CN108681333A - A kind of radar under Navigation of Pilotless Aircraft failure of apparatus makes a return voyage system - Google Patents
A kind of radar under Navigation of Pilotless Aircraft failure of apparatus makes a return voyage system Download PDFInfo
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- CN108681333A CN108681333A CN201810276662.XA CN201810276662A CN108681333A CN 108681333 A CN108681333 A CN 108681333A CN 201810276662 A CN201810276662 A CN 201810276662A CN 108681333 A CN108681333 A CN 108681333A
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- unmanned plane
- radar
- navigation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
It makes a return voyage system the invention discloses the radar under a kind of Navigation of Pilotless Aircraft failure of apparatus, is related to air vehicle technique field, including unmanned plane during flying module, floor treatment center and search unmanned plane；Including navigation module, hovering flight module, short message transmitting module, radar module and the tracking flight module being set in flight unmanned plane body；The floor treatment center includes map denotation interface, short message receiving module and wireless transport module one, and the search unmanned plane includes radar search module, wireless transport module two and control module of making a return voyage.Radar under Navigation of Pilotless Aircraft failure of apparatus using the present invention makes a return voyage system, in flight Navigation of Pilotless Aircraft failure of apparatus, control unmanned plane is in failure place hovering flight and independently sends distress signal, unmanned plane autonomous flight is prevented to be detached from the control of earth station's processing center, unmanned plane is avoided to be stolen, flight unmanned plane avoids the property loss of operating personnel according to backtracking under the guiding for the radar signal for searching unmanned plane.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to the radar under a kind of Navigation of Pilotless Aircraft failure of apparatus, which makes a return voyage, is
System.
Background technology
At present in existing unmanned plane field, to execute destination flight must rely on navigation system to receive stable satellite
Position signal, if in flight course, navigation system failure can not receive satellite positioning signal, unmanned plane will be unable to correctly fly and arrive
Target location, in some instances it may even be possible to lose the property loss for causing user, there will be secrecy if there being private data in unmanned plane
The risk of loss of data.
Chinese Patent Application No. discloses a kind of method system that control aircraft makes a return voyage automatically for 201510916318.9
And unmanned plane, the method includes：When the magnetometer fails or meets strong magnetic disturbance, it is assumed that flight-path angle is equal to head side
To accelerating towards heading to the aircraft；Judge whether the speed after the aircraft accelerates reaches preset value；If
The speed reaches preset value, then the flight-path angle of the aircraft is obtained according to the speed；Global or office can be provided by one
The positioning system of portion's coordinate obtains the current location of the aircraft and makes a return voyage a little, to obtain the course of the aircraft
Angle；Judge whether the difference between the course angle of the aircraft and the flight-path angle of the aircraft is less than fixed value；And if
The difference is less than fixed value, controls the aircraft and directly makes a return voyage.Using the invention technology can not increase hardware at
Realize that the automatic of aircraft is maked a return voyage under the premise of this.But the method system and unmanned plane that this kind of control aircraft makes a return voyage automatically,
If unmanned plane traveling is flown in mountain area or valley, is maked a return voyage using this method and be likely to cause unmanned plane collision massif, caused
Unmanned plane damages.
Invention content
It makes a return voyage system the purpose of the present invention is to provide the radar under a kind of Navigation of Pilotless Aircraft failure of apparatus, it is existing to solve
Caused above-mentioned defect in technology.
A kind of radar under Navigation of Pilotless Aircraft failure of apparatus makes a return voyage system, including flight unmanned plane, floor treatment center and
Search unmanned plane；
Flight unmanned plane：Including be set in flight unmanned plane body navigation module, hovering flight module, short message transmitting
Module, radar module and tracking flight module；The navigation module is connect with floor treatment center, for receiving in floor treatment
Flight path information that the heart is sent out simultaneously controls flight unmanned plane and is flown according to flight path information；The hovering flight module with lead
Model plane block connects, and the running state information for receiving navigation module simultaneously selects to hover according to the running state information of navigation module
The operational mode of flight module；The short message transmitting module is connect with navigation module, the operating status for receiving navigation module
Information simultaneously determines transmitting distress signal according to the running state information of navigation module；The radar module connects with hovering flight module
It connects, the running state information for receiving hovering flight module simultaneously determines radar according to the running state information of hovering flight module
The operational mode of module；The tracking flight module and radar module, radar module are receiving the radar letter for searching unmanned plane
Unmanned plane to be sought is close after number etc., searches unmanned plane after, and radar module will be received to be sat relative to search unmanned plane
Mark information is transferred to tracking flight module, and coordinate is believed in tracking flight module control flight unmanned plane during flying and holding flight course
It is constant to cease position；The tracking flight module is connect with hovering flight module, for receiving the coordinate for searching unmanned plane letter
The hovering flight pattern of hovering flight module is released after breath and gives the state of flight of flight unmanned plane to tracking flight module control
System；
Earth station's processing center：Including map denotation interface, short message receiving module and wireless transport module one, the map
Display interface facilitates user to select flight unmanned plane to need the target location reached and plan flight path, ground for flight unmanned plane
Figure display interface is connect with wireless transport module one, and flight path information is transferred to by wireless transport module one and flies nobody
Navigation module in machine simultaneously preserves flight path information；The short message receiving module is used to receive the short message hair in flight unmanned plane
Penetrate the distress signal that module is launched and distress signal be transferred to wireless transport module one, the wireless transport module one with search
Unmanned plane connection is sought, for wireless transport module one by the flight path of the flight unmanned plane of preservation after receiving distress signal
Information is transferred to search unmanned plane, and search unmanned plane is ordered to fly according to flight path information and be unfolded to search；
Search unmanned plane：Including radar search module, wireless transport module two and control module of making a return voyage, the wireless transmission
Module two is connect with the wireless transport module one of earth station's processing center, the flight road sent out for receiving wireless transport module one
Line information and search order and flight path information are transferred to control module of making a return voyage, and search order, which is transferred to radar, searches mould
Block；The control module of making a return voyage, which starts offline mode and controlled after receiving Fetion route information, searches unmanned plane according to flight
Route information flies；The radar search module is connect with control module of making a return voyage, and radar search module is receiving search order
Start search lighting pattern afterwards and after the radar signal for receiving flight unmanned plane close to flight unmanned plane, it is close to fly nobody
Machine post command makes a return voyage control module according to flight path information backtracking.
Preferably, the short message transmitting module emits distress signal using telecomm base station；The short message receiving module utilizes
Telecomm base station receives distress signal.
Preferably, the wireless transport module one and wireless transport module two are all made of 4G network traffics.
Preferably, the map denotation interface is liquid crystal display and is touch screen, the map in the map denotation interface
Using Baidu map.
Preferably, the radar in the radar module and radar search module uses millimetre-wave radar.
Preferably, the positioning device in the navigation module and control module of making a return voyage uses GPS positioning device.
The advantage of the invention is that：Radar under Navigation of Pilotless Aircraft failure of apparatus using the present invention makes a return voyage system, can be
When flight Navigation of Pilotless Aircraft failure of apparatus, control unmanned plane can prevent unmanned plane autonomous flight de- in failure place hovering flight
The control for processing center of standing from the ground, can also avoid unmanned plane from being stolen by other staff, and emergency is independently sent after hovering flight
Signal, earth station's processing center start search pattern after sending out search order to search unmanned plane after receiving distress signal,
And after the radar signal for searching flight unmanned plane, flight unmanned plane is according to former under the guiding for the radar signal for searching unmanned plane
Road returns, and avoids the property loss of operating personnel.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is the information flow direction schematic diagram of the present invention.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
As illustrated in fig. 1 and 2, the radar under a kind of Navigation of Pilotless Aircraft failure of apparatus makes a return voyage system, including flight unmanned plane,
Surface treatment center and search unmanned plane；
Flight unmanned plane：Including be set in flight unmanned plane body navigation module, hovering flight module, short message transmitting
Module, radar module and tracking flight module；The navigation module is connect with floor treatment center, for receiving in floor treatment
Flight path information that the heart is sent out simultaneously controls flight unmanned plane and is flown according to flight path information；The hovering flight module with lead
Model plane block connects, and the running state information for receiving navigation module simultaneously selects to hover according to the running state information of navigation module
The operational mode of flight module；The short message transmitting module is connect with navigation module, the operating status for receiving navigation module
Information simultaneously determines transmitting distress signal according to the running state information of navigation module；The radar module connects with hovering flight module
It connects, the running state information for receiving hovering flight module simultaneously determines radar according to the running state information of hovering flight module
The operational mode of module；The tracking flight module and radar module, radar module are receiving the radar letter for searching unmanned plane
Unmanned plane to be sought is close after number etc., searches unmanned plane after, and radar module will be received to be sat relative to search unmanned plane
Mark information is transferred to tracking flight module, and coordinate is believed in tracking flight module control flight unmanned plane during flying and holding flight course
It is constant to cease position；The tracking flight module is connect with hovering flight module, for receiving the coordinate for searching unmanned plane letter
The hovering flight pattern of hovering flight module is released after breath and gives the state of flight of flight unmanned plane to tracking flight module control
System；
Earth station's processing center：Including map denotation interface, short message receiving module and wireless transport module one, the map
Display interface facilitates user to select flight unmanned plane to need the target location reached and plan flight path, ground for flight unmanned plane
Figure display interface is connect with wireless transport module one, and flight path information is transferred to by wireless transport module one and flies nobody
Navigation module in machine simultaneously preserves flight path information；The short message receiving module is used to receive the short message hair in flight unmanned plane
Penetrate the distress signal that module is launched and distress signal be transferred to wireless transport module one, the wireless transport module one with search
Unmanned plane connection is sought, for wireless transport module one by the flight path of the flight unmanned plane of preservation after receiving distress signal
Information is transferred to search unmanned plane, and search unmanned plane is ordered to fly according to flight path information and be unfolded to search；
Search unmanned plane：Including radar search module, wireless transport module two and control module of making a return voyage, the wireless transmission
Module two is connect with the wireless transport module one of earth station's processing center, the flight road sent out for receiving wireless transport module one
Line information and search order and flight path information are transferred to control module of making a return voyage, and search order, which is transferred to radar, searches mould
Block；The control module of making a return voyage, which starts offline mode and controlled after receiving Fetion route information, searches unmanned plane according to flight
Route information flies；The radar search module is connect with control module of making a return voyage, and radar search module is receiving search order
Start search lighting pattern afterwards and after the radar signal for receiving flight unmanned plane close to flight unmanned plane, it is close to fly nobody
Machine post command makes a return voyage control module according to flight path information backtracking.
In the present embodiment, the short message transmitting module emits distress signal using telecomm base station；The short message receives mould
Block receives distress signal using telecomm base station.
In the present embodiment, the wireless transport module one and wireless transport module two are all made of 4G network traffics.
In the present embodiment, the map denotation interface is liquid crystal display and is touch screen, in the map denotation interface
Map use Baidu map.
In the present embodiment, the radar in the radar module and radar search module uses millimetre-wave radar.
In addition, the positioning device in the navigation module and control module of making a return voyage uses GPS positioning device.
The course of work and principle：Operating personnel determine the target location of flight at map denotation interface and are flight unmanned plane
After planning that flight path, flight path are planned, flight path information is passed through wireless transport module one by map denotation interface
The navigation module that is transferred in flight unmanned plane simultaneously preserves flight path information, and flight unmanned plane is in navigation module normal operation
In the case of according to flight path information fly, after navigation module fails, the hovering flight module in flight unmanned plane receives
Start hovering flight pattern after the information of navigation module failure, position when flight unmanned plane being made to remain at navigation module failure
Set flight；Radar module starts radar emission state after receiving the information that navigation module fails, and does not stop impression and searches unmanned plane
Whether reach；Short message transmitting module relies on neighbouring telecomm base station to emit distress signal after receiving the information that navigation module fails；
When the short message receiving module in earth station's processing center receives distress signal by telecomm base station, distress signal is transferred to
Wireless transport module one, wireless transport module one receive the flight path information of the flight unmanned plane of preservation after distress signal
It is transferred to control module of making a return voyage, and radar search module is transferred to by order is searched, unmanned plane is searched in control module of making a return voyage control
It flies along flight path and opens the radar signal that radar search module searches flight unmanned plane, when searching flight unmanned plane
When, the front close to flight unmanned plane first, and close radar search module, the radar module in flight unmanned plane at this time
Also search unmanned plane is experienced, waits unmanned plane to be sought behind front, hovering flight module is closed, and tracking flight module opens
It is dynamic, unmanned plane is searched at this time according to flight path backtracking, and the radar module in flight unmanned plane, which is constantly experienced, searches nobody
Location information is simultaneously transferred to tracking flight module, tracking flight module control flight unmanned plane during flying and guarantor by the location information of machine
Hold that coordinate information position in flight course is constant, it in this way can be in the guiding for searching unmanned plane to returning to earth station's processing center.
Based on above-mentioned, the radar under Navigation of Pilotless Aircraft failure of apparatus using the present invention makes a return voyage system, can fly nobody
When machine navigation device fails, control unmanned plane can prevent unmanned plane autonomous flight to be detached from earth station in failure place hovering flight
The control of processing center can also avoid unmanned plane from being stolen by other staff, and distress signal, ground are independently sent after hovering flight
Processing center of standing starts search pattern after sending out search order to search unmanned plane after receiving distress signal, and is searching
After the radar signal of flight unmanned plane, flight unmanned plane, to backtracking, is kept away according to the guiding for the radar signal for searching unmanned plane
The property loss of operating personnel is exempted from.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, all things considered are all merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (6)
- The system 1. radar under a kind of Navigation of Pilotless Aircraft failure of apparatus makes a return voyage, which is characterized in that at flight unmanned plane, ground Reason center and search unmanned plane；Flight unmanned plane：Including navigation module, hovering flight module, the short message transmitting mould being set in flight unmanned plane body Block, radar module and tracking flight module；The navigation module is connect with floor treatment center, for receiving floor treatment center The flight path information that sends out simultaneously controls flight unmanned plane and is flown according to flight path information；The hovering flight module and navigation Module connects, and the running state information for receiving navigation module simultaneously flies according to the selection hovering of the running state information of navigation module The operational mode of row module；The short message transmitting module is connect with navigation module, and the operating status for receiving navigation module is believed It ceases and transmitting distress signal is determined according to the running state information of navigation module；The radar module connects with hovering flight module It connects, the running state information for receiving hovering flight module simultaneously determines radar according to the running state information of hovering flight module The operational mode of module；The tracking flight module and radar module, radar module are receiving the radar letter for searching unmanned plane Unmanned plane to be sought is close after number etc., searches unmanned plane after, and radar module will be received to be sat relative to search unmanned plane Mark information is transferred to tracking flight module, and coordinate is believed in tracking flight module control flight unmanned plane during flying and holding flight course It is constant to cease position；The tracking flight module is connect with hovering flight module, for receiving the coordinate for searching unmanned plane letter The hovering flight pattern of hovering flight module is released after breath and gives the state of flight of flight unmanned plane to tracking flight module control System；Earth station's processing center：Including map denotation interface, short message receiving module and wireless transport module one, the map denotation Interface facilitates user to select flight unmanned plane to need the target location reached and plan that flight path, map are aobvious for flight unmanned plane Show that interface is connect with wireless transport module one, flight path information is transferred to by wireless transport module one in flight unmanned plane Navigation module and preserve flight path information；The short message receiving module is used to receive the short message transmitting mould in flight unmanned plane Distress signal is simultaneously transferred to wireless transport module one by distress signal that block is launched, the wireless transport module one with search nothing Man-machine connection, for wireless transport module one by the flight path information of the flight unmanned plane of preservation after receiving distress signal It is transferred to search unmanned plane, and search unmanned plane is ordered to fly according to flight path information and be unfolded to search；Search unmanned plane：Including radar search module, wireless transport module two and control module of making a return voyage, the wireless transport module Two connect with the wireless transport module one of earth station processing center, the flight path letter sent out for receiving wireless transport module one Breath and search order and flight path information are transferred to control module of making a return voyage, and will search order and are transferred to radar search module； The control module of making a return voyage, which starts offline mode and controlled after receiving Fetion route information, searches unmanned plane according to flight road Line information is flown；The radar search module is connect with control module of making a return voyage, and radar search module is after receiving search order Start search lighting pattern and after the radar signal for receiving flight unmanned plane close to flight unmanned plane, close to flight unmanned plane Post command makes a return voyage control module according to flight path information backtracking.
- The system 2. radar under a kind of Navigation of Pilotless Aircraft failure of apparatus according to claim 1 makes a return voyage, it is characterised in that：Institute It states short message transmitting module and emits distress signal using telecomm base station；The short message receiving module receives emergency letter using telecomm base station Number.
- The system 3. radar under a kind of Navigation of Pilotless Aircraft failure of apparatus according to claim 1 makes a return voyage, it is characterised in that：Institute It states wireless transport module one and wireless transport module two is all made of 4G network traffics.
- The system 4. radar under a kind of Navigation of Pilotless Aircraft failure of apparatus according to claim 1 makes a return voyage, it is characterised in that：Institute It states map denotation interface to be liquid crystal display and be touch screen, the map in the map denotation interface uses Baidu map.
- The system 5. radar under a kind of Navigation of Pilotless Aircraft failure of apparatus according to claim 1 makes a return voyage, it is characterised in that：Institute The radar stated in radar module and radar search module uses millimetre-wave radar.
- The system 6. radar under a kind of Navigation of Pilotless Aircraft failure of apparatus according to claim 1 makes a return voyage, it is characterised in that：Institute Positioning device in stating navigation module and control module of making a return voyage uses GPS positioning device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810276662.XA CN108681333A (en) | 2018-03-30 | 2018-03-30 | A kind of radar under Navigation of Pilotless Aircraft failure of apparatus makes a return voyage system |
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| CN201810276662.XA CN108681333A (en) | 2018-03-30 | 2018-03-30 | A kind of radar under Navigation of Pilotless Aircraft failure of apparatus makes a return voyage system |
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| CN111290439A (en) * | 2020-03-27 | 2020-06-16 | 四川爱联科技有限公司 | Electric flight device control system and method based on NB-IoT module |
| CN111580559A (en) * | 2020-05-29 | 2020-08-25 | 杭州今奥信息科技股份有限公司 | Loss prevention method and control system for unmanned aerial vehicle |
| CN111650965A (en) * | 2020-06-17 | 2020-09-11 | 北华航天工业学院 | Unmanned aerial vehicle autonomous return control system and control method thereof |
| CN112364854A (en) * | 2021-01-14 | 2021-02-12 | 南京理工大学 | Airborne target approaching guidance system and method based on detection, tracking and fusion |
| CN112925341A (en) * | 2021-01-19 | 2021-06-08 | 北京京东乾石科技有限公司 | Flight control method of aircraft, related aircraft and aircraft system |
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