CN112731383A - Autonomous navigation control system of laser radar - Google Patents
Autonomous navigation control system of laser radar Download PDFInfo
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- CN112731383A CN112731383A CN202011535520.4A CN202011535520A CN112731383A CN 112731383 A CN112731383 A CN 112731383A CN 202011535520 A CN202011535520 A CN 202011535520A CN 112731383 A CN112731383 A CN 112731383A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 51
- 238000012545 processing Methods 0.000 claims description 8
- 230000009467 reduction Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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 discloses an autonomous navigation control system of a laser radar, which comprises a main control module, a positioning planning module, an obstacle avoiding module, a meteorological monitoring module, a laser ranging module and a storage module, wherein the positioning planning module, the obstacle avoiding module, the meteorological monitoring module, the laser ranging module and the storage module are all connected with the main control module, and the positioning planning module comprises a map drawing module, a navigation positioning module, an inquiry module, a recording module, a matching module, a route planning module and a manual selection module. The route matching selection in the later period is facilitated, so that the navigation planning is faster, and the familiar route navigation is convenient to select.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to an autonomous navigation control system of a laser radar.
Background
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and the working principle of the system is that a detection signal is emitted to the target, then the received signal reflected from the target is compared with the emission signal, and after appropriate processing, the relevant information of the target can be obtained, and the laser radar plays an important role in a navigation system of an aircraft;
however, in the currently used autonomous navigation control system of the laser radar, it is inconvenient to query, match, select and record a navigation route, so that the route needs to be planned again each time the navigation system navigates, which wastes time, and the route is inconsistent, unfamiliar with the navigation environment, and reduces the safety of flight.
Disclosure of Invention
The invention provides an autonomous navigation control system of a laser radar, which can effectively solve the problems that in the existing autonomous navigation control system of the laser radar, which is provided in the background technology, the navigation route is inconvenient to query, match, select and record, so that the route needs to be planned again when the navigation system navigates every time, time is wasted, the route is inconsistent, the navigation environment is not familiar, and the flight safety is reduced.
In order to achieve the purpose, the invention provides the following technical scheme: an autonomous navigation control system of a laser radar comprises a main control module, a positioning planning module, an obstacle avoiding module, a meteorological monitoring module, a laser ranging module and a storage module, wherein the positioning planning module, the obstacle avoiding module, the meteorological monitoring module, the laser ranging module and the storage module are all connected with the main control module;
the positioning planning module comprises a map drawing module, a navigation positioning module, an inquiry module, a recording module, a matching module, a route planning module and a manual selection module;
the obstacle avoidance module comprises an image acquisition module, an obstacle detection module, an obstacle avoidance planning module, a forced landing module and an emergency braking module;
the weather detection module comprises a weather detection module, a cloud computing module, a speed limit module, a navigation analysis module and a prompt module;
the laser ranging module comprises a radar sensor, a laser range finder, a data processing module and a safety statistic module.
According to the technical scheme, the map drawing module is respectively connected with the navigation positioning module and the query module, the matching module is connected with the recording module and the route planning module, and the route planning module is connected with the recording module and the manual selection module;
the map drawing module receives drawing of the map by the data acquired by the image acquisition module, marks the altitude at the highland position by using numbers, displays the meteorological condition detected by the meteorological detection module on the map in real time by using a three-dimensional animation effect, and draws the map into an image obtained by reducing the actual map by 10000-fold and 15000-fold.
According to the technical scheme, the navigation positioning module positions the user position in real time and displays the user position on the map, the user inquires the destination through the inquiry module, the positioning position and the destination position are matched with the route in the recording module through the matching module, and weather and route conditions are displayed on the route planning module by combining with the weather monitoring module.
According to the technical scheme, the positioning error of the navigation positioning module to the data is 1-5m, and the route selection mode provided by the route planning module is as follows:
when a route is displayed, the system automatically selects the route for navigation after displaying for 2-5 min;
and when multiple routes are available, the user selects the routes through the manual selection module to start navigation.
According to the technical scheme, the obstacle avoidance planning module is respectively connected with the image acquisition module, the obstacle detection module and the forced landing detection module, and the emergency braking module is connected with the forced landing detection module;
the image acquisition module acquires a dynamic image of the terrain, analyzes and identifies the short-time dynamic image of 5-10s, identifies a dynamic object, predicts the motion track of the dynamic object through the obstacle detection module, and analyzes possible generated obstacles.
According to the technical scheme, when the distance between the dynamic obstacle object and the user consumes more than 10min, the obstacle avoidance object is selected to fly, the obstacle avoidance route planning is carried out through the obstacle avoidance planning module, and after the dynamic obstacle is avoided, the original flying route is adjusted to be returned through the flying of 0-5 min;
the obstacle avoidance planning module is used for planning obstacle avoidance and comprises one or more of height reduction, height lifting, turning and detouring, acceleration and speed reduction, and the planned obstacle avoidance time is controlled to be 0-5 min.
According to the technical scheme, when the distance between the dynamic obstacle object and the user consumes 0-10min, the obstacle is judged to be unavoidable, forced landing is selected, the forced landing environment is detected through the detection module, and then the emergency braking module is started to perform temporary forced landing;
the forced landing detection items comprise wind speed, a forced landing point and current speed.
According to the technical scheme, the cloud computing module is respectively connected with the meteorological detection module, the speed limit module and the navigation analysis module, and the prompt module is respectively connected with the speed limit module and the navigation analysis module;
the weather conditions detected by the weather detection module comprise humidity, wind power, rainfall time, rainfall, temperature and illumination intensity, wherein the rainfall time comprises rainfall starting time and rainfall stopping time.
According to the technical scheme, the cloud computing module processes the detection data of the meteorological detection module, the navigation analysis module and the speed limit module are used for carrying out speed limit flight on the user, the speed limit reason and the speed are broadcasted through the prompt module, and the user is reminded to operate and fly according to the prompt;
the weather detection module updates weather data at regular time, and the updating interval time is 10-30 min.
According to the technical scheme, the data processing module is respectively connected with the laser range finder, the radar sensor and the safety statistic module;
the safety statistic module is used for carrying out statistics on flight obstacle data of different flight heights, and the interval of the statistical flight heights is 10-50 m.
Compared with the prior art, the invention has the beneficial effects that: the invention comprises the following steps:
1. through setting up inquiry module, record module and matching module, utilize matching module to match the data of inquiry module and record module and select suitable navigation route, this route of automatic selection during a route, manual selection route navigation during many routes to with the route record of selecting at every turn at record module, make things convenient for the later stage to the route match the selection, make the navigation planning faster, be convenient for select familiar route navigation.
2. Through setting up image acquisition module, mapping module and route planning module, utilize the mapping module to carry out analysis and drawing to the topographic data that image acquisition module gathered, the change condition of the environment of can real-time mastery flight, conveniently plans the navigation route, has practiced thrift the time of flight, makes route planning more reasonable.
3. Through setting up obstacle detection module, keeping away barrier planning module, compel to fall detection module and emergency braking module, conveniently survey the barrier to plan the route in advance and avoid the barrier, detect compelling to fall the environment earlier to the barrier that can't avoid, then select to compel to fall and dodge, improve the aircraft and keep away the barrier ability, improve the security of flight.
4. By arranging the cloud computing module, the speed limiting module, the navigation analysis module and the prompting module, detection data of the meteorological detection module are analyzed, during severe weather, the speed limiting module is used for limiting the speed of flight, and the prompting module prompts the speed limit and meteorological conditions, so that the flight at a safe speed is facilitated.
5. Through setting up data processing module and safety statistics module, carry out statistical analysis to safe data such as barriers of different flying heights, master the safety condition of flight when making things convenient for the flight, remind the user to make safety precaution.
To sum up, through the cooperation use of obstacle avoidance module, location planning module, meteorological monitoring module and laser rangefinder module, to the selective recording of navigation route, to the avoidance of obstacle, to the detection suggestion of meteorological, to the statistics of safe data to make the user navigation convenient more quick, and the security is higher.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a schematic structural diagram of a junction obstacle avoidance module of the present invention;
FIG. 3 is a schematic diagram of the meteorological monitoring module of the present invention;
fig. 4 is a schematic structural diagram of a laser ranging module according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example (b): as shown in fig. 1-4, the present invention provides a technical solution, an autonomous navigation control system of a lidar, comprising a main control module, a positioning planning module, an obstacle avoidance module, a weather monitoring module, a laser ranging module and a storage module, wherein the positioning planning module, the obstacle avoidance module, the weather monitoring module, the laser ranging module and the storage module are all connected to the main control module;
the positioning planning module comprises a map drawing module, a navigation positioning module, an inquiry module, a recording module, a matching module, a route planning module and a manual selection module;
the obstacle avoidance module comprises an image acquisition module, an obstacle detection module, an obstacle avoidance planning module, a forced landing module and an emergency braking module;
the weather detection module comprises a weather detection module, a cloud computing module, a speed limit module, a navigation analysis module and a prompt module;
the laser ranging module comprises a radar sensor, a laser range finder, a data processing module and a safety statistic module.
According to the technical scheme, the map drawing module is respectively connected with the navigation positioning module and the query module, the matching module is connected with the recording module and the route planning module, and the route planning module is connected with the recording module and the manual selection module;
the map drawing module receives drawing of a map by the data acquired by the image acquisition module, marks the altitude at the highland position by using numbers, displays the meteorological condition detected by the meteorological detection module on the map in real time by using a three-dimensional animation effect, and draws the map which is an image obtained by reducing the actual map by 1000 times;
the navigation positioning module positions the user position in real time and displays the user position on a map, the user inquires the destination through the inquiry module, the positioning position and the destination position are matched with the route in the recording module through the matching module, and weather and route conditions are displayed on the route planning module by combining with the weather monitoring module;
the navigation positioning module has a positioning error of 1-5m for data, and the route planning module provides a route selection mode as follows:
when a route is displayed, the system automatically selects the route for navigation after displaying for 2 min;
when multiple routes are available, a user selects the routes through the manual selection module to start navigation, and the routes can be conveniently analyzed and planned according to the needs of the user.
According to the technical scheme, the obstacle avoidance planning module is respectively connected with the image acquisition module, the obstacle detection module and the forced landing detection module, and the emergency braking module is connected with the forced landing detection module;
the image acquisition module acquires a dynamic picture of a terrain, analyzes and identifies the short-time dynamic picture of 10s, identifies a dynamic object, predicts the motion track of the dynamic object through the obstacle detection module, and analyzes possible generated obstacles;
selecting to avoid the barrier to fly when the distance between the dynamic barrier object and the user consumes 20min, planning an obstacle avoiding route through an obstacle avoiding planning module, adjusting the dynamic barrier to return to the original flight route through 5min of flight after avoiding the dynamic barrier, controlling the planned obstacle avoiding time to be 4min, conveniently avoiding the barrier and returning to the original flight route;
when the distance between the dynamic obstacle object and the user consumes 6min, judging that the obstacle cannot be avoided, selecting forced landing, detecting the forced landing environment through a Bo-He detection module, and then starting an emergency braking module to perform temporary forced landing;
the forced landing detection items comprise wind speed, forced landing points and current speed, and preparation for forced landing is conveniently made when obstacles cannot be avoided.
According to the technical scheme, the cloud computing module is respectively connected with the meteorological detection module, the speed limit module and the navigation analysis module, and the prompt module is respectively connected with the speed limit module and the navigation analysis module;
the weather conditions detected by the weather detection module comprise humidity, wind power, rainfall time, rainfall, temperature and illumination intensity, and the rainfall time comprises rainfall starting time and rainfall stopping time;
the cloud computing module processes the detection data of the meteorological detection module, carries out speed-limiting flight on the user through the navigation analysis module and the speed-limiting module, and broadcasts speed-limiting reasons and speed through the prompting module to remind the user to operate and fly according to prompts;
the weather detection module updates weather data regularly, and the update interval time is 15min, so that weather conditions can be conveniently mastered in time for prompting.
According to the technical scheme, the data processing module is respectively connected with the laser range finder, the radar sensor and the safety statistic module;
the safety statistic module is used for carrying out statistics on flight obstacle data of different flight heights, the interval of the counted flight heights is 30m, the statistics on the safety conditions of different heights is facilitated, and the safety statistic module is ready for dealing with users in advance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An autonomous navigation control system of a laser radar, characterized in that: the system comprises a main control module, a positioning planning module, an obstacle avoiding module, a meteorological monitoring module, a laser ranging module and a storage module, wherein the positioning planning module, the obstacle avoiding module, the meteorological monitoring module, the laser ranging module and the storage module are all connected with the main control module;
the positioning planning module comprises a map drawing module, a navigation positioning module, an inquiry module, a recording module, a matching module, a route planning module and a manual selection module;
the obstacle avoidance module comprises an image acquisition module, an obstacle detection module, an obstacle avoidance planning module, a forced landing module and an emergency braking module;
the weather detection module comprises a weather detection module, a cloud computing module, a speed limit module, a navigation analysis module and a prompt module;
the laser ranging module comprises a radar sensor, a laser range finder, a data processing module and a safety statistic module.
2. The autonomous navigation control system of laser radar according to claim 1, wherein the mapping module is connected to the navigation positioning module and the query module, respectively, the matching module is connected to the recording module and the route planning module, and the route planning module is connected to the recording module and the manual selection module;
the map drawing module receives drawing of the map by the data acquired by the image acquisition module, marks the altitude at the highland position by using numbers, displays the meteorological condition detected by the meteorological detection module on the map in real time by using a three-dimensional animation effect, and draws the map into an image obtained by reducing the actual map by 10000-fold and 15000-fold.
3. The autonomous navigation control system of lidar of claim 2, wherein the navigation positioning module positions the user's location in real time for display on the map, the user queries the destination through the query module, matches the position of the user's location and the destination location with the route in the recording module through the matching module, and displays weather and route conditions on the route planning module in combination with the weather monitoring module.
4. The autonomous navigation control system of lidar according to claim 2, wherein the navigation positioning module has a positioning error of 1-5m for data, and the routing module provides the following route selection modes:
when a route is displayed, the system automatically selects the route for navigation after displaying for 2-5 min;
and when multiple routes are available, the user selects the routes through the manual selection module to start navigation.
5. The autonomous navigation control system of laser radar according to claim 1, wherein the obstacle avoidance planning module is connected to the image acquisition module, the obstacle detection module and the forced landing detection module, respectively, and the emergency braking module is connected to the forced landing detection module;
the image acquisition module acquires a dynamic image of the terrain, analyzes and identifies the short-time dynamic image of 5-10s, identifies a dynamic object, predicts the motion track of the dynamic object through the obstacle detection module, and analyzes possible generated obstacles.
6. The autonomous navigation control system of laser radar according to claim 5, wherein when the distance between the dynamic obstacle object and the user takes more than 10min, the obstacle avoidance flight is selected, the obstacle avoidance route planning is performed by the obstacle avoidance planning module, and after the dynamic obstacle is avoided, the original flight route is adjusted to be returned to by 0-5min of flight;
the obstacle avoidance planning module is used for planning obstacle avoidance and comprises one or more of height reduction, height lifting, turning and detouring, acceleration and speed reduction, and the planned obstacle avoidance time is controlled to be 0-5 min.
7. The autonomous navigation control system of lidar according to claim 5, wherein when the distance between the dynamic obstacle object and the user takes 0-10min, it is determined that the obstacle cannot be avoided, forced landing is selected, the forced landing environment is detected by the forced landing detection module, and then the emergency braking module is started to perform temporary forced landing;
the forced landing detection items comprise wind speed, a forced landing point and current speed.
8. The autonomous navigation control system of laser radar according to claim 1, wherein the cloud computing module is connected to the weather detection module, the speed limit module and the navigation analysis module, respectively, and the prompt module is connected to the speed limit module and the navigation analysis module, respectively;
the weather conditions detected by the weather detection module comprise humidity, wind power, rainfall time, rainfall, temperature and illumination intensity, wherein the rainfall time comprises rainfall starting time and rainfall stopping time.
9. The autonomous navigation control system of the lidar according to claim 8, wherein the cloud computing module processes the detection data of the weather detection module, and performs speed-limited flight to the user through the navigation analysis module and the speed-limiting module, and reports the speed-limiting reason and speed through the prompting module to remind the user to operate the flight according to the prompt;
the weather detection module updates weather data at regular time, and the updating interval time is 10-30 min.
10. The autonomous navigation control system of laser radar according to claim 1, wherein the data processing module is respectively connected with the laser range finder, the radar sensor and the safety statistic module;
the safety statistic module is used for carrying out statistics on flight obstacle data of different flight heights, and the interval of the statistical flight heights is 10-50 m.
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