak, and unmanned plane speed 160km/h,
Climb rate 10m/s cannot complete climb altitude in this segment distance.Then, the course line detection module on unmanned plane around lifting a ban
Fly spatial domain function and automatically detect there is the mountain peak in airborne map datum, this can be detoured from its contour with 3.5 kilometers of radius
No-fly spatial domain, according to algorithm, the detour of ramp-up period is using the Circuitous Route that climbs, and then, unmanned plane reaches after bypassing mountain peak
3500 meters of height, and incision returns on scheduled course back again.Next, front will pass through a county town, according to nothing
The no-fly spatial domain function of bypass of course line detection module on man-machine, course line detection module such as provide at the height Circuitous Route, then, nothing
5 kilometers of the man-machine county town of detour again gabarit radius, new incision of laying equal stress on return in scheduled straight course, continue to make a return voyage.At this time away from
It disembarks 120 kilometers of field, has left mountain area, ground control station line of sight link is established with unmanned plane to be communicated.
Embodiment 3：
It is added on unmanned plane with the course line detection module for avoiding prohibiting landing domain-functionalities；The module can calculate prebriefed pattern
Domain may be landed by the taboo on spatial domain close beneath ground；When unmanned plane lands or break down forced landing, unmanned plane is lasting
Coordinate in real-time navigation data is compared with the geographical coordinate in the taboo landing domain stored in airborne equipment；And constantly to reality
When navigation data be modified, estimation landing point control unmanned plane downslide course, to avoid prohibiting landing domain, to ensure surface structures
Or personnel safety.If the medium-sized unmanned plane of a frame breaks down, glide by 15 degree of angles from 2000 meters of height with 160km/h speed.Boat
Line detection module detects the continuous slide situation in non task course line, Automatic solution downslide pick-up point.The unmanned plane calculates landing
Point be using pressure altitude information as the flash of right angled triangle, by ground as plane, then with unmanned plane downslide course and
The angle of flash resolves oblique distance and setting point, in conjunction with the azimuth that unmanned plane measures, estimates possible pick-up point.Using airborne
Diagram data is found, and the pick-up point of estimation is downtown areas, then, high higher than unmanned plane air pressure according to the downtown areas height above sea level
25 meters of plane is spent, 25 meters are reduced to the flash that pressure altitude provides, pick-up point is corrected again, remains in cities and towns.Then, certainly
Dynamic to provide control instruction, unmanned plane aileron griping, body, which breaks away, deviates former glide path, detects drop point again and deviates discriminant value 2
Kilometer is more than safe distance.Unmanned plane, which is eased the helm, continues landing of gliding.It counts unmanned plane accumulation downslide voyage and distance is more than
It 7000 meters, glides about 160 seconds time.
Make it should be noted that course line detection module of the present invention can be embedded in unmanned plane active computer resource
With may be designed in independent hardware module and use.The course line detection module is provided simultaneously with course data and calculates, around lifting a ban
Fly spatial domain and avoids the function of prohibiting landing domain；Or has course data and calculate, get around no-fly spatial domain and avoid the work(for prohibiting landing domain
Any one in energy or arbitrary two kinds of functions.It remarks additionally separately below to three of the above function：
（One）The course line of course line detection module calculates function and its use
The course line of the course line detection module calculates that function is a kind of course data reckoning function, is set using the navigation on unmanned plane
It is standby, include the information parameter of heading and attitude equipment, speed of a ship or plane equipment and height equipment real-time update, boat is calculated in real time for course line detection module
Line number evidence.The work(in real-time course line is compared and corrected again to prebriefed pattern with the existing navigation of unmanned plane with flight control system
Can, unmanned plane can correctly fly according to course line projectional technique.The emphasis of the present invention is that course line is calculated data as a kind of reference,
Satellite navigation and inertial navigation combination data are compared therewith, detection combination data, which whether there is, deviates significantly from preset course line
Abnormal conditions.Departure degree is expressed with criterion value, data splitting indicates that unmanned plane has occurred significantly more than discriminant value
Deviate.
Above-mentioned heading and attitude equipment includes existing inertial navigation set on unmanned plane（Abbreviation inertial navigation）, it is that prime navaid is set
Three axis rates that are standby, providing, the parameters such as rate of acceleration and angular speed can resolve the course in course line, speed, yaw and position
Etc. data.In use, the integrated navigation data calculated are combined with satellite navigation information using inertial navigation, pure satellite can be improved
The mutations situation such as the short time saltus step of navigation information or losing lock, in addition, also applying vertical gyro as flight attitude on unmanned plane
Sensor can provide pitching, the data such as roll and yaw.
Speed of a ship or plane equipment above-mentioned, the air speed data that mainly air data computer equipment provides on unmanned plane, this sets
It is standby that pressure altitude data etc. are also provided.In addition, also providing ground velocity data in satellite navigation information on unmanned plane.In usually satellite
Navigation information normally in-flight, can record the relationship number of air speed and ground velocity difference and motor power on accumulation different height
According to.
Height equipment above-mentioned, the equipment that flying height is capable of providing on unmanned plane include navigation satellite information, air
Data computer, inertial navigation height change value, in addition, also using radio altimeter or laser altitude gage for low on unmanned plane
Sky flight is surveyed high.
The course line detection module obtains position according to the existing airborne equipment of unmanned plane, highly several in real time with speed etc.
According to calculating algorithm with preset course line in the detection module of course line, Flight path data can be resolved.Course line calculates the precision of algorithm
It can support unmanned plane that course line reckoning is only used only and flies near the predetermined area, then by terrestrial radio talk down, or by ground
The radar in face or optical navigation device talk down.
To improve arithmetic accuracy, when satellite navigation information is normal, can be used to be modified to improve course line reckoning
Its precision.Judge whether satellite navigation information is intact, there is the method for discrimination of a set of equipment grade in the navigation system of unmanned plane, one
As situation be to determine whether the navigation data combined with inertial navigation using satellite navigation information flight with this method.The present invention provides
The air navigation aid of unmanned plane point out, to avoid satellite navigation information from systematicness error or interference occur, it should to navigation system
The navigation data of output carries out system-level safety detection again, and the detection foundation of recommendation is to be calculated to make comparisons with course line.Course line pushes away
Calculation method can not depend on satellite navigation data, can in real time be generated in unmanned plane during flying overall process, in navigation sensor equipment
Aspect, can navigation main system inertial navigation equipment and backup or specific equipment is selected by user between emergent navigation equipment
It is calculated to undertake course line, depends on the precision to equipment, the considerations such as reliability.
The navigation data that satellite navigation information is combined with airborne inertial navigation set is calculated that data are compared with course line,
The accordance both detected, when detection difference meets the discriminant value of setting, unmanned plane will preferentially use course line calculate data with it is pre-
Tramp-liner compares carry out flight navigation, and the navigation data for temporarily combining satellite navigation information with airborne inertial navigation set is hung
It rises, works on and continue to detect, after detecting the discriminant value of difference deviation setting, unmanned plane reuses satellite navigation information
The navigation data combined with airborne inertial navigation set carries out flight navigation.Here discriminant value is preset, which can
To be distance value, accordance inspection of the detection difference to discriminant value, including the case where deviateing or meeting, if met, then it is assumed that
There are problems for satellite navigation information.
For not using the unmanned aerial vehicle onboard navigation system of satellite navigation and inertial navigation integrated navigation, this method that can still make
With as long as discriminant value is suitably amplified, avoiding navigation data mobility scale is larger frequent state is caused to switch.
（Two）The no-fly spatial domain function of bypass of course line detection module and its use
The no-fly spatial domain function of bypass of the course line detection module is record or resolves the space seat in the no-fly spatial domain of one group of setting
Mark, referred to as no-fly spatial domain, the so-called no-fly spatial domain of the present invention include two class spatial domains, one kind be with civil air route be " axis " around
The certain predetermined distance of the axis is the spatial domain of radius, for example, laterally for 20 kilometers of spacing as radius, one kind is from ground using civil air route
Aerial a certain range of spatial domain is extended to, for example is extended up the cylindrical spatial domain in cities and towns overhead with the main towns gabarit circumscribed circle
It is included.Civil air route and other special no-fly spatial domains are issued by government department or related enterprise, arrange letter on this basis
Turn to no-fly airspace data library easy to use.The no-fly spatial domain may be on the course line of unmanned plane during flying course line process, can
The case where not identifying or omit when can be happened at prebriefed pattern, course line is accidentally passed through no-fly spatial domain, another situation is for nobody
It is accurate, it is expected that the starting point in the course line that such as takes home is with determination that the course line that machine automatically generates is difficult to before flight, and terminal is to take off
Airport or alternate airport nearby, what course line therebetween was automatically generated.Since most of the space coordinate in no-fly spatial domain is solid
Fixed, minority is issued temporarily, therefore, no-fly airspace data library be it is known before the preset line of flight, can will be no-fly
Spatial domain spatial data is pre-stored on unmanned plane, makees safety detection use for course line detection module.
The mathematical expression of no-fly spatial domain space coordinate can be a variety of.A kind of simple way is in actual use, will prohibit at one
Winged spatial domain is expressed as the cylinder extended from ground to vertical air, the cylindrical surface or polygon of the cylinder or certain radius
Cylinder etc..Using simplified mathematical notation as preset no-fly spatial domain space coordinate, used for safety detection.Mathematical expression is simple
Then Circuitous Route algorithm is also simple.
In-flight, by changing coordinates on real-time flight course line compared with no-fly spatial domain space coordinate, meeting for the two is detected
Property, when detection difference meets the discriminant value of setting, then the navigation of unmanned plane can control unmanned plane with flight control system and press
According to the Circuitous Route that the Circuitous Route algorithm of course line detection module provides, incision Circuitous Route flight bypasses no-fly airspace boundary,
Reaching the other end of the former line of flight across no-fly spatial domain, the original line of flight of row incision continues operation flight again.Wherein, meet
Property setting discriminant value, can be the safe separation distance of corresponding unmanned plane circling performance, Circuitous Route is usually arranged as contour
Course line is spent, the position coordinates that original course is cut in end of detouring again also can keep safe distance with no-fly spatial domain space coordinate.
The preset line of flight is typically to be bound before unmanned plane takes off, and special circumstances are that unmanned plane automatically generates, for example meets an urgent need
Course back.For unmanned plane when detouring no-fly spatial domain flight, original course calculates and outputs temporary suspension, when unmanned plane has bypassed taboo
After prebriefed pattern is cut in winged spatial domain again, unmanned plane can continue to fly according to original course navigation data.
（Three）Course line detection module avoids taboo landing domain-functionalities and its use
The course line detection module avoids prohibiting that landing domain-functionalities are records or resolve one group of setting forbid UAV Landing
The geographical coordinate of ground region referred to as prohibits landing domain.Prohibit landing domain it is commonly known, be the city indicated on map or other
The region occupied is built, plane coordinates range is known can such as to be obtained on related numerical map, a kind of its mathematical table
Can be that only expression is made in selection downtown areas or important building region up to mode.And to line-like area, dotted region can not be made
Expression, benefit are to speed up the computing speed of unmanned machine equipment, ensure key area safety.Specifically plane domain profile may be
Complicated, when use, can be reduced to simple polygon edge region, especially be reduced to the circumscribed circle mathematical table of polygon
It reaches.It should be superimposed one layer of geographical elevation information and characteristic vector information again to prohibiting the landing high level database in domain, especially should
Characteristic vector information provides when safety detection is to the area coordinate value and reaches the region recently and landed with adjacent taboo automatically
The vector on the larger boundary in domain interval helps unmanned plane to identify the nearest approach for being detached from the region as early as possible.
When the unmanned plane in-flight to break down passively reduces height arrival safety margins, or unmanned plane Adverse attitude occurs
When continuing for some time, if be also in can be under auto-flare system state, by the landing point and taboo of real-time estimation for unmanned plane
The geographical coordinate in landing domain is compared, the accordance of both course line detection module detections, when detection difference meets sentencing for setting
Be not worth, unmanned plane will automatically control downslide course leave prohibit landing domain coordinate points, it is therefore an objective to avoid prohibit landing domain coordinate at
For estimated landing point.Unmanned plane persistently uses detection module detection in course line to prohibit the geographical coordinate in landing domain, avoids being become
Make every effort to ensure ground city personnel safety constantly around landing domain of lifting a ban in level point.Since specific unmanned plane calculates that level point can
Can estimate possible pick-up point by ground as plane using pressure altitude information and triangular relationship.It resolves and has in this way
Error, a degree of optimization can be made after prohibiting landing domain geography elevation information by, which introducing, resolves.
If being equipped with forward looking camera system on unmanned plane, it can also identify what ground should be avoided by scene matching aided navigation
Scenery, such as building.Alternatively, identification can drop zone scene, in field and its regular a piece of of acre profile
Geometry midpoint, unmanned plane can lock the ground scenery, be transferred to target lock-on state of flight until reaching ground landing.In this way
Automatic identification, help to reduce flight preparation workload, improve to the protective capability of ground object.But this method according to
Rely weather visibility, resolved data amount bigger, and time is short and pressing for permission.In addition, if in a state in which when unmanned plane
Can also there are normal remote measuring and controlling information, ground control station personnel perhaps can assist controlling rational pick-up point, equally, place
In the unmanned plane of Adverse attitude whereabouts, its communication capacity can also be interfered, it cannot be guaranteed that ground control station continuously receives its letter
The case where breath, especially over the horizon flight.
The above common technical detail is the use relationship computing speed of airborne computer.A kind of method is to make full use of
Existing computer resource on unmanned plane, the division of labor resolve.For example navigational computer, flight-control computer, task management calculate
The computing resources such as machine.Basic method is that parallel computing is realized in design, accelerates speed with multiprocessor, realizes real-time resolving and safety
Detection.Interim arrangement is preferentially to make course line to calculate and detect, and is advised using automatic course line in or offline mode unknown to air route data
No-fly spatial domain detour resolving and safety detection are then opened in the flight drawn.And prohibits the resolving of landing domain and then set unmanned plane substantial deviation
Preferential automatic open-minded in the case of prebriefed pattern and Adverse attitude, ground can manual temporary close.
Course line detection module carries out accordance inspection to the output result of unmanned aerial vehicle onboard navigation subsystem, wherein with biography
The simple ripe course line of system calculates that navigation means are checked, helps to meet the preset line of flight.Meanwhile the no-fly sky that detours
Domain and taboo landing domain, increase unmanned plane during flying course line and meet safety requirements, strive for that controllable ability can be utilized when accidental falling
Avoid personnel's property loss on ground.Therefore, safety detection can improve the safety using unmanned plane, increase making for unmanned plane
With value.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of accurate air navigation aid of unmanned plane that can quickly correct course, which is characterized in that the method includes：
The course line detection module that function is calculated with course data is added on unmanned plane, which can be according to machine
It carries flight attitude, the speed of a ship or plane and height parameter that equipment provides and extrapolates the real-time navigation data for not depending on satellite navigation；
In unmanned plane during flying, existing Satellite Navigation Set is combined in conjunction with generation with existing inertial navigation set on machine and is led on machine
Boat data, course line detection module constantly compare real-time navigation data and integrated navigation data；
According to the confidence level for comparing data and judging satellite navigation, when satellite navigation is normal, unmanned plane preferentially uses integrated navigation number
According to flying, and temporarily real-time navigation data are hung up；
When satellite navigation is abnormal, unmanned plane enables real-time navigation data and flies automatically.
2. a kind of accurate air navigation aid of unmanned plane that can quickly correct course according to claim 1, which is characterized in that described
Method includes：
The course line detection module can calculate the no-fly spatial domain to be passed through of prebriefed pattern；By in real-time navigation data coordinate with
The spatial position coordinate in the no-fly spatial domain stored in airborne equipment is compared, and is modified automatically to real-time navigation data,
No-fly spatial domain is got around, is flown around prebriefed pattern is pressed behind no-fly spatial domain again.
3. a kind of accurate air navigation aid of unmanned plane that can quickly correct course according to claim 1, which is characterized in that described
Course data calculates that function is extrapolated and do not depended on according to the real-time flight attitude of aircraft of existing airborne equipment, the speed of a ship or plane and height
The real-time navigation data of satellite navigation.
4. a kind of accurate air navigation aid of unmanned plane that can quickly correct course according to claim 1, which is characterized in that described
Method further includes：
The course line detection module, which can calculate prebriefed pattern, to land domain by the taboo on spatial domain close beneath ground；
When unmanned plane lands or breaks down forced landing, coordinate and airborne equipment in the lasting data by real-time navigation of unmanned plane
The geographical coordinate in the taboo landing domain of middle storage is compared；
And estimation landing point constantly is modified to real-time navigation data, control unmanned plane downslide course is avoided prohibiting landing domain, with
Ensure surface structures or personnel safety.
5. a kind of accurate air navigation aid of unmanned plane that can quickly correct course according to claim 1, which is characterized in that described
Method includes：
The course line detection module is provided simultaneously with course data and calculates, gets around no-fly spatial domain and avoid the function of prohibiting landing domain；Or
Have course data to calculate, get around no-fly spatial domain and avoid prohibiting any one in landing three kinds of domain function or arbitrary two kinds of work(
Energy.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110011032A (en) * | 2019-02-21 | 2019-07-12 | 成都中技智慧企业管理咨询有限公司 | A kind of open/close control device and method of airborne emergency communication system antenna |
| CN110307847A (en) * | 2019-06-25 | 2019-10-08 | 江苏理工学院 | A kind of fixed-wing unmanned plane takes home flight course planning and horizontal lateral guidance method |
| CN111435166A (en) * | 2019-01-11 | 2020-07-21 | 通用电气航空系统有限公司 | Restoring navigation performance of a navigation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102620736A (en) * | 2012-03-31 | 2012-08-01 | 贵州贵航无人机有限责任公司 | Navigation method for unmanned aerial vehicle |
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2017
- 2017-12-29 CN CN201711467823.5A patent/CN108592905A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102620736A (en) * | 2012-03-31 | 2012-08-01 | 贵州贵航无人机有限责任公司 | Navigation method for unmanned aerial vehicle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111435166A (en) * | 2019-01-11 | 2020-07-21 | 通用电气航空系统有限公司 | Restoring navigation performance of a navigation system |
| CN110011032A (en) * | 2019-02-21 | 2019-07-12 | 成都中技智慧企业管理咨询有限公司 | A kind of open/close control device and method of airborne emergency communication system antenna |
| CN110011032B (en) * | 2019-02-21 | 2021-08-27 | 唐尚禹 | Retraction control device and method for airborne emergency communication system antenna |
| CN110307847A (en) * | 2019-06-25 | 2019-10-08 | 江苏理工学院 | A kind of fixed-wing unmanned plane takes home flight course planning and horizontal lateral guidance method |
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