CN111381608A - Digital guiding method and system for ground directional antenna - Google Patents
Digital guiding method and system for ground directional antenna Download PDFInfo
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- CN111381608A CN111381608A CN202010242879.6A CN202010242879A CN111381608A CN 111381608 A CN111381608 A CN 111381608A CN 202010242879 A CN202010242879 A CN 202010242879A CN 111381608 A CN111381608 A CN 111381608A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention provides a digital guiding method and a digital guiding system for a ground directional antenna, wherein when the digital guiding function is calculated, GPS information of an unmanned aerial vehicle is selected as longitude-latitude-altitude information; when the GPS information is invalid, adopting the attitude information of the unmanned aerial vehicle as longitude-latitude-altitude information: taking the attitude information of the unmanned aerial vehicle as longitude-latitude information and the altitude information of an atmospheric aircraft of the unmanned aerial vehicle as altitude information; when the longitude-latitude-altitude information of the GPS information is restored, the GPS information is automatically switched back. The method is used for solving the problem of single margin of flight control longitude-latitude-altitude information only when the ground station digital guidance function is resolved; the information of the unmanned aerial vehicle sensor is fully utilized, the longitude-latitude-altitude information of the backup is added, and a double-margin backup mode is formed to eliminate single-point faults; in order to ensure the consistency of the onboard/ground use data of the position information of the unmanned aerial vehicle, reasonable flight control longitude-latitude-altitude position information failure criteria and a flexible switching mode need to be considered.
Description
Technical Field
The invention belongs to the technical field of ground station guidance, in particular to the technical field of ground directional antenna number guidance.
Background
The data link is as the important component of unmanned aerial vehicle platform, realizes going upward remote control data transmission to unmanned aerial vehicle with the ground satellite station, and with the down telemetering measurement data of unmanned aerial vehicle back transmission to the ground satellite station simultaneously, its wireless communication performance index directly influences the performance and the flight safety of unmanned aerial vehicle platform. In the design of the unmanned aerial vehicle measurement and control link, in order to ensure that the data link has enough acting distance, the ground end of the data link needs to adopt a mode of a directional antenna and an omnidirectional antenna. When using ground omnidirectional antenna to communicate, in order to guarantee that ground directional antenna can aim at unmanned aerial vehicle, modes such as manual tracking, automatic tracking and digital guide are usually used to aim at unmanned aerial vehicle. In the flight process of the unmanned aerial vehicle, digital guidance (short for digital guidance) is mainly used. Therefore, how to optimize the terrestrial directional antenna digital guiding function, increasing the margin of the digital guiding function becomes one of the key technologies.
The ground directional antenna digital guidance technology commonly used in China at present generally uses the longitude-latitude-altitude information of an airplane currently used by a flight control computer as the position information of an unmanned aerial vehicle platform, and a data link ground terminal adopts pre-calibrated longitude-latitude-altitude information as the position information of a ground station; after the position information of the unmanned aerial vehicle is downloaded to the ground station through the data link, the position information of the unmanned aerial vehicle and the position information of the ground station are combined, the azimuth angle and the pitching angle which are required to rotate by the ground directional antenna can be calculated, and the alignment of the ground directional antenna to the unmanned aerial vehicle is completed.
Since the longitude-latitude-altitude information of the ground station is calibrated in advance and does not move, the longitude-latitude-altitude information of the unmanned aerial vehicle becomes a key point of the digital guiding function of the ground directional antenna. The position information of the unmanned aerial vehicle by the conventional directional antenna digital guiding technology in China completely depends on the combined GPS longitude-latitude-height information of the unmanned aerial vehicle, which is provided by flight control calculation, so that the design increases the requirement on the reliability of GPS equipment, and the information of each sensor on the unmanned aerial vehicle is not fully utilized.
Disclosure of Invention
The method aims at the problem that the position information of the unmanned aerial vehicle only uses the single margin of flight control longitude-latitude-altitude information when the ground station digital guide function is resolved; when the ground station digital guide function is used for resolving, the information of the unmanned aerial vehicle sensor can be fully utilized, the longitude-latitude-altitude backup information is added, and the whole system function forms a double-margin backup mode to eliminate single-point faults. In addition, in order to ensure consistency of the onboard/ground use data of the position information of the unmanned aerial vehicle, reasonable flight control longitude-latitude-altitude position information failure criteria and a flexible switching mode need to be considered.
A digital guiding method for a ground directional antenna comprises the following steps:
when the digital guiding function is used for resolving, preferably selecting the GPS information of the unmanned aerial vehicle as longitude-latitude-altitude information;
when the GPS information is invalid, adopting the attitude information of the unmanned aerial vehicle as longitude-latitude-altitude information:
taking the attitude information of the unmanned aerial vehicle as longitude-latitude information and taking the atmospheric aircraft altitude information of the unmanned aerial vehicle as altitude information;
automatically switching back to "GPS mode" when the latitude-longitude-altitude information of the GPS information is restored;
the criterion of the failure of the GPS information is as follows: if the longitude-latitude-altitude information of the GPS information is unchanged within the set time and the difference between the altitude value and the air pressure altitude value of the attitude and heading information is greater than a set value, determining that the lower position information in the GPS mode is invalid;
the criterion of the failure of the attitude heading information is as follows: determining that the lower position information of the 'attitude heading mode' is invalid if the longitude-latitude-altitude information of the attitude heading information is unchanged within the set time;
and when the GPS information and the navigation attitude information are simultaneously judged to be invalid, using the GPS information.
The criterion of the failure of the GPS information is as follows: the longitude-latitude-altitude information of the GPS information has no change within 3s, and the difference between the altitude value and the air pressure altitude value of the attitude heading reference information is more than 100 m.
The criterion of the failure of the attitude heading information is as follows: the longitude-latitude-altitude information of the attitude heading information has no change within 3 s.
A ground-oriented antenna digital guidance system, said system comprising a "GPS mode", a "attitude and heading mode", and an "automatic mode"; the system sends the uplink remote control data of the ground station to the unmanned aerial vehicle and receives the downlink remote control data of the unmanned aerial vehicle;
the GPS mode is as follows: using longitude-latitude-altitude information (default as GPS information) used by the flight control computer as drone platform location information; when the longitude-latitude-altitude information is invalid, the prompt information is invalid; if the longitude-latitude-altitude information used in the GPS mode is unchanged within 3s and the difference between the altitude value and the air pressure altitude value in the 'attitude mode' is more than a set value, determining that the lower position information in the 'GPS mode' is invalid;
the attitude and heading mode is as follows: using longitude-latitude information of inertial navigation and altitude information of an air engine as position information of an unmanned aerial vehicle platform; when the longitude-latitude-altitude information is invalid, the prompt information is invalid; the longitude-latitude-altitude information used in the attitude heading reference mode is unchanged within set time, and the lower position information of the attitude heading reference mode is judged to be invalid;
the automatic mode is as follows: the ground digital guide function defaults to use a GPS mode, and automatically switches to an attitude and heading mode under the condition that longitude-latitude-altitude information of the GPS mode is invalid according to a preset failure criterion; when the GPS mode latitude-longitude information is restored, the "GPS mode" is automatically switched back.
The technical scheme of the invention has the following beneficial effects:
firstly, the digital guidance function of the ground directional antenna realizes double-margin backup, and when the digital guidance function of the ground station is calculated, besides using flight control position information, the attitude information (inertial navigation information) of the unmanned aerial vehicle is added as a longitude-latitude information source, and the altitude information of the atmospheric machine of the unmanned aerial vehicle is added as an altitude information source; the two are combined to form the unmanned aerial vehicle platform backup longitude-latitude-altitude information. Therefore, when the ground station digital guidance function is calculated, the position information of the flight control unmanned aerial vehicle or the position information of the inertial navigation/atmospheric air machine unmanned aerial vehicle can be adopted to form a double-margin system, and the reliability of the system is improved. The reliability of the system is improved;
secondly, data invalidity judgment is added, and when data are not updated, a data invalidity reminding function is provided, so that an operator can find the unmanned aerial vehicle fault more quickly;
and thirdly, an automatic mode is added, and the operation complexity of an operator is reduced to the maximum extent.
Drawings
FIG. 1 is a diagram of the mode switching logic of the present invention.
Fig. 2 is a diagram of a GPS information digital guide.
Fig. 3 is a schematic diagram of dual margin digital guidance of GPS information and attitude and heading information.
Detailed Description
The invention will be further explained with reference to the drawings.
Example 1
The invention discloses a digital guiding method of a ground directional antenna, which comprises the following steps:
when the digital guiding function is used for resolving, preferably selecting the GPS information of the unmanned aerial vehicle as longitude-latitude-altitude information;
when the GPS information is invalid, adopting the attitude information of the unmanned aerial vehicle as longitude-latitude-altitude information:
taking the attitude information of the unmanned aerial vehicle as longitude-latitude information and taking the atmospheric aircraft altitude information of the unmanned aerial vehicle as altitude information;
automatically switching back to "GPS mode" when the latitude-longitude-altitude information of the GPS information is restored;
the criterion of the failure of the GPS information is as follows: if the longitude-latitude-altitude information of the GPS information is unchanged within the set time and the difference between the altitude value and the air pressure altitude value of the attitude and heading information is greater than a set value, determining that the lower position information in the GPS mode is invalid;
the criterion of the failure of the attitude heading information is as follows: determining that the lower position information of the 'attitude heading mode' is invalid if the longitude-latitude-altitude information of the attitude heading information is unchanged within the set time;
and when the GPS information and the navigation attitude information are simultaneously judged to be invalid, using the GPS information.
Example 2
The invention relates to a digital guidance system of a ground directional antenna, which preferably selects GPS information as longitude-latitude-altitude information, when a ground station digital guidance function is calculated, except for using flight control position information, unmanned plane attitude information (inertial navigation information) is added as a longitude-latitude information source, and unmanned plane atmospheric altitude information is added as an altitude information source; the two are combined to form the unmanned aerial vehicle platform backup longitude-latitude-altitude information. Therefore, when the ground station digital guidance function is calculated, the position information of the flight control unmanned aerial vehicle or the position information of the inertial navigation/atmospheric air machine unmanned aerial vehicle can be adopted to form a double-margin system, and the reliability of the system is improved.
As shown in fig. 1, to ensure the flexibility of the system and the autonomous selection of the operator, the ground number-index calculation function is divided into three modes, namely a "GPS mode", a "heading and attitude mode", and an "automatic mode". The system working conditions in each mode are as follows:
GPS mode: the ground digital guiding function forces longitude-latitude-altitude information (default as GPS information) used by the flight control computer to be used as the unmanned aerial vehicle platform position information; when the longitude-latitude-altitude information is invalid, an information invalidation prompt is given;
and (4) attitude heading mode: the ground digital guiding function forces longitude-latitude information of inertial navigation and altitude information of an air engine to be used as position information of an unmanned aerial vehicle platform; when the longitude-latitude-altitude information is invalid, an information invalidation prompt is given;
automatic mode: the ground digital guide function defaults to use a GPS mode, and automatically switches to an attitude and heading mode under the condition that longitude-latitude-altitude information of the GPS mode is invalid according to a preset failure criterion; when the GPS mode latitude-longitude information is restored, the "GPS mode" is automatically switched back.
In order to ensure the correctness of the automatic switching strategy in the automatic mode, perfect failure judgment needs to be established to ensure the correctness and stability of the system during automatic switching.
Firstly, the system defaults to use a 'GPS mode', and when the 'GPS mode' and the 'navigation attitude mode' are judged to be invalid at the same time, the 'GPS mode' is defaulted to use; secondly, considering that the unmanned aerial vehicle is parked on the ground for testing or the position information of the unmanned aerial vehicle in the ground waiting stage is not changed, and the unmanned aerial vehicle is normal, and factors such as air pressure height error and the like, the comprehensive judgment of the failure criterion of the GPS mode and the failure criterion of the navigation attitude mode are as follows:
GPS mode: when the longitude-latitude-altitude information used in the mode is unchanged within 3s and the difference between the altitude value and the air pressure value in the "attitude mode" is more than 100m (the value can be comprehensively set according to the ascending limit of the unmanned aerial vehicle and the air pressure precision of the atmospheric air machine), the lower position information in the "GPS mode" is judged to be invalid;
and (4) attitude heading mode: the longitude-latitude-altitude information used in this mode is unchanged within 3s, and it is determined that the lower position information of the "attitude mode" is invalid.
To improve the automation degree of the system and reduce the operation complexity and operation burden of a link operator. Adding an 'automatic mode' of a numerical index resolving function; in the "automatic mode", the "GPS mode" is adopted by default.
As shown in fig. 2, before optimization, the digital guidance function uses the coordinates of the drone and only the flight control computer uses the longitude-latitude-altitude information; as shown in fig. 3, after optimization, the digital guidance function may use the GPS coordinate of the flight control computer, and may also use the longitude-latitude information of inertial navigation and the barometric altitude information of the atmospheric machine to form a true dual-margin backup, thereby increasing the reliability of the system.
Claims (4)
1. A digital guiding method for a ground directional antenna is characterized by comprising the following steps:
when the S1 digital guidance function is calculated, the GPS information of the unmanned aerial vehicle is firstly selected as longitude-latitude-altitude information;
s2, when the GPS information is invalid, the attitude information of the unmanned aerial vehicle is longitude-latitude-altitude information:
s3, taking the attitude information of the unmanned aerial vehicle as longitude-latitude information and taking the atmospheric altitude information of the unmanned aerial vehicle as altitude information;
s4 automatically switches back to "GPS mode" when the latitude-longitude-altitude information of the GPS information is restored;
the criterion of the failure of the GPS information is as follows: if the longitude-latitude-altitude information of the GPS information is unchanged within the set time and the difference between the altitude value and the air pressure altitude value of the attitude and heading information is greater than a set value, determining that the lower position information in the GPS mode is invalid;
the criterion of the failure of the attitude heading information is as follows: determining that the lower position information of the 'attitude heading mode' is invalid if the longitude-latitude-altitude information of the attitude heading information is unchanged within the set time;
and when the GPS information and the navigation attitude information are simultaneously judged to be invalid, using the GPS information.
2. The method as claimed in claim 1, wherein the criterion of GPS information failure is: the longitude-latitude-altitude information of the GPS information has no change within 3s, and the difference between the altitude value and the air pressure altitude value of the attitude heading reference information is more than 100 m.
3. The method for digital guidance of the ground directional antenna according to claim 1, wherein the criterion for failure of the attitude information is as follows: the longitude-latitude-altitude information of the attitude heading information has no change within 3 s.
4. A ground-oriented antenna digital guidance system, said system comprising a "GPS mode", a "attitude and heading mode", and an "automatic mode"; the system sends the uplink remote control data of the ground station to the unmanned aerial vehicle and receives the downlink remote control data of the unmanned aerial vehicle;
the GPS mode is as follows: using longitude-latitude-altitude information (default as GPS information) used by the flight control computer as drone platform location information; when the longitude-latitude-altitude information is invalid, the prompt information is invalid; if the longitude-latitude-altitude information used in the GPS mode is unchanged within 3s and the difference between the altitude value and the air pressure altitude value in the 'attitude mode' is more than a set value, determining that the lower position information in the 'GPS mode' is invalid;
the attitude and heading mode is as follows: using longitude-latitude information of inertial navigation and altitude information of an air engine as position information of an unmanned aerial vehicle platform; when the longitude-latitude-altitude information is invalid, the prompt information is invalid; the longitude-latitude-altitude information used in the attitude heading reference mode is unchanged within set time, and the lower position information of the attitude heading reference mode is judged to be invalid;
the automatic mode is as follows: the ground digital guide function defaults to use a GPS mode, and automatically switches to an attitude and heading mode under the condition that longitude-latitude-altitude information of the GPS mode is invalid according to a preset failure criterion; when the GPS mode latitude-longitude information is restored, the "GPS mode" is automatically switched back.
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Application publication date: 20200707 |