CN112731974A - Unmanned aerial vehicle follow-up carrier landing method and system - Google Patents
Unmanned aerial vehicle follow-up carrier landing method and system Download PDFInfo
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- CN112731974A CN112731974A CN202011468850.6A CN202011468850A CN112731974A CN 112731974 A CN112731974 A CN 112731974A CN 202011468850 A CN202011468850 A CN 202011468850A CN 112731974 A CN112731974 A CN 112731974A
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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
- G05D1/12—Target-seeking control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
Provided are a follow-up carrier landing method and system for an unmanned aerial vehicle. The invention firstly controls the unmanned aerial vehicle to return according to the GPS positioning information, when the unmanned aerial vehicle returns to a proper range, the local radio positioning base station arranged at the edge of the landing buffer device accurately measures the position and the height of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to tend to be static relative to a ship deck according to the position and the height accurately so as to realize accurate landing. The invention can solve the problem that the carrier-based vertical take-off and landing fixed wing unmanned aerial vehicle follows the landing on a mobile ship, and the landing buffer device is utilized to integrate the local radio positioning technology, thereby improving the positioning precision of the landing and increasing the anti-interference capability of the system. Meanwhile, the problem that the unmanned aerial vehicle is damaged due to hard collision with a ship body when the unmanned aerial vehicle lands can be effectively solved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a follow-up carrier landing method and a follow-up carrier landing system for an unmanned aerial vehicle.
Background
The carrier-based unmanned aerial vehicle is an unmanned aerial vehicle which is generated for matching with the requirement of offshore operation and is used for performing tasks such as patrol, monitoring, search and rescue, information collection and the like in the sea area.
The common landing recovery mode of the carrier-borne unmanned aerial vehicle comprises the following steps: parachute recovery, net collision recovery, runway recovery, vertical landing recovery, rope hook recovery and the like. The vertical landing recovery is a recovery mode mainly adopted by the carrier-based vertical take-off and landing unmanned aerial vehicle. However, when the ship sails on the sea, the ship is influenced by various factors such as ocean currents, surges and the like, the horizontal position and the heave of the ship are changed constantly, and the unmanned aerial vehicle and the landing platform are difficult to accurately position, so that the difficulty in safely and accurately landing the ship-borne unmanned aerial vehicle is improved.
When an existing unmanned aerial vehicle lands on a ship, the unmanned aerial vehicle mainly depends on machine vision to conduct guiding and positioning. The landing method based on machine vision is a mainstream method for realizing accurate positioning and assisting the vertical landing of the carrier-borne unmanned aerial vehicle at present. The video acquisition equipment is mainly integrated on the carrier-borne unmanned aerial vehicle, and the visual identification target is set on the landing platform to realize the video acquisition. When the unmanned aerial vehicle is close to the landing platform, machine vision positioning is started, the video acquisition equipment identifies a vision identification target, and the unmanned aerial vehicle is guided to land according to the relative position of the target. However, in the landing mode based on machine vision guidance, additional video acquisition equipment needs to be integrated on the unmanned aerial vehicle, so that the load weight of the unmanned aerial vehicle is increased; moreover, images obtained by the video acquisition equipment are easily interfered by external environment and light; the positioning of the visual identification target in the video can be realized only by processing a large amount of information, so the landing method has high requirement on a calculation control system. In addition, this kind of descending mode easily causes unmanned aerial vehicle and hull direct impact and causes the damage owing to lack the descending buffer.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle follow-up carrier landing method and an unmanned aerial vehicle follow-up carrier landing system.
Firstly, in order to achieve the purpose, a follow-up carrier landing method of an unmanned aerial vehicle is provided, and the following steps are included: firstly, a carrier-borne unmanned aerial vehicle receives positioning information of a GPS observation station and flies back according to the positioning information; secondly, when the ship-borne unmanned aerial vehicle flies back to the tag communication area range, the airborne positioning tag of the ship-borne unmanned aerial vehicle establishes communication connection with the local radio positioning base station; and thirdly, the carrier-borne unmanned aerial vehicle obtains the position and the height of the carrier-borne unmanned aerial vehicle relative to the landing buffer device according to the communication with the local radio positioning base station, and the carrier-borne unmanned aerial vehicle lands after the flying state is adjusted to meet the landing requirement according to the position and the height.
Optionally, in the method, in the first step, after the ship flies back to the position above the ship, the ship-borne unmanned aerial vehicle receives the positioning information to adjust the flight state, and simultaneously, the fixed wing mode is converted into the rotor mode, so that the flight height is gradually reduced, and the synchronization between the ship-borne unmanned aerial vehicle and the motion state of the ship is maintained.
Optionally, in the above method, after the mode is converted into the rotor mode, the carrier-based unmanned aerial vehicle moves along with the ship through driving of multiple sets of rotors in the rotor mode, and the driving of the multiple sets of rotors gradually reduces the height of the carrier-based unmanned aerial vehicle under the condition that the relative position of the carrier-based unmanned aerial vehicle and the landing buffer device in the horizontal direction is unchanged.
Optionally, in the method, in the third step, the position and height of the carrier-based unmanned aerial vehicle relative to the landing buffer device are obtained through calculation in the following steps: step c1, the carrier-borne unmanned aerial vehicle respectively communicates with at least 3 local radio positioning base stations to obtain the distances rho between the carrier-borne unmanned aerial vehicle and each local radio positioning base stationiI ≧ 3 denotes the label of the local area radio positioning base station; said distance
Wherein (X)i,Yi,Zi) The rectangular coordinate system position of the ith local radio positioning base station is used, and the (x, y, z) is the rectangular coordinate system position of the airborne positioning tag. Step c2, comparing the distance
Carry out linearization and calculation
Obtaining a linearization equation:
wherein i is more than or equal to 3, j is more than or equal to 3, i is not equal to j, the linear equation is subjected to least square solution calculation, and the relative position relation between the airborne positioning label and the local radio positioning base station under the rectangular coordinate system can be determined
Step c3, according to the relative position relation between the airborne positioning label and the local radio positioning base station
And correspondingly obtaining the position and the height of the carrier-borne unmanned aerial vehicle relative to the landing buffer device.
Optionally, in the method, in the third step, the specific steps of landing the carrier-based unmanned aerial vehicle are as follows: d1, detecting the swing amplitude of the ship when the height of the carrier-borne unmanned aerial vehicle right above the landing buffer device reaches the buffer distance; d2, if the swing amplitude of the ship is lower than a preset value, adjusting the flight state of the carrier-based unmanned aerial vehicle to meet the landing requirement, and directly cutting off the power of the carrier-based unmanned aerial vehicle to land; and if the swing amplitude of the ship is not lower than the preset value, the flight state of the carrier-borne unmanned aerial vehicle is adjusted to meet the landing requirement, and then the power of the carrier-borne unmanned aerial vehicle is reduced to land.
Optionally, in the foregoing method, the buffer distance is 1 m.
Secondly, for realizing above-mentioned purpose, still provide an unmanned aerial vehicle follow-up landing system, include: the automatic pilot is used for controlling the carrier-based unmanned aerial vehicle to fly; it still includes: the GPS observation station is arranged near the landing buffer device and used for acquiring positioning information of the landing buffer device; the unmanned aerial vehicle control station is electrically connected with the GPS observation station and is used for receiving the positioning information of the landing buffer device and transmitting the positioning information to the carrier-borne unmanned aerial vehicle through a wireless signal, so that the carrier-borne unmanned aerial vehicle can fly back according to the positioning information; the local radio positioning base station comprises at least 3 local radio positioning base stations, wherein the local radio positioning base stations are arranged near the landing buffer device and used for interacting with an airborne positioning tag arranged on the carrier-borne unmanned aerial vehicle so as to enable the carrier-borne unmanned aerial vehicle to obtain the position and height of the carrier-borne unmanned aerial vehicle relative to the landing buffer device within the tag communication area range. The autopilot of the carrier-based drone is set to: firstly, controlling the carrier-borne unmanned aerial vehicle to carry out return flight according to the positioning information of the GPS observation station; and then, when the return flight is carried out to the tag communication area range, the flight state is adjusted to the landing requirement and then the landing is carried out according to the position and the height obtained by the communication with the local radio positioning base station.
Optionally, in the system, the carrier-based unmanned aerial vehicle includes two flight driving modes, namely a fixed wing mode and a rotor wing mode; after the carrier-borne unmanned aerial vehicle judges that the carrier-borne unmanned aerial vehicle flies back to the position above a ship where the GPS observation station is located by comparing the positioning information of the GPS observation station with the GPS positioning information of the carrier-borne unmanned aerial vehicle, the carrier-borne unmanned aerial vehicle receives the positioning information to adjust the flying state, simultaneously converts the fixed wing mode into the rotor mode and gradually reduces the flying height, and keeps the carrier-borne unmanned aerial vehicle and the ship in the motion state synchronous.
Optionally, in the system, the local radio positioning base station and the airborne positioning tag perform communication interaction, and the distances between the airborne positioning tag and each local radio positioning base station are calculated in real time according to time differences of information reception during the communication interaction process, where the distances are ρ |, respectivelyiI ≧ 3 denotes the label of the local area radio positioning base station; and then through each distance ρiAnd calculating the position and height of the airborne positioning label relative to each local area radio positioning base station, wherein,
wherein (X)i,Yi,Zi) For the i-th local radio positioning base station rectangular coordinate system position, (x, y, z) for the vehicleThe position of the rectangular coordinate system of the bit label.
Optionally, in the system, the landing buffer device includes a buffer platform, which is disposed on a support higher than the ship deck, to provide buffer when the carrier-based drone lands; the edge of the bracket is also provided with the local radio positioning base station and the GPS observation station respectively; the GPS observation station is used for acquiring positioning information of the landing buffer device according to at least two GPS signals; the local radio positioning base station comprises at least 3 local radio positioning base stations, and is used for acquiring the corresponding coordinates of the position and the height of the carrier-borne unmanned aerial vehicle relative landing buffer device according to the airborne positioning tag
And sending the measured value to an automatic pilot, wherein the automatic pilot sets the relative position relation control target value as the coordinates of the position and the height of the carrier-borne unmanned aerial vehicle relative to the landing buffer device to be (0,0, 0).
Advantageous effects
The invention firstly controls the unmanned aerial vehicle to return according to the GPS positioning information, when the unmanned aerial vehicle returns to a proper range, the local radio positioning base station arranged at the edge of the landing buffer device accurately measures the position and the height of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to tend to be static relative to a ship deck according to the position and the height accurately so as to realize accurate landing. The invention can solve the problem that the carrier-based vertical take-off and landing fixed wing unmanned aerial vehicle follows the landing on a mobile ship, and the landing buffer device is utilized to integrate the local radio positioning technology, thereby improving the positioning precision of the landing and increasing the anti-interference capability of the system. Meanwhile, the problem that the unmanned aerial vehicle is damaged due to hard collision with a ship body when the unmanned aerial vehicle lands can be effectively solved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings 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 a unmanned aerial vehicle follow-up landing system of the present invention;
fig. 2 is a side view of a landing buffer device in the unmanned aerial vehicle follow-up landing system of the invention;
in the figure, 1 represents a landing buffer device, 1-1 represents a local radio positioning base station, 1-2 represents a GPS observation station, 2 represents a ship-borne unmanned aerial vehicle, 2-1 represents an airborne positioning tag, 2-2 represents an autopilot, and 3 represents an unmanned aerial vehicle control station.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1 is a follow-up carrier landing system of an unmanned aerial vehicle according to the invention, which comprises:
the device comprises a landing buffer device 1 and an automatic pilot 2-2 arranged on a carrier-borne unmanned aerial vehicle 2, wherein the automatic pilot 2-2 is used for controlling the carrier-borne unmanned aerial vehicle 2 to fly;
the GPS observation station 1-2 is arranged near the landing buffer device 1 and used for acquiring positioning information of the landing buffer device 1;
the unmanned aerial vehicle control station 3 is electrically connected with the GPS observation station 1-2 through a data line for data communication, and is used for receiving the positioning information of the landing buffer device 1 and transmitting the positioning information to the carrier-based unmanned aerial vehicle 2 through a wireless signal after the carrier-based unmanned aerial vehicle completes an operation task, so that the carrier-based unmanned aerial vehicle 2 can fly back as a target point according to the positioning information;
the local radio positioning base station 1-1 comprises at least 2 local radio positioning base stations, which are arranged near the landing buffer device 1 and used for interacting with an airborne positioning tag 2-1 arranged on the carrier-borne unmanned aerial vehicle 2 so as to enable the carrier-borne unmanned aerial vehicle 2 to obtain the position and height of the carrier-borne unmanned aerial vehicle relative to the landing buffer device 1 within the tag communication area range;
the autopilot 2-2 of the carrier-based drone 2 is set to:
firstly, controlling the carrier-borne unmanned aerial vehicle 2 to carry out return flight according to the positioning information of the GPS observation station 1-2; and then, when the return flight is carried out to the range of the tag communication area, the flight state is adjusted to the landing requirement and then the landing is carried out according to the position and the height obtained by the communication with the local radio positioning base station 1-1.
Referring to fig. 2, the invention places a landing buffer device on the deck of a ship, and at least 3 local radio positioning base stations and a GPS observation station are integrated around the landing buffer device. The GPS observation station carries out data communication with the unmanned aerial vehicle control station through a data line, and the unmanned aerial vehicle control station is provided with a control program and is communicated with the unmanned aerial vehicle through a data transmission radio station. In a feasible implementation manner of the present invention, the interaction manner is as follows:
after the unmanned aerial vehicle finishes the operation task, the unmanned aerial vehicle control station on the ship sends the positioning information of the GPS observation station to the unmanned aerial vehicle in real time through the data transmission radio station;
the unmanned aerial vehicle takes the received GPS position information as a return coordinate point to carry out return flight; during return flight, an automatic pilot on the unmanned aerial vehicle compares the GPS positioning information of the unmanned aerial vehicle with the position information of a GPS observation station sent by a ground station control station in real time, and the automatic pilot controls the unmanned aerial vehicle to fly according to the position deviation, so that the unmanned aerial vehicle is properly kept above a landing buffer device;
after flying above a ship, the unmanned aerial vehicle establishes communication connection with the local radio positioning base station 1-1, obtains the position and the height of the unmanned aerial vehicle relative to the landing buffer device 1 according to communication data, adjusts the flight state according to the position and the height, converts the flight state of the unmanned aerial vehicle from a fixed wing mode to a rotor wing mode and gradually reduces the flight height, and corrects the current flight position according to GPS information sent by a control station in real time so as to keep the unmanned aerial vehicle synchronous with the running ship;
the keeping of the ship synchronization with the running ship can be realized by the following specific means: when the ship moves, the position of the GPS observation station on the ship can be changed, and the position confidence after the change can be updated to the automatic pilot in real time through the ground control station. The automatic pilot controls the unmanned aerial vehicle to fly by taking the automatic pilot as a real-time target point, and the position synchronization is kept.
In the process, the local radio positioning intervenes and calculates the accurate relative positioning and the accurate relative height information between the unmanned aerial vehicle and the landing buffer device;
the unmanned aerial vehicle control system guides and controls the unmanned aerial vehicle to fly according to the more accurate relative position and relative height, and the unmanned aerial vehicle is ensured to be elevated right above the landing buffer device;
when the unmanned aerial vehicle lands to about 1m away from the buffer device, the unmanned aerial vehicle can directly cut off power to land or continue to land with power according to the swinging amplitude of the ship. Such as: d1, detecting the swing amplitude of the ship when the height of the carrier-borne unmanned aerial vehicle 2 right above the landing buffer device 1 reaches the buffer distance; d2, if the swing amplitude of the ship is lower than a preset value, adjusting the flight state of the carrier-based unmanned aerial vehicle 2 to meet the landing requirement, and directly cutting off the power of the carrier-based unmanned aerial vehicle 2 to land; if the swing amplitude of the ship is not lower than the preset value, the flight state of the carrier-borne unmanned aerial vehicle 2 is adjusted to meet the landing requirement, and then the power of the carrier-borne unmanned aerial vehicle 2 is reduced to land.
The position and the height of the carrier-borne unmanned aerial vehicle 2 relative to the landing buffer device 1 are obtained by calculation through the following steps:
step c1, the carrier-based unmanned aerial vehicle 2 communicates with at least 3 local radio positioning base stations 1-1 respectively to obtain the distances rho between the carrier-based unmanned aerial vehicle and each local radio positioning base station 1-1iI ≧ 3 denotes the number of the local radio positioning base station 1-1; said distance
Wherein (X)i,Yi,Zi) The rectangular coordinate system position of the ith local radio positioning base station 1-1 is defined, and (x, y, z) is the rectangular coordinate system position of the airborne positioning label 2-1;
step c2, comparing the distance
Carry out linearization and calculation
Obtaining a linearization equation:
wherein i is more than or equal to 3, j is more than or equal to 3, i is not equal to j
The least square solution calculation is carried out on the linearized equation, and then the relative position relation between the airborne positioning label 2-1 and the local radio positioning base station 1-1 under the rectangular coordinate system can be determined
Step c3, according to the relative position relation between the airborne positioning label 2-1 and the local radio positioning base station 1-1
And correspondingly obtaining the position and the height of the carrier-borne unmanned aerial vehicle 2 relative to the landing buffer device 1.
Under a feasible implementation, descending buffer structurally by but peripheral quick assembly disassembly's support and centre have certain elastic bearing surface to constitute, designed a plurality of energy-absorbing buffer parts around the support in order to connect the bearing surface, make unmanned aerial vehicle descend the kinetic energy on the bearing surface and absorbed by foretell buffer part for unmanned aerial vehicle descends more steadily.
Therefore, the carrier-based unmanned aerial vehicle can accurately land on the landing buffer device arranged on the deck under the condition that the ship continues to run through the carrier-based unmanned aerial vehicle follow-up landing method and the carrier-based unmanned aerial vehicle follow-up landing system.
The landing buffer device greatly reduces the risk of collision damage caused by the swinging of the ship body when the unmanned aerial vehicle lands;
the landing buffer device integrates a local radio accurate positioning base station and a GPS observation station, and when the landing buffer device is used, the landing buffer device is unfolded and fixed on a deck of a ship without additionally erecting complex equipment;
the unmanned aerial vehicle control station sends the position information of the GPS observation station to the carrier-borne unmanned aerial vehicle in real time, so that the carrier-borne unmanned aerial vehicle can be used as a target point of the unmanned aerial vehicle to carry out autonomous mobile flight, thereby reducing human intervention and avoiding energy waste caused by stopping a ship when the unmanned aerial vehicle lands;
through the integrated local area radio positioning technology, the invention further improves the relative positioning precision between the unmanned aerial vehicle and the landing buffer device, so that the carrier-borne unmanned aerial vehicle can land more accurately.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle follow-up carrier landing method is characterized by comprising the following steps:
firstly, a carrier-borne unmanned aerial vehicle (2) receives positioning information of a GPS observation station (1-2) and flies backwards according to the positioning information;
secondly, when the ship-borne unmanned aerial vehicle flies back to the tag communication area range, the airborne positioning tag (2-1) of the ship-borne unmanned aerial vehicle (2) establishes communication connection with the local radio positioning base station (1-1);
and thirdly, the carrier-borne unmanned aerial vehicle (2) obtains the position and the height of the carrier-borne unmanned aerial vehicle relative to the landing buffer device (1) according to the communication with the local radio positioning base station (1-1), and the carrier-borne unmanned aerial vehicle lands after the flying state is adjusted to meet the landing requirement according to the position and the height.
2. The unmanned aerial vehicle follow-up landing method according to claim 1, wherein in the first step, after the return flight to the position above the ship, the carrier-based unmanned aerial vehicle (2) receives the positioning information to adjust the flight state and simultaneously converts from a fixed wing mode to a rotor wing mode, gradually reduces the flight height and keeps the flight height synchronous with the motion state of the ship.
3. The unmanned aerial vehicle follow-up landing method according to claim 2, wherein after the unmanned aerial vehicle (2) is converted into the rotor mode, the carrier-based unmanned aerial vehicle (2) moves along with the ship through a plurality of sets of rotor drives, and the plurality of sets of rotor drives enable the carrier-based unmanned aerial vehicle (2) to gradually reduce the height of the carrier-based unmanned aerial vehicle (2) under the condition that the relative position of the carrier-based unmanned aerial vehicle (2) and the landing buffer device (1) is kept unchanged in the horizontal direction.
4. The unmanned aerial vehicle follow-up landing method according to claims 1-3, wherein in the third step, the position and height of the carrier-based unmanned aerial vehicle (2) relative to the landing buffer device (1) are obtained through the following steps:
step c1, the carrier-borne unmanned aerial vehicle (2) is respectively communicated with at least 3 local radio positioning base stations (1-1) to obtain the distances rho between the carrier-borne unmanned aerial vehicle and each local radio positioning base station (1-1)iI ≧ 3 denotes the number of the local radio positioning base station (1-1); said distance
Wherein (X)i,Yi,Zi) The position of a rectangular coordinate system of the ith local radio positioning base station (1-1) is shown, and (x, y, z) is the position of the rectangular coordinate system of the airborne positioning label (2-1);
step c2, comparing the distance
Carry out linearization and calculation
Obtaining a linearization equation:
wherein i is more than or equal to 3, j is more than or equal to 3, i is not equal to j
The least square solution calculation is carried out on the linearized equation, and then the relative position relation between the airborne positioning label (2-1) and the local radio positioning base station (1-1) under a rectangular coordinate system can be determined
Step c3, according to the relative position relationship between the onboard positioning label (2-1) and the local radio positioning base station (1-1)
And correspondingly obtaining the position and the height of the carrier-borne unmanned aerial vehicle (2) relative to the landing buffer device (1).
5. The unmanned aerial vehicle follow-up landing method according to claims 1-3, wherein in the third step, the specific steps of landing the carrier-based unmanned aerial vehicle (2) are as follows:
d1, detecting the swing amplitude of the ship when the height of the carrier-borne unmanned aerial vehicle (2) right above the landing buffer device (1) reaches the buffer distance through calculation;
d2, if the swing amplitude of the ship is lower than a preset value, adjusting the flight state of the carrier-based unmanned aerial vehicle (2) to meet the landing requirement, and directly cutting off the power of the carrier-based unmanned aerial vehicle (2) to land; if the swing amplitude of the ship is not lower than the preset value, the flight state of the carrier-borne unmanned aerial vehicle (2) is adjusted to meet the landing requirement, and then the power of the carrier-borne unmanned aerial vehicle (2) is reduced to land.
6. The unmanned aerial vehicle follow-up landing method according to claims 1-3, wherein the buffer distance is 1 m.
7. An unmanned aerial vehicle follow-up carrier landing system, comprising: the landing buffer device (1) and an automatic pilot (2-2) arranged on the carrier-based unmanned aerial vehicle (2), wherein the automatic pilot (2-2) is used for controlling the carrier-based unmanned aerial vehicle (2) to fly;
it is characterized by also comprising:
the GPS observation station (1-2) is arranged near the landing buffer device (1) and is used for acquiring positioning information of the landing buffer device (1);
the unmanned aerial vehicle control station (3) is electrically connected with the GPS observation station (1-2) and is used for receiving the positioning information of the landing buffer device (1) and transmitting the positioning information to the carrier-based unmanned aerial vehicle (2) through a wireless signal, so that the carrier-based unmanned aerial vehicle (2) can fly back according to the positioning information;
the local radio positioning base station (1-1) comprises at least 3 local radio positioning base stations, wherein the local radio positioning base stations are arranged near the landing buffer device (1) and used for interacting with an airborne positioning tag (2-1) arranged on the carrier-borne unmanned aerial vehicle (2) so that the carrier-borne unmanned aerial vehicle (2) can obtain the position and height of the carrier-borne unmanned aerial vehicle relative to the landing buffer device (1) within a tag communication area range;
the autopilot (2-2) of the carrier-based drone (2) is arranged to:
firstly, controlling the carrier-borne unmanned aerial vehicle (2) to carry out return flight according to the positioning information of the GPS observation station (1-2);
and then, when the return flight is carried out to the range of the tag communication area, the flight state is adjusted to the landing requirement and then the landing is carried out according to the position and the height obtained by the communication with the local radio positioning base station (1-1).
8. The unmanned aerial vehicle follow-up landing system according to claim 7, wherein the carrier-based unmanned aerial vehicle (2) comprises two flight driving modes, namely a fixed wing mode and a rotor wing mode;
the shipborne unmanned aerial vehicle (2) judges that the shipborne unmanned aerial vehicle (2) flies back to the position above a ship where the GPS observation station (1-2) is located by comparing the positioning information of the GPS observation station (1-2) with the GPS positioning information of the shipborne unmanned aerial vehicle (2), and the shipborne unmanned aerial vehicle (2) receives the positioning information to adjust the flight state, simultaneously converts the fixed wing mode into the rotor mode and gradually reduces the flight height, and keeps the synchronous with the motion state of the ship.
9. The unmanned aerial vehicle follow-up carrier landing system according to claims 7-8, wherein the local radio positioning base station (1-1) and the airborne positioning tag (2-1) are subjected to communication interaction, and the distances between the airborne positioning tag (2-1) and each local radio positioning base station (1-1) are respectively rho through time difference of information receiving in the communication interaction processiI ≧ 3 denotes the number of the local radio positioning base station (1-1); and then through each distance ρiThe position and the height of the airborne positioning label (2-1) relative to each local radio positioning base station (1-1) are calculated, wherein,
wherein (X)i,Yi,Zi) The (x, y, z) is the rectangular coordinate system position of the airborne positioning label (2-1).
10. The unmanned aerial vehicle follow-up landing system according to claims 7-9, wherein the landing buffer device (1) comprises a buffer platform provided on a support above the ship deck to provide a buffer when the carrier-based unmanned aerial vehicle (2) lands;
the edge of the bracket is also provided with the local radio positioning base station (1-1) and the GPS observation station (1-2) respectively;
the GPS observation station (1-2) is used for acquiring positioning information of the landing buffer device (1) according to at least two GPS signals;
the local radio positioning base station (1-1) comprises at least 3 local radio positioning base stations, and the local radio positioning base stations are used for acquiring the corresponding coordinates of the position and the height of the carrier-borne unmanned aerial vehicle (2) relative to the landing buffer device (1) according to the airborne positioning labels (2-1)
And sending the measured value to an automatic pilot, wherein the automatic pilot sets the relative position relation control target value as the coordinates of the position and the height of the carrier-borne unmanned aerial vehicle (2) relative to the landing buffer device (1) to be (0,0, 0).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011468850.6A CN112731974A (en) | 2020-12-14 | 2020-12-14 | Unmanned aerial vehicle follow-up carrier landing method and system |
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| CN202011468850.6A CN112731974A (en) | 2020-12-14 | 2020-12-14 | Unmanned aerial vehicle follow-up carrier landing method and system |
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| CN112731974A true CN112731974A (en) | 2021-04-30 |
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| CN113176785A (en) * | 2021-05-21 | 2021-07-27 | 南京航空航天大学苏州研究院 | Automatic landing route design method for carrier-based vertical take-off and landing unmanned aerial vehicle |
| CN114516400A (en) * | 2022-03-25 | 2022-05-20 | 四川腾盾科技有限公司 | Carrier landing device, carrier landing system and carrier landing method of unmanned helicopter |
| CN115167500A (en) * | 2022-05-19 | 2022-10-11 | 北京远度互联科技有限公司 | Unmanned aerial vehicle flight control method, device and system and readable storage medium |
| CN116176899A (en) * | 2023-04-27 | 2023-05-30 | 北京理工大学 | Ship-borne small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device |
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| CN116176899A (en) * | 2023-04-27 | 2023-05-30 | 北京理工大学 | Ship-borne small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device |
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