CN110686680A - Navigation positioning system and method for simulating aircraft cluster - Google Patents
Navigation positioning system and method for simulating aircraft cluster Download PDFInfo
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- CN110686680A CN110686680A CN201911047474.0A CN201911047474A CN110686680A CN 110686680 A CN110686680 A CN 110686680A CN 201911047474 A CN201911047474 A CN 201911047474A CN 110686680 A CN110686680 A CN 110686680A
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Abstract
The invention discloses a navigation positioning system of a simulated aircraft cluster, which comprises a simulated aircraft, an information transmission server and a cluster server; the number of the simulated aircrafts is at least two; the simulated aircrafts are provided with navigation mutual aid modules; the first navigation mutual-aid module performs information interaction with the cluster server; the second navigation mutual-aid module performs information interaction with the first navigation mutual-aid module; the information transmission server issues a navigation command to the simulated aircraft, and the first navigation mutual-aid module plans a route according to the navigation command; and the second navigation mutual aid module plans a navigation route according to the relative position of the second navigation mutual aid module and the first navigation mutual aid module. The invention provides a navigation positioning system and a navigation positioning method for a simulated aircraft cluster, wherein when simulated aircraft carry out tasks together, navigation is carried out through a navigation system and a submachine of a master machine, so that channel resources are saved, and communication cost can be reduced.
Description
Technical Field
The invention relates to the technical field of simulated aircrafts, in particular to a navigation positioning system and a navigation positioning method for a simulated aircraft cluster.
Background
In recent years, the unmanned aerial vehicle is highly valued by all countries in the world by virtue of huge application market and potential expansion field, and the unmanned aerial vehicle technology is widely applied in military field and civil field. With the rapid development of the unmanned aerial vehicle technology and the increasing number of unmanned aerial vehicles, the task execution capacity of a single unmanned aerial vehicle is limited, and the concept and technical requirements of the cluster unmanned aerial vehicle are gradually increased. Compared with a single unmanned aerial vehicle platform, the cluster unmanned aerial vehicle has the advantages of function distribution, high system survival rate, large-range situation perception, low cost, high efficiency and the like, and is certainly widely applied to military and civil fields such as military operation, disaster relief and emergency rescue, precision agriculture, line inspection, surveying and mapping measurement, safety monitoring and the like.
The cooperative navigation among the unmanned aerial vehicles is one of important technologies of an unmanned aerial vehicle cluster, and is different from the navigation mode of a single unmanned aerial vehicle, and the positioning of the cluster unmanned aerial vehicle not only depends on the absolute position information of a self-generated autonomous navigation system, but also depends on the phase position information of other cooperative unmanned aerial vehicles in the cluster. Generally speaking, the relative distance measurement and angle measurement precision between unmanned aerial vehicles is higher, and the absolute position information of the autonomous navigation system of the unmanned aerial vehicles in the cluster can be corrected by taking the relative distance measurement and angle measurement precision as a reference.
In the unmanned aerial vehicle navigation system, because the navigation principle that each sensor adopted is different, there is extremely strong complementarity between all kinds of sensors. Navigation sensors commonly used in an unmanned aerial vehicle multi-source integrated navigation system at present comprise: inertial navigation systems, satellite navigation systems, visual navigation systems, atmospheric data systems, terrain-matched navigation systems, lidar systems, and the like. In practical application, due to the fact that updating frequencies of different sensors are different, time is not synchronous, and meanwhile in the combination process, the sensors are limited in use under different environments and conditions, usability can be changed, a filtering structure can be affected, for example, satellite navigation signals cannot penetrate through substances with high density such as the ground and buildings, attenuation phenomena of the signals in urban, indoor and underground environments are serious, and the satellite navigation receiver cannot work normally. In general, it is difficult to satisfy such complicated and varied application requirements by using a fixed filtering structure and method.
In addition, the intelligent navigation generally needs to interact with a control center, the control center provides relevant information of a destination, and a channel needs to be established for communication between the server and the terminal during relevant planning, so that not only is channel resources occupied, but also the use cost is high.
Therefore, how to provide a new navigation system and method to overcome the above-mentioned drawbacks is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of this, the invention provides a navigation positioning system and a method for a simulated aircraft cluster, wherein when simulated aircraft jointly execute tasks, navigation is performed through a navigation system and a submachine of a master machine, so that channel resources are saved, and communication cost can be reduced.
In order to achieve the above purpose, the invention provides the following technical scheme:
a navigation positioning system of a simulated aircraft cluster comprises the simulated aircraft, an information transmission server and a cluster server; the number of the simulated aircrafts is at least two; the simulated aircrafts are provided with navigation mutual aid modules; the first navigation mutual-aid module performs information interaction with the cluster server; the second navigation mutual-aid module performs information interaction with the first navigation mutual-aid module; the information transmission server issues a navigation command to the simulated aircraft, and the first navigation mutual-aid module plans a route according to the navigation command; and the second navigation mutual aid module plans a navigation route according to the relative position of the second navigation mutual aid module and the first navigation mutual aid module.
Preferably, in the above simulated aircraft cluster navigation positioning system, a first distance sensor and a second distance sensor are respectively built in each of the first navigation assistance module and the second navigation assistance module; the first distance sensor measures the flight height of a simulated aircraft, and the second sensor measures the distance between the first navigation mutual aid module and the second navigation mutual aid module; and obtaining the flight parameters and the relative positions of the two simulated aircrafts through the trigonometric function.
Preferably, in the above simulated aircraft cluster navigation positioning system, the second navigation assistance module sends an assistance request to the first navigation assistance module, and the second navigation assistance module receives feedback information of the first navigation assistance module and starts to calculate a relative position to perform navigation route planning if the feedback information agrees.
Preferably, in the above simulated aircraft cluster navigation positioning system, the first navigation assistance module further includes: the system comprises a first cluster communication unit, a first human-computer interaction unit and a first mutual-aid main control unit;
the first cluster communication unit is used for performing information interaction with the cluster server;
the first human-computer interaction unit is used for sending an instruction issued by a user to the first navigation mutual aid module through the information transmission server;
and the first mutual-assistance main control unit is used for processing the processing and feedback of the assistance request sent by the second navigation mutual-assistance module and sending the processing and feedback to the cluster server through the first cluster communication unit.
Preferably, in the above simulated aircraft cluster navigation positioning system, the second navigation mutual aid module includes a second cluster communication unit and a second mutual aid main control unit;
the second trunking communication unit performs information interaction with the trunking service;
and the second mutual-aid main control unit sends an assistance request to the first mutual-aid main control unit.
Preferably, in the above simulated aircraft cluster navigation positioning system, the cluster server includes: the navigation system comprises a cluster main control module, a navigation route planning module and a cluster communication module;
the cluster master control module is used for receiving feedback information of a first cluster communication unit;
and the navigation route planning module interacts with the first trunking communication unit and the second trunking communication unit respectively according to the received consent information fed back by the first trunking communication unit, starts to receive the flight parameters of the two simulated aircrafts, calculates the relative position and plans the flight track of the second simulated aircraft.
A simulated aircraft cluster navigation positioning method specifically comprises the following steps:
the method comprises the following steps: the method comprises the steps that a first simulation aircraft determines a destination, and a first flight path is planned through a cluster server;
step two: the second simulated aircraft sends an assistance request to the first simulated aircraft, if so, the third step is executed; otherwise, sending a request to other simulated aircrafts;
step three: acquiring flight parameters of a first simulated aircraft and a second simulated aircraft, and determining the relative position between the first simulated aircraft and the second simulated aircraft;
step four: and planning a second flight path according to the planned first flight path and the relative position relation.
Preferably, in the above simulated aircraft cluster navigation positioning system, the second flight path is planned by using parallel trajectories.
According to the technical scheme, compared with the prior art, the navigation positioning system and the navigation positioning method for the simulated aircraft cluster are provided, when the simulated aircraft jointly execute tasks, navigation is performed through the navigation system and the submachine of the master machine, channel resources are saved, communication cost can be reduced, the first simulated aircraft serves as the master machine to provide navigation assistance for the rest submachines of the formation, and information interaction between each simulated aircraft and a server is avoided.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the calculation of relative position according to the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The embodiment of the invention discloses a navigation positioning system and a navigation positioning method for a simulated aircraft cluster.
A navigation positioning system of a simulated aircraft cluster comprises the simulated aircraft, an information transmission server and a cluster server; the simulation aircrafts are respectively a first simulation aircraft and a second simulation aircraft; the simulated aircrafts are all provided with navigation mutual aid modules; the first navigation mutual-aid module performs information interaction with the cluster server; the second navigation mutual-aid module performs information interaction with the first navigation mutual-aid module; the information transmission server issues a navigation command to the simulated aircraft, and the first navigation mutual-aid module plans a route according to the navigation command; the second navigation mutual aid module plans a navigation route according to the relative position with the first navigation mutual aid module.
In order to further optimize the above technical solution, as shown in fig. 2, a first distance sensor and a second distance sensor are respectively built in the first navigation mutual aid module and the second navigation mutual aid module; the first distance sensor measures the flight height of the simulated aircraft, and the second sensor measures the distance between the first navigation mutual aid module and the second navigation mutual aid module; and calculating to obtain the flight parameters and the relative positions of the two simulated aircrafts.
The horizontal distance between the first simulated aircraft and the second simulated aircraft is；
In order to further optimize the technical scheme, the second navigation mutual-aid module sends an assistance request to the first navigation mutual-aid module, receives feedback information of the first navigation mutual-aid module, and starts to calculate a relative position to plan a navigation route if the second navigation mutual-aid module agrees to calculate the relative position.
In order to further optimize the above technical solution, the first navigation assistance module further includes: the system comprises a first cluster communication unit, a first human-computer interaction unit and a first mutual-aid main control unit;
the first cluster communication unit is used for carrying out information interaction with the cluster server;
the first human-computer interaction unit is used for sending an instruction issued by a user to the first navigation mutual aid module through the information transmission server;
and the first mutual-assistance main control unit is used for processing the processing and feedback of the assistance request sent by the second navigation mutual-assistance module and sending the processing and feedback to the cluster server through the first cluster communication unit.
In order to further optimize the technical scheme, the second navigation mutual aid module comprises a second cluster communication unit and a second mutual aid main control unit;
the second trunking communication unit performs information interaction with the trunking service;
the second mutual aid master control unit sends an assistance request to the first mutual aid master control unit.
In order to further optimize the above technical solution, the cluster server includes: the navigation system comprises a cluster main control module, a navigation route planning module and a cluster communication module;
the cluster master control module is used for receiving feedback information of the first cluster communication unit;
and the navigation route planning module interacts information with the first trunking communication unit and the second trunking communication unit respectively according to the received consent information fed back by the first trunking communication unit, starts to receive the flight parameters of the two simulated aircrafts, calculates the relative position and plans the flight track of the second simulated aircraft.
A simulated aircraft cluster navigation positioning method specifically comprises the following steps:
the method comprises the following steps: the method comprises the steps that a first simulation aircraft determines a destination, and a first flight path is planned through a cluster server;
step two: the second simulated aircraft sends an assistance request to the first simulated aircraft, if so, the third step is executed; otherwise, sending a request to other simulated aircrafts; (the second simulated aircraft may send a request to the third simulated aircraft, and deny the request.)
Step three: acquiring flight parameters of a first simulated aircraft and a second simulated aircraft, and determining the relative position between the first simulated aircraft and the second simulated aircraft;
step four: and planning a second flight path according to the planned first flight path and the relative position relation.
In order to further optimize the above technical solution, the second flight path is planned using parallel trajectories. The flight height and the horizontal distance are properly adjusted according to the specific flight condition of the second simulated aircraft by considering not only the tracking of the first flight path but also the influence of the flight environment.
Claims (8)
1. A navigation positioning system for simulating an aircraft cluster is characterized by comprising a simulated aircraft, an information transmission server and a cluster server; the number of the simulated aircrafts is at least two; the simulated aircrafts are provided with navigation mutual aid modules; the first navigation mutual-aid module performs information interaction with the cluster server; the second navigation mutual-aid module performs information interaction with the first navigation mutual-aid module; the information transmission server issues a navigation command to the simulated aircraft, and the first navigation mutual-aid module plans a route according to the navigation command; and the second navigation mutual aid module plans a navigation route according to the relative position of the second navigation mutual aid module and the first navigation mutual aid module.
2. The simulated aircraft cluster navigational positioning system of claim 1, wherein said first navigational aid module and said second navigational aid module each have a first distance sensor and a second distance sensor built therein; the first distance sensor measures the flight height of a simulated aircraft, and the second sensor measures the distance between the first navigation mutual aid module and the second navigation mutual aid module; and obtaining the flight parameters and the relative positions of the two simulated aircrafts through the trigonometric function.
3. The system of claim 1, wherein the second navigational assistance module sends an assistance request to the first navigational assistance module, and the second navigational assistance module receives feedback information from the first navigational assistance module and starts to calculate a relative position for navigation route planning if the feedback information is received.
4. The simulated aircraft cluster navigational positioning system of claim 1, wherein the first navigational assistance module further comprises: the system comprises a first cluster communication unit, a first human-computer interaction unit and a first mutual-aid main control unit;
the first cluster communication unit is used for performing information interaction with the cluster server;
the first human-computer interaction unit is used for sending an instruction issued by a user to the first navigation mutual aid module through the information transmission server;
and the first mutual-assistance main control unit is used for processing the processing and feedback of the assistance request sent by the second navigation mutual-assistance module and sending the processing and feedback to the cluster server through the first cluster communication unit.
5. The simulated aircraft trunking navigation positioning system of claim 4 wherein the second navigation mutual aid module comprises a second trunking communication unit and a second mutual aid master control unit;
the second trunking communication unit performs information interaction with the trunking service;
and the second mutual-aid main control unit sends an assistance request to the first mutual-aid main control unit.
6. The simulated aircraft cluster navigational positioning system of claim 5, wherein the cluster server comprises: the navigation system comprises a cluster main control module, a navigation route planning module and a cluster communication module;
the cluster master control module is used for receiving feedback information of a first cluster communication unit;
and the navigation route planning module interacts with the first trunking communication unit and the second trunking communication unit respectively according to the received consent information fed back by the first trunking communication unit, starts to receive the flight parameters of the two simulated aircrafts, calculates the relative position and plans the flight track of the second simulated aircraft.
7. A simulated aircraft cluster navigation positioning method is characterized by comprising the following specific steps:
the method comprises the following steps: the method comprises the steps that a first simulation aircraft determines a destination, and a first flight path is planned through a cluster server;
step two: the second simulated aircraft sends an assistance request to the first simulated aircraft, if so, the third step is executed; otherwise, sending a request to other simulated aircrafts;
step three: acquiring flight parameters of a first simulated aircraft and a second simulated aircraft, and determining the relative position between the first simulated aircraft and the second simulated aircraft;
step four: and planning a second flight path according to the planned first flight path and the relative position relation.
8. The method as claimed in claim 7, wherein the second flight path is planned using parallel trajectories.
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| CN113075653A (en) * | 2021-03-26 | 2021-07-06 | 北京理工大学 | Navigation method and system of aircraft |
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