CN110045741A - The integrated navigation system of safety guidance unmanned vehicle glide landing - Google Patents
The integrated navigation system of safety guidance unmanned vehicle glide landing 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
A kind of integrated navigation system of safety guidance unmanned vehicle glide landing disclosed by the invention, it is desirable to provide a kind of simple and reliable, easy to implement, the integrated navigation system with high reliability, stability.The technical scheme is that: moving vehicle does back and forth movement along airfield runway center, the approaching signal of ground DGPS receiver reception unmanned vehicle, with the location point of cm grades of Accurate Calibration unmanned vehicles, vehicle-mounted data radio station is sent to by ground data radio station, vehicle-mounted data radio station calculates instant pseudorange error according to the precise local fix coordinate information of calibration, error result is sent to GPS receiver by data link, corrects the measurement output of GPS receiver；Navigation data of the navigational computer synchronous acquisition from GPS receiver and inertial navigation system, by each navigation measurement data of the comprehensive output calibration mode of Kalman filter.
Description
The present invention relates to a kind of navigation system of unmanned vehicle.
Background technique
GPS (GlobalPositioningSystem, GPS) is the U.S. since 1970s
It develops, when being surveyed using navigation satellite and ranging, has in the comprehensive real-time three-dimensional navigation in sea, land and sky and stationkeeping ability
New generation satellite navigation positioning system.The principle of GPS navigation positioning is the method for determining point of being crossed according to ranging in surveying,
The information for receiving three or more satellite transmissions simultaneously using GPS receiver, the three-dimensional coordinate for the ground point out of crossing.It takes off, glide
Landing be unmanned plane automatically control, sport technique segment the most key in autonomous landing, and high-precision navigation and guidance system are
Unmanned plane realizes the important guarantee that automatic safe lands.The landing guidance method and apparatus for studying precise and safety is always aeronautical chart
An important field of research.Unmanned plane has the advantages that many manned machines are incomparable, can make a good job of many manned machines
It is difficult to competent task, but there is also many problems to need to solve simultaneously；Its crucial one of technology is exactly that unmanned plane is completed to appoint
Problem is recycled in safe landing after business, accurately land will be directly related to unmanned plane can safe and smooth recycling and winged platform and
Elevation table signal, so that can obtain aircraft satisfactorily complete relative to the azimuth of runway centerline and aerial mission.Aircraft into
It is the important stage of execution task that field, which is landed,.Its main feature flying speed and height it is low, by meteorological condition and geographical environment etc.
Factor is affected, requires height to the driving technology of pilot.Therefore, the aircraft accident occurred in this stage, especially sternly
Weight aircraft accident is relatively more.According to statistics, although the time landed only accounts for the 1%~3% of entire aerial mission, landing accident is about
Account for the 1/3 of entire aircraft accident.It is that current world's small drone is universal that intercept net recycling, which recycles unmanned plane with intercept net system,
One of way of recycling of use.Arresting net system is usually made of arresting net, energy absorbing device and automatic guidance equipment.Work as nothing
For man-machine when making a return voyage, ground control station requirement unmanned plane with shallow glide, maximum speed must not exceed 120km/h, operator
Unmanned plane during flying is monitored by televimonitor, and is received according to the image or infrared receiving set of terrestrial television video camera shooting
The unmanned plane signal arrived, determines the deviation of return route, then semi-automatically controls unmanned plane, and amendment flight path is allowed to pair
The sight line of quasi- ground video camera, flies to arresting net.Overload when unmanned plane is touched net generally can not be greater than 6g, in case arresting net meets with
To larger damage.Discretionary security landing is the automatic Landing of the important content and unmanned plane in current unmanned plane research
Control is a difficult point in unmanned aerial vehicle (UAV) control.In landing period, how to guarantee that unmanned plane is accurate according to preset course line
To drop on runway be a problem.It longitudinally to realize speed, height, the control of the multidimensional of posture, and keep suitable speed
Degree and ideal downslide angle, which depend merely on adjusting engine throttle, to accomplish；In horizontal lateral control, unmanned plane is in airport overhead
The roll posture for needing held stationary, is maintained at course line near runway centerline again, this is having outer interference such as gust disturbance
When it is relatively difficult, in addition it is important that in order to reduce cost, unmanned plane does not often use additional approaching and landing system device.
Unmanned plane longitudinal direction landing mission is usually first to slip down to certain altitude along scheduled glissade, then evens up, goes up and down ground connection
Speed and pitch angle reach the range of requirement, realize safe landing.Conventional UAV Landing, which automatically controls, passes through elevator control
System is glided and is evened up, and passes through Throttle Opening Control air speed.It is slow for response process existing for the program, anti-interference ability is weaker not
Foot.In recent years, computer vision technique is used in terms of unmanned plane independent landing, but there are cost height, ground and machines
Carry the disadvantages of equipment requirement is high, and the cost that changes the outfit is larger.Currently, relevant research has been carried out in domestic some scientific research personnel, but
Landing effect in practical applications is unsatisfactory, the intervention for also needing manually to manipulate sometimes.Due to there is orbit error,
Clocking error, SA influence, atmospheric effect, multipath effect and other errors.Therefore unmanned plane sending and receiving in signal
Inevitably occurs error in the process, these errors can be divided into systematic error and accidental error according to its property, wherein system
No matter the influence from its size or to positioning result is all more much bigger than accidental error for error.Systematic error is that have certain rule
It can follow, the error common for those receiver users and base station, it is possible to be eliminated by differential mode or obviously be subtracted
It is few.According to statistics, since unmanned plane is when landing, manipulation is complicated, and ground disturbing factor is more, and the coordinate and base station calculated is
Know that there are errors between coordinate, therefore occurs to be higher by several times when the likelihood ratio normal flight of accident.,
The landing of unmanned plane is all to carry out under manual remote control, but needed in some cases by set point certainly under normal circumstances
Dynamic to land, unmanned plane can only carry out in a big way, and precision is big at several meters or more.This is for needing accurately at several centimetres
The requirement of precision cannot achieve, and especially set point is even more cannot achieve in dynamic situation.Automatic landing system
It is the automatic control system for guiding aircraft lands, is made of ground installation and airborne equipment two parts.It is main in the world at present
Have three ways, such as instrument-landing-system (ILS), microwave landing system, global positioning system.According to the work side differential GPS (DGPS)
Differential Global Positioning System DGPS points can be three kinds by the difference of formula: differential position, pseudo range difference, carrier phase difference, at present
Purposes is most widely pseudo range difference technology.The working principle of pseudo range difference technology is: subscriber station utilizes known location coordinate
The pseudorange error that base station obtains corrects oneself pseudorange, the position of itself is solved using the pseudorange after correction, so that it may disappear
Except common error, positioning accuracy is improved.Although pseudo range difference can offset the common error at base station and two station of subscriber station, with
The increase of user to base station distance occur systematic error again, difference accuracy increases with the distance of user to base station and is dropped
It is low.Inertial navigation system (INS) can provide carrier including height position positioning, it be by survey aircraft perpendicular to the ground
The linear acceleration of movement measures flying height.Inertial navigation common at present has platform-type and strapdown two schemes.Nothing
By be platform-type or strap-down inertial navigation system be required to high-precision linear acceleration transducer and high-precision integral fortune
Calculate device.Certainly, in Platform INS Inertial, inertial platform tracks aircraft in the precision and Methods of Strapdown Inertial Navigation System of ground level
The measurement accuracy of spatial position where the measurement accuracy of course attitude angle similarly will affect aircraft.Currently used DGPS/INS
The combination of system has two, i.e. output calibration and feedback compensation.Output calibration is exactly to be gone with the estimated value of navigational parameter error
The navigational parameter of Correcting INS output, obtains the navigational parameter estimated value of integrated navigation system.Feedback compensation is by inertial navigation
In the navigational parameter error estimate feedback to inertial navigation system of system, error state is corrected.Under feedback compensation mode, it is used to
Guiding systems can guarantee the correctness of Kalman filter model, but Project Realization is more complicated, and the failure of filter
It can directly pollution inertial navigation system output；Under output calibration mode, since the error of inertial navigation system is to accumulate at any time, long
The error of inertial navigation system is just no longer a small amount of after time service, so that model error occurs in filter, differential technique is difficult
Constant error is eliminated, filtering accuracy is declined.Realize that the synthesis of inertial navigation and differential GPS is certainly best using feedback compensation mode
Selection, but this is relatively difficult in Project Realization.
Making a general survey of the Landing Guidance System used always since the past both at home and abroad mainly has instrument-landing-system in guidance system
ILS and two kinds of microwave landing system MLS, both Landing Guidance Systems can meet the approach requirement of aircraft, and nobody
The characteristics of machine, is relative low price, needs frequent transition even without fixed regular airport, it is clear that above two price is high
Expensive guidance system is unsuitable, the characteristics of cannot giving full play to unmanned plane for the landing of unmanned plane.With DGPS technology
It is increasingly developed, entirely autonomous inertial navigation system and high-precision differential GPS are utilized into Kalman filter composition
DGPS/INS integrated navigation system is the more satisfactory scheme that the guidance of unmanned plane glide landing provides.
Summary of the invention
In place of in view of the shortcomings of the prior art, a kind of simple and reliable, easy to implement, tool is provided
There is the integrated navigation system of the safety guidance unmanned vehicle glide landing of high reliability, stability.
Above-mentioned purpose of the invention is achieved by following technical proposals, a kind of to guide unmanned vehicle to glide safely
The integrated navigation system in land, including the difference earth station being placed near runway, the ground DGPS being arranged in difference earth station is connect
Receipts machine and ground data radio station, GPS receiver that machine is placed on moving vehicle, vehicle-mounted data radio station, inertial navigation system and lead
Navigate computer, it is characterised in that: moving vehicle does back and forth movement, ground Differential Global Positioning System along airfield runway center
The approaching signal that DGPS receiver receives unmanned vehicle passes through ground with the location point of cm grades of Accurate Calibration unmanned vehicles
Data radio station is sent to vehicle-mounted data radio station, and vehicle-mounted data radio station calculates immediately pseudo- according to the precise local fix coordinate information of calibration
Away from error, error result is sent to GPS receiver by data link, corrects the measurement output of GPS receiver；
Navigation data of the navigational computer synchronous acquisition from GPS receiver and inertial navigation system, by Kalman filter
Each navigation measurement data of comprehensive output calibration mode.
The present invention has the advantages that compared with the prior art,
The present invention is relatively short for unmanned plane approach process time, the DGPS/INS integrated navigation system of building, uses
Output calibration mode guides unmanned vehicle to safely slide downwards landing, and method is simple and reliable.Using a Kalman filter by group
Close the position error of navigation system, lateral deviation is missed away from the calculating error of itself, inertial navigation and the installation of Differential Global Positioning System DGPS
Difference, the differential filtering of operator's operating error.And find out its deviation.Then the range error of all satellites is transferred to navigation meter
Calculation machine, navigational computer correct the pseudorange of measurement using this range error, solve unmanned flight using the pseudorange after correction
The position of device itself.Test flight the result shows that, conceptual design is reasonable, easy to implement, fully meets Autonomous Landing of UAV
It is required that.Relative to conventional scheme, there is the characteristics of response is fast, strong antijamming capability.
The present invention guides the scheme of unmanned plane glide landing using output calibration mode DGPS/INS integrated navigation system, and
In conjunction with dynamic preventing test, the essence of output calibration mode DGPS/INS integrated navigation system guidance unmanned plane glide landing is demonstrated
Degree requires.Pass through the most important test of reliability.The available lateral deviation of preventing test is away from being not more than 5 meters, and lateral deviation is away from for aircraft
The lateral distance of flight diversion is calculated according to the course line of the current position of aircraft and place.Preventing test
In the lateral deviation that measures away from the position error for including integrated navigation system in numerical value, lateral deviation is away from the calculating error of itself, inertial navigation
The installation error of system and DGPS receiver, operator's operating error.Pass through test, it can be deduced that based on Kalman filter
Unmanned plane DGPS/INS integrated navigation system the operation is stable, horizontal positioning accuracy are better than 5 meters, with high reliability, stability
Feature can fully meet precision needs when unmanned vehicle glide landing, can be other someone, unmanned vehicle under
Navigation and the design of guidance system and test when sliding landing provide reference frame.
Detailed description of the invention
Fig. 1 is that the integrated navigation system of safety guidance unmanned vehicle glide landing of the invention constitutes schematic diagram.
Specific embodiment
Refering to fig. 1.In following preferred embodiment, a kind of integrated navigation of safety guidance unmanned vehicle glide landing
Ground DGPS receiver and ground number in difference earth station is arranged in including the difference earth station being placed near runway in system
Conduct electricity platform, and machine is placed in GPS receiver, vehicle-mounted data radio station, inertial navigation system and navigational computer on moving vehicle,
In: moving vehicle does back and forth movement along airfield runway center, and ground DGPS receiver receives the approaching signal of unmanned vehicle,
With the location point of cm grades of Accurate Calibration unmanned vehicles, vehicle-mounted data radio station is sent to by ground data radio station, Vehicular data passes
Radio station calculates instant pseudorange error according to the precise local fix coordinate information of calibration, and error result is sent to by data link
GPS receiver corrects the measurement output of GPS receiver；Navigational computer synchronous acquisition comes from GPS receiver
And the navigation data of inertial navigation system, by each navigation measurement data of the comprehensive output calibration mode of Kalman filter.
Calculating error of the Kalman filter by the position error of integrated navigation system, lateral deviation away from itself, inertial navigation system
The installation error of system and Differential Global Positioning System DGPS, the differential filtering of operator's operating error, and its deviation is found out, then
The range error of all satellites is transferred to navigational computer.Navigational computer is asked using Kalman filter filtering range error
Value deviate to correct the pseudorange of measurement, the position of unmanned vehicle itself is solved using the pseudorange after correction.
The parameters such as speed, height, laterally offset, each attitude angle of unmanned vehicle output enter longitudinally controlled module and cross
Side control module, longitudinally controlled module and horizontal side control mould run automatic land Guidance Law, longitudinally controlled module control output
Corresponding rudder face, aileron, elevator and rudder kick are driven, control is longitudinal, drives unmanned vehicle along navigational computer
The landing path of setting lands.The horizontal horizontal side of side control module controls spoiler movement.
Unmanned vehicle automatic Landing can be divided into 3 stages: approach phase, downslide stage and even up the stage of descending slowly and lightly.It is longitudinal
Control module adjusts descent altitude, speed and laterally offset etc., subsequently into downslide window according to approaching and landing system system.It glides
Stage unmanned vehicle glides after entering downslide window along the track of navigational computer setting.When height is evened up in unmanned vehicle arrival
When spending, slip-down state is jumped out into evening up the stage of descending slowly and lightly, keeps the attitude angle and vertical speed when landing.Longitudinally controlled module is logical
Longitudinally controlled channel is crossed to pass through using the pitch angle of elevator control unmanned vehicle using the state of engine throttle control
The speed of spoiler deflected to increase resistance to reduce during gliding.Unmanned vehicle starts to execute after entering landing window
Autonomous approach and landing program passes through designed control law and preset ideal course line automatic height adjustment, speed.
Those skilled in the art, can it will be appreciated that without departing from spirit of the invention and necessary characteristic
To embody the present invention with other particular forms other than particular form set forth herein.Therefore, explanation above will be
All aspects are interpreted illustrative and not restrictive.This hair should be determined by the reasonable dismissal of the attached claims
Bright range, and all changes in equivalency range of the invention are intended to fall in the scope of the present invention.In addition, not explicit
Ground, which is subordinated to mutual claim, can be combined to provide embodiment, or can pass through the modification after submitting the application
To increase new claim.
Claims (10)
1. a kind of integrated navigation system of safety guidance unmanned vehicle glide landing, including being placed in the difference ground near runway
It stands, ground DGPS receiver and ground data radio station in difference earth station is set, machine is placed in the GPS receiver on moving vehicle
Machine, vehicle-mounted data radio station, inertial navigation system and navigation calculate, it is characterised in that: moving vehicle is done along airfield runway center
Back and forth movement, ground DGPS receiver receives the approaching signal of unmanned vehicle, with the position of cm grades of Accurate Calibration unmanned vehicles
It sets a little, vehicle-mounted data radio station is sent to by ground data radio station, vehicle-mounted data radio station is according to the precise local fix coordinate of calibration
Information calculates instant pseudorange error, error result is sent to GPS receiver by data link, correction vehicle GPS connects
The measurement of receipts machine exports；Navigation data of the navigational computer synchronous acquisition from GPS receiver and inertial navigation system, warp
Cross each navigation measurement data of the comprehensive output calibration mode of Kalman filter.
2. the integrated navigation system of safety guidance unmanned vehicle glide landing as described in claim 1, it is characterised in that:
Calculating error, inertial navigation system and difference of the Kalman filter by the position error of integrated navigation system, lateral deviation away from itself
The installation error of global positioning system DGPS, the differential filtering of operator's operating error, and its deviation is found out, then defended all
The range error of star is transferred to navigational computer.
3. the integrated navigation system of safety guidance unmanned vehicle glide landing as described in claim 1, it is characterised in that: lead
Boat computer finds out deviation using Kalman filter filtering range error to correct the pseudorange of measurement, utilizes the puppet after correction
Away from come the position that solves unmanned vehicle itself.
4. the integrated navigation system of safety guidance unmanned vehicle glide landing as described in claim 1, it is characterised in that: nothing
Speed, height, laterally offset, each posture angular dimensions of people's aircraft output enter longitudinally controlled module and horizontal side control module,
Longitudinally controlled module and horizontal side control mould run automatic land Guidance Law, and longitudinally controlled module controls the corresponding rudder of output driving
Face, aileron, elevator and rudder kick, control is longitudinal, the landing rail for driving unmanned vehicle to set along navigational computer
Mark landing.
5. the integrated navigation system of safety guidance unmanned vehicle glide landing as claimed in claim 4, it is characterised in that: horizontal
Control module horizontal side in side controls spoiler movement.
6. the integrated navigation system of safety guidance unmanned vehicle glide landing as claimed in claim 4, it is characterised in that: vertical
To control module according to approaching and landing system system, descent altitude, speed and laterally offset are adjusted, subsequently into downslide window.
7. the integrated navigation system of safety guidance unmanned vehicle glide landing as claimed in claim 4, it is characterised in that: under
Sliding stage unmanned vehicle glides after entering downslide window along the track of navigational computer setting.
8. the integrated navigation system of safety guidance unmanned vehicle glide landing as claimed in claim 4, it is characterised in that: when
When unmanned vehicle reaches flare out altitude, jumps out slip-down state and enter the attitude angle evened up the stage of descending slowly and lightly, when holding is landed and hang down
Straight speed.
9. the integrated navigation system of safety guidance unmanned vehicle glide landing as claimed in claim 4, it is characterised in that: vertical
The pitch angle for controlling aircraft using elevator by longitudinally controlled channel to control module, uses the shape of engine throttle control
State increases resistance by the deflection of spoiler to reduce the speed during gliding.
10. the integrated navigation system of safety guidance unmanned vehicle glide landing as claimed in claim 4, it is characterised in that:
Unmanned vehicle starts to execute autonomous approach and landing program after entering landing window, passes through designed control law and preset reason
Think course line automatic height adjustment, speed.
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| CN110968113A (en) * | 2019-12-16 | 2020-04-07 | 西安因诺航空科技有限公司 | Unmanned aerial vehicle autonomous tracking take-off and landing system and tracking positioning method |
| CN112034875A (en) * | 2020-09-15 | 2020-12-04 | 西安爱生技术集团公司 | Full-automatic liftoff take-off control method for general unmanned aerial vehicle with conventional layout |
| CN112631336A (en) * | 2020-12-30 | 2021-04-09 | 中电科特种飞机系统工程有限公司 | Control method, system and device of unmanned aerial vehicle |
| CN112752712A (en) * | 2019-08-30 | 2021-05-04 | 乐天株式会社 | Control device, system and method |
| CN113190023A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Control method for full-autonomous arresting landing of carrier-borne unmanned aerial vehicle |
| CN113533784A (en) * | 2021-09-07 | 2021-10-22 | 成都飞机工业（集团）有限责任公司 | GPS (global positioning system) round-trip non-constant-speed flat flight airspeed calibration method |
| CN114935936A (en) * | 2022-06-14 | 2022-08-23 | 北京远度互联科技有限公司 | Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium |
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| CN112752712A (en) * | 2019-08-30 | 2021-05-04 | 乐天株式会社 | Control device, system and method |
| CN110968113A (en) * | 2019-12-16 | 2020-04-07 | 西安因诺航空科技有限公司 | Unmanned aerial vehicle autonomous tracking take-off and landing system and tracking positioning method |
| CN112034875A (en) * | 2020-09-15 | 2020-12-04 | 西安爱生技术集团公司 | Full-automatic liftoff take-off control method for general unmanned aerial vehicle with conventional layout |
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| CN113190023B (en) * | 2021-03-31 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Control method for full-autonomous arresting landing of carrier-borne unmanned aerial vehicle |
| CN113190023A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Control method for full-autonomous arresting landing of carrier-borne unmanned aerial vehicle |
| CN113533784B (en) * | 2021-09-07 | 2022-01-25 | 成都飞机工业（集团）有限责任公司 | GPS (global positioning system) round-trip non-constant-speed flat flight airspeed calibration method |
| CN113533784A (en) * | 2021-09-07 | 2021-10-22 | 成都飞机工业（集团）有限责任公司 | GPS (global positioning system) round-trip non-constant-speed flat flight airspeed calibration method |
| CN114935936A (en) * | 2022-06-14 | 2022-08-23 | 北京远度互联科技有限公司 | Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium |
| CN116661470A (en) * | 2023-04-14 | 2023-08-29 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle pose estimation method based on binocular vision guided landing |
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