CN109885085A - A kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology - Google Patents
A kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology Download PDFInfo
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Abstract
The invention discloses a kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology, belongs to seaborne supply field.The present invention includes: that unmanned plane carry on supply ship feeds goods and materials, after, it independently flies to by supply ship；During unmanned plane during flying, unmanned plane itself in real time, is accurately obtained to location technology by Beidou carrier phase difference split-phase and is controlled relative to supply ship, by the location information data of supply ship, progress unmanned plane path planning and flight；Unmanned plane is finally independently rested in by supply ship, and by being received goods and materials by the crewman on supply ship；After goods and materials receive, unmanned plane independently flies back supply ship again, and by the crewman on supply ship, carry feeds goods and materials again；The above process moves in circles, until completing supply mission.Unmanned plane is used as the Material Transportation tool between supply ship by present invention combination unmanned aerial vehicle (UAV) control technology and Beidou relative positioning technology, is had many advantages, such as that flexibility is high, independence is strong, is fed quick and precisely.
Description
Technical field
The invention belongs to seaborne supply fields, and in particular to one kind is based on Beidou high-precision relative positioning and unmanned aerial vehicle (UAV) control
The ship replenishing method of technology.
Background technique
Comprehensive marine make-up system is the core system on supply ship, for feeding goods and materials such as dried food and nuts, liquid to by supply ship
Goods etc..There are four types of traditional seaborne supply modes: course transverse replenishment, course longitudinal replenishment, replenishment at anchorage, inflow.
Wherein course transverse replenishment requires two ships to keep in the same direction navigation at the same speed, and warship person utilize wirerope transport goods.Due to
Two ships are closer when supply, it requires that warship person has the technology on higher operation naval vessel, supply ship is avoided to touch with by supply ship
Hit accident；Course longitudinal replenishment requires two ship longitudinal arrangements, keeps synchronized in the same direction, mostly oil pipeline liquid goods is fed；Anchoring is mended
It is traditional supply mode to requiring to be rested on harbour by supply ship, feeds not flexible, is eliminated substantially；Inflow
Rely primarily on helicopter and carry out material supply, feeding distance can closely can be remote, feed more flexible, but need helicopter flight
Member, and expend a large amount of human and material resources, financial resources.In above four kinds of ship replenishment modes other than inflow and replenishment at anchorage, all
It is required that supply ship and by there is Material Transportation channel such as bracket, pipeline etc. between supply ship, to the operating technology of naval vessel operator
Have high requirements, risk is big, and is required to expend biggish manpower and material resources.
Summary of the invention
It is an object of the invention to solve traditional ship supply mode not only there is high risk, but expend a large amount of manpowers,
The problem of financial resources, provides a kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology thus.
The object of the present invention is achieved like this:
A kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology, comprising the following steps:
(1) unmanned plane is parked in carry on supply ship and feeds goods and materials, and after feeding goods and materials carry, unmanned plane carries supply
Goods and materials independently fly to by supply ship；
(2) unmanned plane flies near by supply ship, Autonomous landing by supply ship by supply region；
(3) after the supply goods and materials for having been received carry on unmanned plane by the crewman on supply ship, unmanned plane by by supply ship from
The main supply ship that flies back；
(4) unmanned plane flies back to supply ship, and Autonomous landing is nobody on supply ship, and by the crewman on supply ship
Carry feeds goods and materials to machine again；
(5) unmanned plane moves in circles by above procedure, until completing supply mission.
After feeding goods and materials carry in step 1, unmanned plane carries that supply goods and materials are autonomous to fly to by supply ship, and technology is real
Now specifically include:
(1.1) it is opposite that unmanned plane itself in real time, is accurately obtained when unmanned plane during flying by Beidou relative positioning technology
In supply ship, by the location information of supply ship；
(1.2) unmanned plane in real time, accurately obtains itself and supply ship, the relative position information by supply ship, later
Unmanned plane path planning is carried out using data obtained and flight controls.
When unmanned plane during flying described in step 1.1 by Beidou relative positioning technology in real time, accurately obtain nobody
Machine itself relative to supply ship, by the location information of supply ship, technology realization specifically includes:
(1.1.1) one Beidou receiver module, communication module of fixed placement in the supply region of supply ship, and build
Base station；
(1.1.2) one Beidou receiver module, communication module of fixed placement in the supply region by supply ship, and take
Build base station；
Beidou receiver module, communication module, Beidou positioning module are installed, unmanned aerial vehicle vision is at the top of (1.1.3) unmanned plane
Movement station；
Base station on (1.1.4) supply ship is calculated, is obtained by receiver module real-time reception Beidou satellite navigation signal
Difference information is obtained, broadcasts difference information outward in real time using communication module；Receiver module real-time reception more of unmanned plane defend
The navigation signal of star；The difference information that the communication module real-time reception supply ship of unmanned plane is broadcast；The locating module benefit of unmanned plane
Real-time double-differential carrier phase is carried out with the satellite navigation signals and difference information received, resolves integer ambiguity, is carried out corresponding
Verifying correctness ensures the correctness of calculation result, thus obtain in real time under ECEF coordinate system supply ship and nobody
The basic lineal vector is converted into the basic lineal vector under local horizontal coordinates by geometric topo-relationship, i.e., by the basic lineal vector of machine
Obtain the unmanned plane of real-time high-precision and the relative positional relationship of supply ship；According to same process, obtain real-time high-precision by
Relative positional relationship between supply ship and unmanned plane；
(1.1.5) unmanned aerial vehicle (UAV) control device is obtained relative position information real-time data transmission to supply ship, by supply ship
On base station；Supply ship is carried out visualization processing to relative position information data by the base station on supply ship, is convenient for both sides crewman
Monitor unmanned plane during flying state in real time.
Unmanned plane described in step 1.2 carries out unmanned plane path planning and flight using station-keeping data obtained
Control, specifically includes following procedure:
The relative position information for the real-time high-precision that controller on (1.2.1) unmanned plane obtains will be used as location information
Feed back to the controller of unmanned plane；
(1.2.2) UAV Flight Control System carries out the closed-loop control of position to unmanned plane, and control unmanned plane is towards subtracting
Few direction with by supply ship relative distance is flown, and unmanned plane is kept to be greater than 10 meters with by supply ship linear distance, is prevented
By supply ship on unmanned aerial vehicle；
The realization of (1.2.3) unmanned plane is taken off from supply ship, carries the autonomous technology mesh to fly to by supply ship of supply goods and materials
Mark.
Unmanned plane described in step 2 flies near by supply ship, Autonomous landing by supply ship by supply region
It is interior, specifically include following procedure:
(2.1) location information that UAV Flight Control System combination Beidou relative positioning technology obtains, to unmanned plane into
Row position-force control, at a certain moment, the east orientation and north orientation coordinate of the basic lineal vector under local horizontal coordinates are zero simultaneously,
I.e. unmanned plane has flown to by right above supply ship；
(2.2) unmanned plane is being made of short duration hovering by supply ship overhead, is then slowly dropped to by supply region；
(2.3) after unmanned plane is parked completely, supply goods and materials are received by the crewman on supply ship.
After supply goods and materials described in step 3 and step 4 receive, unmanned plane by supply ship by independently being flown back to supply
Near warship, Autonomous landing is on supply ship, the independence and path planning of unmanned plane during flying in the process, with unmanned plane by
Supply ship flies to, and by supply ship, required technology is consistent in the process, i.e., by Beidou relative positioning technology, in unmanned plane during flying
It obtains unmanned plane and supply ship in real time in the process, by the relative position information between supply ship, and combines UAV Flight Control
Technology realizes that unmanned plane independently stops the technical goal supplied on warship.
The beneficial effects of the present invention are:
Entire supply process of the invention does not need to build goods and materials transfer structure, and supply goods and materials are transported by unmanned plane completely
It is defeated, only need crewman to participate in when for unmanned plane carry, reception supply goods and materials, the independence with height.The present invention combines
Unmanned plane is used as the Material Transportation tool between supply ship, had by unmanned aerial vehicle (UAV) control technology and Beidou relative positioning technology
Flexibility is high, independence is strong, supply quick and precisely the advantages that.
Detailed description of the invention
Fig. 1 is the implement scene schematic diagram of the embodiment of the present invention；
Fig. 2 is that the event of the embodiment of the present invention develops schematic diagram；
Fig. 3 is a unmanned plane internal structure block diagram of the embodiment of the present invention；
Fig. 4 be the present invention relates to Beidou relative positioning technology schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.Not
In the case where conflict, the feature in following embodiment and embodiment be can be combined with each other.
The present invention provides a kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology.
As shown in Figure 1, the invention for clearer description this programme is intended to, first implement scene of the invention is set
Set, implement scene of the present invention be supply ship by unmanned plane to by supply ship carry out single supply, comprising: supply ship 1, base station 2,
More Beidou navigation satellites 3, unmanned plane 4, base station 5, by supply ship 6.
Crewman on supply ship 1 is that 4 carry of unmanned plane feeds goods and materials, and after feeding goods and materials carry, unmanned plane 4 is by feeding
Warship 1 independently takes off and goes to by supply ship 6, and accurately rest in by supply ship 6 by supply region, at this point, being mended
To on warship 6 crewman receive the supply goods and materials from unmanned plane 4, supply goods and materials receive after, unmanned plane 4 by by supply region from
Main take off returns to supply ship 1, and precisely rests in supply region.This just completes unmanned plane to the single benefit by supply ship
To task.
What the purpose of the present invention was achieved through the following technical solutions:
As described in Figure 2, the method includes the steps:
Crewman on S100, supply ship 1 feeds goods and materials in supply region for 4 carry of unmanned plane.
Before supply mission execution, crewman on supply ship 1 is according to weather conditions and feeds the demand sizes of goods and materials,
It feeds in region, reasonably feeds goods and materials for 4 carry of unmanned plane, meet load-carrying and the safety requirements of unmanned plane 4.
S101, unmanned plane 4 carry supply goods and materials and independently fly to by supply ship 6.
S102, unmanned plane 4 are independently rested in by supply ship 6.
In order to enable unmanned plane 4 independently accurately to fly to by supply ship.In 4 flight course of unmanned plane, on supply ship 1
Base station 2, by the base station 5 on supply ship 6, by the signal of Beidou receiver more Beidou navigation satellites 3 of module real-time reception,
It calculates, obtain difference information, and broadcast difference information outward in real time using communication module.The Beidou receiver module of unmanned plane 4
The navigation signal of more Beidou navigation satellites 3 of 203 real-time receptions, the 202 real-time reception supply ship 1 of communication module of unmanned plane 4, by
The Beidou positioning module 201 of the difference information that supply ship 6 is broadcast, unmanned plane is believed using the satellite navigation signals and difference received
Breath carries out real-time double-differential carrier phase, resolves integer ambiguity, carries out corresponding verifying correctness, ensure the correct of calculation result
Property, so that real-time supply ship 1 and unmanned plane 4 are obtained, by the basic lineal vector between supply ship 6 and unmanned plane 4, by geometry topology
The basic lineal vector is converted into the basic lineal vector under local horizontal coordinates by relationship, that is, obtains the unmanned plane 4 of real-time high-precision
With supply ship 1, by the relative positional relationship of supply ship 6.
After unmanned plane 4 obtains relative position information in real time, in conjunction with unmanned aerial vehicle (UAV) control technology, unmanned plane 4 can be realized by mending
It can independently fly to being fed on warship 1 after region is taken off by supply ship 6, and precisely rest in by supply region.
S103, the supply goods and materials that carry on unmanned plane 4 is received by the crewman on supply ship 6.
The tools such as trailer can be used by the crewman on supply ship 6, the supply goods and materials on the unmanned plane 4 received are sent into
In cabin, and carries out orderly arrangement and put.
S104, unmanned plane 4 are stopped in the supply region fallen on supply ship 1 by being flown back supply ship 1 by supply ship 6, and by
Crewman is that carry feeds goods and materials to unmanned plane 4 again on supply ship 1.
Same unmanned plane 4 before takes off from supply ship 1 and, nothing consistent with technology by the process on supply ship 6 of independently flying to
Man-machine 4 will also utilize Beidou relative positioning technology, obtain unmanned plane 4 and supply ship 1 in real time, be believed by the relative position of supply ship 6
Breath.
The relative position information that unmanned plane 4 obtains in real time, in conjunction with unmanned aerial vehicle (UAV) control technology, can be realized unmanned plane 4 by by
Supply ship 1 can be independently returned by after taking off in supply region on supply ship 6, and is precisely rested in supply region.
Unmanned plane 4 has returned on supply ship, i.e., to the single supply mission completion by supply ship 6, can prepare next
Secondary supply mission.
As described in Figure 3, nothing is fed in order to guarantee the realization of Beidou relative positioning technology as a kind of possible embodiment
The internal structure block diagram of man-machine system 205 further include:
Flight control modules 200, Beidou positioning module 201, communication module 202, Beidou receiver module 203, supply object
Provide carry module 204.
As described in Figure 4, the present invention relates to Beidou relative positioning technology the following steps are included:
Base station receives Beidou satellite navigation signal, and broadcasts differential signal 300；
Movement station receives difference information and Beidou satellite navigation signal 301；
Movement station carries out real-time double-differential carrier phase, and resolves integer ambiguity, carries out corresponding verifying correctness 302；
Obtain the Relative position vector 303 of movement station and base station, that is, obtained unmanned plane relative to supply ship, mended
To the relative position information of warship.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
A specific embodiment of the invention is only limited to these instructions.General technical staff of the technical field of the invention is come
It says, without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to this hair
Bright protection scope.
Claims (6)
1. a kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology, which is characterized in that including following
Step:
(1) unmanned plane is parked in carry on supply ship and feeds goods and materials, and after feeding goods and materials carry, unmanned plane carries supply goods and materials
Independently fly to by supply ship；
(2) unmanned plane flies near by supply ship, Autonomous landing by supply ship by supply region；
(3) after the supply goods and materials for having been received carry on unmanned plane by the crewman on supply ship, unmanned plane by supply ship by independently being flown
Supply to warship；
(4) unmanned plane flies back to supply ship, Autonomous landing on supply ship, and by the crewman on supply ship be unmanned plane again
Secondary carry feeds goods and materials；
(5) unmanned plane moves in circles by above procedure, until completing supply mission.
2. a kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology according to claim 1,
It is characterized by: after feeding goods and materials carry in step 1, unmanned plane carries that supply goods and materials are autonomous to fly to by supply ship, skill
Art realization specifically includes:
(1.1) unmanned plane itself in real time, is accurately obtained relative to benefit by Beidou relative positioning technology when unmanned plane during flying
To warship, by the location information of supply ship；
(1.2) unmanned plane in real time, accurately obtains itself and supply ship, the relative position information by supply ship, utilizes later
Data obtained carry out unmanned plane path planning and flight controls.
3. a kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology according to claim 2,
It is characterized by: when unmanned plane during flying described in step 1.1 by Beidou relative positioning technology in real time, accurately obtain nothing
It is man-machine itself relative to supply ship, by the location information of supply ship, technology realization specifically includes:
(1.1.1) one Beidou receiver module, communication module of fixed placement in the supply region of supply ship, and build base
It stands；
(1.1.2) one Beidou receiver module, communication module of fixed placement in the supply region by supply ship, and build base
It stands；
Beidou receiver module, communication module, Beidou positioning module are installed, unmanned aerial vehicle vision is movement at the top of (1.1.3) unmanned plane
It stands；
Base station on (1.1.4) supply ship, by receiver module real-time reception Beidou satellite navigation signal, calculating, acquisition are poor
Divide information, broadcasts difference information outward in real time using communication module；The receiver module real-time reception multi-satellite of unmanned plane
Navigation signal；The difference information that the communication module real-time reception supply ship of unmanned plane is broadcast；The locating module of unmanned plane is utilized and is connect
The satellite navigation signals and difference information received carry out real-time double-differential carrier phase, resolve integer ambiguity, carry out corresponding correct
Property examine, the correctness of calculation result is ensured, to obtain supply ship and unmanned plane under ECEF coordinate system in real time
The basic lineal vector is converted into the basic lineal vector under local horizontal coordinates by geometric topo-relationship, that is, obtained by basic lineal vector
The unmanned plane of real-time high-precision and the relative positional relationship of supply ship；According to same process, being fed for real-time high-precision is obtained
Relative positional relationship between warship and unmanned plane；
(1.1.5) unmanned aerial vehicle (UAV) control device is obtained relative position information real-time data transmission to supply ship, by supply ship
Base station；Supply ship is carried out visualization processing to relative position information data by the base station on supply ship, real-time convenient for both sides crewman
Monitor unmanned plane during flying state.
4. a kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology according to claim 2,
It is characterized by: unmanned plane described in step 1.2 using station-keeping data obtained carry out unmanned plane path planning with
Flight control, specifically includes following procedure:
The relative position information for the real-time high-precision that controller on (1.2.1) unmanned plane obtains will be fed back as location information
Return the controller of unmanned plane；
(1.2.2) UAV Flight Control System to unmanned plane carry out position closed-loop control, control unmanned plane towards reduce with
It is flown by the direction of supply ship relative distance, and unmanned plane is kept to be greater than 10 meters with by supply ship linear distance, prevent nobody
Machine is knocked by supply ship；
The realization of (1.2.3) unmanned plane is taken off from supply ship, carries the autonomous technical goal flown to by supply ship of supply goods and materials.
5. a kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology according to claim 1,
It is characterized by: unmanned plane described in step 2 flies near by supply ship, Autonomous landing by supply ship by feeding area
In domain, following procedure is specifically included:
(2.1) location information that UAV Flight Control System combination Beidou relative positioning technology obtains carries out position to unmanned plane
Set closed-loop control, at a certain moment, the east orientation and north orientation coordinate of the basic lineal vector under local horizontal coordinates are zero simultaneously, i.e., without
It is man-machine to have flown to by right above supply ship；
(2.2) unmanned plane is being made of short duration hovering by supply ship overhead, is then slowly dropped to by supply region；
(2.3) after unmanned plane is parked completely, supply goods and materials are received by the crewman on supply ship.
6. a kind of ship replenishing method based on Beidou relative positioning and unmanned aerial vehicle (UAV) control technology according to claim 1,
It is characterized by: after supply goods and materials described in step 3 and step 4 receive, unmanned plane by independently flown back by supply ship to
Near supply ship, Autonomous landing is on supply ship, the independence and path planning of unmanned plane during flying in the process, with nobody
Machine is flown to by supply ship, and by supply ship, required technology is consistent in the process, i.e., by Beidou relative positioning technology, in unmanned plane
Unmanned plane and supply ship are obtained in flight course in real time, by the relative position information between supply ship, and combines unmanned plane during flying
Control technology realizes that unmanned plane independently stops the technical goal supplied on warship.
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| CN110454679A (en) * | 2019-07-02 | 2019-11-15 | 亚达管道系统股份有限公司 | Ship liquefied natural gas filling information-based method and its system |
| CN110454679B (en) * | 2019-07-02 | 2021-04-20 | 亚达管道系统股份有限公司 | Marine liquefied natural gas filling informatization method and system thereof |
| CN110979568A (en) * | 2019-11-22 | 2020-04-10 | 上海海事大学 | Offshore material supply method |
| CN111038734A (en) * | 2019-12-27 | 2020-04-21 | 扬州大学 | Intelligent aviation restoration and supply system based on 3D printing |
| CN111038734B (en) * | 2019-12-27 | 2023-04-18 | 扬州大学 | Intelligent aviation restoration and supply system based on 3D printing |
| CN112198845A (en) * | 2020-09-03 | 2021-01-08 | 深圳市云洲创新科技有限公司 | Offshore service prevention system |
| CN112198845B (en) * | 2020-09-03 | 2022-03-22 | 深圳市云洲创新科技有限公司 | Offshore service prevention system |
| CN113148157A (en) * | 2021-04-16 | 2021-07-23 | 北京仓告科技有限公司 | Remote supply system based on aircraft |
| CN117761638A (en) * | 2023-03-08 | 2024-03-26 | 北京航空航天大学 | Carrier guidance radar calibration evaluation method based on time synchronization relation |
| CN117761638B (en) * | 2023-03-08 | 2024-05-03 | 北京航空航天大学 | Carrier guidance radar calibration evaluation method based on time synchronization relation |
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| CN109885085B (en) | 2022-03-18 |
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