CN110780318B - Rescue method and control method for flight device after GPS (global positioning system) signal is lost - Google Patents
Rescue method and control method for flight device after GPS (global positioning system) signal is lost Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/17—Emergency applications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a rescue method and a control method after a flight device GPS signal is lost, wherein the rescue method after the flight device GPS signal is lost comprises the following steps of 1) receiving a rescue signal by a rescue flight device, wherein the rescue signal comprises target GPS information, 2) actively searching a fault flight device before or after a rescue aircraft arrives at the target GPS information, 3) generating and sending the presumed GPS information of the fault flight device by fusing self GPS information and the space distance of the self GPS information, and 4) executing flight by the rescue flight device, and generating and sending the presumed GPS information in real time. The rescue method of the invention fully utilizes the coverage of a vision system or a radar when the operation flight device has GPS fault and can not continue to operate, utilizes the rescue operation flight device to generate and estimate GPS information according to the space distance and sequentially uses the GPS information as a flight reference, and is particularly suitable for a specific area.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a rescue method and a control method for a flight device after GPS (global positioning system) signals are lost.
Background
The small civil unmanned aerial vehicle shows explosive growth, and the small civil unmanned aerial vehicle industry has the characteristics of rapid development, good market prospect, wide application field and the like. At present, the communication mode of the small unmanned aerial vehicle mainly adopts WIFI or radio frequency, according to the increase of the communication distance, the power transmitted by the control information becomes large, and the bandwidth of a communication link is limited. Therefore, if the network transmission is unstable, the reliability of unmanned aerial vehicle communication is ensured, and even under the more extreme situation of unmanned aerial vehicle communication interruption, the problem of how to recover the communication with the remote end is always the key point and the difficulty of the research in the field of unmanned aerial vehicles.
The conventional automatic return method is mainly used for planning the return path of a large airplane, and the return method is necessarily supported by complex hardware, so that the method is not suitable for a small unmanned aerial vehicle. The defect of the automatic return flight technology of the existing unmanned aerial vehicle is analyzed, and the method specifically comprises the following steps:
the patent with publication number CN 106705963A discloses an automatic return control method and device, the method includes sequentially collecting position information of an initial position point, time information corresponding to the initial position point, position information of a position point in the flight process and time information corresponding to the position point according to a preset time interval; if an automatic return command is received, acquiring the position information of the current position point and the time information corresponding to the current position point; reading the position information of the next position point according to the position information of the current position point and the time information corresponding to the current position point; traversing the current position point and the next position point according to the position information acquired by the GPS; and/or traversing the current position point and the next position point according to the position information calculated by the strapdown inertial navigation. However, the method only records the flight path singly and does not optimize the path generation process; on the other hand, besides the GPS, a strap-down inertial navigation system is additionally adopted, and complex hardware and a processing mode are not suitable for the small unmanned aerial vehicle.
The patent with publication number CN 105157715A discloses a self-adaptive return method and system based on a beidou navigation system, the method includes acquiring information from a serial port of the beidou navigation system at intervals in the process of user travelling, and analyzing the information to acquire longitude and latitude position information of the user at different moments to generate a travelling track of the user, and when receiving a return instruction input by the user, outputting prompt information to the user according to the current position and the travelling track of the user, so that the user smoothly returns according to the prompt information. However, this method lacks the handling of the emergency, does not consider the occurrence of the situation such as poor communication quality, and even generates the phenomenon of getting lost in the place where the GPS signal is poor or missing. How to correctly realize safe return voyage to a place with poor or missing GPS signals or a fault of a GPS device becomes a problem which needs to be solved urgently.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a control method for a flight device after GPS signals are lost.
The invention is realized by the following technical scheme:
a rescue method for a flight device after GPS signal loss comprises the following steps,
1) The rescue flying device receives a rescue signal, the rescue signal comprises target GPS information,
2) The rescue aircraft actively searches for the faulty flying device before or after reaching the target GPS information,
3) After the fault flight device is searched, the estimated GPS information of the fault flight device is generated and sent out through the fusion of the self GPS information and the space distance between the self GPS information and the space distance,
4) The rescue flight device executes flight, generates and sends out the presumed GPS information in real time.
In the above technical solution, the step of receiving and executing a flight path is further included after the step 3).
In the above technical solution, the flight in step 4) is a follow-up flight using a vision device or a radar.
A control method for flight device after GPS signal loss comprises the following steps,
1) When a controller of the operation flying device receives a GPS fault or no GPS signal, the operation flying device is immediately controlled to hover;
2) The controller sends out a fault signal and target GPS information before interference through a wireless link,
3) The controller receives the estimated GPS information transmitted through the wireless link in real time as a GPS information application to execute the flight mission.
In the technical scheme, the operation flying device keeps the hovering state according to the combination of the barometer and the inertial navigation.
In the technical scheme, after the operation flying device reaches the preset position, the visual landing and laser combined landing system is started to realize safe landing.
In the technical scheme, the flight mission is a new flight mission which is received again after the previous flight mission or GPS fault or no GPS signal is continuously executed.
A control method for flight device after GPS signal loss comprises the following steps,
1) The operation flying device immediately keeps a hovering state after GPS signals are lost, simultaneously sends alarm information to the rescue flying device directly or through a background, and sends target GPS information before interference,
2) The rescue flying device receives the warning information and immediately responds to the warning and searches according to the target GPS information,
3) After the operation flying device is searched, the rescue flying device hovers,
4) Fusing own GPS information and spatial distance to generate estimated GPS information and transmitting the estimated GPS information to the operation flying device through a wireless data link,
5) The operation flying device uses the presumed GPS information as GPS information and finishes the preset course line movement according to the GPS information, and meanwhile, the rescue flying device calculates the presumed GPS information in real time according to the GPS information and the space distance and transmits the presumed GPS information to the operation flying device.
In the technical scheme, after the operation flying device reaches a preset position, the visual landing and laser combined landing system is started to realize safe landing.
In the above technical solution, the step 5) is realized by vision and radar to maintain a relative position with the master.
The invention has the advantages and beneficial effects that:
the rescue method of the invention fully utilizes the coverage of the vision system or the radar when the work flying device has GPS fault and can not continue to work, utilizes the rescue work flying device to generate and estimate GPS information according to the space distance and sequentially uses the GPS information as the flight reference, is particularly suitable for the work of a specific area, such as an area with weak GPS signals or even no signals, and can continue to work under the assistance of the rescue flying device in the area with the GPS signals when the work flying device has GPS signal loss. The problem of the flight device loss that the directionless flight caused when flight device GPS signal lacks and the safety that causes because the flight device falls is solved.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the technical solutions of the present invention are further described below with reference to specific examples.
Example one
A rescue method for a flight device after GPS signal loss comprises the following steps,
1) The rescue flying device receives a rescue signal, the rescue signal comprises target GPS information,
2) The rescue aircraft actively searches for the faulty flying device before or after reaching the target GPS information,
3) After the fault flying device is searched, the GPS information and the space distance of the fault flying device are fused to generate and send the estimated GPS information of the fault flying device,
4) The rescue flying device executes flying, generates and sends out the presumed GPS information in real time.
Wherein, the step 3) is followed by the step of receiving and executing a flight path. After the preliminary search is finished, basic judgment is established, the flight mission can be regenerated from the background according to actual conditions, for example, according to the current state of the rescued flight device, the reason of GPS information loss, a possible signal-free range and the like, the flight path avoidance and the return voyage are carried out or previous operations are continuously executed.
When the rescue flying device continues to operate, the rescue flying device can directly carry out the side movement of the same route deviated by a preset distance, namely the wing plane type assistance is carried out; or, the flight in the step 4) is a following flight by using a vision device or a radar, namely, the flight depends on the vision or the radar to follow, so that the flight is ensured to be in a visual range.
The rescue method of the invention fully utilizes the coverage of the vision system or the radar when the work flying device has GPS fault and can not continue to work, utilizes the rescue work flying device to generate and estimate GPS information according to the space distance and sequentially uses the GPS information as the flight reference, is particularly suitable for the work of a specific area, such as an area with weak GPS signals or even no signals, and can continue to work under the assistance of the rescue flying device in the area with the GPS signals when the work flying device has GPS signal loss. The problem of the flight device loss that the directionless flight caused when flight device GPS signal lacks and the safety that causes because the flight device falls is solved.
Example two
A control method for flight device after GPS signal is lost comprises the following steps,
1) When the controller of the operation flying device receives the fault of the GPS module or no GPS signal, the operation flying device is immediately controlled to hover, and the hovering state can be kept according to the combination of the barometer and the inertial navigation;
2) The controller sends out a fault signal and target GPS information before interference through a wireless link,
3) The controller receives, in real time, the estimated GPS information communicated over the wireless data communication link as GPS information application to perform the flight mission. The flight mission is a new flight mission which is received again after the previous flight mission or GPS fault or no GPS signal is continuously executed.
By means of the primary-secondary machine mode, the operation flying device is a secondary machine, the operation flying device is a primary machine, information intercommunication is established through communication links between the primary machine and the secondary machine, the secondary machine can take over the primary machine, the fault flying device can acquire GPS information through the pilot flying device, and safe landing is completed. In the flight process of the unmanned aerial vehicle, GPS signals are an indispensable part, when the GPS signals are lacked, the flight device cannot complete the flight of a preset air route by using an inertial navigation and vision system in time, and cannot complete the navigation through manual control. The invention adopts a mode of receiving the estimated GPS information, and can effectively realize the continuous execution of the operation task by using the real-time changed estimated GPS information as the flight reference of the flight device.
Furthermore, after the operation flight device reaches a preset position, if the operation flight device is about to land according to the estimated GPS information and the flight plan, the visual landing and laser combined landing system is started to realize safe landing. The piloting is completed automatically by the slave unit, and the preset position is automatically descended by the master unit without manual intervention.
EXAMPLE III
A control method for flight device after GPS signal is lost comprises the following steps,
1) The operation flying device immediately keeps a hovering state after GPS signals are lost, simultaneously sends alarm information to the rescue flying device directly or through a background, and sends target GPS information before interference,
2) The rescue flying device receives the warning information and immediately responds to the warning and searches according to the target GPS information,
3) After the operation flying device is searched, the rescue flying device hovers,
4) Fusing own GPS information and spatial distance to generate estimated GPS information and transmitting the estimated GPS information to the operation flying device through a wireless data communication link,
5) The operation flying device uses the presumed GPS information as GPS information and finishes the preset course line movement according to the GPS information, and meanwhile, the rescue flying device calculates the presumed GPS information in real time according to the GPS information and the space distance and transmits the presumed GPS information to the operation flying device.
The operation flight device and the rescue flight device can keep a wireless data communication link in real time or directly establish the wireless data communication link with the rescue flight device or establish the wireless data communication link with the rescue flight device through a background when a fault occurs.
Hover promptly after searching the operation unmanned aerial vehicle, realize keeping relative position with the mother aircraft through vision and radar simultaneously, keep with operation flight device's spatial distance effective range, when carrying out effective rescue, can avoid rescue unmanned aerial vehicle also to lose the GPS signal, guarantee that the rescue is accomplished smoothly, can also set for the danger area for the basis by target GPS information, avoid rescue flight device to get into. Moreover, to reduce the amount of computation of the rescue flight device, the information fusion can be computed in the background. In order to reduce the calculated amount, the rescue flying device and the operation flying device can be controlled to keep the space distance relatively stable through the visual system.
After the operation flying device reaches a preset position, the visual landing and laser combined landing system is started to realize safe landing. To prevent unsafe landings due to errors in the GPS signals,
in the flight process of the current unmanned flight device, a GPS signal is an indispensable part, when the GPS signal is lost, the flight device cannot complete the flight of a preset air line by using an inertial navigation and vision system in time, and cannot complete the navigation through manual control. The invention adopts the master-slave mode, establishes information intercommunication through the communication link between the master and the slave, realizes the take-over of multiple master of the slave, and realizes that the fault flight device acquires GPS information through the pilot flight device to complete safe landing.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (8)
1. A rescue method after GPS signal loss of a flight device is characterized by comprising the following steps,
1) The rescue flying device receives a rescue signal, the rescue signal comprises target GPS information,
2) The rescue aircraft actively searches for the faulty flying device before or after reaching the target GPS information,
3) After the fault flight device is searched, the estimated GPS information of the fault flight device is generated and sent out through the fusion of the self GPS information and the space distance between the self GPS information and the space distance,
4) The rescue flying device executes the flying, generates and sends the presumed GPS information in real time,
the step 3) is followed by a step of receiving and executing a flight path,
the flying in the step 4) is follow-up flying by using a visual device or a radar.
2. A control method for flight device after GPS signal is lost is characterized by comprising the following steps,
1) When a controller of the operation flying device receives a GPS fault or no GPS signal, the operation flying device is immediately controlled to hover;
2) The controller sends out a fault signal and target GPS information before interference through a wireless link,
3) The controller receives the estimated GPS information transmitted through the wireless link in real time as a GPS information application to execute the flight mission.
3. The method as claimed in claim 2, wherein the operation flying device maintains the hovering state according to a combination of barometer and inertial navigation.
4. The method as claimed in claim 2, wherein the method further comprises starting a visual landing and laser combined landing system to achieve safe landing after the working aircraft reaches the predetermined position.
5. The method as claimed in claim 2, wherein the mission is a new mission that is re-received after the previous mission is continuously executed or the GPS fails or no GPS signal is received.
6. A control method for a flight device after GPS signal loss is characterized in that: comprises the following steps of (a) preparing a solution,
1) The operation flying device immediately keeps a hovering state after GPS signals are lost, simultaneously sends alarm information to the rescue flying device directly or through a background, and sends target GPS information before interference,
2) The rescue flying device receives the warning information and immediately responds to the warning and searches according to the target GPS information,
3) After the operation flying device is searched, the rescue flying device hovers,
4) The GPS information of the self-body is fused with the space distance to generate the estimated GPS information which is transmitted to the operation flying device through a wireless data link,
5) The operation flying device uses the presumed GPS information as GPS information and finishes the preset course line movement according to the GPS information, and meanwhile, the rescue flying device calculates the presumed GPS information in real time according to the GPS information and the space distance and transmits the presumed GPS information to the operation flying device.
7. The method as claimed in claim 6, wherein after the working flying device reaches a predetermined position, the visual landing and laser combined landing system is started to realize safe landing.
8. The method as claimed in claim 6, wherein the step 5) is implemented by visual and radar to maintain the relative position with the aircraft.
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| CN113703014A (en) * | 2021-07-27 | 2021-11-26 | 国家电网有限公司 | Abnormal processing method for GPS signal loss |
| CN116736892B (en) * | 2023-08-15 | 2023-12-08 | 中国兵器装备集团兵器装备研究所 | Method and system for mutual aid return of flight equipment |
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