CN110530374A - A kind of unmanned plane skyhook recovery stage course-line deviation display methods - Google Patents
A kind of unmanned plane skyhook recovery stage course-line deviation display methods Download PDFInfo
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- CN110530374A CN110530374A CN201910947527.8A CN201910947527A CN110530374A CN 110530374 A CN110530374 A CN 110530374A CN 201910947527 A CN201910947527 A CN 201910947527A CN 110530374 A CN110530374 A CN 110530374A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention provides a kind of unmanned plane skyhook recovery stage course-line deviation display methods, the location information of unmanned plane is obtained in real time, obtain longitude and latitude and opposite recycling place height, when aircraft enters recycling course line window point, unmanned plane cross track deviation and height tolerance are calculated in real time, real-time rendering field height and course-line deviation curve when unmanned plane enters 2, course line of recycling, while with text importing field height and course-line deviation, until unmanned plane is breasted the tape recycling.Present invention utilizes the practical flight trajectory calculations in planning recycling course line and actual recovered stage unmanned plane to go out horizontal and vertical deviation, and figure and text importing are used respectively, flight control person can intuitively see the flight path deviation of recovery stage unmanned plane, it is judged in time in the biggish situation of deviation, it is gone around again or course line is recycled in time update, the precision of skyhook recycling is improved, unmanned plane safe retrieving is guided.
Description
Technical field
The present invention relates to unmanned plane recycling fields, especially a kind of to be suitable for course-line deviation display methods.
Background technique
Unmanned plane in the related technology, take off and recycle be unmanned air vehicle technique application two big important links.Compared to rise
Fly, unmanned plane recycling is one increasingly complex and be easy to appear stage of failure, can safe landing have become evaluation nothing
One important indicator of man-machine performance, recovery technology have become the key technique for influencing Development of UAV.
In numerous ways of recycling, skyhook recycling occupied little space with it, high reliablity be widely used in continental rise and
In sea base unmanned plane recovery system, pinpoint recycling can be realized.In unmanned plane skyhook recovery stage, in order to reduce recycling
Risk improves recycling precision, reinforces people in the booster action in circuit, needs to exist unmanned plane practical flight track and recycling course line
Deviation on vertical and horizontal is shown.Relevant unmanned plane skyhook recovery stage course-line deviation display methods is had no at present.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of unmanned plane skyhook recovery stage course-line deviation display side
Method.Go out horizontal and vertical deviation according to the practical flight trajectory calculation in planning recycling course line and actual recovered stage unmanned plane, and
Figure and text importing are used respectively, and flight control person is enabled intuitively to find out that the track of skyhook recovery stage unmanned plane is inclined
Difference cancels recovery command in the biggish situation of deviation in time, is gone around again or course line is recycled in time update, improve day
The precision that uncinate gyrus is received guides unmanned plane safe retrieving.
The detailed step of the technical solution adopted by the present invention to solve the technical problems is as follows:
Step 1: unmanned plane skyhook recycling planning course line is the broken line of 6 destinations composition, wherein 1 point is inlet point, 2 points are
Window point, R point are recovery point of breasting the tape, and 3,4,5,6 points are flying point, and D is 2 points of horizontal distances to R point, and H is 1 point to 6 point phases
To recycling place height, the location information of unmanned plane is obtained in real time, obtains longitude and latitude (Lu, Bu) and opposite recycling place height Hu；
Step 2: when aircraft enters recycling course line window point, calculating unmanned plane cross track deviation in real time and height is inclined
Difference, steps are as follows for specific calculating:
A) position of unmanned plane in space is P (Lu, Bu, Hu), position in the horizontal plane is point Ph(Lu, Bu), it will
(Lu, Bu) be converted to position (X under plane rectangular coordinatesu, Yu), point P is calculated using the distance calculating method of point to straight linehExtremely
The distance DEV of 2 ' R of straight lineh, wherein 2 ' points are the projection of 2 points of course line of skyhook recycling planning in the horizontal plane, O PhTo straightway
The intersection point of 2 ' R,For 2 ' P of straight linehWith the angle of direct north, the angle of β 2 ' R and direct north, ifThen
DEVhIt is positive；IfThen DEVhIt is negative, DEVhAs unmanned plane recovery stage cross track deviation；
B) DEV is being found outhDuring find out the rectangular co-ordinate (X of point OO, YO), according to the distance calculation formula of point-to-point transmission
Calculate the distance D of 2 ' points to O pointO；
C) position of the location point P in unmanned plane space on vertical plane is PV, the opposite height for recycling place is Hu, α 2R
With the angle of 2 ' R, thenFinding out unmanned plane recovery stage height tolerance is DEVV=Hu-(D-DO)tanα；
Step 3: real-time rendering field height and course-line deviation curve when unmanned plane enters 2, course line of recycling, and meanwhile it is aobvious with text
Show field height and course-line deviation, wherein course-line deviation is divided into horizontal departure and height tolerance；
Step 4: since unmanned plane enters 2 points of course line of recycling, repeating step 1 and arrive step 3, real-time rendering unmanned plane height
Deviation and horizontal departure, until unmanned plane is breasted the tape recycling；If should during due to emergency case cause deviation exceed ± 5 model
It encloses, operator is capable of emitting to go around or cancel recovery command, can plan recycling course line again during cancelling recovery command.
The beneficial effects of the present invention are unmanned plane skyhook recovery stage course-line deviation display methods proposed by the present invention, by
Go out horizontal and vertical deviation in the practical flight trajectory calculation that planning recycling course line and actual recovered stage unmanned plane is utilized, and
Figure and text importing are used respectively, and flight control person can intuitively see the flight path deviation of recovery stage unmanned plane, In
It is judged in time in the biggish situation of deviation, is gone around again or time update recycling course line, raising skyhook recycle
Precision guides unmanned plane safe retrieving.
Detailed description of the invention
Fig. 1 is unmanned plane skyhook of the present invention recycling planning course line three-dimensional figure.
Fig. 2 is unmanned plane skyhook recovery stage cross track deviation schematic diagram calculation of the present invention.
Fig. 3 is unmanned plane skyhook recovery stage height tolerance schematic diagram calculation of the present invention.
Fig. 4 is unmanned plane skyhook recovery stage course-line deviation curve display schematic diagram of the present invention, and wherein Fig. 4 (a) is that field is high
Curve synoptic diagram, Fig. 4 (b) are horizontal departure and height tolerance schematic diagram.
Fig. 5 is recovery stage course-line deviation display methods implementation flow chart of the present invention.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
The implementation steps of the invention is as follows:
Step 1: unmanned plane skyhook recycling planning course line is the broken line of 6 destinations composition, wherein 1 point is inlet point, 2 points are
Window point, R point are recovery point of breasting the tape, and 3,4,5,6 points are flying point, and D is 2 points of horizontal distances to R point, and H is 1 point to 6 point phases
To recycling place height (assuming that recycling place is in same level), as shown in Figure 1；The location information of unmanned plane is obtained in real time,
Obtain longitude and latitude (Lu, Bu) and opposite recycling place height Hu；
Step 2: when aircraft enters recycling course line window point, calculating unmanned plane cross track deviation in real time and height is inclined
Difference, steps are as follows for specific calculating:
A) position of unmanned plane in space is P (Lu, Bu, Hu), position in the horizontal plane is point Ph(Lu, Bu), such as Fig. 2
It is shown, by (Lu, Bu) be converted to position (X under plane rectangular coordinatesu, Yu), it is calculated using the distance calculating method of point to straight line
Point P outhTo the distance DEV of 2 ' R of straight lineh, wherein 2 ' points are the projection of 2 points of course line of skyhook recycling planning in the horizontal plane, O Ph
To the intersection point of 2 ' R of straightway,For 2 ' P of straight linehWith the angle of direct north, the angle of β 2 ' R and direct north, ifThen DEVhIt is positive；IfThen DEVhIt is negative, DEVhAs unmanned plane recovery stage cross track deviation；
B) DEV is being found outhDuring find out the rectangular co-ordinate (X of point OO, YO), according to the distance calculation formula of point-to-point transmission
Calculate the distance D of 2 ' points to O pointO；
C) position of the location point P in unmanned plane space on vertical plane is PV, the opposite height for recycling place is Hu, such as Fig. 3
Shown, α is the angle of the R of 2R and 2 ', thenUnmanned plane recovery stage height tolerance, which can be found out, according to relationship in figure is
DEVV=Hu-(D-DO)tanα；
Step 3: real-time rendering field height and course-line deviation curve when unmanned plane enters 2, course line of recycling, and meanwhile it is aobvious with text
Show field height and course-line deviation, wherein course-line deviation is divided into horizontal departure and height tolerance, and Fig. 4 (a) is the high curve in field, and Fig. 4 (b) is
Horizontal departure and height tolerance, X-axis are horizontal distance of the unmanned plane away from 2 points, and a work shape, work shaped position are drawn in X-axis
That is the R point in Fig. 1 is landing gear position, i.e. rope hook recycles a position R point of breasting the tape.The Y-axis of Fig. 4 (a) is that the field of unmanned plane is high,
It plans that the high curve in field is drawn in figure with straight line 1 and (a height of 100 meters at 2, a height of 0 meter when R point, draws straight line
Section), the high curve curve 2 of the actual field of unmanned plane indicates, while high with text importing field, and unit is rice；The Y-axis of Fig. 4 (b) is
Unmanned plane horizontal direction deviation and height tolerance, horizontal departure curve block curve 3 indicate, height tolerance dashed curve 4
It indicates, while with text importing horizontal departure and height tolerance, unit is rice；
Step 4: since unmanned plane enters 2 points of course line of recycling, repeating step 1 and arrive step 3, real-time rendering unmanned plane height
Deviation and horizontal departure, until unmanned plane is breasted the tape recycling；If since emergency case leads to model of the deviation beyond ± 5m during being somebody's turn to do
It encloses, operator is capable of emitting to go around or cancel recovery command, can plan recycling course line again during cancelling recovery command.
The embodiment of the present invention is as follows:
Step 1: known unmanned plane skyhook recycling planning route information (1 point to 6 points and R point be Given information), 2 windows
Mouth puts to R point the horizontal distance D=1800m for recovery point of breasting the tape, the height H=100m in 1 point to 6 points opposite recycling place.In real time
Obtain the location information of unmanned plane, longitude and latitude (Lu, Bu) and opposite recycling place height Hu。
Step 2: when aircraft enters 2, course line of recycling, unmanned plane cross track deviation and height tolerance are calculated in real time, according to
It is carried out according to following steps:
A) position of unmanned plane in space is P (Lu, Bu, Hu), position in the horizontal plane is point Ph(Lu, Bu), such as Fig. 2
It is shown, by (Lu, Bu) be converted to position (X under plane rectangular coordinatesu, Yu), it is calculated using the distance calculating method of point to straight line
Point P outhTo the distance DEV of 2 ' R of straightway (2 ' points are the projection of 2 points of course line of skyhook recycling planning in the horizontal plane)h(O PhIt arrives
The intersection point of 2 ' R of straight line).For 2 ' P of straight linehWith the angle of direct north, the angle of β 2 ' R and direct north calculate β, with
It calculates in real timeCompare.IfThen DEVhIt is positive；IfThen DEVhIt is negative.DEVhAs unmanned plane returns
Receipts stage cross track deviation.
B) DEV is being found outhDuring can find out the rectangular co-ordinate (X of point OO, YO), it is calculated according to the distance of point-to-point transmission public
Formula can further calculate out the distance D of 2 ' points to O pointO。
C) position of the location point P in unmanned plane space on vertical plane is PV, the opposite height for recycling place is Hu, such as Fig. 3
Shown, α is the angle of the R of 2R and 2 ', thenUnmanned plane recovery stage height tolerance, which can be found out, according to relationship in figure is
DEVV=Hu-(D-DO)tanα。
Step 3: unmanned plane starts real-time rendering field height and course-line deviation curve when entering 2, course line of recycling, while with literary
Word shows that field is high and course-line deviation, course-line deviation are divided into cross track deviation and short transverse course-line deviation.Fig. 4 (a) is that field is high
Curve, Fig. 4 (b) are horizontal departure and height tolerance, and X-axis is horizontal distance of the unmanned plane away from 2 points, and recruitment shape is drawn in X-axis
Landing gear position (i.e. rope hook recycles a position R point of breasting the tape).The Y-axis of Fig. 4 (a) is that the field of unmanned plane is high, and the planning high curve in field exists
(being 100 meters at 2, R point is 0 meter, draws straight line section), the actual field height curve 2 of unmanned plane are drawn with straight line 1 in figure
It draws, while high with text importing field, unit is rice.The Y-axis of Fig. 4 (b) is unmanned plane horizontal direction deviation and height tolerance, water
Flat aberration curve is drawn with block curve, and height tolerance curve is drawn with dashed curve, at the same with text importing horizontal departure and
Height tolerance, unit are rice.In the present embodiment, highly with the curve indication range of horizontal departure be ± 5m.
Step 4: since unmanned plane enters 2 points of course line of recycling, repeating step 1 and arrive step 3, real-time rendering unmanned plane height
Deviation and horizontal departure, until unmanned plane is breasted the tape recycling；If since emergency case leads to model of the deviation beyond ± 5m during being somebody's turn to do
It encloses, operator is capable of emitting to go around or cancel recovery command, can plan recycling course line again during cancelling recovery command.
Recovery stage course-line deviation display methods implementation flow chart of the present invention is as shown in Figure 5.
The present invention has applied in Mr. Yu's Mini-Unmanned Aerial Vehicles, and within the system, the present invention is comprised in earth station
In navigation monitoring software.
Claims (1)
1. a kind of unmanned plane skyhook recovery stage course-line deviation display methods, it is characterised in that include the following steps:
Step 1: unmanned plane skyhook recycling planning course line is the broken line of 6 destinations composition, wherein 1 point is inlet point, 2 points are window
Point, R point are recovery point of breasting the tape, and 3,4,5,6 points are flying point, and D is 2 points of horizontal distances to R point, and H is at 1 point to 6 points and returns relatively
End ground height, obtains the location information of unmanned plane in real time, obtains longitude and latitude (Lu, Bu) and opposite recycling place height Hu；
Step 2: when aircraft enters recycling course line window point, calculating unmanned plane cross track deviation and height tolerance, tool in real time
Steps are as follows for body calculating:
A) position of unmanned plane in space is P (Lu, Bu, Hu), position in the horizontal plane is point Ph(Lu, Bu), by (Lu, Bu)
Be converted to the position (X under plane rectangular coordinatesu, Yu), point P is calculated using the distance calculating method of point to straight linehTo straight line 2 '
The distance DEV of Rh, wherein 2 ' points are the projection of 2 points of course line of skyhook recycling planning in the horizontal plane, O PhTo 2 ' R's of straightway
Intersection point,For 2 ' P of straight linehWith the angle of direct north, the angle of β 2 ' R and direct north, ifThen DEVhFor
Just；IfThen DEVhIt is negative, DEVhAs unmanned plane recovery stage cross track deviation；
B) DEV is being found outhDuring find out the rectangular co-ordinate (X of point OO, Yo), it is calculated according to the distance calculation formula of point-to-point transmission
It 2 ' puts out to the distance D of O pointO；
C) position of the location point P in unmanned plane space on vertical plane is PV, the opposite height for recycling place is Hu, α is 2R and 2 '
The angle of R, thenFinding out unmanned plane recovery stage height tolerance is DEVV=Hu-(D-DO)tanα；
Step 3: real-time rendering field height and course-line deviation curve when unmanned plane enters 2, course line of recycling, while with text importing field
High and course-line deviation, wherein course-line deviation is divided into horizontal departure and height tolerance；
Step 4: since unmanned plane enters 2 points of course line of recycling, repeating step 1 and arrive step 3, real-time rendering unmanned plane height tolerance
And horizontal departure, until unmanned plane is breasted the tape recycling；If due to the range that emergency case causes deviation to exceed ± 5, behaviour during being somebody's turn to do
Vertical member is capable of emitting goes around or cancels recovery command, can plan again during cancelling recovery command and recycle course line.
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