CN109808907A - Autonomous the boat technology of pilotless helicopter - Google Patents

Abstract

Unmanned helicopter is a kind of by wireless remotecontrol or by airborne computer program autonomous control aviation aircraft；Relatively fixed wing aircraft, it takes off, land all should not runway, fly more flexible, therefore with stronger survival ability；Compared with manned aircraft, its cab space for not needing pilot first, so unmanned helicopter is small in size, in contrast cost is lower；Secondly, the unpiloted characteristic of unmanned helicopter so that its use is not required to consider the safety problem and fatigue factor of pilot, thus operational environment is required it is low, use it is also more convenient, can be for completing the impossible task of manned aircraft；Most of all, unmanned helicopter is widely used, such as: at civilian aspect, unmanned helicopter can be used for power-line patrolling and stringing, the detection of geology the condition of a disaster, traffic monitoring, resources observation, ground mapping, forest fire protection is sprayed insecticide, and weather information is collected, maritime affairs search, meagrely-populated territory, marine monitoring etc.；At military aspect, unmanned helicopter can be used for going on patrol, target drone, reconnaissance and surveillance, deceive enemy's bait, and electronic countermeasure implements interference, and air-to-ground attack is antisubmarine, and school is penetrated, early warning, communication relay, and transport is anti-ballistic etc..

Description

Autonomous the boat technology of pilotless helicopter

Technical field

It is an important basic function of carrier-borne unmanned helicopter that the present invention, which is with autonomous landing on the ship,；Due to middle-size and small-size Tail wind is extremely complex when limited space and the Ship Motion of landing on naval vessel, and aircraft fall ratio on middle-size and small-size naval vessel exists Land on land or aircraft carrier much dangerous；Therefore, a set of high-precision guidance system is designed to assist unmanned helicopter Warship have very important researching value；The one kind of guidance system based on computer vision as guide mode, with other Guide mode is compared, it has many advantages, such as, and at low cost, precision is high, strong antijamming capability.

Background technique

With the continuous variation of marine battlefield means of warfare, Shipborne UAV will become modern surface ship combat system Essential component part；But there is also many skills at present for development, equipment and the deployment of carrier-borne unmanned helicopter Art problem, wherein a more crucial technology be unmanned helicopter warship safety issue；Warship safety issue Threat mainly from two aspects: first is that sea meteorological condition is complicated, fallen when naval vessels are with from when wave and with control, front and back It waves；Second is that structure is complicated for Ship Air tail flow field, coverage is big, and helicopter rotor blade flexible elongated, rotor scan Area is big, more sensitive to outer gas stream variation, and the uneven distribution characteristic of Ship air wake will lead to helicopter preshoot entrance Vortex region is prone to accidents.

Summary of the invention

Solution of the invention is first close to rear the characteristics of landing when being landed according to unmanned helicopter, by nobody The guiding of driving helicopter is divided into two stages of guiding when close guiding and landing, has determined to the different guiding stages Different guide modes；The coordinate system and its transformation relation that computer vision guiding needs to use are had studied, a knowledge is devised Not quickly, the auxiliary landing mark of guidance information can also be provided when being unable to perfect imaging；Close to guiding stage, research The recognizer of auxiliary landing mark and the extraction of track algorithm and guidance information；To the auxiliary landing mark taken It is that image is tested the result shows that: auxiliary landing mark is readily identified, track algorithm to auxiliary landing mark track stablize, energy Effectively extract guidance information.

Specific embodiment

Present invention implementation is as follows, in the landing guiding stage, has studied change in location rule of the warship point by Lidar Equation, with And thus mark caused by change in location and aircraft position reduce can only partially be imaged or even part edge imaging；For auxiliary The case where character portion that lands is imaged the characteristics of composition according to auxiliary landing sign body annulus, proposes one by portion Center location and image center location relationship that the estimation of cyclotomy arc is got determine the class 4 quadrant detector of guidance information；To part The auxiliary landing mark of imaging center location estimation experiment shows: herein for actual conditions center of circle extraction algorithm have compared with Strong robustness can effectively extract guidance information.

Claims (1)

1. the present invention as sea base aviation strength reasonable supplement carrier-borne unmanned helicopter relative to fixed-wing nobody Machine, using with unrivaled superiority on the limited naval vessels in space；Firstly, unmanned helicopter is generated by rotor Lift and propulsive force, can VTOL, can to front, rear, left and right all directions maneuvering flight, can hovering, also have Good low-speed characteristics, and it is of less demanding to recycling place when recycling, fly relative to the fixed-wing for needing runway to take off Machine, more saving space.Among other benefits, carrier-borne unmanned helicopter can also execute, and Real-time Battlefield assessment and is swept at mine-laying Thunder, targeted surveillance positioning, anti-ship and convoy, naval gunfire guidance and correction, electronic countermeasure and communication relay, lock onto target carry out Strike executes combat duty under core biochemistry or other specific conditions instead of personnel, even carries out the operations such as suicide attacks times Business.