CN110223539A - Early warning range real time acquiring method suitable for low latitude unmanned plane - Google Patents
Early warning range real time acquiring method suitable for low latitude unmanned plane Download PDFInfo
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Abstract
The invention discloses a kind of early warning range real time acquiring methods suitable for low latitude unmanned plane, comprising: generates unmanned plane circumsphere according to unmanned plane dimensional parameters, determines bulb diameter；Unmanned plane regional model is constructed, any point chosen in three-dimensional space establishes rectangular coordinate system in space as coordinate origin；Present communications loopback delay between acquisition unmanned plane and control server, unmanned plane present position wind velocity vector, unmanned plane real-time flight velocity vector, UAV Maneuver performance parameter in real time, it calculates in present communications loopback delay, maximum moving distance of the unmanned plane regional model in rectangular coordinate system in space all directions；The real-time early warning range of unmanned plane is obtained in conjunction with unmanned plane regional model, the location information of unmanned plane regional model and its maximum moving distance in all directions.The present invention can rationally generate real-time early warning range, under the premise of ensuring that risk of collision meets risk class requirement, promote the operational efficiency of unmanned plane as much as possible.
Description
Technical field
The present invention relates to air vehicle technique fields, real-time in particular to a kind of early warning range suitable for low latitude unmanned plane
Acquisition methods.
Background technique
Push-button aircraft abbreviation unmanned plane is developed rapidly, nothing recent years as emerging sci-tech product
It is man-machine not only to obtain widespread adoption in fields such as fire-fighting, inspection, agricultural, logistics, equally also gradually received by common people, as big
The companies such as boundary, zero degree, vast and boundless Xiang, 3DR are gradually proposed numerous consumer level products.
But as unmanned plane of more and more unmanned planes in low-latitude flying, low latitude is more and more intensive, unmanned plane touches
Hitting risk becomes increasing.By unmanned plane unified management in-flight, allows unmanned plane orderly to fly, will solve the problems, such as this
One some effective.Wherein, solve how unmanned plane to be avoided to collide, or reduce the risk that collision occurs, be primarily to need
It solves the problems, such as.
It solves the problems, such as that unmanned plane collision avoids, according to the main body of decision and perception, is broadly divided into two major classes:
The first kind, unmanned plane independently perceive decision: unmanned plane is equipped with awareness apparatus and is used for such as millimetre-wave radar, camera
Barrier or other aircraft around detecting；Unmanned plane is equipped with decision-making device, includes analysis decision algorithm, is used for high-speed decision
And execute avoidance movement.This mode needs to weigh between unmanned plane cost and ability, high performance perception, decision device
With stronger obstacle avoidance ability, unmanned plane cost is necessarily significantly increased.
Second class, remote server assist perception decision: unmanned plane is equipped with necessary positioning device, such as GPS, and period
Property report oneself position, remote server obtains all unmanned plane positions in region and issues dispatch command to unmanned plane, by nothing
Man-machine execution traffic order.This mode can judge risk of collision in advance, be avoided collision by scheduling mode, to unmanned plane sense
It is low to know that decision device requires, but needs to design effective and low complex degree a early warning mechanism and judges risk of collision.
When assisting perception decision-making technique using remote server, own location information can be sent in real time base by unmanned plane
It stands, then control server is sent to by base station, control server receives the information that unmanned plane is sent, and is sent according to unmanned plane
Information judges that whether there are obstacles in its prewarning area, if there is barrier, then generates pre-warning signal, again by pre-warning signal
It is sent to unmanned plane by base station, unmanned plane is made to complete avoidance in time.
But in practical applications, firstly, unmanned plane sends the control of signal subject clock signal, secondly, the signal sent
Need to reach control server by base station, control server is handled signal is received, then through base station by control server
Processing result be sent to unmanned plane, the transmission and operation of signal are required to the time, finally, the transmission of signal is by wireless signal matter
Amount is affected.
When early warning range is excessive, unmanned plane operational efficiency is influenced, when early warning range is too small, risk of collision increases.
Summary of the invention
It is an object of that present invention to provide a kind of early warning range real time acquiring methods suitable for low latitude unmanned plane, pass through communication loop
Time delay, unmanned plane present position wind velocity vector, unmanned plane real-time flight velocity vector and UAV Maneuver performance parameter are returned,
It is calculated in present communications loopback delay, maximum of the unmanned plane regional model in rectangular coordinate system in space all directions is mobile
Distance generates real-time early warning range in conjunction with unmanned plane regional model, is ensuring that risk of collision meets the premise of risk class requirement
Under, the operational efficiency of unmanned plane is promoted as much as possible；In addition, actual time safety grade is calculated according to other environmental factors, adopt
Adjustment is optimized to the real-time early warning range obtained in aforementioned process with actual time safety grade；It include barrier in the pre-warning signal
Hinder object location information, unmanned plane is timely, accurate avoiding obstacles to assist；When barrier be dynamic object when, such as other nobody
Machine, since barrier is constantly in motion state, when pre-warning signal is sent to unmanned plane, which may be in original
Position, the motion track of available dynamic object, estimates the Future Positions of barrier at this time, generates Robot dodge strategy,
Robot dodge strategy and pre-warning signal are sent to unmanned plane together.
To reach above-mentioned purpose, in conjunction with Fig. 1, the present invention proposes that a kind of early warning range suitable for low latitude unmanned plane obtains in real time
Method, which comprises
S1: unmanned plane circumsphere is generated according to unmanned plane dimensional parameters, determines bulb diameter LUAV。
S2: building unmanned plane regional model, any point chosen in three-dimensional space establish space as coordinate origin
Rectangular coordinate system, the rectangular coordinate system in space include the z-axis in x-axis and y-axis and vertical direction in horizontal direction.
S3: the present communications loopback delay T between acquisition unmanned plane and control server, unmanned plane present position wind in real time
Fast vector Vw={ Vwx,Vwy,Vwz, unmanned plane real-time flight velocity vector Vu={ Vux,Vuy,Vuz, UAV Maneuver performance ginseng
Number calculates in present communications loopback delay T, and maximum of the unmanned plane regional model in rectangular coordinate system in space all directions is mobile
Distance.
Wherein, the Vwx,Vwy,VwzRespectively three axial directions of the unmanned plane present position wind speed in rectangular coordinate system in space
On projection vector value, the Vux,Vuy,VuzRespectively unmanned plane analyzes speed in three axis of rectangular coordinate system in space in real time
Upward projection vector value.
S4: in conjunction with unmanned plane regional model, the location information of unmanned plane regional model and its maximum in all directions
The real-time early warning range of moving distance acquisition unmanned plane.
Unmanned plane is in flight course, and it is round-trip to be able to carry out a signal in a communication loopback delay, with unmanned plane
The control instruction for receiving control server is timing node, and a communication loopback delay refers to that unmanned plane receives control twice in succession
The duration of the control instruction of control server sends a signal to the duration Δ t of control server including unmanned plane1, control server
Data processing duration Δ t2, control server send a signal to the duration Δ t of unmanned plane3, control server is at progress data
When reason, therefore, to assure that data processing duration Δ t of the unmanned plane in epicycle control server2, control server send a signal to nothing
Man-machine duration Δ t3, next round unmanned plane send a signal to the duration Δ t of control server1 *Total duration within the scope of, nobody
Barrier is not present in the maximum flight range of machine.Since the frequency that unmanned plane sends signal is higher, it can be assumed that Δ t1≈Δ
t1 *, i.e. barrier is not present in the maximum flight range of a communication loopback delay in unmanned plane, in this way, just can ensure that unmanned plane
Flight safety, using this maximum flight range as the real-time early warning range of unmanned plane.
The real-time early warning range of unmanned plane is influenced by following factor:
1) radio communication conditions
Communication loopback delay refers to that unmanned plane sends signal and reaches control server by base station, and control server sends control
Signal processed arrives unmanned plane time span experienced by base station again.
Communication loopback delay is longer, and the communication duration between unmanned plane and control server is longer, under equivalent parameters, nothing
Man-machine flying distance is bigger, and the early warning range of required setting is bigger.
2) wind direction and wind velocity in region locating for unmanned plane
Wind speed and direction will cause the additional shift length of unmanned plane, when especially unmanned plane weight is lighter.For the ease of meter
It calculates, it in the present invention can be using the average value of the wind direction and wind velocity in locating region.
In some examples, it can be combined with unmanned plane weight and adjust the wind direction and wind velocity parameter after being optimized.
3) unmanned plane size
When the maximum moving distance very little on some direction, it is contemplated that special flight progress, if unmanned plane is by extraneous ring
Border leads to vibration etc., and the present invention proposes, establishes a minimum early warning distance threshold value according to unmanned plane size, when it is calculated nobody
When the Minimum sliding distance of machine in a certain direction is less than minimum early warning distance threshold value, using the minimum early warning distance threshold value conduct
Minimum early warning distance.Preferably, using unmanned plane maximum radial width LUAV, as minimum early warning distance threshold value.
Universality mode is to use the diameter of the external sphere of unmanned plane as LUAV, can also be simply considered that, unmanned plane
Maximum value in length and unmanned plane width, as LUAV。
4) mobility of unmanned plane
The mobility of unmanned plane mainly considers that the maximum in normal flight is climbed angle, θup, maximum angle downwards θdown、
Minimum turning radius R.
With unmanned plane in a maximum climbing distance communicated in loopback delay, maximum dropping distance, maximum turn distance
As the examination factor, wherein turn round including the flight path at least two directions.
5) flying speed of unmanned plane
For ease of calculation, average cruising speed of the unmanned plane on this section of air route can be taken or by being arranged in nothing
The detections such as displacement sensor/velocity sensor on man-machine obtain the real-time flight speed of unmanned plane, even by obtaining nobody
The real-time flight speed of unmanned plane is calculated in the kinetic parameter of machine.
After getting all influence factors, rectangular coordinate system in space is created, regardless of unmanned plane flies in space
Row, moving distance can decompose projection to three axis of rectangular coordinate system in space.In conjunction with influence factor, nobody is calculated
Maximum flying distance of the machine in space coordinates all directions, then calculates maximum flight range.In conjunction with unmanned plane area
The location information of domain model, unmanned plane regional model obtains real-time early warning range.Preferably, the shape of real-time early warning range and
Unmanned plane regional model is consistent.
The above technical solution of the present invention, compared with existing, significant beneficial effect is:
(1) by communication loopback delay, unmanned plane present position wind velocity vector, unmanned plane real-time flight velocity vector, with
And UAV Maneuver performance parameter, it is calculated in present communications loopback delay, unmanned plane regional model is in rectangular space coordinate
It is the maximum moving distance in all directions, in conjunction with unmanned plane regional model, generates real-time early warning range, ensuring risk of collision
Under the premise of lower than default risk threshold value, the operational efficiency of unmanned plane is promoted as much as possible.
(2) other environmental factors are considered, actual time safety grade are calculated according to other environmental factors, using real-time
Security level optimizes adjustment to the real-time early warning range obtained in aforementioned process.
It (3) include obstacle position information in the pre-warning signal, to assist, unmanned plane is timely, accurate avoiding obstacles.
(4) when barrier is dynamic object, such as other unmanned planes, since barrier is constantly in motion state, pre-
When alert signal is sent to unmanned plane, which may not in the original location, the moving rail of available dynamic object at this time
Mark estimates the Future Positions of barrier, generates Robot dodge strategy, Robot dodge strategy and pre-warning signal are sent to nobody together
Machine.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this
It can be viewed as a part of the subject matter of the disclosure in the case that the design of sample is not conflicting.In addition, required guarantor
All combinations of the theme of shield are considered as a part of the subject matter of the disclosure.
Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that the foregoing and other aspects, reality
Apply example and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the invention will be below
Description in it is obvious, or learnt in practice by the specific embodiment instructed according to the present invention.
Detailed description of the invention
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, example will be passed through and the embodiments of various aspects of the invention is described in reference to the drawings, in which:
Fig. 1 is the flow chart of the early warning range real time acquiring method suitable for low latitude unmanned plane of the invention.
Fig. 2 is one of structural schematic diagram of unmanned plane regional model of the present invention and corresponding early warning range.
Fig. 3 is the maximum flying distance of one of unmanned plane of the invention in rectangular coordinate system in space all directions
Schematic diagram.
Fig. 4 is the influence relation schematic diagram of velocity component and turning radius of the invention to maximum flying distance.
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
In conjunction with Fig. 1, the present invention refers to a kind of early warning range real time acquiring method suitable for low latitude unmanned plane, the method packet
It includes:
S1: unmanned plane circumsphere is generated according to unmanned plane dimensional parameters, determines bulb diameter LUAV。
S2: building unmanned plane regional model, any point chosen in three-dimensional space establish space as coordinate origin
Rectangular coordinate system, the rectangular coordinate system in space include the z-axis in x-axis and y-axis and vertical direction in horizontal direction.
S3: the present communications loopback delay T between acquisition unmanned plane and control server, unmanned plane present position wind in real time
Fast vector Vw={ Vwx,Vwy,Vwz, unmanned plane real-time flight velocity vector Vu={ Vux,Vuy,Vuz, UAV Maneuver performance ginseng
Number calculates in present communications loopback delay T, and maximum of the unmanned plane regional model in rectangular coordinate system in space all directions is mobile
Distance.
Wherein, the Vwx,Vwy,VwzRespectively three axial directions of the unmanned plane present position wind speed in rectangular coordinate system in space
On projection vector value, the Vux,Vuy,VuzRespectively unmanned plane analyzes speed in three axis of rectangular coordinate system in space in real time
Upward projection vector value.
Preferably, the UAV Maneuver performance parameter includes that unmanned plane maximum is climbed angle, θup, unmanned plane maximum decline
Angle, θdown, minimum turning radius R.
S4: the real-time pre- of unmanned plane is obtained in conjunction with unmanned plane regional model and its maximum moving distance in all directions
Alert range.
In abovementioned steps, step S1-S3 is without inevitable sequencing relationship, and in practical applications, part steps can be with
Carry out or reverse the right order simultaneously progress.
One, unmanned plane regional model
In conjunction with Fig. 2, the unmanned plane regional model in step S2 can use self model, can also be according to unmanned plane size
Parameter generates unmanned plane circumscribed rectangular body, using unmanned plane circumscribed rectangular body as unmanned plane regional model.
For unmanned plane regional model closer to itself time of day, the early warning range of generation is more accurate.
Two, rectangular coordinate system in space
From the foregoing it will be appreciated that since the maximum flight range being finally calculated is each in space coordinates according to unmanned plane
Maximum flying distance synthesis on direction obtains, and is not influenced by the concrete shape of rectangular coordinate system in space, therefore present invention institute is public
The early warning range real time acquiring method opened for rectangular coordinate system in space direction and be not limited.
For ease of description and understand, in conjunction with Fig. 3, in this embodiment, the rectangular coordinate system in space includes water
Z-axis in square upward x-axis and y-axis and vertical direction, for x-axis along unmanned plane during flying direction of advance, y-axis is vertical with x-axis.
The early warning range of unmanned plane is based on following maximum flying distance and is calculated:
UA: refer to maximum moving distance of the unmanned plane on z-axis positive direction (straight up), it is set to unmanned plane region
Maximum distance of the model to top early warning face.
UB: refer to maximum moving distance of the unmanned plane on z-axis opposite direction (straight down), it is set to unmanned plane region
Maximum distance of the model to lower section early warning face.
UE: refer to maximum moving distance of the unmanned plane in positive direction of the x-axis (direction of advance), it is set to unmanned plane region
Maximum distance of the model to front early warning face.
UF: refer to maximum moving distance of the unmanned plane in x-axis opposite direction (direction of retreat), it is set to unmanned plane region
Maximum distance of the model to front early warning face.
UC: refer to maximum moving distance of the unmanned plane on positive direction of the y-axis (direction of turning left), it is set to unmanned plane region
Maximum distance of the model to left early warning face.
UD: refer to maximum moving distance of the unmanned plane on y-axis opposite direction (direction of turning right), it is set to unmanned plane region
Maximum distance of the model to right early warning face.
Here left, right, front and rear are not absolute direction, and only a generation claims, can be according to flight reference coordinates tune
It is whole.
Three, calculation
(1) impact factor
1. communicating loopback delay
Communication loopback delay refers to that unmanned plane sends signal and reaches control server by base station, and control server sends control
Signal processed arrives unmanned plane time span experienced by base station again.In some instances, radio communication conditions mainly due to
Communication signal quality influences UAV Communication loopback delay.If indicating that radio communication quality, W carry out table with Signal to Interference plus Noise Ratio SINR
Show communication bandwidth, then can define communication loopback delay are as follows:
T=f (SINR, W)
Wherein, the letter of communication loopback delay and wireless communication apparatus of the f () between unmanned plane and control server is dry
The relation function of dry ratio, SINR are the dry ratios of letter of the wireless communication apparatus of UAV flight, and W is communication bandwidth.
In some examples, communication loopback delay is also affected by other factors, as the calculation resources of control server occupy
Additional operation duration etc., for this kind of situation, adjusts to being adapted to property communication loopback delay caused by rate is excessive, such as increases volume
Outer communication loopback delay does double processing etc. to calculated communication loopback delay.
2. wind direction and wind velocity
Wind direction and wind speed can take the region averages as calculated value, can be decomposed the list for projecting to space coordinate
Position direction:
Vw={ Vwx,Vwy,Vxz}。
3. unmanned plane size
As previously mentioned, a minimum early warning distance threshold value is established according to unmanned plane size, for example, by using unmanned plane maximum diameter
To width LUAVDeng.
4. the mobility of unmanned plane
In this application, the mobility of unmanned plane mainly considers that the maximum in normal flight is climbed angle, θup, it is maximum under
Angle, θ dropsdown, minimum turning radius R.
5. the flying speed of unmanned plane
It can be expressed using average cruising speed of the unmanned plane on this section of air route and the component on unit direction
The flying speed of unmanned plane:
Vu={ Vux,Vuy,Vuz}。
(2) Computing Principle
1. determining distance UA: main to consider what unmanned plane fly in vertically upward direction by T time maximum
The distance and unmanned plane size that distance, wind speed can vertically rise upwards.
UA≥max{T·[|Vu|·sin(θup)+Vwz]+LUAV,LUAV}。
2. determining distance UB: main to consider that unmanned plane passes upward through what T time maximum fly in side vertically downward
The distance and unmanned plane size that distance, wind speed can vertically rise down upwards.
UB≥max{T·[|Vu|·sin(θdown)+Vwz]+LUAV,LUAV}。
3. determining distance UC and UD: such as Fig. 4, the main velocity component considered in the x direction passes through time T most in the direction x
The velocity component of the distance, turning that can move greatly passes through the distance that time T maximum can move, wind speed in x in the x direction
Side passes upward through time T being capable of maximum mobile distance and unmanned plane size.
4. determining UE and UF: such as Fig. 4, the main velocity component considered in y-direction passes through time T most in the direction y
The velocity component of the distance, turning that can move greatly passes through the distance that time T maximum can move, wind speed in y in y-direction
Side passes upward through time T being capable of maximum mobile distance and unmanned plane size.
The above calculating process is the influence for only taking into account unmanned plane oneself factor and component environment factor to early warning range,
In some examples, when calculating early warning range, it is also contemplated that reality is calculated according to other environmental factors in other environmental factors
When security level, adjustment is optimized to the real-time early warning range obtained in aforementioned process using actual time safety grade.For example, working as
It is required that actual time safety higher grade when, the real-time early warning range after optimization is bigger.
In other examples, the method also includes:
In conjunction with unmanned plane position error accuracy rating, optimize real-time early warning range.Specifically, using following formula, in conjunction with
Unmanned plane position error accuracy rating optimizes real-time early warning range:
UXm=UX+ ε
Wherein, UX={ UA, UB, UC, UD, UE, UF }, UXm={ UAm,UBm,UCm,UDm,UEm,UFm, ε is that positioning misses
Difference.
For example, such as GPS error precision is 5m@50%, 10m@66%, 20m@90%, it at this time can according to need and add
Upper 10m, 20m or 5m.
Preferably, the impact factor of the actual time safety grade includes that the features of terrain in locating region, locating region fly
Row object quantity and distribution mode, wireless communication variation tendency etc..
For example, the features of terrain when locating region is complicated, such as mountain area, the non-open region in building compact district, due to barrier
Hinder object more, what actual time safety grade can be arranged is relatively higher.Likewise, the flying object quantity when locating region is more
And/or when distribution comparatively dense, actual time safety grade can also be adjusted according to flying object quantity and distribution mode.
As previously mentioned, the application assumes Δ t for simplified mathematical model1≈Δt1 *, but in some instances, Δ t1With
Δt1 *It is possible that differing larger, we can be according to the variation tendency of radio communication quality, to Δ t1 *Do some estimate.For example,
Whithin a period of time, the variation tendency of radio communication quality is in undulating and fluctuating range is larger, at this point, Δ t1With Δ t1 *Have
It may differ by larger, actual time safety grade can be extrapolated according to fluctuating range and vibration frequency or in one section later
In, it substitutes into and calculates according to minimum radio communication quality.
In other examples, the method also includes:
Obtain unmanned plane current location information and real-time early warning range in real time, judge within the scope of unmanned plane real-time early warning whether
There are barriers:
If there is barrier, pre-warning signal is sent to unmanned plane.
It preferably, include obstacle position information in the pre-warning signal, to assist, unmanned plane is timely, accurately avoids obstacle
Object.
When barrier is dynamic object, as other unmanned planes are believed since barrier is constantly in motion state in early warning
When number being sent to unmanned plane, which may not in the original location, and the motion track of available dynamic object, right at this time
The Future Positions of barrier are estimated, generate Robot dodge strategy, by Robot dodge strategy and pre-warning signal be sent to together unmanned plane or
Unmanned plane managing and control system.
Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
Embodiment of the disclosure need not be defined on including all aspects of the invention.It should be appreciated that a variety of designs and reality presented hereinbefore
Those of apply example, and describe in more detail below design and embodiment can in many ways in any one come it is real
It applies, this is because conception and embodiment disclosed in this invention are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined use with disclosed by the invention.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (9)
1. a kind of early warning range real time acquiring method suitable for low latitude unmanned plane, which is characterized in that the described method includes:
S1: unmanned plane circumsphere is generated according to unmanned plane dimensional parameters, determines bulb diameter LUAV；
S2: building unmanned plane regional model, any point chosen in three-dimensional space establish space right-angle as coordinate origin
Coordinate system, the rectangular coordinate system in space include the z-axis in x-axis and y-axis and vertical direction in horizontal direction；
S3: in real time acquisition unmanned plane and control server between present communications loopback delay T, unmanned plane present position wind speed to
Measure Vw={ Vwx,Vwy,Vwz, unmanned plane real-time flight velocity vector Vu={ Vux,Vuy,Vuz, UAV Maneuver performance parameter, meter
It calculates in present communications loopback delay T, maximum moving distance of the unmanned plane regional model in rectangular coordinate system in space all directions；
Wherein, the Vwx,Vwy,VwzRespectively unmanned plane present position wind speed is in three axial directions of rectangular coordinate system in space
Projection vector value, the Vux,Vuy,VuzRespectively unmanned plane analyzes speed in three axial directions of rectangular coordinate system in space in real time
Projection vector value；
S4: mobile in conjunction with unmanned plane regional model, the location information of unmanned plane regional model and its maximum in all directions
Distance obtains the real-time early warning range of unmanned plane.
2. the early warning range real time acquiring method according to claim 1 suitable for low latitude unmanned plane, which is characterized in that step
In S2, the building unmanned plane regional model refers to,
Unmanned plane circumscribed rectangular body is generated according to unmanned plane dimensional parameters, using unmanned plane circumscribed rectangular body as unmanned plane region mould
Type.
3. the early warning range real time acquiring method according to claim 1 suitable for low latitude unmanned plane, which is characterized in that step
In S2, in step S3, the impact factor of the communication loopback delay T include at least the dry ratio of real-time letter of wireless communication apparatus with
Communication bandwidth, the communication loopback delay T expression are as follows:
T=f (SINR, W)
Wherein, the dry ratio of the letter of communication loopback delay and wireless communication apparatus of the f () between unmanned plane and control server
Relation function, SINR is the dry ratio of letter of the wireless communication apparatus of UAV flight, and W is communication bandwidth.
4. the early warning range real time acquiring method according to claim 1 suitable for low latitude unmanned plane, which is characterized in that described
UAV Maneuver performance parameter includes that unmanned plane maximum is climbed angle, θup, unmanned plane maximum angle downwards θdown, minimum turning half
Diameter R.
5. the early warning range real time acquiring method according to claim 4 suitable for low latitude unmanned plane, which is characterized in that step
In S3, in the calculating present communications loopback delay T, the central point of unmanned plane regional model is in each side of rectangular coordinate system in space
Upward maximum moving distance the following steps are included:
According to following formula calculate unmanned plane regional model in z-axis positive direction maximum moving distance UA, on z-axis opposite direction
Maximum moving distance UB, the maximum moving distance UC in positive direction of the y-axis, the maximum moving distance UD on y-axis opposite direction,
Maximum moving distance UE in positive direction of the x-axis, the maximum moving distance UE on x-axis opposite direction:
UA≥max{T·[|Vu|·sin(θup)+Vwz]+LUAV,LUAV}
UB≥max{T·[|Vu|·sin(θdown)+Vwz]+LUAV,LUAV}
6. according to claim 1 to described in 5 any one be suitable for low latitude unmanned plane early warning range real time acquiring method,
It is characterized in that, the method also includes:
Actual time safety grade is obtained, according to actual time safety grade optimizing real-time early warning range.
7. according to claim 1 to described in 5 any one be suitable for low latitude unmanned plane early warning range real time acquiring method,
It is characterized in that, the method also includes:
Optimize real-time early warning range in conjunction with unmanned plane position error accuracy rating using following formula:
UXm=UX+ ε
Wherein, UX={ UA, UB, UC, UD, UE, UF }, UXm={ UAm,UBm,UCm,UDm,UEm,UFm, ε is position error.
8. the early warning range real time acquiring method according to claim 6 suitable for low latitude unmanned plane, which is characterized in that described
The impact factor of actual time safety grade include the locating features of terrain in region, the flying object quantity in locating region and distribution mode,
Wirelessly communicate variation tendency.
9. according to claim 1 to described in 5 any one be suitable for low latitude unmanned plane early warning range real time acquiring method,
It is characterized in that, the method also includes:
Unmanned plane current location information and real-time early warning range are obtained in real time, judge to whether there is within the scope of unmanned plane real-time early warning
Barrier:
If there is barrier, pre-warning signal is sent to unmanned plane or unmanned plane managing and control system.
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