CN109270941A - A kind of aerial unmanned plane ultra-viewing distance remote control method - Google Patents
A kind of aerial unmanned plane ultra-viewing distance remote control method Download PDFInfo
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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 present invention is a kind of aerial unmanned plane ultra-viewing distance remote control method, key step are as follows: unmanned plane during flying track A, is shown in electronic map window according to unmanned plane return data；It B, is the current unmanned plane during flying posture of virtual instrument assignment Dynamically Announce and location information in virtual instrument window according to unmanned plane return data；C, unmanned plane model is carried out in attitude reconstruction window and is merged with image/video according to the telemetry of unmanned plane passback and image/video data.In the image/video for passing virtual unmanned plane Model Fusion to current unmanned plane back in the control method, while directly having reacted current unmanned plane during flying state, the environment and task status that unmanned plane is presently in are also given.Current unmanned plane position and attitude information can be reacted in real time, and in control process, the adjusting to the position and attitude of unmanned plane can be directly realized by the current state of unmanned plane model.
Description
Technical field
The present invention is a kind of aerial unmanned plane ultra-viewing distance remote control method, belongs to automatic control technology field.
Background technique
The research and development of aerial unmanned plane just starts climax in worldwide.One important reason is unmanned plane
Extensive use in fields such as meteorological observation, the condition of a disaster in-situ measurement, earth resource exploration and forest fire protections.The remote control side of unmanned plane
Formula is broadly divided into remote manual control, ultra-viewing distance remote control and semi-autonomous/autonomous control.Ultra-viewing distance remote control refer to ground handling operator according to
Unmanned plane sends back the holder shooting image and flight attitude signal handling unmanned plane come.
Currently to the control mode short distance low latitude of unmanned plane in the case where it is main it is to be applied be remote manual control mode, it is this
Mode is more demanding to the operating technology operated, and high to operator visual demand, but usually distance 100~200 meters it
Between.It is serious to limit the function of unmanned plane.And under the flight progress in remote high-altitude, master to be applied is automatic control side
Formula, but the precision of this control is not also high, and control effect is bad, and the requirement height to flight control system manufactures and designs complexity,
Therefore there is an urgent need for a kind of control methods that can be realized remote controlled drone in the case of over the horizon.
Summary of the invention
The present invention, which is exactly directed to, above-mentioned to be existed in the prior art insufficient and designs and provide a kind of aerial unmanned plane ultra-viewing distance
Remote control method still can be according to the digital information and figure that unmanned plane is passed back the purpose is to make except the visual range of operator
As data judge the state of flight of unmanned plane, the requirement in traditional manual control to operator's vision can have both been overcome, simultaneously also
It can satisfy certain control accuracy requirement, and thus complete to make unmanned aerial vehicle control system to the control of UAV Attitude, position
With higher flexibility
The purpose of the present invention is achieved through the following technical solutions:
This kind of aerial unmanned plane ultra-viewing distance remote control method, it is characterised in that: this method the step of are as follows:
(1) the acquired telemetry of unmanned plane and image/video data are transmitted back to ground control system；
(2) ground control system carries out dissection process to the data according to respective protocol；
(3) the current unmanned plane during flying track of system Dynamically Announce, position and posture information, reconstruct and are shown unmanned plane model
Current UAV Attitude information.Progress unmanned plane model is merged with image/video,
It the steps include:
A, unmanned plane during flying track is shown in electronic map window according to unmanned plane return data；
It B, is the current unmanned plane of virtual instrument assignment Dynamically Announce in virtual instrument window according to unmanned plane return data
Flight attitude and location information；
C, unmanned plane mould is carried out in attitude reconstruction window according to the telemetry of unmanned plane passback and image/video data
Type is merged with image/video；
1. completing the initialization to OpenGL software interface in VC processing platform unmanned plane model attitude reconstruction window, i.e.,
The parameters such as viewport, viewpoint, light are set, OpenGL window is established.
2. the no-manned plane three-dimensional model of the 3DS format of creation to be imported in the form of main rotor, body and empennage to nothing respectively
Man-machine model's attitude reconstruction window.Modal position is adjusted, unmanned plane model is reconstructed.
3. reading image video signal in buffer area using OpenGL method, drawn using glDrawPixels () function
OpenGL window background.
Nothing is reconstructed rotating around the rotation angle of each reference axis of coordinate system in OpenGL window 4. adjusting and importing unmanned plane model
Man-machine pitch angle, roll angle and course angle.Realize UAV Attitude reconstruct.
5. render scenes realization unmanned plane model is merged with image/video, current unmanned plane model and image background are completed
Display.
6. periodic refreshing attitude reconstruction window, posture of the dynamic restructuring unmanned plane in current flight environment.
7. program exits, OpenGL resource is discharged.
(4) operator according to the posture information of the current Target track displaying of unmanned plane in electronic map in step 3, virtual instrument with
And current flight state and live image video in UAV Attitude reconstruction window, manipulation ground control system generate control life
It enables, UAV system is sent to by Digital Transmission module and realizes ultra-viewing distance remote control.
It is directly anti-in the image/video for passing virtual unmanned plane Model Fusion to current unmanned plane back in the control method
While having answered current unmanned plane during flying state, the environment and task status that unmanned plane is presently in are also given.
Detailed description of the invention
Fig. 1 is ultra-viewing distance remote control system in technical solution of the present invention
Fig. 2 is the software flow pattern of technical solution of the present invention control method
Fig. 3 is the software flow pattern of unmanned plane model attitude reconstruct in technical solution of the present invention
Fig. 4 is the software flow pattern of image/video fusion in technical solution of the present invention
Specific embodiment
Technical solution of the present invention is described further below with reference to drawings and examples:
Referring to figure 1, ultra-viewing distance remote control working-flow.Unmanned aerial vehicle onboard sensor and PTZ camera difference
The image/video information of current unmanned plane during flying status information and acquisition is sent to and the airborne processing module of UAV system, is led to
It is auspicious to cross airborne processing module formation specific data, control command and telemetry are passed through into data by Unmanned Aerial Vehicle Data transmission module
Interface passes industrial control computer in ground control station system back, while being taken the photograph task holder by unmanned plane picture transmission module
The live pictorial data of camera shooting passes ground control station back, and pictorial data is stored in Industry Control through image collection card and is calculated
In machine.System controlling software handles the data, reconstructs current unmanned plane during flying state, operator is according in operation interface
The information such as the unmanned plane working condition reconstructed and flight track operate remote control platform and system controlling software generates control command,
UAV Flight Control System is passed back by digital transmission module, realizes the ultra-viewing distance remote control to unmanned plane.
Referring to shown in attached drawing 2~4, the aerial unmanned plane ultra-viewing distance remote control method of this kind of the system, it is characterised in that: this method
The step of are as follows:
(1) the acquired telemetry of unmanned plane and image/video data are transmitted back to ground control system 1；I.e. unmanned plane is empty
Each sensing data in middle module record current flight system, and data frame passback is formed according to agreement, the acquisition of image is logical
Cross what the task video camera being mounted on unmanned plane during flying task platform was completed, acquisition is completed to pass ground control station, two numbers back
According to being to be completed respectively by Digital Transmission module and image transmission module；
(2) ground control system carries out dissection process 2 to return data according to respective protocol.Ground control station system receives
The telemetry passed back to unmanned plane extracts unmanned plane current flight status information according to protocol analysis data frame meaning.Ground
The system of station receives Image Acquisition of the image/video information through being connected on industrial control computer that image transmission module is passed back
Card storage is into core buffer；
(3) the current unmanned plane during flying track of system Dynamically Announce, position and posture information, reconstruct and are shown unmanned plane model
Current UAV Attitude information.Progress unmanned plane model merges 3 with image/video；
Its implementation is:
A, unmanned plane during flying track is shown in electronic map window according to unmanned plane return data.In the realization of this method
On platform, the display of flight track is to realize the function based on MapX control；
It B, is the current unmanned plane of virtual instrument assignment Dynamically Announce in virtual instrument window according to unmanned plane return data
Flight attitude and location information.The current unmanned plane during flying speed of virtual instrument Dynamically Announce, flight attitude, flight course, flight
Highly, fuel tank state and current course line, destination number etc.；
C, unmanned plane mould is carried out in attitude reconstruction window according to the telemetry of unmanned plane passback and image/video data
Type is merged with image/video；
1. the initialization 13 to OpenGL software interface is completed in VC processing platform unmanned plane model attitude reconstruction window,
The parameters such as viewport, viewpoint, light are set, OpenGL window is established.
2. creating scene imports three-dimensional unmanned plane model 14.Before importing model, unmanned plane is created using 3DSMAX software
Unmanned plane model is divided into main rotor, body and empennage three parts during creation and is respectively created to call in it by model 6
The dynamic effect of unmanned plane model flight can be reconstructed afterwards.Apply 3D Exploration software by creation after model foundation
Main rotor, body and the empennage of unmanned plane model are respectively converted into .cpp format 7, and this document is then saved as .h format 8, this
Kind of conversion by the file that can be read to OpenGL of the information such as display list, the texture of threedimensional model storage, implementation model and
The combination of OpenGL environment.It calls OpenGL environment Gen3DobjectList () function to read the display list 9 of the model, leads to
It crosses and shows list 10 obtained in glCallList () function call 9, the importing of threedimensional model can be realized.Pass through OpenGl
The transformation 11 such as translation, rotation and scaling in graphic interface, the relative position of adjustment unmanned plane main rotor, body and empennage reconstruct
Unmanned plane model.Last render scenes 12, unmanned plane model is shown in current OpenGL window.
3. reading image video signal in buffer area using OpenGL method, drawn using glDrawPixels () function
OpenGL window background 15 passes ground control back through image transmission module after unmanned plane task PTZ camera collection site image
Station system processed, the image pick-up card being connected with industrial control computer acquires wherein image data, and is deposited into system and sets
In buffer set.
Nothing is reconstructed rotating around the rotation angle of each reference axis of coordinate system in OpenGL window 4. adjusting and importing unmanned plane model
Man-machine pitch angle, roll angle and course angle 16.It will be to correspond respectively to through parsing number around reference axis rotation angle value
Transmission module passes pitch angle, roll angle and the course angle that telemetry obtains back, reconstructs the flight attitude of current unmanned plane.
5. render scenes realization unmanned plane model merges 17 with image/video, which completes current unmanned plane model and figure
As the display of background.Completion reacts the moment UAV Attitude and merges display with the scene of ready-made image.
6. periodic refreshing OpenGL window 18, attitude reconstruction of the dynamic implement unmanned plane in current flight environment and with
The dynamic fusion of image/video；
7. EP (end of program) discharges OpenGL resource 19.
(4) operator is according to the current Target track displaying of unmanned plane in step 3, the indicated value of current virtual instrument and current
Unmanned plane current flight posture and live image video in attitude reconstruction window, manipulation ground control system generate control command 4,
UAV system is sent to by Digital Transmission module and realizes ultra-viewing distance remote control 5.
Compared with the prior art, the advantages of the present invention are as follows, current unmanned plane position and attitude information can be reacted in real time,
In control process, the adjusting to the position and attitude of unmanned plane can be directly realized by the current state of unmanned plane model.It is logical
The mode of video image and unmanned plane Model Fusion is crossed by current unmanned plane Model Fusion into site environment, keeps operator more straight
The observation current flight state of sight, makes rational planning for and navigates by water route and holder task, greatly increases the remote control distance of unmanned plane, and have
There is higher reliability.Due to this method be shown based on the posture of unmanned plane in OpenGL Windows and virtual instrument result come
The flight of unmanned plane is controlled, therefore transmission range is no longer influenced by the influence of operator's sighting distance, it can realize ultra-viewing distance remote control.
Claims (1)
1. a kind of aerial unmanned plane ultra-viewing distance remote control method, it is characterised in that: this method the step of are as follows:
(1) the acquired telemetry of unmanned plane and image/video data are transmitted back to ground control system；
(2) ground control system carries out dissection process to telemetry and image/video data according to respective protocol；
(3) the current unmanned plane during flying track of ground control system Dynamically Announce, position and posture information, reconstruct no-manned plane three-dimensional mould
Type simultaneously shows current UAV Attitude information, and progress no-manned plane three-dimensional model is merged with image/video, the steps include:
A, show that unmanned plane during flying navigates in electronic map window according to the telemetry of unmanned plane passback and image/video data
Mark；
B, dynamic for virtual instrument assignment in virtual instrument window according to the telemetry of unmanned plane passback and image/video data
State shows current unmanned plane during flying posture and location information；
C, no-manned plane three-dimensional mould is carried out in attitude reconstruction window according to the telemetry of unmanned plane passback and image/video data
Type is merged with image/video；
1. completing the initialization to OpenGL software interface in VC processing platform no-manned plane three-dimensional model attitude reconstruction window, i.e.,
Viewport, viewpoint, light are set, OpenGL window is established；
2. the no-manned plane three-dimensional model of the 3DS format of creation to be imported in the form of main rotor, body and empennage to unmanned plane respectively
Three-dimensional model attitude reconstruction window adjusts no-manned plane three-dimensional modal position, reconstructs no-manned plane three-dimensional model；
3. reading image video signal in buffer area using OpenGL method, OpenGL is drawn using glDrawPixels () function
Window background；
Nothing is reconstructed rotating around the rotation angle of each reference axis of coordinate system in OpenGL window 4. adjusting and importing no-manned plane three-dimensional model
Man-machine pitch angle, roll angle and course angle realizes no-manned plane three-dimensional model reconstruction；
5. render scenes realization no-manned plane three-dimensional model is merged with image/video, current no-manned plane three-dimensional model and image are completed
The display of background；
6. periodic refreshing attitude reconstruction window, posture of the dynamic restructuring unmanned plane in current flight environment；
7. program exits, OpenGL resource is discharged；
(4) operator according to the current Target track displaying of unmanned plane in electronic map in step (3), virtual instrument posture information and
Current flight state and live image video in no-manned plane three-dimensional model reconstruction window, manipulation ground control system generate control life
It enables, UAV system is sent to by Digital Transmission module and realizes ultra-viewing distance remote control.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110826529A (en) * | 2019-11-21 | 2020-02-21 | 桂林电子科技大学 | Sea surface ship detection method based on deep learning |
| CN111443723A (en) * | 2020-04-07 | 2020-07-24 | 中国航空无线电电子研究所 | Program for generating and displaying third visual angle view of unmanned aerial vehicle |
| WO2020233607A1 (en) * | 2019-05-20 | 2020-11-26 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method and apparatus and computer-readable storage medium |
| CN114489100A (en) * | 2022-01-18 | 2022-05-13 | 中国地质大学（北京） | Beyond visual range unmanned aerial vehicle remote control system based on gesture is synchronous |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101493699A (en) * | 2009-03-04 | 2009-07-29 | 北京航空航天大学 | Aerial unmanned plane ultra-viewing distance remote control method |
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- 2017-07-18 CN CN201710583096.2A patent/CN109270941A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101493699A (en) * | 2009-03-04 | 2009-07-29 | 北京航空航天大学 | Aerial unmanned plane ultra-viewing distance remote control method |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020233607A1 (en) * | 2019-05-20 | 2020-11-26 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method and apparatus and computer-readable storage medium |
| CN110826529A (en) * | 2019-11-21 | 2020-02-21 | 桂林电子科技大学 | Sea surface ship detection method based on deep learning |
| CN111443723A (en) * | 2020-04-07 | 2020-07-24 | 中国航空无线电电子研究所 | Program for generating and displaying third visual angle view of unmanned aerial vehicle |
| CN111443723B (en) * | 2020-04-07 | 2023-09-15 | 中国航空无线电电子研究所 | Third visual angle view generation and display program of unmanned aerial vehicle |
| CN114489100A (en) * | 2022-01-18 | 2022-05-13 | 中国地质大学（北京） | Beyond visual range unmanned aerial vehicle remote control system based on gesture is synchronous |
| CN114489100B (en) * | 2022-01-18 | 2023-07-04 | 中国地质大学（北京） | Beyond-vision-distance unmanned aerial vehicle remote control system based on gesture synchronization |
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