CN110979716A - Ship-borne vertical take-off and landing detection and correction unmanned aerial vehicle attitude ship-aircraft cooperative guidance method - Google Patents
Ship-borne vertical take-off and landing detection and correction unmanned aerial vehicle attitude ship-aircraft cooperative guidance method Download PDFInfo
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- CN110979716A CN110979716A CN201911071408.7A CN201911071408A CN110979716A CN 110979716 A CN110979716 A CN 110979716A CN 201911071408 A CN201911071408 A CN 201911071408A CN 110979716 A CN110979716 A CN 110979716A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 title claims abstract description 14
- 238000012937 correction Methods 0.000 title description 4
- 238000013459 approach Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 238000003331 infrared imaging Methods 0.000 claims description 3
- 238000011161 development Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/18—Visual or acoustic landing aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/84—Waterborne vehicles
-
- 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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
- G05D1/0684—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing on a moving platform, e.g. aircraft carrier
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- Acoustics & Sound (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a ship-based vertical take-off and landing detection and calibration unmanned aerial vehicle attitude ship-aircraft cooperative guidance method, which specifically comprises the following steps: step 1, setting an infrared cooperative target; step 2, acquiring an image of the infrared target; step 3, extracting image coordinate information of the infrared target, fusing the image coordinate information with inertial measurement information, and calculating flight parameters; and 4, determining carrier-based aircraft landing guide parameters according to the result obtained in the step 3, and finishing landing on the approach. The invention solves the problems of difficult landing process and low safety existing in the current manual remote control method for landing guidance.
Description
Technical Field
The invention belongs to the technical field of cooperative guidance, and relates to a method for cooperatively guiding a ship-based vertical take-off and landing investigation and calibration unmanned aerial vehicle attitude ship.
Background
The shipboard unmanned aerial vehicle is an unmanned aerial vehicle equipped on a surface ship and is mainly used for completing dangerous tasks such as relay guidance, aiming striking, environmental reconnaissance and the like at present. The battlefield environment of modern sea warfare is characterized by both the complexity of the combat environment and the diversity of the threat objectives, thus making the mission burdensome. Influenced by battlefield environment, the battlefield performance flexibility of the shipborne manned aircraft is poor. Furthermore, the ship-borne man-machine is expensive in manufacturing cost and limited in attendance rate, and casualties can also appear when high-risk combat missions are executed. To is coming to
In response to the problems, military and the large country such as the United states develop and apply the carrier-based unmanned aerial vehicle successively. In the gulf war, the carrier-borne unmanned aerial vehicle of the American navy participates in actual combat for the first time; the performance of the fire fighting robot on the battlefield is very outstanding in the aspects of detection, target indication and fire guidance. Countries have therefore also begun to tighten the development of carrier-based drones and consider them as effective combat units in future sea wars. The rotor unmanned aerial vehicle has short range and low speed due to the characteristics of the rotor unmanned aerial vehicle, so that the further development of the rotor unmanned aerial vehicle is limited; and fixed wing unmanned aerial vehicle compares in aspects such as cruise speed and voyage and has great advantage in rotor unmanned aerial vehicle, nevertheless can't accomplish VTOL, and the on-board unmanned aerial vehicle of this article indicates a compound wing unmanned aerial vehicle, and the guidance of landing a ship of present unmanned aerial vehicle mainly sends command signal through deck staff real-time accurate remote control and accomplishes. The guidance mode of manual remote control depends on real-time control of deck workers, so that the difficulties in the carrier aircraft landing process pointed out above cannot be completely solved, and the safety is low. (2) The manual remote control guidance mode has low efficiency and cannot meet the combat requirement of landing for multiple times in a short time. (3) The manual remote control guidance requires certain deck auxiliary equipment.
Disclosure of Invention
The invention aims to provide a carrier-based vertical take-off and landing detection and calibration unmanned aerial vehicle attitude carrier-aircraft cooperative guidance method, which solves the problems of difficult carrier landing process and low safety existing in the carrier landing guidance in a manual remote control mode at present.
The invention adopts the technical scheme that a ship-based vertical take-off and landing detection and correction unmanned aerial vehicle attitude ship-aircraft cooperative guidance method specifically comprises the following steps:
step 1, setting an infrared cooperative target;
step 2, acquiring an image of the infrared target;
step 3, extracting image coordinate information of the infrared target, fusing the image coordinate information with inertial measurement information, and calculating flight parameters;
and 4, determining carrier-based aircraft landing guide parameters according to the result obtained in the step 3, and finishing landing on the approach.
The invention is also characterized in that:
the specific process of the step 1 is as follows:
four infrared cooperative targets with known positions relative to a preset carrier landing point are installed along an aircraft carrier landing runway.
The specific process of the step 2 is as follows:
the photoelectric/inertial combined landing guidance system utilizes an airborne forward-looking infrared imaging system to acquire a high-resolution image of an infrared cooperative target on a ship in real time.
The flight parameters in step 3 include: the landing point, the glide track, the course angle relative to the central line of the runway and the runway motion parameters when the airplane is in the home state.
The specific process of the step 4 is as follows:
and (3) estimating a runway motion rule according to the result obtained in the step (3), thereby compensating the influence of runway motion, giving a runway landing guide parameter of the carrier-based aircraft, and displaying a runway image and corresponding landing guide information on a screen display, so that a pilot can correctly operate the carrier-based aircraft or is connected with a carrier-based aircraft control system to automatically finish landing on the approach by an autopilot.
The invention has the beneficial effects that: the cooperative guiding method provided by the invention greatly reduces the transverse error and the longitudinal error of carrier-based aircraft landing, ensures that the carrier-based aircraft can finish landing efficiently, and improves the accuracy of carrier-based aircraft landing. In addition, the invention integrates the image coordinate information and the inertia measurement information, thereby improving the reliability and the safety of the system.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The invention relates to a ship-based vertical take-off and landing detection and calibration unmanned aerial vehicle attitude ship-aircraft cooperative guidance method, which specifically comprises the following steps:
step 1, installing 4 infrared cooperative targets with known positions relative to a preset carrier landing point along an aircraft carrier landing runway;
step 2, the photoelectric/inertial combined landing guidance system utilizes an airborne forward-looking infrared imaging system to obtain a high-resolution image of an infrared cooperative target on the ship in real time;
step 3, extracting image coordinate information of the target, fusing the image coordinate information with inertial measurement information, and calculating a landing point, a glide track, a course angle (referred to as a relative course angle for short) relative to a runway center line and a runway motion parameter when the airplane navigates;
and 4, estimating a runway motion rule according to the result obtained in the step 3, thereby compensating the influence of runway motion, giving a carrier-based aircraft landing guide parameter, and displaying a runway image and corresponding landing guide information on a screen display, so that a pilot can correctly operate the carrier-based aircraft or can be connected with a carrier-based aircraft control system to automatically finish landing on the ground by an autopilot.
The invention relates to a ship-based vertical take-off and landing detection and calibration unmanned aerial vehicle attitude ship-aircraft cooperative guidance method, which comprises the following two stages of guidance landing:
(1) and (6) homing. In the rotor wing mode, point triggering is carried out to send a homing command, and the unmanned aerial vehicle goes to a set landing point and hovers over the landing point and aligns to the course of a landing platform; and (4) sending a homing command by point firing in a fixed wing mode, and performing homing circling by taking the set landing point as a circle center by the unmanned aerial vehicle. If the landing platform is in a moving state, the unmanned aerial vehicle in the rotor wing mode keeps a relative distance and a course and always flies right above a landing point. Fixed wing mode then the unmanned aerial vehicle will follow the removal flight.
(2) And (6) falling. In the rotor wing mode, a landing command is sent by point triggering, and the unmanned aerial vehicle goes to a set landing point to hover over the landing point and then starts to descend after navigating to the landing platform; and (3) point triggering is carried out in a fixed wing mode to send a landing instruction, the unmanned aerial vehicle executes a landing route according to the set dynamic recovery parameters, the approaching direction of the landing route is consistent with the course of the landing platform (the unmanned aerial vehicle approaches from the rear of the landing platform), and after the unmanned aerial vehicle reaches the upper part of the landing point, if the switching condition is met, the unmanned aerial vehicle is switched to a rotor wing mode to land. If the landing platform is in a moving state, the rotor mode is consistent with the landing mode of the multi-rotor type, and the fixed wing mode executes the post-conversion landing of the landing route.
The invention relates to a ship-based vertical take-off and landing detection and correction unmanned aerial vehicle attitude ship-aircraft cooperative guidance method which can accurately judge the position between an aircraft and an aircraft carrier deck during approach, homing and landing, compares position information with a homing track of the aircraft, obtains a control instruction of the ship-based aircraft after the obtained error information is calculated by a guidance control law in a computer, transmits the instruction to the aircraft, continuously corrects the homing track by a flight control system on the aircraft, and finally realizes safe landing in a preset position when landing.
Claims (5)
1. A ship-based vertical take-off and landing detection and calibration unmanned aerial vehicle attitude ship-aircraft cooperative guidance method is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1, setting an infrared cooperative target;
step 2, acquiring an image of the infrared target;
step 3, extracting image coordinate information of the infrared target, fusing the image coordinate information with inertial measurement information, and calculating flight parameters;
and 4, determining carrier-based aircraft landing guide parameters according to the result obtained in the step 3, and finishing landing on the approach.
2. The carrier-based vertical take-off and landing detection and calibration unmanned aerial vehicle attitude carrier-aircraft cooperative guidance method according to claim 1, characterized in that: the specific process of the step 1 is as follows:
four infrared cooperative targets with known positions relative to a preset carrier landing point are installed along an aircraft carrier landing runway.
3. The carrier-based vertical take-off and landing detection and calibration unmanned aerial vehicle attitude carrier-aircraft cooperative guidance method according to claim 1, characterized in that: the specific process of the step 2 is as follows:
the photoelectric/inertial combined landing guidance system utilizes an airborne forward-looking infrared imaging system to acquire a high-resolution image of an infrared cooperative target on a ship in real time.
4. The carrier-based vertical take-off and landing detection and calibration unmanned aerial vehicle attitude carrier-aircraft cooperative guidance method according to claim 1, characterized in that: the flight parameters in the step 3 comprise: the landing point, the glide track, the course angle relative to the central line of the runway and the runway motion parameters when the airplane is in the home state.
5. The carrier-based vertical take-off and landing detection and calibration unmanned aerial vehicle attitude carrier-aircraft cooperative guidance method according to claim 1, characterized in that: the specific process of the step 4 is as follows:
and (3) estimating a runway motion rule according to the result obtained in the step (3), thereby compensating the influence of runway motion, giving a runway landing guide parameter of the carrier-based aircraft, and displaying a runway image and corresponding landing guide information on a screen display, so that a pilot can correctly operate the carrier-based aircraft or is connected with a carrier-based aircraft control system to automatically finish landing on the approach by an autopilot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911071408.7A CN110979716A (en) | 2019-11-05 | 2019-11-05 | Ship-borne vertical take-off and landing detection and correction unmanned aerial vehicle attitude ship-aircraft cooperative guidance method |
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|---|---|---|---|
| CN201911071408.7A CN110979716A (en) | 2019-11-05 | 2019-11-05 | Ship-borne vertical take-off and landing detection and correction unmanned aerial vehicle attitude ship-aircraft cooperative guidance method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115857520A (en) * | 2023-02-15 | 2023-03-28 | 北京航空航天大学 | Unmanned aerial vehicle carrier landing state monitoring method based on combination of vision and ship state |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741229A (en) * | 2017-10-10 | 2018-02-27 | 北京航空航天大学 | A kind of carrier landing guidance method of photoelectricity/radar/inertia combination |
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2019
- 2019-11-05 CN CN201911071408.7A patent/CN110979716A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741229A (en) * | 2017-10-10 | 2018-02-27 | 北京航空航天大学 | A kind of carrier landing guidance method of photoelectricity/radar/inertia combination |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115857520A (en) * | 2023-02-15 | 2023-03-28 | 北京航空航天大学 | Unmanned aerial vehicle carrier landing state monitoring method based on combination of vision and ship state |
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