CN109782789B - Safe flight control method of unmanned aerial vehicle after satellite navigation data failure - Google Patents
Safe flight control method of unmanned aerial vehicle after satellite navigation data failure Download PDFInfo
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Abstract
The invention discloses a safe flight control method of an unmanned aerial vehicle after satellite navigation data failure, which comprises the following steps: storing positional information (x) of a preset course and ground control point in an airborne flight controller of an unmanned aerial vehicle0,y0) (ii) a The unmanned aerial vehicle receives satellite positioning data in real time in the flight process, and if the satellite positioning data is not received continuously in t seconds, the last group of satellite positioning data (x) received by the unmanned aerial vehicle is searchedm，ym) And calculating the position information (x) of the unmanned aerial vehicle after t seconds by using the heading angle psi, the inclination angle gamma and the flight speed v of the unmanned aerial vehicle at the last group of satellite positioning data timeN，yN) Will (x)N，yN) And (x)0，y0) Connecting to form a new directional course L, and calculating the heading angle psi of the directional course LmTo make the unmanned plane according to the course angle psimAnd directionally flying towards the ground control point. The invention ensures that the unmanned aerial vehicle can still safely return to the ground control point after the satellite navigation data fails, thereby effectively improving the safety and reliability of the unmanned aerial vehicle in flight.
Description
Technical Field
The invention relates to the technical field of flight control of unmanned aerial vehicles, in particular to a safe flight control method of an unmanned aerial vehicle after satellite navigation data fails.
Background
In the process of program flight control of the unmanned aerial vehicle, the flight controller stores the coordinates of the waypoints of program control flight, the connecting line between the waypoints is the preset airway, the program control flight is to control and correct the unmanned aerial vehicle by comparing the real-time position of the unmanned aerial vehicle with the deviation of the airway, and the flight track of the unmanned aerial vehicle is kept consistent with the preset airway. Unmanned aerial vehicle's real-time position coordinate (also called position location navigation information) is usually provided by the satellite positioning receiver, and consequently, satellite positioning navigation data is crucial among the program control, if satellite positioning navigation data became invalid, must make unmanned aerial vehicle can't fly according to the procedure, the ground personnel can't learn unmanned aerial vehicle's specific position appears moreover to can lead to unmanned aerial vehicle's losing, take place the flight accident. In actual work, the unmanned aerial vehicle is often influenced by geographic environment and surrounding electromagnetic environment, and the situation that the GPS positioning of the satellite positioning receiver is invalid occurs, so that how to ensure the flight safety of the unmanned aerial vehicle becomes an important subject under the situation.
Disclosure of Invention
The invention aims to provide a safe flight control method of an unmanned aerial vehicle after satellite navigation data fails, which can ensure that the unmanned aerial vehicle can still safely return to the vicinity of a ground control point to be parachute-opened and recycled after the satellite navigation data fails.
In order to achieve the purpose, the invention adopts the technical scheme that:
a safe flight control method of an unmanned aerial vehicle after satellite navigation data failure comprises the following steps:
storing position coordinates (x) of a preset air route and a ground control point in an airborne flight controller of an unmanned aerial vehicle0，y0) (ii) a The unmanned aerial vehicle receives satellite positioning data in real time in the flight process, and if the satellite positioning data is not received continuously within t seconds, the satellite positioning data is considered to be invalid;
find the last set of satellite positioning data (x) received by the dronem，ym) And calculating the position coordinate (x) of the unmanned aerial vehicle t seconds later by using the course angle psi, the inclination angle gamma and the flight speed v of the unmanned aerial vehicle at the last group of satellite positioning data timeN，yN) Will (x)N，yN) And (x)0，y0) Connecting to form a new directional course L, and calculating the heading angle psi of the directional course LmTo make the unmanned plane according to the course angle psimAnd directionally flying towards the ground control point.
Calculating the position coordinate (x) of the unmanned plane t seconds laterN，yN) The method comprises the following steps:
(1) calculate unmanned Slave (x)m，ym) Direction of flight (x)N，yN) Turning radius R when:
R＝v2/(gtan(γ))；
wherein g is the acceleration of gravity, and g is 9.8 m/s;
(2) calculate unmanned Slave (x)m，ym) Direction of flight (x)N，yN) Center coordinates (x ', y') of the time-turning circle: latitude ymThe radius of the earth ecmIs composed of
ecm＝RTwo poles+(REquator－RTwo poles)×(90－ym)/90；
In the formula REquatorIs the equatorial radius of the earth, RTwo polesIs the radius of the earth's two poles, REquator＝6378137m，RTwo poles＝6356725m；
Latitude ymRadius of weft loop edmIs composed of
edm＝ecm×cos(ym×π/180)；
(xm，ym) And (x',y') difference dx in distance in the longitudinal direction between two pointsmIs composed of
dxm＝R×1000×sin(αm×π/180)；
In the formula of alphamIs (x)m，ym) And (x ', y') are arranged at an angle to true north, and if ψ is counterclockwise toward the left, α ismPsi-90 deg., and if psi is clockwise to the right, then alpham＝ψ+90°；
(xm，ym) And (x ', y') the difference dy in the latitudinal direction between the two pointsmIs composed of
dym＝R×1000×cos(αm×π/180)；
The center longitude x' of the turning circle is
x’＝(dxm/edm+xm×π/180)×180/π；
The circle center latitude y' of the turning circle is
y’＝(dym/ecm+ym×π/180)×180/π；
(3) Calculating (x)m，ym) The line connecting (x ', y') and (x)N，yN) And (x ', y') is in a range of:
β＝5v/R×180/π；
(4) calculating coordinates (x) of unmanned plane position recursion pointN，yN)：
The radius of the earth at the latitude y 'ec' is
ec’＝RTwo poles+(REquator－RTwo poles)×(90－y’)/90；
The latitude y 'has a latitude circle radius ed' of
ed’＝ec’×cos(y’×π/180)；
(x ', y') and (x)N，yN) A distance difference dx' in the longitudinal direction between the two points of
dx’＝R×1000×sin(α’×π/180)；
Wherein α ' is (x ', y ') and (x)N，yN) If psi is counterclockwise, then alpha ═ psi-90 ° + betaIf psi is clockwise towards right, then alpha' ═ psi +90 ° -beta;
(x ', y') and (x)N，yN) The difference dy' in distance in the direction of latitude between two points is
dy’＝R×1000×cos(α’×π/180)；
Longitude x of location recursion pointNIs composed of
xN＝(dx’/ed’+x’×π/180)×180/π；
Latitude y of position recursion pointNIs composed of
yN＝(dy’/ec’+y’×π/180)×180/π。
Unmanned aerial vehicle adopts two sets of satellite positioning receivers to receive satellite positioning data respectively at the flight in-process, if two satellite positioning receivers all do not receive satellite positioning data in succession in the t second, then think that satellite positioning data is invalid.
The value of t is 5 seconds.
According to the method, after the satellite positioning failure is judged, the position of the unmanned aerial vehicle after several seconds is calculated according to the last group of position coordinates received by the unmanned aerial vehicle, the self course angle psi, the inclination angle gamma and the flight speed v of the unmanned aerial vehicle at that time, so that the unmanned aerial vehicle is controlled to directionally fly towards the ground control point, and the safety and the reliability of the unmanned aerial vehicle in flying are effectively improved.
Drawings
Fig. 1 is a schematic diagram of the present invention controlling safe return of an unmanned aerial vehicle after positioning failure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention are described below in detail and completely with reference to the specific embodiments. It is to be understood that the embodiments described are only some embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments without any inventive step, are within the scope of the invention.
Before the unmanned aerial vehicle flies, the planned preset route and the position coordinates (x) of the ground control point0，y0) Transmit and coexistAnd putting the unmanned aerial vehicle into an airborne flight controller of the unmanned aerial vehicle.
A vertical gyroscope (or an inertial navigation attitude measuring instrument) is loaded on the unmanned aerial vehicle to measure the pitch angle theta and the inclination angle gamma of the unmanned aerial vehicle; an altitude sensor (typically an air pressure altitude sensor) measures the flying altitude H of the drone; a heading sensor (generally a magnetic compass heading sensor) measures the heading direction, i.e. the heading angle psi, of the unmanned aerial vehicle; the speed sensor measures the flight speed v of the unmanned aerial vehicle; the GPS satellite positioning receiver outputs the real-time position of the unmanned aerial vehicle.
Unmanned aerial vehicle is at the real-time satellite positioning data of receiving of flight in-process, wherein, GPS satellite positioning receiver's receiving frequency generally is 4 ~ 10Hz, updates 4 ~ 10 times positional information every second promptly. In order to increase reliability, two GPS satellite positioning receivers can be adopted to independently receive satellite positioning data of the unmanned aerial vehicle respectively. Unmanned aerial vehicle's airborne flight controller real time monitoring GPS satellite positioning receiver sends the location update data, if two satellite positioning receivers all do not receive the satellite positioning data in succession in the t second, then think that the satellite positioning data is invalid, and the t value can take 5 seconds.
As shown in fig. 1, when the drone is controlled to safely return after positioning failure, the last group of satellite positioning data (x) received by the drone is searched firstm，ym) And calculating the position information (x) of the unmanned aerial vehicle after t seconds by using the heading angle psi, the inclination angle gamma and the flight speed v of the unmanned aerial vehicle at the last group of satellite positioning data timeN，yN) Will (x)N，yN) And (x)0，y0) Connecting to form a new directional course L, and calculating the heading angle psi of the directional course LmIf the unmanned plane enters the directional flight control mode, the unmanned plane enters the directional flight control mode according to the heading angle psimAnd directionally flying towards the ground control point.
Although the ground control point cannot display the position of the unmanned aerial vehicle, namely cannot know the specific position of the unmanned aerial vehicle, whether the course angle of the unmanned aerial vehicle faces psi or not can be observed through the course angle display windowmIf the heading angle of the drone is towards ψmDirectional flight while the satellite failure control procedure is being executed. The ground control point personnel can then see orHear unmanned aerial vehicle and fly towards the control point gradually, when the ground personnel observe and find unmanned aerial vehicle after, then can change remote control flight mode, remote control unmanned aerial vehicle safety is retrieved.
In particular, according to the last set of satellite positioning data (x) of the dronem，ym) Calculating the position information (x) of the unmanned plane t seconds laterN，,yN) The method comprises the following steps:
(1) calculate unmanned Slave (x)m，ym) Direction of flight (x)N，yN) Turning radius R when:
R＝v2/(gtan(γ))；
wherein g is the acceleration of gravity, and g is 9.8 m/s;
(2) calculate unmanned Slave (x)m，ym) Direction of flight (x)N，yN) Center coordinates (x ', y') of the time-turning circle: latitude ymThe radius of the earth ecmIs composed of
ecm＝RTwo poles+(REquator－RTwo poles)×(90－ym)/90；
In the formula REquatorIs the equatorial radius of the earth, RTwo polesIs the radius of the earth's two poles, REquator＝6378137m，RTwo poles＝6356725m；
Latitude ymRadius of weft loop edmIs composed of
edm＝ecm×cos(ym×π/180)；
(xm，ym) And (x ', y') a difference dx in distance in the longitudinal direction between two pointsmIs composed of
dxm＝R×1000×sin(αm×π/180)；
In the formula of alphamIs (x)m，ym) And (x ', y') are arranged at an angle to true north, and if ψ is counterclockwise toward the left, α ismPsi-90 deg., and if psi is clockwise to the right, then alpham＝ψ+90°；
(xm，ym) And (x ', y') the difference dy in the latitudinal direction between the two pointsmIs composed of
dym＝R×1000×cos(αm×π/180)；
The center longitude x' of the turning circle is
x’＝(dxm/edm+xm×π/180)×180/π；
The circle center latitude y' of the turning circle is
y’＝(dym/ecm+ym×π/180)×180/π；
(3) Calculating (x)m，ym) The line connecting (x ', y') and (x)N，yN) And (x ', y') is in a range of:
β＝5v/R×180/π；
(4) calculating coordinates (x) of unmanned plane position recursion pointN，yN)：
The radius of the earth at the latitude y 'ec' is
ec’＝RTwo poles+(REquator－RTwo poles)×(90－y’)/90；
The latitude y 'has a latitude circle radius ed' of
ed’＝ec’×cos(y’×π/180)；
(x ', y') and (x)N，yN) A distance difference dx' in the longitudinal direction between the two points of
dx’＝R×1000×sin(α’×π/180)；
Wherein α ' is (x ', y ') and (x)N，yN) The connecting line of phi (phi) and the north direction form an included angle, if phi points to the left in a counterclockwise mode, alpha 'phi-90 degrees + beta, and if phi points to the right in a clockwise mode, alpha' phi +90 degrees-beta;
(x ', y') and (x)N，yN) The difference dy' in distance in the direction of latitude between two points is
dy’＝R×1000×cos(α’×π/180)；
Longitude x of location recursion pointNIs composed of
xN＝(dx’/ed’+x’×π/180)×180/π；
Latitude y of position recursion pointNIs composed of
yN＝(dy’/ec’+y’×π/180)×180/π。
In this embodiment, the last set of satellite positioning data (x) of the drone is first utilizedm，ym) Unmanned aerial vehicle slave (x)m，ym) Flight position recursion point (x)N，yN) Turning radius R of time, and (x)m，ym) And the included angle between the connecting line of the turning circle center (x ', y') and the true north direction is obtained to obtain the slave angle (x) of the unmanned aerial vehiclem，ym) Direction of flight (x)N，yN) The coordinates (x ', y') of the center of the time-turning circle are utilized, and then the unmanned aerial vehicle slave (x ', y') of the center of the time-turning circle is utilizedm，ym) Flight position recursion point (x)N，yN) Radius of turning R, and (x ', y') and (x)N，yN) The included angle between the connecting line and the north direction is obtained, and the coordinate (x) of the position recursion point of the unmanned aerial vehicle is obtainedN，yN). Wherein the unmanned aerial vehicle follows (x)m，ym) Flight position recursion point (x)N，yN) The turning radius R of the case is not only (x)m，ym) And (x ', y') is also (x)N，yN) And (x ', y').
According to the invention, a position recursion algorithm and directional flight control are adopted, so that the unmanned aerial vehicle can still safely return to the vicinity of a ground control point to be parachute-opened and recycled after satellite navigation data fails, and the safety and reliability of unmanned aerial vehicle flight are improved.
Claims (3)
1. A safe flight control method of an unmanned aerial vehicle after satellite navigation data failure is characterized by comprising the following steps:
storing position coordinates (x) of a preset air route and a ground control point in an airborne flight controller of an unmanned aerial vehicle0，y0) (ii) a The unmanned aerial vehicle receives satellite positioning data in real time in the flight process, and if the satellite positioning data is not received continuously within t seconds, the satellite positioning data is considered to be invalid;
find the last set of satellite positioning data (x) received by the dronem，ym) Positioning at last group of satellites by unmanned planeThe heading angle psi, the inclination angle gamma and the flying speed v at the data moment are used for calculating the position coordinate (x) of the unmanned aerial vehicle after t secondsN，yN) Will (x)N，yN) And (x)0，y0) Connecting to form a new directional course L, and calculating the heading angle psi of the directional course LmTo make the unmanned plane according to the course angle psimDirectionally flying towards a ground control point;
calculating the position coordinate (x) of the unmanned plane t seconds laterN，yN) The method comprises the following steps: (1) calculate unmanned Slave (x)m，ym) Direction of flight (x)N，yN) Turning radius R when:
R＝v2/(g tan(γ))；
wherein g is the acceleration of gravity, and g is 9.8 m/s;
(2) calculate unmanned Slave (x)m，ym) Direction of flight (x)N，yN) Center coordinates (x ', y') of the time-turning circle: latitude ymThe radius of the earth ecmIs composed of
ecm＝RTwo poles+(REquator-RTwo poles)×(90-ym)/90；
In the formula REquatorIs the equatorial radius of the earth, RTwo polesIs the radius of the earth's two poles, REquator＝6378137m，RTwo poles＝6356725m；
Latitude ymRadius of weft loop edmIs composed of
edm＝ecm×cos(ym×π/180)；
(xm，ym) And (x ', y') a difference dx in distance in the longitudinal direction between two pointsmIs composed of
dxm＝R×1000×sin(αm×π/180)；
In the formula of alphamIs (x)m，ym) And (x ', y') are arranged at an angle to true north, and if ψ is counterclockwise toward the left, α ismPsi-90 deg., and if psi is clockwise to the right, then alpham＝ψ+90°；
(xm，ym) And (x ', y') in the direction of latitude between two pointsDistance difference dy ofmIs composed of
dym＝R×1000×cos(αm×π/180)；
The center longitude x' of the turning circle is
x’＝(dxm/edm+xm×π/180)×180/π；
The circle center latitude y' of the turning circle is
y’＝(dym/ecm+ym×π/180)×180/π；
(3) Calculating (x)m，ym) The line connecting (x ', y') and (x)N，yN) And (x ', y') is in a range of:
β＝5v/R×180/π；
(4) calculating coordinates (x) of unmanned plane position recursion pointN，yN)：
The radius of the earth at the latitude y 'ec' is
ec’＝RTwo poles+(REquator-RTwo poles)×(90-y’)/90；
The latitude y 'has a latitude circle radius ed' of
ed'＝ec’×cos(y’×π/180)；
(x ', y') and (x)N，yN) A distance difference dx' in the longitudinal direction between the two points of
dx'＝R×1000×sin(α’×π/180)；
Wherein α ' is (x ', y ') and (x)N，yN) The connecting line of phi (phi) and the north direction form an included angle, if phi points to the left in a counterclockwise mode, alpha 'phi-90 degrees + beta, and if phi points to the right in a clockwise mode, alpha' phi +90 degrees-beta;
(x ', y') and (x)N，yN) The difference dy' in distance in the direction of latitude between two points is
dy'＝R×1000×cos(α’×π/180)；
Longitude x of location recursion pointNIs composed of
xN＝(dx’/ed'+x’×π/180)×180/π；
Latitude y of position recursion pointNIs composed of
yN＝(dy’/ec’+y’×π/180)×180/π。
2. The safe flight control method of the unmanned aerial vehicle after the satellite navigation data is invalid according to claim 1, characterized in that: unmanned aerial vehicle adopts two sets of satellite positioning receivers to receive satellite positioning data respectively at the flight in-process, if two satellite positioning receivers all do not receive satellite positioning data in succession in the t second, then think that satellite positioning data is invalid.
3. The safe flight control method of the unmanned aerial vehicle after the satellite navigation data is invalid according to claim 1, characterized in that: the value of t is 5 seconds.
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| CN112000118B (en) * | 2020-08-21 | 2023-01-31 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle protection method and device and unmanned aerial vehicle |
| CN112770330B (en) * | 2020-12-31 | 2022-10-21 | 河南机电职业学院 | Regional wireless coverage deployment method for unmanned aerial vehicle group |
| CN115164901B (en) * | 2022-07-06 | 2023-04-14 | 河南工业贸易职业学院 | Unmanned aerial vehicle navigation method |
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