CN110608713A - Method for detecting pose and ground gradient of air cargo platform in sloshing process - Google Patents

Method for detecting pose and ground gradient of air cargo platform in sloshing process Download PDF

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Publication number
CN110608713A
CN110608713A CN201810633412.7A CN201810633412A CN110608713A CN 110608713 A CN110608713 A CN 110608713A CN 201810633412 A CN201810633412 A CN 201810633412A CN 110608713 A CN110608713 A CN 110608713A
Authority
CN
China
Prior art keywords
ground
cargo
cargo platform
platform
cargo bed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810633412.7A
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Chinese (zh)
Inventor
王新晴
俞垚魏
孙建筑
孟凡杰
华夏
王东
邵发明
胡小东
李玉阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Army Engineering University of PLA
Original Assignee
Army Engineering University of PLA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Army Engineering University of PLA filed Critical Army Engineering University of PLA
Priority to CN201810633412.7A priority Critical patent/CN110608713A/en
Publication of CN110608713A publication Critical patent/CN110608713A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/005—Measuring inclination, e.g. by clinometers, by levels specially adapted for use in aircraft

Abstract

The invention relates to a method for detecting the pose of an air drop cargo bed in a sloshing process. The method comprises the following steps: the quaternion and the attitude angle of the plane where the cargo platform is located when the cargo platform is thrown to the ground are obtained by utilizing the attitude sensor, namely the inclination angle of the cargo platform relative to the ground, the distance is obtained by utilizing the three laser ranging modules, and the true height of the cargo platform from the ground and the gradient of the ground are obtained through the calculation module. The pose detection and ground slope detection method can objectively and accurately measure the attitude of the cargo bed and the slope of the ground, is not influenced by the terrain, environment and human eye misjudgment, and can adapt to the complex ground condition by continuously measuring the ground. The invention can be applied to the field of air transportation and air drop auxiliary devices.

Description

Method for detecting pose and ground gradient of air cargo platform in sloshing process
One, the technical field
The invention belongs to the field of air transportation and conveying auxiliary devices, and is particularly suitable for lifting air transportation and air drop of a helicopter in a complex environment of serious disasters.
Second, background Art
When major geological disasters occur, the emergency rescue equipment needs to be hoisted and hoisted by a helicopter to reach a disaster area for rescue. In order to prevent the hoisting cargo platform from large impact and equipment damage caused by inclined landing, the integral inclination angle, ground clearance and ground gradient in the cargo platform sloshing process need to be detected when the distance between the lifting cargo platform and the ground is about 10-20 meters. The conventional height detection device is provided with a barometer, a laser range finder and an ultrasonic range sensor, can only detect the ground clearance of the cargo bed, and cannot obtain the attitude and the ground gradient of the cargo bed when the cargo bed is 10-20 meters.
Therefore, in order to solve the defects and shortcomings of the prior art, it is necessary to research a low-air-drop cargo platform pose and ground detection device to provide guarantee for safe and effective air-drop tasks.
Third, the invention
The invention provides a device and a method for detecting the pose of a low-altitude air delivery platform and the ground, and aims to solve the problem that the conventional measuring device cannot accurately and directly detect the true ground clearance and the ground gradient of four corners of the air delivery platform on the gradient ground. The detection device includes:
an attitude sensor is arranged at one corner of the airdrop cargo bed, and quaternion and attitude angle of the plane where the cargo bed is located can be output, namely normal vector of the cargo bed plane and horizontal and longitudinal inclination angles relative to the horizontal ground under a space rectangular coordinate system.
Three laser ranging modules are arranged at three corners of the airdrop cargo bed, and the distance which is perpendicular to the cargo bed and is projected to the ground is obtained (when the cargo bed is in an inclined state, the laser ranging modules do not vertically irradiate the ground).
The real height of the cargo platform and the ground and the gradient of the ground are obtained through the joint calculation of the attitude sensor, the laser ranging module and the calculation processing module in the embedded processor.
(1) And establishing a space rectangular coordinate system, and obtaining quaternion, an attitude angle and a normal vector of the plane of the cargo bed through an attitude sensor.
(2) And calculating to obtain the inclination angle of the platform through a vector angle formula.
(3) And calculating the coordinates of each point on the ground by using the plane equation and the distance obtained by the laser range finder.
(4) And obtaining a normal vector of the ground by utilizing matrix calculation, and obtaining the ground gradient by utilizing a vector formula.
Description of the drawings
FIG. 1 shows a schematic diagram of a device for detecting the pose and the ground gradient of an air cargo platform in the process of sloshing
FIG. 2 shows a schematic diagram of a method for detecting the pose and the ground slope of an air cargo platform in a sloshing process
FIG. 3 shows a schematic diagram of a method for detecting the pose and the ground slope of an air cargo platform in a sloshing process
Fifth, detailed description of the invention
Ground slope obtaining method
A space rectangular coordinate system is established by using a platform plane, a straight line where an OE side of the platform is located is used as a Y axis of the space rectangular coordinate system, an OD side is used as an X axis of the space rectangular coordinate system, a height side of the platform is used as a Z axis, and the direction perpendicular to the platform downwards is used as the positive direction of the Z axis.
The length and width of the known cargo bed(length: a),(length b), the thickness of the pallet itself is not relevant for the calculation and is therefore not included in the calculation. Angular coordinates D (B, 0, 0), O (0, 0, 0), E (0, a, 0), F (B, a, 0) of the cargo bed, and point coordinates B (x) projected on the ground1，y1，z1)，A(x2，y2，z2)，C(x3，y3，z3)。
The attitude sensor measures the attitude of the cargo bed and outputs a quaternion Q (Q)0，q1，q2，q3)＝q0+q1i+q2j+q3k and attitude angles α, β (attitude angles in the vertical direction are not relevant to the present calculation and are not included in the calculation).
In the rectangular space coordinate system, the complex number in the quaternion output by the attitude sensor is the normal vector of the cargo platform planeThree ranging lasers irradiated by the laser ranging modules arranged at three corners of the cargo platform are vertical to the cargo platform and downwards, so that the directional vectors of the three ranging lasers (namely EB, OA and DC) are the same as the normal vector,all are measured by a laser ranging module to obtain d1、d2、d3。
According to the formula of vector angle
Obtaining the inclination angle of the cargo bed in the space
The expression of three laser beams can be obtained by combining the length and the width of the cargo bed:
linear EB point equation:
straight line EB parametric equation:
measured by laser ranging module
d1 2＝(x-0)2+(y-a)2+(z-0)2＝(q1 2+q2 2+q3 2)t2
The coordinate of the point E in the space rectangular coordinate system is
Similarly, the equation of the linear OA point direction is as follows:
linear OA parametric equation:
measured by laser ranging module
d2 2＝(x-0)2+(y-0)2+(z-0)2＝(q1 2+q2 2+q3 2)t2
The coordinate of the point A in the space rectangular coordinate system is
Linear DC point equation:
linear DC parametric equation:
measured by laser ranging module
d3 2＝(x-b)2+(y-0)2+(z-0)2＝(q1 2+q2 2+q3 2)t2
The coordinate of the point C in the space rectangular coordinate system is
The three points B, A, C projected on the ground by the laser ranging module are known, so that the normal vector of the plane where the three points are located is obtained.
Note the book
In the formula d1，d2，d3，q1，q2，q3All the data are measured data, so that a normal vector of the ground relative to the horizontal ground can be obtained.
The normal vector of the horizontal ground ise is a unit vector.
If the slope of the ground is set to theta,
from the formula of vector angle
To obtain
Method for acquiring actual height of each corner of cargo bed from ground
The true height of the cargo bed above the ground can be calculated

Claims (2)

1. A method for detecting the pose and the ground gradient of an air cargo platform in a sloshing process is characterized by comprising the following steps of:
the system comprises an air-drop cargo platform, an attitude sensor, three laser ranging modules and an airborne embedded system.
The cargo bed is used for installing three laser ranging modules at three corners of the cargo bed to obtain the distance of laser projected downwards perpendicular to the cargo bed. The attitude sensor is mounted at an angle at which the laser ranging module is already mounted and is used for acquiring the quaternion and the attitude angle of the cargo bed. The airborne embedded system is used for displaying quaternion and attitude angle of the cargo platform, and the integral inclination angle, the real ground clearance height of four corners and the ground gradient of the cargo platform, which are obtained through combined resolving.
2. The method for detecting the pose and the ground gradient of the air cargo bed in the sloshing process as claimed in claim 1, wherein the method comprises the following steps: a set of complete calculation method and process are provided in an embedded system, and the actual ground clearance of four corners and the slope of the ground in the final cargo table shaking process are obtained through trigonometric function, inverse trigonometric function and matrix operation by using the inclination angle, the laser measurement value and the size of the cargo table obtained through detection.
CN201810633412.7A 2018-06-15 2018-06-15 Method for detecting pose and ground gradient of air cargo platform in sloshing process Pending CN110608713A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810633412.7A CN110608713A (en) 2018-06-15 2018-06-15 Method for detecting pose and ground gradient of air cargo platform in sloshing process

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810633412.7A CN110608713A (en) 2018-06-15 2018-06-15 Method for detecting pose and ground gradient of air cargo platform in sloshing process

Publications (1)

Publication Number Publication Date
CN110608713A true CN110608713A (en) 2019-12-24

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115167512A (en) * 2022-07-25 2022-10-11 亿航智能设备（广州）有限公司 Ground slope detection method and device and computer-readable storage medium

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103363991A (en) * 2013-04-09 2013-10-23 北京控制工程研究所 IMU (inertial measurement unit) and distance-measuring sensor fusion method applicable to selenographic rugged terrains
US20140136106A1 (en) * 2007-03-30 2014-05-15 Vail Resorts, Inc. System and method for automated identification of a photographed subject at a resort area
CN106843281A (en) * 2017-03-09 2017-06-13 北京航天控制仪器研究所 A kind of intelligence accurately drop from the air aerial delivery system
CN107505625A (en) * 2017-08-29 2017-12-22 北醒（北京）光子科技有限公司 A kind of Air Vehicle Detection method
CN107656533A (en) * 2017-11-15 2018-02-02 航宇救生装备有限公司 A kind of air-drop load bed posture adjustment control method based on double antenna direction finding

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140136106A1 (en) * 2007-03-30 2014-05-15 Vail Resorts, Inc. System and method for automated identification of a photographed subject at a resort area
CN103363991A (en) * 2013-04-09 2013-10-23 北京控制工程研究所 IMU (inertial measurement unit) and distance-measuring sensor fusion method applicable to selenographic rugged terrains
CN106843281A (en) * 2017-03-09 2017-06-13 北京航天控制仪器研究所 A kind of intelligence accurately drop from the air aerial delivery system
CN107505625A (en) * 2017-08-29 2017-12-22 北醒（北京）光子科技有限公司 A kind of Air Vehicle Detection method
CN107656533A (en) * 2017-11-15 2018-02-02 航宇救生装备有限公司 A kind of air-drop load bed posture adjustment control method based on double antenna direction finding

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115167512A (en) * 2022-07-25 2022-10-11 亿航智能设备（广州）有限公司 Ground slope detection method and device and computer-readable storage medium

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