CN108919823A - Unmanned plane closed-loop control system and control method - Google Patents
Unmanned plane closed-loop control system and control method Download PDFInfo
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- CN108919823A CN108919823A CN201810788633.1A CN201810788633A CN108919823A CN 108919823 A CN108919823 A CN 108919823A CN 201810788633 A CN201810788633 A CN 201810788633A CN 108919823 A CN108919823 A CN 108919823A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
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Abstract
The invention discloses a kind of unmanned plane closed-loop control system and control methods, during unmanned plane during flying, synchronized transmissions synchronization command signal when emitting acoustic signals, each acoustic receiver determines delivery time of the acoustic signals from pinger to acoustic receiver to receive time of synchronization command signal as acoustic signals launch time after receiving acoustic signals.And then the acoustic signals spread speed in space of binding assay, the linear distance between each pinger and each acoustic receiver is obtained, so that it is determined that the position of each pinger and positioning to unmanned plane.Further, it compares the position of the unmanned plane obtained in real time as control feedback quantity and desired guiding trajectory to obtain dynamic error amount, to correct the telecommand, dynamic error amount is further reduced to complete the closed-loop control to unmanned plane by the above process that iterates.This programme algorithm is simple, and not by multi-path jamming, ranging and positioning accuracy are also higher.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field, in particular to a kind of unmanned plane closed-loop control system and controlling party
Method.
Background technique
Multi-rotor unmanned aerial vehicle is a kind of short distance aircraft gradually popularized in recent years, more application take photo by plane, it is inspection, fast
It passs among equal unmanned operations scene.In these application scenarios, unmanned plane mostly flies in the exterior space, to make unmanned plane during flying
Track is consistent with default navigation channel, it usually needs the spatial position of unmanned plane is positioned and is remotely controlled.The exterior space
Flight location technology it is usually used be GPS（Global Positioning System）The satellite navigation and positionings sides such as/Beidou
Method, the sensors such as cooperation unmanned plane included barometer, camera realize more accurate positioning.In other indoor application
In scene, unmanned plane is weakened by satellite base station signal or the influences such as positioning accuracy deficiency, generallys use SLAM
(simultaneous localization and mapping) positioning immediately and the technologies such as map structuring, also have barometer and
The sensors such as ultrasonic wave participate in auxiliary positioning to improve precision.The track of unmanned plane during flying is by indoor barrier in indoor application scene
The influence for hindering object and complicated planning path has higher positioning accuracy and control to require unmanned plane.
Unmanned plane during flying track is precisely controlled to realize, best means are exactly using common in Automatic Control Theory
Closed loop control method, and such closed loop control method, it is desirable that unmanned plane position can precise positioning and as feedback quantity and rule
It draws path position to be compared, therefore the positioning accuracy for how improving unmanned plane becomes primary premise.
The confined space applied field using satellite-signals location technologies such as GPS is applied or is not suitable for for indoor scene
Scape, it is existing relatively high using technical costs such as the SLAM of camera, laser radar and Multi-sensor fusion technology, relatively
The airborne overload of unmanned plane and power consumption is larger, it is therefore desirable to a kind of low cost, low-power consumption, underload unmanned plane positioning skill
Art and corresponding closed loop control method solve this problem.
The major way that ultrasonic sensor participates in positioning in usual unmanned plane is analogous to the working principle of radar, i.e., super
Sound wave transmitting and receiving device is all mounted on airborne platform, is surveyed by the ultrasonic wave of transmitting through Ambient to reception device
Transmission time is determined to judge the distance between Ambient object and airborne platform, completes the function such as avoidance or measurement height distance
Energy.Such interference being easy in the way of ultrasonic wave by environment, ultrasonic wave multipath, diffraction will lead to Distance Judgment and be easy
It is wrong.
Summary of the invention
Problems solved by the invention is existing in the technology of the precise positioning of unmanned plane, utilizing camera shooting under indoor scene
The technical costs such as the SLAM of head, laser radar and Multi-sensor fusion technology are relatively high, the airborne load of opposite unmanned plane
Overweight and power consumption is larger, and the interference by environment is easy in the way of ultrasonic wave, and ultrasonic wave multipath, diffraction will lead to distance
Judgement is easy error.
To solve the above problems, the embodiment of the invention provides a kind of unmanned plane closed-loop control systems, including：
Unmanned plane；
Flight remote control device does sporting flying for controlling the unmanned plane；
Different parts on the airborne platform of unmanned plane are provided with several pingers, during unmanned plane during flying,
The pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and synchronization command signal；
Multiple acoustic receivers and timer, wherein the acoustic receiver is based on the starting when receiving synchronization command signal
When device, and timer is closed when receiving acoustic signals, to determine acoustic signals from each pinger to each sound wave
The delivery time of receiver；
Closed-loop control system processor, for based on acoustic signals from each pinger to the transmission of each acoustic receiver
The spread speed of the acoustic signals of time and measurement in space, determines between each pinger and each acoustic receiver
Linear distance, and each sound wave is determined according to the linear distance between each pinger and each acoustic receiver in real time
The position of transmitter, and determine according to the position of each pinger the position of unmanned plane.
Optionally, the flight remote control device includes：Ground remote control device and the flight controller being set on unmanned plane；Its
In, the ground remote control device is used to for the telecommand that the closed-loop control system processor generates to be sent to the flight and control
Device；The flight controller is used to do sporting flying based on the telecommand control unmanned plane received.
Optionally, during unmanned plane during flying, the unmanned plane passes through the wireless communication function of the flight controller
Emit synchronization command signal.
Optionally, the closed-loop control system processor is also used to during unmanned plane during flying, the nothing that will be obtained in real time
Man-machine position compares as control feedback quantity and desired guiding trajectory to obtain dynamic error amount, and is repaired according to the dynamic error amount
The just described telecommand.
Optionally, real-time synchronization transmitting acoustic signals and synchronization command signal are respectively for the pinger and unmanned plane
Refer to：The pinger and unmanned plane emit acoustic signals and synchronization command signal simultaneously respectively；Alternatively, the sound wave transmitting
Device emits the time of acoustic signals and the time of unmanned plane transmitting synchronization command signal with relative time delay.
Optionally, the timer is set in each acoustic receiver or is set to closed-loop control system processor
In.
Optionally, led between the closed-loop control system processor and each acoustic receiver by information channel
Letter；If the timer is set in the closed-loop control system processor, when acoustic receiver receives synchronization command signal
When by the information channel trigger closed-loop control system processor in timer start timing, when acoustic receiver receives
Closed-loop control system processor is triggered by the information channel after acoustic signals and closes the timer.
The embodiment of the invention also provides a kind of unmanned plane closed loop control methods, include the following steps：
In unmanned plane during flying motion process, the pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and same
Step command signal；
The acoustic receiver starts timer when receiving synchronization command signal, and meter is closed when receiving acoustic signals
When device, to determine acoustic signals from each pinger to the delivery time of each acoustic receiver；
Measure the spread speed of acoustic signals in space；
Closed-loop control system processor is based on acoustic signals from each pinger to the delivery time of each acoustic receiver
With the spread speed of the acoustic signals of measurement in space, determine straight between each pinger and each acoustic receiver
Linear distance；
Closed-loop control system processor is true in real time according to the linear distance between each pinger and each acoustic receiver
Determine the position of each pinger, and determines the position of unmanned plane according to the position of each pinger.
Optionally, the flight remote control device includes：Ground remote control device and the flight controller being set on unmanned plane；It should
Unmanned plane closed loop control method further includes following steps：
The telecommand that the closed-loop control system processor generates is sent to the flight controller by the ground remote control device；
The flight controller does sporting flying based on the telecommand control unmanned plane received.
Optionally, the unmanned plane emits synchronization command signal by the wireless communication function of the flight controller.
Optionally, which further includes following steps：
During unmanned plane during flying, closed-loop control system processor is fed back the position of the unmanned plane obtained in real time as control
Amount compares with desired guiding trajectory to obtain dynamic error amount；
The telecommand is corrected according to the dynamic error amount.
Optionally, real-time synchronization transmitting acoustic signals and synchronization command signal are respectively for the pinger and unmanned plane
Refer to：The pinger and unmanned plane emit acoustic signals and synchronization command signal simultaneously respectively；Alternatively, the sound wave transmitting
Device emits the time of acoustic signals and the time of unmanned plane transmitting synchronization command signal with relative time delay.
The embodiment of the invention also provides a kind of unmanned plane closed-loop control systems, including：
Unmanned plane；
Different parts on the airborne platform of unmanned plane are provided with multiple pingers, during unmanned plane during flying, institute
State pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and synchronization command signal；
Different parts on the airborne platform of unmanned plane are provided with several pingers, during unmanned plane during flying,
The pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and synchronization command signal；
Closed-loop control system processor, for flying turn that control algorithm determines each group flight motor of the unmanned plane using unmanned plane
Fast control amount is to control the revolving speed of each group flight motor of the unmanned plane, to control the flight path of the unmanned plane；
Closed-loop control system processor is also used to based on acoustic signals from each pinger to the biography of each acoustic receiver
Send the spread speed of the acoustic signals of time and measurement in space, determine each pinger and each acoustic receiver it
Between linear distance, and each sound is determined according to the linear distance between each pinger and each acoustic receiver in real time
The position of wave launcher, and nobody is determined according to the position of each pinger and with the relative positional relationship of unmanned plane
Real-time attitude and real time position of the machine in flight course.
The embodiment of the invention also provides a kind of unmanned plane closed loop control methods, are used for above-mentioned unmanned plane closed-loop control system
System, control method include the following steps：
In unmanned plane during flying motion process, the pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and same
Step command signal；
The acoustic receiver starts timer when receiving synchronization command signal, and meter is closed when receiving acoustic signals
When device, to determine acoustic signals from each pinger to the delivery time of each acoustic receiver；
Measure the spread speed of acoustic signals in space；
Closed-loop control system processor is based on acoustic signals from each pinger to the delivery time of each acoustic receiver
With the spread speed of the acoustic signals of measurement in space, determine straight between each pinger and each acoustic receiver
Linear distance；
Closed-loop control system processor is true in real time according to the linear distance between each pinger and each acoustic receiver
The position of fixed each pinger, and according to the position of each pinger and with the relative positional relationship of unmanned plane
Determine real-time attitude and real time position of the unmanned plane in flight course；
Closed-loop control system processor flies the revolving speed control that control algorithm determines each group flight motor of the unmanned plane using unmanned plane
Amount processed is to control the revolving speed of each group flight motor of the unmanned plane, to control the flight path of the unmanned plane.
Compared with prior art, technical solution of the present invention has the advantages that：
The unmanned plane closed-loop control system provided according to embodiments of the present invention emits acoustic signals during unmanned plane during flying
When synchronized transmissions synchronization command signal（That is electromagnetic wave signal）Under the premise of, each acoustic receiver is to receive synch command letter
Number time as acoustic signals launch time, and after receiving acoustic signals determine acoustic signals from pinger to sound
The delivery time of wave receiver.And then the propagation speed of the acoustic signals of closed-loop control system processor binding assay in space
Degree, obtains the linear distance between each pinger and each acoustic receiver, so that it is determined that each pinger
Position simultaneously positions unmanned plane.The technical program algorithm is relatively simple, and not by multipath or noise jamming, ranging and positioning
Precision is also higher.
The telecommand that closed-loop control system processor generates is sent to by ground remote control device and is set on unmanned plane
Flight controller, do sporting flying to control unmanned plane according to desired guiding trajectory.Further, it during unmanned plane during flying, closes
Ring control system processor compares using the position of the unmanned plane obtained in real time as control feedback quantity with desired guiding trajectory to obtain
Dynamic error amount, and the telecommand is corrected according to the dynamic error amount, by iterating, the above process is further reduced
Dynamic error amount, gradually enable dynamic error amount level off to zero or some minimum value to complete the closed-loop control to unmanned plane.
Further, the technical program can also be according to the real time position of multiple pingers and opposite with unmanned plane
Positional relationship determines the real-time attitude of unmanned plane, and flies control algorithm using unmanned plane by closed-loop control system processor and determine institute
The spin rate control quantity for stating each group flight motor of unmanned plane, to control the flight path of the unmanned plane, therefore closed-loop control
System processor can replace the function of the flight controller of unmanned plane.
Detailed description of the invention
Fig. 1 is showing for the 3 d space coordinate system O-XYZ constructed in the embodiment of the present invention and unmanned plane closed-loop control system
It is intended to；
Fig. 2 is a kind of flow diagram of unmanned plane closed loop control method of the embodiment of the present invention.
Specific embodiment
Inventor has found existing in the technology of the precise positioning of unmanned plane, utilizing camera, laser under indoor scene
The technical costs such as radar and the SLAM of Multi-sensor fusion technology are relatively high, the airborne overload and function of opposite unmanned plane
It consumes larger, and is easy interference by environment in the way of ultrasonic wave, ultrasonic wave multipath, diffraction will lead to Distance Judgment and be easy
Error.
In view of the above-mentioned problems, inventor after study, provides a kind of unmanned plane closed-loop control system and control method, this
Technical solution algorithm is relatively simple, and not by multipath or noise jamming, ranging and positioning accuracy are also higher, and pass through closed-loop control
System processor is compared using the position of the unmanned plane obtained in real time as control feedback quantity and desired guiding trajectory to obtain dynamic accidentally
Residual quantity, and the telecommand is corrected according to the dynamic error amount, dynamic is further reduced accidentally by the above process that iterates
Residual quantity, to complete the closed-loop control to unmanned plane.
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
Embodiment one
The 3 d space coordinate system O-XYZ and unmanned plane closed-loop control system constructed in the embodiment of the present invention as shown in Fig. 1
Schematic diagram.With reference to Fig. 1, the shown by reference numeral explanation in 3 d space coordinate system O-XYZ and unmanned plane closed-loop control system is such as
Under：
The three-dimensional system of coordinate O-XYZ in space, wherein O is coordinate origin；
Label 4,5,6：Pinger；
Label 7,8,9,10：Acoustic receiver；
Label 13：Acoustic signals；
Label 14：Synchronization command signal（That is electromagnetic wave signal）；
Label 15,16,17,18：Information channel between closed-loop control system processor and each acoustic receiver；
Label 19：Closed-loop control system manages device；
Label 20：Unmanned plane.
In the present embodiment, the unmanned plane closed-loop control system includes unmanned plane 20, flight remote control device（Do not show in Fig. 1
Out）, sporting flying is done according to desired guiding trajectory for controlling the unmanned plane.Wherein, the flight remote control device includes that ground is distant
Control device and the flight controller that is set on unmanned plane, can by wireless communication between ground remote control device and flight controller
Mode is communicated, the telecommand that flight controller is issued by ground remote control device（For example, front, back, left, right, up, down etc.）It does
Sporting flying is flown according to the flight program path navigation that ground remote controler issues.
During unmanned plane does sporting flying, unmanned plane can be positioned in real time by unmanned plane closed-loop system.
Specifically, the different parts on the airborne platform of the unmanned plane 20 are provided with several pingers 4,5 and 6,
During the unmanned plane during flying, the pinger and unmanned plane difference real-time synchronization emit acoustic signals and synch command
Signal, the unmanned plane can emit synchronization command signal by the wireless communication function of flight controller, wherein synch command
Signal is electromagnetic wave signal.
The pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and synchronization command signal include as follows
Two kinds of situations：1）The pinger and unmanned plane emit acoustic signals and synchronization command signal simultaneously respectively, i.e. the two hair
There is no the time difference at the time of penetrating signal；2）The time of the pinger transmitting acoustic signals and unmanned plane emit synch command
There is a time delay between at the time of the time of signal has relative time delay, i.e. the two transmitting signal, as long as each acoustic receiver
This time delay is obtained, then does not influence the subsequent delivery time for calculating acoustic signals.
In the space of unmanned plane during flying, it is provided with multiple acoustic receivers 7,8,9,10 and timer（Do not show in Fig. 1
Out）, wherein the acoustic receiver is used to start timer when receiving synchronization command signal, and receiving acoustic signals
When close timer, to determine acoustic signals from each pinger to the delivery time of each acoustic receiver.The meter
When device can be set in each acoustic receiver or be set in closed-loop control system processor.
It should be noted that unmanned plane closed-loop control system described in the present embodiment is mainly used under indoor scene, one
As indoor scene space it is limited, the present invention is using electromagnetic wave propagation speed relatively close（<100 meters）Space length in much
Greater than the feature of the transmission speed of sound wave, multiple acoustic receivers are set in space, in synchronized transmissions electromagnetic wave signal harmony
Under the premise of wave signal, each acoustic receiver to receive time of electromagnetic wave signal as acoustic signals launch time, and
Delivery time of the acoustic signals from pinger to acoustic receiver is determined after receiving acoustic signals.
Closed-loop control system processor 19 is used for based on acoustic signals from each pinger to each acoustic receiver
Delivery time and measurement acoustic signals spread speed in space, determine each pinger and each acoustic receiver
Linear distance between device, and determined in real time respectively according to the linear distance between each pinger and each acoustic receiver
The position of a pinger, and determine according to the position of each pinger the position of unmanned plane.
Specifically, higher to reach firstly, since the velocity of sound is different under the conditions ofs different medium, different temperatures etc.
Precision needs to measure the characterisitic parameters such as medium, the temperature in the space, with this come determine acoustic signals within this space propagation speed
The specific value of degree.The present embodiment does not limit the mode of specific measurement acoustic signals spread speed, those skilled in the art
The prior art be can use to measure the parameters such as the medium in space, temperature, and then determine the spread speed of acoustic signals.
Then, formula is utilized：Linear distance d=delivery time t spread speed v, the distance d that can be conversed are sound wave letters
Number from pinger 4,5,6 to acoustic receiver（Any of 7,8,9,10 acoustic receivers of example as shown in figure 1）Straight line
Distance.
It will be appreciated by those skilled in the art that acoustic signals propagate the multipaths such as scattering occurred, reflection biography in space medium
It broadcasts distance and is all longer than linear distance, is i.e. its timing is all greater than delivery time t, therefore is sound wave using the time t that this method obtains
The passing time of signal optimal straight line distance has good anti-interference ability.And if pinger is to acoustic receiver
Transmission path in have barrier obstruction make acoustic signals occur diffraction, will lead to the delivery time be greater than optimal straight line distance biography
Pass the time.Theoretically, the Diagonal Dimension for selecting suitable wave length of sound to be greater than barrier obstruction section can overcome this to ask
Topic.
Further, in the three-dimensional system of coordinate in space as shown in Figure 1, each acoustic receiver of measured in advance（I.e. label 7,
8,9,10）Position coordinates P in a coordinate system7（x7、y7、z7）~ P10（x10、y10、z10）, then according to each pinger with
Linear distance between each acoustic receiver can determine each sound wave in the space coordinates by space geometry algorithm
The position coordinates of transmitter.
It should be noted that the present embodiment does not limit which kind of space geometry algorithm specifically used, and acoustic receiver utensil
Body number and placement location need to the space geometry algorithm based on use and determine, the position of each acoustic receiver shown in FIG. 1
It is only schematic diagram with number, not limitation of the invention.
Then, the position of unmanned plane can be determined according to the position coordinates of pinger.
Specifically, it can be calculated according to range information relatively-stationary between source emission device and the body of unmanned plane
The position of unmanned plane.For example, it is assumed that the diameter of unmanned plane is 5 centimetres, spatial position coordinate is usually with the flight control of unmanned plane
Position coordinates where the geometric center point of device or unmanned plane body processed determine for standard, and the setting of source emission implement body
May not generally there be a relatively-stationary from deviating from the position in position in the geometric center point of unmanned plane（For example deviate 3 centimetres）.Cause
This, the spatial position of unmanned plane can be modified to according to the spatial position coordinate of the source emission device of measurement, then after compensating 3 centimetres
Coordinate.Further, the position for the pinger being arranged according to different parts on the airborne platform of unmanned plane, can determine nobody
Posture of the machine in flight course.
In the present embodiment, pass through information channel between the closed-loop control system processor 19 and each acoustic receiver
（Example as shown in figure 1 15,16,17 and 18）It is communicated.If timer is set in the closed-loop control system processor 19, when
By the timing in the information channel triggering closed-loop control system processor when acoustic receiver receives synchronization command signal
Device starts timing, triggers closed-loop control system processor by the information channel after acoustic receiver receives acoustic signals
Close the timer.
In the present embodiment, the closed-loop control system processor 19 is also used to during unmanned plane during flying, will be real-time
The position of obtained unmanned plane is compared as control feedback quantity and desired guiding trajectory to obtain dynamic error amount, and according to the dynamic
The margin of error corrects the telecommand.
Specifically, it can determine unmanned plane in flight course according to above-described embodiment closed-loop control system processor
Available dynamic error amount is compared with desired guiding trajectory using the real time position as control feedback quantity for real time position.Its
In, desired guiding trajectory can be stored in a curvilinear path in closed-loop control system processing, include multiple in the curvilinear path
The target position that unmanned plane needs to fly at various moments has been preset in target position.Closed-loop control system processor passes through ratio
The target position on real time position and the moment desired guiding trajectory to current unmanned plane to obtain the dynamic error amount between them,
And then according to the dynamic error amount and control algolithm can be utilized（For example, PID（proportion,integral,
derivative）Control algolithm）To correct telecommand.Dynamic error amount is further reduced by the above process that iterates,
Gradually enable dynamic error amount level off to zero or some minimum value to complete the closed-loop control to unmanned plane.
Embodiment two
Inventor further studies, and the flight controller of unmanned plane mainly includes：The sensing such as accelerometer, gyroscope, magnetometer
Device and real-time processor, function are to measure the flight attitude of unmanned plane and controlled, and therefore, inventor considers whether can be with
By other means instead of the function of flight controller.
Specifically, multiple by arranging multiple pingers on the different parts on the airborne platform of unmanned plane 20
Time-sharing multiplex can be used in pinger or the mode of frequency dividing multiplexing emits acoustic signals, also with above-described embodiment one
Position fixing process navigates to the respective coordinate position of each pinger, further according to multiple pingers and unmanned plane body phase
Pair positional relationship extrapolate real-time attitude and real time position of the unmanned plane in flight course（I.e. the center of unmanned plane is sat
Mark）, and then each group flight motor that control algorithm converses unmanned plane is flown by unmanned plane using closed-loop control system processor
Spin rate control quantity completes the posture and flight rail to unmanned plane to control the revolving speed of each group flight motor of the unmanned plane
Mark control.That is, in this case, on the one hand according to the real time position of multiple pingers and with unmanned plane
Relative positional relationship can determine the real-time attitude of unmanned plane, on the other hand utilize unmanned plane by closed-loop control system processor
Fly the spin rate control quantity that control algorithm determines each group flight motor of the unmanned plane, to control the flight rail of the unmanned plane
Mark, therefore closed-loop control system processor can replace the function of the flight controller of unmanned plane.
The sound wave issued when for another example can also rotate unmanned plane oneself motor and screw blade completely or partially replaces
The acoustic signals that are issued for pinger are positioned.Specifically, under this situation, all or part of sound wave hair
The position of emitter is substituted by the motor and screw blade of unmanned plane itself, can use the positioning sound of above-described embodiment accordingly
The method of wave launcher positions the motor and screw blade of unmanned plane itself, further according to motor and screw blade and unmanned plane machine
The relative positional relationship of body determines the position of unmanned plane, and details are not described herein.
Unmanned plane closed-loop control system described in one based on the above embodiment, the embodiment of the invention also provides it is a kind of nobody
Machine closed loop control method, the control method are applied to above-mentioned closed-loop control system.As shown in Fig. 2 the one of the embodiment of the present invention
The flow diagram of kind unmanned plane closed loop control method.
With reference to Fig. 2, which includes the following steps：
Step S1：In unmanned plane during flying motion process, the pinger and unmanned plane difference real-time synchronization emit sound wave
Signal and synchronization command signal；
Step S2：The acoustic receiver starts timer when receiving synchronization command signal, and is receiving acoustic signals
When close timer, to determine acoustic signals from each pinger to the delivery time of each acoustic receiver；
Step S3：Measure the spread speed of acoustic signals in space；
Step S4：Closed-loop control system processor is based on acoustic signals from each pinger to the biography of each acoustic receiver
Send the spread speed of the acoustic signals of time and measurement in space, determine each pinger and each acoustic receiver it
Between linear distance；
Step S5：Closed-loop control system processor is according to the linear distance between each pinger and each acoustic receiver
The position of each pinger is determined in real time, and the position of unmanned plane is determined according to the position of each pinger.
Wherein, the flight remote control device includes：Ground remote control device and the flight controller being set on unmanned plane；The nothing
Man-machine loop's control method further includes following steps：
The telecommand that the closed-loop control system processor generates is sent to the flight controller by the ground remote control device；
Wherein, the unmanned plane emits synchronization command signal by the wireless communication function of the flight controller；The flight control
Device does sporting flying based on the telecommand control unmanned plane received.
The unmanned plane closed loop control method further includes following steps：
During unmanned plane during flying, closed-loop control system processor is fed back the position of the unmanned plane obtained in real time as control
Amount compares with desired guiding trajectory to obtain dynamic error amount；
The telecommand is corrected according to the dynamic error amount.
Real-time synchronization transmitting acoustic signals and synchronization command signal refer to respectively for the pinger and unmanned plane：It is described
Pinger and unmanned plane emit acoustic signals and synchronization command signal simultaneously respectively；Alternatively, the pinger transmitting
The time of acoustic signals and the time of unmanned plane transmitting synchronization command signal have relative time delay.
The specific implementation process of each method and step can be in conjunction with closed-loop control system shown in figure 1 above in the present embodiment
Specific embodiment, details are not described herein.
Two corresponding unmanned plane closed loop control methods include the following steps based on the above embodiment：
In unmanned plane during flying motion process, the pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and same
Step command signal；
The acoustic receiver starts timer when receiving synchronization command signal, and meter is closed when receiving acoustic signals
When device, to determine acoustic signals from each pinger to the delivery time of each acoustic receiver；
Measure the spread speed of acoustic signals in space；
Closed-loop control system processor is based on acoustic signals from each pinger to the delivery time of each acoustic receiver
With the spread speed of the acoustic signals of measurement in space, determine straight between each pinger and each acoustic receiver
Linear distance；
Closed-loop control system processor is true in real time according to the linear distance between each pinger and each acoustic receiver
The position of fixed each pinger, and according to the position of each pinger and with the relative positional relationship of unmanned plane
Determine real-time attitude and real time position of the unmanned plane in flight course；
Closed-loop control system processor flies the revolving speed control that control algorithm determines each group flight motor of the unmanned plane using unmanned plane
Amount processed is to control the revolving speed of each group flight motor of the unmanned plane, to control the flight path of the unmanned plane.
The specific implementation process of each method and step closed loop control in conjunction with described in foregoing embodiments two in the present embodiment
The specific embodiment of system processed, details are not described herein.
In conclusion the unmanned plane closed-loop control system provided according to embodiments of the present invention, during unmanned plane during flying,
Synchronized transmissions synchronization command signal when emitting acoustic signals（That is electromagnetic wave signal）Under the premise of, each acoustic receiver is to receive
Time to synchronization command signal determines acoustic signals from sound as acoustic signals launch time, and after receiving acoustic signals
Delivery time of the wave launcher to acoustic receiver.And then the acoustic signals of closed-loop control system processor binding assay are in space
In spread speed, the linear distance between each pinger and each acoustic receiver is obtained, so that it is determined that each sound
The position of wave launcher simultaneously positions unmanned plane.The technical program algorithm is relatively simple, and not by multipath or noise jamming,
Ranging and positioning accuracy are also higher.
The telecommand that closed-loop control system processor generates is sent to by ground remote control device and is set on unmanned plane
Flight controller, do sporting flying to control unmanned plane according to desired guiding trajectory.Further, it during unmanned plane during flying, closes
Ring control system processor compares using the position of the unmanned plane obtained in real time as control feedback quantity with desired guiding trajectory to obtain
Dynamic error amount, and the telecommand is corrected according to the dynamic error amount, by iterating, the above process is further reduced
Dynamic error amount, gradually enable dynamic error amount level off to zero or some minimum value to complete the closed-loop control to unmanned plane.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, anything that does not depart from the technical scheme of the invention, and according to the present invention
Technical spirit any simple modifications, equivalents, and modifications to the above embodiments, belong to technical solution of the present invention
Protection scope.
Claims (14)
1. a kind of unmanned plane closed-loop control system, which is characterized in that including：
Unmanned plane；
Flight remote control device does sporting flying for controlling the unmanned plane；
Different parts on the airborne platform of unmanned plane are provided with several pingers, during unmanned plane during flying,
The pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and synchronization command signal；
Multiple acoustic receivers and timer, wherein the acoustic receiver is based on the starting when receiving synchronization command signal
When device, and timer is closed when receiving acoustic signals, to determine acoustic signals from each pinger to each sound wave
The delivery time of receiver；
Closed-loop control system processor, for based on acoustic signals from each pinger to the transmission of each acoustic receiver
The spread speed of the acoustic signals of time and measurement in space, determines between each pinger and each acoustic receiver
Linear distance, and each sound wave is determined according to the linear distance between each pinger and each acoustic receiver in real time
The position of transmitter, and determine according to the position of each pinger the position of unmanned plane.
2. unmanned plane closed-loop control system as described in claim 1, which is characterized in that the flight remote control device includes：Ground
Face remote controler and the flight controller being set on unmanned plane；
Wherein, the ground remote control device is used to for the telecommand that the closed-loop control system processor generates to be sent to described fly
Line control unit；The flight controller is used to do sporting flying based on the telecommand control unmanned plane received.
3. unmanned plane closed-loop control system as claimed in claim 2, which is characterized in that described during unmanned plane during flying
Unmanned plane emits synchronization command signal by the wireless communication function of the flight controller.
4. unmanned plane closed-loop control system as claimed in claim 2, which is characterized in that the closed-loop control system processor is also
For comparing using the position of the unmanned plane obtained in real time as control feedback quantity with desired guiding trajectory during unmanned plane during flying
To obtain dynamic error amount, and the telecommand is corrected according to the dynamic error amount.
5. unmanned plane closed-loop control system as described in claim 1, which is characterized in that the pinger and unmanned plane point
Other real-time synchronization transmitting acoustic signals and synchronization command signal refer to：The pinger and unmanned plane transmitting sound simultaneously respectively
Wave signal and synchronization command signal；Alternatively, the time life synchronous with unmanned plane transmitting of the pinger transmitting acoustic signals
Enabling the time of signal has relative time delay.
6. unmanned plane closed-loop control system as described in claim 1, which is characterized in that the timer is set to each sound wave
In receiver or it is set in closed-loop control system processor.
7. unmanned plane closed-loop control system as claimed in claim 6, which is characterized in that the closed-loop control system processor with
It is communicated between each acoustic receiver by information channel；If the timer is set to the closed-loop control system processing
In device, triggered in closed-loop control system processor when acoustic receiver receives synchronization command signal by the information channel
Timer start timing, after acoustic receiver receives acoustic signals pass through the information channel trigger closed-loop control system
Processor closes the timer.
8. a kind of unmanned plane closed loop control method, is used for unmanned plane closed-loop control system described in claim 1, feature exists
In unmanned plane closed loop control method includes the following steps：
In unmanned plane during flying motion process, the pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and same
Step command signal；
The acoustic receiver starts timer when receiving synchronization command signal, and meter is closed when receiving acoustic signals
When device, to determine acoustic signals from each pinger to the delivery time of each acoustic receiver；
Measure the spread speed of acoustic signals in space；
Closed-loop control system processor is based on acoustic signals from each pinger to the delivery time of each acoustic receiver
With the spread speed of the acoustic signals of measurement in space, determine straight between each pinger and each acoustic receiver
Linear distance；
Closed-loop control system processor is true in real time according to the linear distance between each pinger and each acoustic receiver
Determine the position of each pinger, and determines the position of unmanned plane according to the position of each pinger.
9. unmanned plane closed loop control method as claimed in claim 8, which is characterized in that the flight remote control device includes：Ground
Face remote controler and the flight controller being set on unmanned plane；The unmanned plane closed loop control method further includes following steps：
The telecommand that the closed-loop control system processor generates is sent to the flight controller by the ground remote control device；
The flight controller does sporting flying based on the telecommand control unmanned plane received.
10. unmanned plane closed loop control method as claimed in claim 8, which is characterized in that the unmanned plane passes through the flight
The wireless communication function of controller emits synchronization command signal.
11. unmanned plane closed loop control method as claimed in claim 9, which is characterized in that the unmanned plane closed loop control method is also
Include the following steps：
During unmanned plane during flying, closed-loop control system processor is fed back the position of the unmanned plane obtained in real time as control
Amount compares with desired guiding trajectory to obtain dynamic error amount；
The telecommand is corrected according to the dynamic error amount.
12. unmanned plane closed loop control method as claimed in claim 8, which is characterized in that the pinger and unmanned plane
Real-time synchronization transmitting acoustic signals and synchronization command signal refer to respectively：The pinger and unmanned plane emit simultaneously respectively
Acoustic signals and synchronization command signal；Alternatively, the time of the pinger transmitting acoustic signals is synchronous with unmanned plane transmitting
The time of command signal has relative time delay.
13. a kind of unmanned plane closed-loop control system, which is characterized in that including：
Unmanned plane；
Different parts on the airborne platform of unmanned plane are provided with multiple pingers, during unmanned plane during flying, institute
State pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and synchronization command signal；
Different parts on the airborne platform of unmanned plane are provided with several pingers, during unmanned plane during flying,
The pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and synchronization command signal；
Closed-loop control system processor, for flying turn that control algorithm determines each group flight motor of the unmanned plane using unmanned plane
Fast control amount is to control the revolving speed of each group flight motor of the unmanned plane, to control the flight path of the unmanned plane；
Closed-loop control system processor is also used to based on acoustic signals from each pinger to the biography of each acoustic receiver
Send the spread speed of the acoustic signals of time and measurement in space, determine each pinger and each acoustic receiver it
Between linear distance, and each sound is determined according to the linear distance between each pinger and each acoustic receiver in real time
The position of wave launcher, and nobody is determined according to the position of each pinger and with the relative positional relationship of unmanned plane
Real-time attitude and real time position of the machine in flight course.
14. a kind of unmanned plane closed loop control method, for the unmanned plane closed-loop control system described in claim 13, feature exists
In unmanned plane closed loop control method includes the following steps：
In unmanned plane during flying motion process, the pinger and unmanned plane difference real-time synchronization transmitting acoustic signals and same
Step command signal；
The acoustic receiver starts timer when receiving synchronization command signal, and meter is closed when receiving acoustic signals
When device, to determine acoustic signals from each pinger to the delivery time of each acoustic receiver；
Measure the spread speed of acoustic signals in space；
Closed-loop control system processor is based on acoustic signals from each pinger to the delivery time of each acoustic receiver
With the spread speed of the acoustic signals of measurement in space, determine straight between each pinger and each acoustic receiver
Linear distance；
Closed-loop control system processor is true in real time according to the linear distance between each pinger and each acoustic receiver
The position of fixed each pinger, and according to the position of each pinger and with the relative positional relationship of unmanned plane
Determine real-time attitude and real time position of the unmanned plane in flight course；
Closed-loop control system processor flies the revolving speed control that control algorithm determines each group flight motor of the unmanned plane using unmanned plane
Amount processed is to control the revolving speed of each group flight motor of the unmanned plane, to control the flight path of the unmanned plane.
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