CN112051858A - Unmanned aerial vehicle dynamic recovery method of mobile carrier - Google Patents
Unmanned aerial vehicle dynamic recovery method of mobile carrier Download PDFInfo
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- CN112051858A CN112051858A CN202010760578.2A CN202010760578A CN112051858A CN 112051858 A CN112051858 A CN 112051858A CN 202010760578 A CN202010760578 A CN 202010760578A CN 112051858 A CN112051858 A CN 112051858A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides an unmanned aerial vehicle dynamic recovery method of a mobile carrier, which comprises a flight control system loaded on an unmanned aerial vehicle and the mobile carrier provided with an apron; the flight control system receives a back flight instruction from the mobile carrier, performs data real-time data exchange with the mobile carrier, and approaches the mobile carrier according to a positioning signal sent by the mobile carrier until the unmanned aerial vehicle enters a preset distance; when the unmanned aerial vehicle enters a preset distance, the flight control system starts an automatic tracking system to keep the unmanned aerial vehicle to continuously move along with the moving carrier within the preset distance; the flight control system starts the auxiliary landing system, identifies and positions the position of the parking apron, and the unmanned aerial vehicle approaches the parking apron until the unmanned aerial vehicle is parked on the parking apron; according to the method, through the steps, the positioning modes with different accuracies are switched between the unmanned aerial vehicle and the mobile carrier according to different position distances, so that the final accurate landing is ensured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a dynamic recovery method for an unmanned aerial vehicle of a mobile carrier.
Background
An unmanned aerial vehicle, abbreviated as "unmanned aerial vehicle" ("UAV"), is an unmanned aerial vehicle that is operated using a radio remote control device and a self-contained program control device. Unmanned aerial vehicles are in fact a general term for unmanned aerial vehicles, and can be defined from a technical perspective as follows: unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aircraft, unmanned paravane, etc. Compared with manned aircraft, it has the advantages of small volume, low cost, convenient use, low requirement on the operational environment, strong battlefield viability and the like. Since the unmanned aircraft has important significance for future air battles, the research and development work of the unmanned aircraft is carried out in all major military countries in the world.
The vehicle-mounted unmanned aerial vehicle is a model using a land vehicle as a base station, has the characteristics of better detection capability and strong maneuverability, and can adapt to the working environment and the natural environment of the land to the greatest extent; the existing unmanned aerial vehicle can only rely on a GPS and an inertial navigation system for positioning and navigation, but in the inertial navigation system, the sensor is easily interfered by the external environment, so that the positioning precision is low; in the GPS positioning system, because the restriction of factors such as topography, artificial buildings, local area GPS signals are weak or do not have GPS signals, so these areas also can't rely on GPS to realize the location, so need urgently to change the location mode according to the distance of unmanned aerial vehicle for dynamic base station to realize the scheme of accurate location and accurate take off and land of unmanned aerial vehicle.
Disclosure of Invention
Aiming at the defects in the technology, the invention provides the dynamic recovery method of the unmanned aerial vehicle of the mobile carrier, which can enable the unmanned aerial vehicle to switch the positioning mode and the positioning network according to the relative position of the unmanned aerial vehicle relative to the mobile carrier, thereby realizing the accurate positioning and the accurate taking off and landing of the unmanned aerial vehicle when the unmanned aerial vehicle approaches the mobile carrier.
In order to achieve the aim, the invention provides an unmanned aerial vehicle dynamic recovery method of a mobile carrier, which comprises a flight control system carried on the unmanned aerial vehicle and the mobile carrier provided with an apron;
the flight control system receives a back flight instruction from the mobile carrier, performs data real-time data exchange with the mobile carrier, and approaches the mobile carrier according to a positioning signal sent by the mobile carrier until the unmanned aerial vehicle enters a preset distance;
when the unmanned aerial vehicle enters a preset distance, the flight control system starts an automatic tracking system to keep the unmanned aerial vehicle to continuously move along with the moving carrier within the preset distance;
the flight control system starts the auxiliary landing system, identifies and positions the position of the parking apron, and the unmanned aerial vehicle approaches the parking apron until the unmanned aerial vehicle is parked on the parking apron.
Preferably, the method comprises the following steps: and the flight control system receives the back flight instruction from the mobile carrier, and performs data exchange with the mobile carrier in real time, wherein the data exchange comprises data exchange of longitude and latitude, a movement direction and a movement speed of the unmanned aerial vehicle and the mobile carrier.
Preferably, the method comprises the following steps: the positioning signal sent by the mobile carrier is sent by a positioning system consisting of a GPS, a Beidou and a Galileo on the mobile carrier until the unmanned aerial vehicle enters a preset distance.
Preferably, the method comprises the following steps: the process that the flight control system starts the automatic tracking system comprises the following steps: the flight control system is controlled by a positioning system and switched into ad hoc network signal control, the mobile carrier transmits real-time advancing direction and real-time position information to the flight control system through the ad hoc network, the flight control system calculates real-time flight lines according to the position information and the advancing direction information, tracks and slowly approaches the mobile carrier according to the calculated flight lines,
Preferably, the method comprises the following steps: before the flight control system starts the auxiliary landing system, the flight control system further comprises a step of: and the flight control system receives the real-time position information of the mobile carrier, calculates the relative distance between the unmanned aerial vehicle and the mobile carrier, and controls the unmanned aerial vehicle to enter a second preset distance according to the relative distance.
Preferably, the method comprises the following steps: the auxiliary landing system comprises a composite sensor, and the position of the apron is identified and positioned through an ultrasonic sensor, a laser sensor and an optical flow sensor which are arranged in the composite sensor.
Preferably, the method comprises the following steps: the process that the unmanned aerial vehicle approaches the air park until the unmanned aerial vehicle is parked on the air park comprises the following steps: ultrasonic sensor and laser sensor are used for acquireing the perpendicular distance between unmanned aerial vehicle and the removal carrier, and light stream sensor is used for acquireing the horizontal distance between unmanned aerial vehicle and the removal carrier.
Preferably, the method comprises the following steps: the parking apron is provided with an identification mark used for being identified by the optical flow sensor, when the optical flow sensor is used for acquiring the horizontal distance between the unmanned aerial vehicle and the mobile carrier, the image data of the identification mark is collected by the camera, and the displacement of the two frames of identification marks in the image data is calculated by the optical flow algorithm, so that the horizontal displacement between the unmanned aerial vehicle and the mobile carrier is acquired.
Preferably, the method comprises the following steps: the process that the unmanned aerial vehicle approaches the air park until the unmanned aerial vehicle is parked on the air park comprises the following steps: the unmanned aerial vehicle acquires the accurate distance between the unmanned aerial vehicle and the mobile carrier through the composite sensor, and transmits the distance data to the mobile carrier through the ad hoc network in real time.
Preferably, the method comprises the following steps: the process that the unmanned aerial vehicle approaches the air park until the unmanned aerial vehicle is parked on the air park further comprises the following steps: still be provided with the arm on the removal carrier, unmanned aerial vehicle is close to when air park to a predetermined distance to fly with the flight state that removes the carrier relative standstill, the arm starts and snatchs unmanned aerial vehicle this moment, guides unmanned aerial vehicle to slow down and berth to the air park.
The invention has the beneficial effects that: compared with the prior art, the unmanned aerial vehicle dynamic recovery method of the mobile carrier comprises a flight control system carried on the unmanned aerial vehicle and the mobile carrier provided with an apron; the flight control system receives a back flight instruction from the mobile carrier, performs data real-time data exchange with the mobile carrier, and approaches the mobile carrier according to a positioning signal sent by the mobile carrier until the unmanned aerial vehicle enters a preset distance; when the unmanned aerial vehicle enters a preset distance, the flight control system starts an automatic tracking system to keep the unmanned aerial vehicle to continuously move along with the moving carrier within the preset distance; the flight control system starts the auxiliary landing system, identifies and positions the position of the parking apron, and the unmanned aerial vehicle approaches the parking apron until the unmanned aerial vehicle is parked on the parking apron; according to the method, through the steps, the positioning modes with different accuracies are switched between the unmanned aerial vehicle and the mobile carrier according to different position distances, so that the final accurate landing is ensured.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
In order to more clearly describe the present invention, the present invention will be further described with reference to the accompanying drawings.
The existing unmanned aerial vehicle can only rely on a GPS and an inertial navigation system for positioning and navigation, but in the inertial navigation system, the sensor is easily interfered by the external environment, so that the positioning precision is low; in the GPS positioning system, because the restriction of factors such as topography, artificial buildings, local area GPS signals are weak or do not have GPS signals, so these areas also can't rely on GPS to realize the location, so need urgently to change the location mode according to the distance of unmanned aerial vehicle for dynamic base station to realize the scheme of accurate location and accurate take off and land of unmanned aerial vehicle.
Specifically, referring to fig. 1, the method for dynamically recovering an unmanned aerial vehicle from a mobile carrier includes a flight control system mounted on the unmanned aerial vehicle and the mobile carrier provided with an apron;
the flight control system receives a back flight instruction from the mobile carrier, performs data real-time data exchange with the mobile carrier, and approaches the mobile carrier according to a positioning signal sent by the mobile carrier until the unmanned aerial vehicle enters a preset distance;
when the unmanned aerial vehicle enters a preset distance, the flight control system starts an automatic tracking system to keep the unmanned aerial vehicle to continuously move along with the moving carrier within the preset distance;
the flight control system starts the auxiliary landing system, identifies and positions the position of the parking apron, and the unmanned aerial vehicle approaches the parking apron until the unmanned aerial vehicle is parked on the parking apron;
the mobile carrier can be a vehicle or a ship carrying a ground control station, but is not limited to the vehicle or the ship; because the mobile carrier is always in a dynamic motion state, the data exchange between the flight control system and the mobile carrier is refreshed in real time and is also in a dynamic exchange state.
One embodiment mentions: the flight control system receives a back flight instruction from the mobile carrier, and performs data exchange with the mobile carrier in real time, wherein the data exchange comprises data exchange of longitude and latitude, a movement direction and a movement speed of the unmanned aerial vehicle and the mobile carrier; the flight control system receives the longitude and latitude, the movement direction and the movement speed information of the mobile carrier, and can rapidly plan the optimal route of the back-flying mobile carrier through internal calculation; the mobile carrier receives the information of the longitude and latitude, the movement direction and the movement speed of the unmanned aerial vehicle, and can be displayed on the carrier control end, because the back flight path of the unmanned aerial vehicle is most likely to be the path through which the mobile carrier passes, the mobile carrier can assist the unmanned aerial vehicle to calculate the optimal path according to the collected environmental information and the received information of the longitude and latitude, the movement direction and the movement speed of the unmanned aerial vehicle, and the accident situation possibly generated on the back flight path is avoided.
One embodiment mentions: the method comprises the steps that in the process that a positioning signal sent by a mobile carrier approaches the mobile carrier until an unmanned aerial vehicle enters a preset distance, the positioning signal is sent by a positioning system consisting of a GPS, a Beidou and a Galileo on the mobile carrier; the comprehensive positioning system that multiple positioning system constitutes can ensure the location and the accuracy of direction of motion of the unmanned aerial vehicle that flies back at remote end, it is not high to adopt single positioning system to exist positioning accuracy, the problem that leads to the positioning signal unstability easily to receive electromagnetic interference in the serious area of signal interference, because the back of first stage flies long distance, and the purpose is in order to make unmanned aerial vehicle be close to and remove the carrier to within the default distance, so the locate mode of selection need not possess very high precision.
One embodiment mentions: the process that the flight control system starts the automatic tracking system comprises the following steps: the flight control system is controlled by a positioning system and switched into ad hoc network signal control, a mobile carrier transmits real-time advancing direction and real-time position information to the flight control system through an ad hoc network, the flight control system calculates real-time flight lines according to the position information and the advancing direction information, and the flight control system tracks and slowly approaches the mobile carrier according to calculated flight lines; the preset distance is within 100m of the horizontal direction, the positioning system is adopted to perform low control precision, the precise control on the airplane is important in the range, the positioning precision of the airplane needs to be improved, the control mode of the ad hoc network can be adopted to realize the stable transmission of the control signals, and the positioning precision is slightly improved relative to the positioning of the positioning system.
One embodiment mentions: before the flight control system starts the auxiliary landing system, the flight control system further comprises a step of: the flight control system receives the real-time position information of the mobile carrier, calculates the relative distance between the unmanned aerial vehicle and the mobile carrier, and controls the unmanned aerial vehicle to enter a second preset distance according to the relative distance; after the automatic tracking system is started by the flight control system, the unmanned aerial vehicle slowly approaches the mobile carrier while following the movement of the mobile carrier, and keeps continuous position distance information exchange with the mobile carrier while approaching, when entering a second preset distance of about 3m, the unmanned aerial vehicle starts the auxiliary landing system, and the positioning precision of the auxiliary landing system is far higher than that of the positioning system and the automatic tracking system.
One embodiment mentions: the auxiliary landing system comprises a composite sensor, and the position of the apron is identified and positioned through an ultrasonic sensor, a laser sensor and an optical flow sensor which are arranged in the composite sensor; an ultrasonic sensor is a sensor that converts an ultrasonic signal into another energy signal (typically an electrical signal). Ultrasonic waves are mechanical waves with a vibration frequency higher than 20 kHz. The laser has the characteristics of high frequency, short wavelength, small diffraction phenomenon, good directivity, capability of becoming rays for directional propagation and the like; laser range finding sensor: the laser diode first emits laser pulses directed at the target. The laser light is scattered in all directions after being reflected by the target. Part of the scattered light returns to the sensor receiver, is received by the optical system and is imaged onto the avalanche photodiode. The avalanche photodiode is an optical sensor having an amplification function therein, and thus it can detect an extremely weak optical signal. The time from the light pulse sending to the receiving is recorded and processed, namely the target distance can be measured; and one camera acquires image data, and then displacement of two frames of images is calculated by adopting an optical flow algorithm, so that the unmanned aerial vehicle is positioned.
One embodiment mentions: the process that the unmanned aerial vehicle approaches the air park until the unmanned aerial vehicle is parked on the air park comprises the following steps: the ultrasonic sensor and the laser sensor are used for acquiring the vertical distance between the unmanned aerial vehicle and the mobile carrier, and the optical flow sensor is used for acquiring the horizontal distance between the unmanned aerial vehicle and the mobile carrier; the ultrasonic sensor and the laser sensor can be used for acquiring the displacement in the horizontal direction between the unmanned aerial vehicle and the mobile carrier, but because the shielding objects available for reflection in the horizontal direction of the apron are fewer, the accuracy of acquiring the displacement in the horizontal direction by adopting the ultrasonic sensor and the laser sensor is lower than that of acquiring the displacement in the horizontal direction by adopting the light flow sensor.
One embodiment mentions: the parking apron is provided with an identification mark for identification of the optical flow sensor, the identification mark is mainly used for shooting and identification of the optical flow sensor, the optical flow sensor is used for acquiring image data of the identification mark through a camera when the horizontal distance between the unmanned aerial vehicle and the mobile carrier is acquired, and displacement of two frames of the identification mark in the image data is calculated through an optical flow algorithm, so that the horizontal displacement between the unmanned aerial vehicle and the mobile carrier is acquired; the method comprises the following steps that a specific unmanned aerial vehicle firstly obtains images of a plurality of vehicle-mounted upper landing points through a camera, and the unmanned aerial vehicle and the vehicle-mounted upper landing points are in the moving process in the shooting process; after a plurality of images are acquired, two characteristics exist between two adjacent frames of images, wherein the gray values of the two adjacent frames of images are unchanged, and the pixels of the two adjacent frames of images have relative motion; based on the two characteristics, the following relational expression can be obtained: i (x, y, t) = I (x + dx, y + dy, t + dt); wherein I (X, Y, t) represents the position of the image which moves to the second frame image (X + dx, Y + dy) after time dt, and the gradient of the gray value in the X direction and the Y direction can be obtained after transformation and differentiation; however, the speed u of the unmanned aerial vehicle in the X direction and the speed v of the unmanned aerial vehicle in the Y direction cannot be obtained by the above method, and in order to solve the problem, a classical lucas-Kanade method can be further adopted to solve the problem; obtaining values of U and V; and finally, obtaining the relative position between the vehicle-mounted landing points of the unmanned aerial vehicle by utilizing integral positioning, wherein the U and the V are both the relative vehicle-mounted speed components of the unmanned aerial vehicle on the horizontal plane, and the finally obtained relative position is also the relative position of the unmanned aerial vehicle and the vehicle-mounted vehicle on the horizontal plane.
One embodiment mentions: the process that the unmanned aerial vehicle approaches the air park until the unmanned aerial vehicle is parked on the air park comprises the following steps: the unmanned aerial vehicle acquires the precise distance between the unmanned aerial vehicle and the mobile carrier through the composite sensor, and transmits the distance data to the mobile carrier in real time through the ad hoc network; because be in the unmanned aerial vehicle step of berthhing, require than higher to the distance between unmanned aerial vehicle and the removal carrier when being close to, so need carry out real-time data exchange, avoid colliding when guaranteeing that unmanned aerial vehicle and removal carrier are slowly being close to.
One embodiment mentions: the process that the unmanned aerial vehicle approaches the air park until the unmanned aerial vehicle is parked on the air park further comprises the following steps: the movable carrier is also provided with a mechanical arm, when the unmanned aerial vehicle approaches the parking apron to a preset distance, the unmanned aerial vehicle flies in a flying state relative to the movable carrier, and the mechanical arm starts and grabs the unmanned aerial vehicle at the moment to guide the unmanned aerial vehicle to decelerate and park on the parking apron; unmanned aerial vehicle gets into a predetermined distance, this distance can hold unmanned aerial vehicle's maximum distance for the arm, unmanned aerial vehicle will be apart from information transmission to moving the carrier when getting into this predetermined distance, it judges whether unmanned aerial vehicle and the distance of moving between the carrier are less than predetermined distance to move carrier and unmanned aerial vehicle, unmanned aerial vehicle keeps flying with the relative stationary velocity who moves the carrier when judging to be less than predetermined distance, it holds to hold to unmanned aerial vehicle to move carrier control arm, hold to unmanned aerial vehicle after when the arm is held, unmanned aerial vehicle slows down to stopping flight completely gradually, guide unmanned aerial vehicle until stopping to the air park completely by the arm this moment.
The invention has the advantages that:
1. according to different distance ranges of the unmanned aerial vehicle relative to the moving carrier, the invention adopts different precision positioning modes and adopts the switching of different control systems to realize the precise recovery of the unmanned aerial vehicle relative to the dynamic moving carrier.
2. The positioning system composed of the GPS, the Beidou and the Galileo realizes the stability of low-precision positioning and avoids the occurrence of positioning interruption.
3. Set up composite sensor, through ultrasonic sensor and laser sensor in the composite sensor to unmanned aerial vehicle and remove the acquirement of vertical direction distance between the carrier and optical flow sensor to unmanned aerial vehicle and remove the acquirement of horizontal direction distance between the carrier, realize the descending location of high accuracy.
4. The switching of data transmission modes and real-time data transmission in the recovery process ensure the accuracy of positions at different moments and improve the positioning accuracy.
The above disclosure is only for a few specific embodiments of the present invention, but the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle dynamic recovery method of mobile carrier which characterized in that: the unmanned aerial vehicle comprises a flight control system carried on the unmanned aerial vehicle and a mobile carrier provided with an apron;
the flight control system receives a back flight instruction from the mobile carrier, performs data real-time data exchange with the mobile carrier, and approaches the mobile carrier according to a positioning signal sent by the mobile carrier until the unmanned aerial vehicle enters a preset distance;
when the unmanned aerial vehicle enters a preset distance, the flight control system starts an automatic tracking system to keep the unmanned aerial vehicle to continuously move along with the moving carrier within the preset distance;
the flight control system starts the auxiliary landing system, identifies and positions the position of the parking apron, and the unmanned aerial vehicle approaches the parking apron until the unmanned aerial vehicle is parked on the parking apron.
2. The unmanned aerial vehicle dynamic recovery method of a mobile carrier according to claim 1, wherein: and the flight control system receives the back flight instruction from the mobile carrier, and performs data exchange with the mobile carrier in real time, wherein the data exchange comprises data exchange of longitude and latitude, a movement direction and a movement speed of the unmanned aerial vehicle and the mobile carrier.
3. The unmanned aerial vehicle dynamic recovery method of a mobile carrier according to claim 1, wherein: the positioning signal sent by the mobile carrier is sent by a positioning system consisting of a GPS, a Beidou and a Galileo on the mobile carrier until the unmanned aerial vehicle enters a preset distance.
4. The unmanned aerial vehicle dynamic recovery method of a mobile carrier according to claim 1, wherein: the process that the flight control system starts the automatic tracking system comprises the following steps: the flight control system is controlled by the positioning system and switched into ad hoc network signal control, the mobile carrier transmits real-time advancing direction and real-time position information to the flight control system through the ad hoc network, the flight control system calculates real-time flight lines according to the position information and the advancing direction information, and the flight control system tracks and slowly approaches the mobile carrier according to the calculated flight lines.
5. The unmanned aerial vehicle dynamic recovery method of a mobile carrier according to claim 1, wherein: before the flight control system starts the auxiliary landing system, the flight control system further comprises a step of: and the flight control system receives the real-time position information of the mobile carrier, calculates the relative distance between the unmanned aerial vehicle and the mobile carrier, and controls the unmanned aerial vehicle to enter a second preset distance according to the relative distance.
6. The unmanned aerial vehicle dynamic recovery method of a mobile carrier according to claim 1, wherein: the auxiliary landing system comprises a composite sensor, and the position of the apron is identified and positioned through an ultrasonic sensor, a laser sensor and an optical flow sensor which are arranged in the composite sensor.
7. The unmanned aerial vehicle dynamic recovery method of a mobile carrier according to claim 6, wherein: the process that the unmanned aerial vehicle approaches the air park until the unmanned aerial vehicle is parked on the air park comprises the following steps: ultrasonic sensor and laser sensor are used for acquireing the perpendicular distance between unmanned aerial vehicle and the removal carrier, and light stream sensor is used for acquireing the horizontal distance between unmanned aerial vehicle and the removal carrier.
8. The method of claim 7, wherein the method comprises: the parking apron is provided with an identification mark used for being identified by the optical flow sensor, when the optical flow sensor is used for acquiring the horizontal distance between the unmanned aerial vehicle and the mobile carrier, the image data of the identification mark is collected by the camera, and the displacement of the two frames of identification marks in the image data is calculated by the optical flow algorithm, so that the horizontal displacement between the unmanned aerial vehicle and the mobile carrier is acquired.
9. The unmanned aerial vehicle dynamic recovery method of a mobile carrier according to claim 1, wherein: the process that the unmanned aerial vehicle approaches the air park until the unmanned aerial vehicle is parked on the air park comprises the following steps: the unmanned aerial vehicle acquires the accurate distance between the unmanned aerial vehicle and the mobile carrier through the composite sensor, and transmits the distance data to the mobile carrier through the ad hoc network in real time.
10. The unmanned aerial vehicle dynamic recovery method of a mobile carrier according to claim 1, wherein: the process that the unmanned aerial vehicle approaches the air park until the unmanned aerial vehicle is parked on the air park further comprises the following steps: still be provided with the arm on the removal carrier, unmanned aerial vehicle is close to when air park to a predetermined distance to fly with the flight state that removes the carrier relative standstill, the arm starts and snatchs unmanned aerial vehicle this moment, guides unmanned aerial vehicle to slow down and berth to the air park.
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