CN111103896A - Unmanned aerial vehicle air docking match judgment system and judgment method - Google Patents
Unmanned aerial vehicle air docking match judgment system and judgment method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle aerial docking competition judging system and method, relating to the technical field of unmanned aerial vehicle competition and comprising the following steps: the system comprises a leading unmanned aerial vehicle subsystem, a following unmanned aerial vehicle subsystem and a ground station subsystem, wherein the leading unmanned aerial vehicle subsystem comprises a leading unmanned aerial vehicle, an air docking mark cone, a wireless high-precision positioning module 1, a positioning antenna and a cone supporting tube; the follow-flying unmanned aerial vehicle subsystem comprises a follow-flying unmanned aerial vehicle and a wireless high-precision positioning module 2; the ground station subsystem comprises a ground station computer, a ground communication base station and air docking competition judgment software. By adopting the structural design, the unmanned aerial vehicle air docking competition system can position and time the process of docking and leading the unmanned aerial vehicle with the flying unmanned aerial vehicle in the air docking competition of the unmanned aerial vehicle, and transmit the accurate positions of the leading unmanned aerial vehicle and the flying unmanned aerial vehicle back to the ground station in real time through wireless communication, and the air docking competition process is judged by the air docking competition judgment software, so that the unmanned aerial vehicle air docking competition scoring is realized.
Description
Technical Field
The invention relates to an unmanned aerial vehicle aerial docking competition judging system and method, and relates to the technical field of unmanned aerial vehicle competition.
Background
The unmanned aerial vehicle air docking technology has wide application prospect, for example, the unmanned aerial vehicle air docking technology is applied to the fields of unmanned aerial vehicle air refueling and unmanned aerial vehicle air recycling, so that the unmanned aerial vehicle air docking technology can be used as a competition subject in an unmanned aerial vehicle competition and as an investigation means for quantitatively evaluating the unmanned aerial vehicle air docking technology.
At present, no judging system and method aiming at the aerial docking competition department of the unmanned aerial vehicle exist.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle air docking competition judging system and a judging method.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: an unmanned aerial vehicle air docking match evaluation system is characterized by comprising a leading unmanned aerial vehicle subsystem, a following unmanned aerial vehicle subsystem and a ground station subsystem, wherein the leading unmanned aerial vehicle subsystem comprises a leading unmanned aerial vehicle, an air docking sign cone, a wireless high-precision positioning module 1, a positioning antenna and a cone supporting tube; the flying following unmanned aerial vehicle subsystem comprises a high-precision flying following unmanned aerial vehicle and a wireless high-precision positioning module 2; the ground station subsystem comprises a ground station computer, air docking competition evaluation software and a ground communication base station.
As a preferred scheme of the invention, the aerial docking mark vertebral body is connected with the piloting unmanned plane through a rigid vertebral body supporting tube, and the positioning antenna is fixedly arranged in the aerial docking mark vertebral body and is connected with the wireless high-precision positioning module 1 through a feeder line.
As a preferred scheme of the invention, the wireless high-precision positioning module 2 is installed on a flying-following unmanned aerial vehicle.
As a preferred scheme of the present invention, the wireless high-precision positioning module 1 and the wireless high-precision positioning module 2 may be a differential GPS or a differential beidou positioning device.
As a preferable scheme of the invention, the virtual docking area is arranged in a dynamic cylindrical area with a distance of L1, a diameter of D and a length of L2 from the bottom surface of the air docking marker vertebral body dragged by the piloting drone to the rear of the actual flight path.
The unmanned aerial vehicle air docking match judgment method comprises the following steps:
the method comprises the following steps: before the match, a wireless high-precision positioning module 2(7) is arranged on a following flying unmanned aerial vehicle for the match;
step two: after the competition starts, the piloting unmanned aerial vehicle (1) provided with the aerial docking sign vertebral body (2), the wireless high-precision positioning modules (1, 3) and the positioning antenna (4) takes off to reach a preset aerial position;
step three: the piloting unmanned aerial vehicle (1) is connected with a positioning antenna (4) through a wireless high-precision positioning module (1) (3) to position, and sends output high-precision position information and time information to a ground communication base station (10) of a ground station subsystem through wireless transmission of the wireless high-precision positioning module (1) (3);
step four: the flying following unmanned aerial vehicle (6) positions through the wireless high-precision positioning module 2(7), and sends the output high-precision position information and time information to a ground communication base station (10) of a ground station subsystem through wireless transmission of the wireless high-precision positioning module 2 (7);
step five: the ground communication base station (10) transmits the received high-precision position information and time information of the leading unmanned aerial vehicle (1) and the following unmanned aerial vehicle (6) to a ground station computer (8) and carries out real-time data processing on competition judgment software (9) through air docking;
step six: the following flying unmanned aerial vehicle (6) enters a preset air position and autonomously searches for the leading flying unmanned aerial vehicle (1), the following flying unmanned aerial vehicle flies into a virtual docking area (11) by using an air docking technology and keeps the time of not less than 2 seconds to judge that docking is successful, air docking competition judging software (9) installed on a ground station computer (8) judges the relative position according to the time and position information returned by a wireless high-precision positioning module installed on the leading flying unmanned aerial vehicle and the following flying unmanned aerial vehicle, the successful docking is judged for 1 point, the virtual docking area (11) is defined as a dynamic cylindrical area with the distance L1 being 2 meters, the diameter D being 2 meters and the length L2 being 3 meters from the bottom surface of an air docking marker vertebral body (2) to the rear of an actual flight track;
step seven: after the successful butt joint, other flying-following unmanned aerial vehicles of the team are sequentially butt jointed according to the flow of the step 4 until the match time is over;
step eight: after the competition time is over, the air docking competition evaluation software (10) calculates the total score obtained by the participating teams.
Compared with the prior art, the invention has the beneficial effects that: the invention judges whether the aerial unmanned aerial vehicle meets the aerial docking condition and judges whether the docking is successful by adopting a virtual aerial docking mode, avoids the danger of collision caused by immature use of physical docking in the aerial unmanned aerial vehicle docking technology, and provides real flight safety guarantee for aerial docking match of the unmanned aerial vehicle.
Drawings
FIG. 1 is a schematic diagram of an unmanned aerial vehicle air docking competition evaluation system;
FIG. 2 is a schematic view of a virtual docking area of an unmanned aerial vehicle air docking competition evaluation system;
in the figure: 1. leading the unmanned aerial vehicle; 2. the mark vertebral body is butted in the air; 3. a wireless high-precision positioning module 1; 4. positioning an antenna; 5. supporting the tube by a vertebral body; 6. a flying following unmanned aerial vehicle; 7. a wireless high-precision positioning module 2; 8. a ground station computer; 9. air docking competition evaluation software; 10. a ground communication base station; 11. a virtual docking area.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows an air docking competition evaluation system schematic diagram of an unmanned aerial vehicle, a leading unmanned aerial vehicle (1) is fixedly connected with an air docking marker vertebral body (2) through a rigid vertebral body supporting tube (5), a wireless high-precision positioning module (1) (3) installed on the leading unmanned aerial vehicle (1) is connected with a positioning antenna (4) in the air docking marker vertebral body (2) through a feeder to form a leading unmanned aerial vehicle subsystem, a wireless high-precision positioning module (2) (7) is installed on a following unmanned aerial vehicle (6) to form a following unmanned aerial vehicle subsystem, and an air docking competition evaluation software (9) is installed on a ground station computer (8) and is connected with a ground communication base station (10) through a data line to form a ground station subsystem.
Fig. 2 is a schematic view of a virtual docking area of the unmanned aerial vehicle air docking competition evaluation system, wherein the virtual docking area (11) is arranged in a dynamic cylindrical area range of which the distance from the bottom surface of an air docking marker vertebral body (2) dragged by a leading unmanned aerial vehicle (1) to the rear of an actual flight path is L1, the diameter is D, and the length is L2.
In the working process of the unmanned aerial vehicle air docking competition evaluation system, a competition host provides a leading unmanned aerial vehicle (1), a wireless high-precision positioning module (2) (7) is installed on a following unmanned aerial vehicle provided by a competition participant before competition, after the competition begins, the leading unmanned aerial vehicle (1) provided with an air docking marker cone body (2), a wireless high-precision positioning module (1) (3) and a positioning antenna (4) takes off to reach a preset air position, the leading unmanned aerial vehicle (1) and the following unmanned aerial vehicle (6) transmit output high-precision position information and time information to a ground communication base station (10) of a ground station subsystem through wireless transmission, the ground communication base station (10) transmits the received high-precision position information and time information of the leading unmanned aerial vehicle (1) and the following unmanned aerial vehicle (6) to a ground station computer (8) and carries out real-time data processing through air docking competition evaluation software (9), the following flying unmanned aerial vehicle (6) enters a preset air position and autonomously searches for the leading flying unmanned aerial vehicle (1), the following flying unmanned aerial vehicle flies into a virtual docking area (11) by using an air docking technology and keeps the time of not less than 2 seconds to judge that docking is successful, air docking competition judging software (9) installed on a ground station computer (8) judges the relative position according to the time and position information returned by a wireless high-precision positioning module installed on the leading flying unmanned aerial vehicle and the following flying unmanned aerial vehicle, the successful docking is judged for 1 point, the virtual docking area (11) is defined as a dynamic cylinder area with the distance L1 being 2 meters, the diameter D being 2 meters and the length L2 being 3 meters from the bottom surface of an air docking marker vertebral body (2) to the rear of an actual flight track, and (4) sequentially docking other flying unmanned aerial vehicles of the participating team after successful docking according to the flow in the step (4) until the competition time is over, and calculating the total score obtained by the participating team by the air docking competition evaluation software (10) after the competition time is over.
The preferred embodiments and examples of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the embodiments and examples described above, and various changes can be made within the knowledge of those skilled in the art without departing from the concept of the present invention.
Claims (6)
1. An unmanned aerial vehicle air docking match evaluation system is characterized by comprising a leading unmanned aerial vehicle subsystem, a following unmanned aerial vehicle subsystem and a ground station subsystem, wherein the leading unmanned aerial vehicle subsystem comprises a leading unmanned aerial vehicle (1), an air docking mark cone (2), a wireless high-precision positioning module (1, 3), a positioning antenna (4) and a cone supporting tube (5); the follow-flying unmanned aerial vehicle subsystem comprises a high-precision follow-flying unmanned aerial vehicle (6) and a wireless high-precision positioning module 2 (7); the ground station subsystem comprises a ground station computer (8), air docking competition evaluation software (9) and a ground communication base station (10).
2. The unmanned aerial vehicle air-docking competition evaluation system according to claim 1, wherein the air-docking marker vertebral body (2) is connected with the flying leading unmanned aerial vehicle (1) through a rigid vertebral body supporting tube (5), and the positioning antenna (4) is fixedly installed in the air-docking marker vertebral body (2) and is connected with the wireless high-precision positioning module (1) (3) through a feeder line.
3. The unmanned aerial vehicle aerial docking match evaluation system of claim 1, wherein the wireless high-precision positioning module 2(7) is mounted on the flying unmanned aerial vehicle (6).
4. The unmanned aerial vehicle air docking match evaluation system of claim 1, wherein the wireless high-precision positioning module 1(3) and the wireless high-precision positioning module 2(7) can be differential GPS or differential beidou positioning devices.
5. The unmanned aerial vehicle air-docking competition evaluation system according to claim 1, wherein the virtual docking area (11) is arranged in a dynamic cylindrical area which is provided with a distance L1, a diameter D and a length L2 from the bottom surface of an air-docking marker cone (2) dragged by the piloted unmanned aerial vehicle (1) to the rear of an actual flight path.
6. The method for judging the unmanned aerial vehicle air docking competition is characterized by comprising the following steps of:
step 1: before the match, a wireless high-precision positioning module 2(7) is arranged on a following flying unmanned aerial vehicle for the match;
step 2: after the match begins, the piloting unmanned aerial vehicle (1) provided with the aerial butt joint mark vertebral body (2), the wireless high-precision positioning module (1), (3) and the positioning antenna (4) takes off to reach a preset aerial position:
and step 3: the piloting unmanned aerial vehicle (1) is connected with a positioning antenna (4) through a wireless high-precision positioning module (1) (3) to position, and sends output high-precision position information and time information to a ground communication base station (10) of a ground station subsystem through wireless transmission of the wireless high-precision positioning module (1) (3);
and 4, step 4: the flying following unmanned aerial vehicle (6) positions through the wireless high-precision positioning module 2(7), and sends the output high-precision position information and time information to a ground communication base station (10) of a ground station subsystem through wireless transmission of the wireless high-precision positioning module 2 (7);
and 5: the ground communication base station (10) transmits the received high-precision position information and time information of the leading unmanned aerial vehicle (1) and the following unmanned aerial vehicle (6) to a ground station computer (8) and carries out real-time data processing on competition judgment software (9) through air docking;
step 6: the following flying unmanned aerial vehicle (6) enters a preset air position and autonomously searches for the leading flying unmanned aerial vehicle (1), the following flying unmanned aerial vehicle flies into a virtual docking area (11) by using an air docking technology and keeps the time of not less than 2 seconds to judge that docking is successful, air docking competition judging software (9) installed on a ground station computer (8) judges the relative position according to the time and position information returned by a wireless high-precision positioning module installed on the leading flying unmanned aerial vehicle and the following flying unmanned aerial vehicle, the successful docking is judged for 1 point, the virtual docking area (11) is defined as a dynamic cylindrical area with the distance L1 being 2 meters, the diameter D being 2 meters and the length L2 being 3 meters from the bottom surface of an air docking marker vertebral body (2) to the rear of an actual flight track;
and 7: after the successful butt joint, other flying-following unmanned aerial vehicles of the team are sequentially butt jointed according to the flow of the step 4 until the match time is over;
and 8: after the competition time is over, the air docking competition evaluation software (10) calculates the total score obtained by the participating teams.
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