CN112965516B - High-precision aircraft guided landing system and method - Google Patents

High-precision aircraft guided landing system and method Download PDF

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CN112965516B
CN112965516B CN202110130194.7A CN202110130194A CN112965516B CN 112965516 B CN112965516 B CN 112965516B CN 202110130194 A CN202110130194 A CN 202110130194A CN 112965516 B CN112965516 B CN 112965516B
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aircraft
control end
internal control
reflection intensity
landing
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CN112965516A (en
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张圣超
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Hanwo Zhihang Technology Yuxi Co ltd
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Hanwo Zhihang Technology Yuxi Co ltd
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract

The invention relates to a high-precision aircraft guided landing system and a method, wherein the system comprises an aircraft and a landing platform, the system adopts a mode of combining a Bluetooth field intensity signal and optical signal intensity to accurately guide the position of an unmanned aerial vehicle, the optical signal intensity is adopted to correct the advancing direction of the unmanned aerial vehicle, and the coverage range is wider; and when unmanned aerial vehicle flies to the transition berth zone time, accessible bluetooth beacon carries out the guide of higher accuracy to unmanned aerial vehicle, guarantees that unmanned aerial vehicle accuracy descends to the platform center, can adjust unmanned aerial vehicle and each bluetooth beacon's the equal distance that keeps through radio signal field intensity, can accurately guide unmanned aerial vehicle to fly to the platform center, reduces the calculated amount of internal control end simultaneously by a wide margin, improves the treatment effeciency.

Description

High-precision aircraft guided landing system and method
Technical Field
The invention belongs to the technical field of aircrafts, and relates to a high-precision aircraft landing guiding system and method.
Background
With the rapid development of the aircraft and logistics industry, strong market demands have promoted the development of "aircraft + logistics" and made aircraft logistics a new hot field. In the aspect of aircraft logistics, how to realize accurate landing is a key problem, and the landing precision is directly related to whether a subsequent logistics system can normally operate. The conventional landing method is to analyze the position by using a GPS and compare the position with a preset position so as to realize landing to a finger position, but the method is influenced by the precision of a GPS system, the position precision can be generally analyzed to be ten meters for civil GPS satellite signals, and the landing precision required to be accurate to centimeter level cannot meet the requirement.
Chinese patent document CN109270953A discloses an autonomous landing method for a multi-rotor aircraft based on concentric circle visual identification. The method is characterized in that a concentric circle visual identification is utilized, the concentric circle visual identification is composed of a plurality of concentric circles, two straight lines penetrating through the centers of the concentric circles are contained in the concentric circles, a square detection identification is arranged and coded by taking 4 intersection points of the straight lines and each circle as centers, and the radius of each concentric circle and the direction of the circle of the identification are stored. The accurate position of the visual identification relative to the multi-rotor aircraft is obtained through encoding, decoding, detecting and positioning the concentric circle visual markers. However, the method adopts a visual shooting mode for positioning, the positioning effect of the method is greatly influenced by weather, particularly in heavy fog and haze weather, the shooting effect of a camera on the aircraft is poor, the identification on the landing platform cannot be accurately identified, and landing deviation is easily caused.
Disclosure of Invention
Aiming at the problems in the prior art, the invention discloses a high-precision aircraft landing guiding system and a high-precision aircraft landing guiding method, which solve the problem that the prior art cannot realize poor aircraft landing positioning precision.
The invention provides a high-precision aircraft guided landing system for solving the technical problems, which comprises an aircraft, a landing platform and a central control system.
Descending platform includes that at least one annular is berthhed district, a transition and is berthhed district, at least three bluetooth beacon and a center and falls the district, annular is berthhed district, transition and is berthhed district and the concentric setting of center and falls the district, the transition is berthhed the district and is berthhed between district and the center and falls the district, just the light reflection intensity district that descends the platform surface is berthhed the district by outside annular and is descended the district to center and increase progressively in proper order, the bluetooth beacon is fixed on descending the platform surface, just the bluetooth beacon is the equidistance around the transition is berthhed district outside edge and is distributed.
The aircraft includes the organism, the bottom of the body is equipped with the photoelectric sensor who is used for detecting descending platform reflected light intensity, just photoelectric sensor is equipped with the interval with the center of organism, photoelectric sensor is 360 around the center rotation of organism, the inside terminal bluetooth receiving arrangement that is equipped with of aircraft, terminal bluetooth receiving arrangement is used for receiving the radio signal that the bluetooth beacon sent on the descending platform, and obtains the signal field intensity between every bluetooth beacon and the terminal bluetooth receiving arrangement through terminal bluetooth receiving arrangement.
The central control system is used for controlling the flight line of the aircraft, and the central control system is in communication connection with the aircraft in a wireless transmission mode.
Further, the diameter of a circular path obtained by rotating the photoelectric sensor in the aircraft around the center of the aircraft body is smaller than the width of the annular parking area.
Furthermore, the diameter of a circular path obtained by rotating the photoelectric sensor in the aircraft around the center of the aircraft body is smaller than the diameter of a central landing area in the landing platform.
In addition, the invention also provides a high-precision aircraft guided landing method, which comprises the following steps:
s100, N annular parking areas which are arranged concentrically and have the same width and a transition parking area are arranged in the landing platformDistrict and a central landing district, and N annular berths the district and does in proper order from outside to inside at the predetermined light signal reflection intensity on a certain height H: a. the1、A2、A3...ANThe preset light signal reflection intensity of the transition parking area on the height H is C, and the preset light signal reflection intensity of the central falling area is B.
S200, the central control end sends GPS position information of a landing platform, after the aircraft receives the GPS position information of the landing platform, the aircraft flies above an area where the landing platform is located, the central control end sends a landing signal, and after the aircraft receives the landing signal of the central control end, the aircraft is controlled by an internal control end to land;
s300, a photoelectric sensor is arranged at the bottom of the aircraft body of the aircraft, the photoelectric sensor is started by an internal control end of the aircraft, the photoelectric sensor emits a detection light beam and receives the reflection intensity of a light signal reflected by the landing platform;
s400, controlling the aircraft to keep the height H to move towards the center of the landing platform by the internal control end of the aircraft; the aircraft keeps a hovering state at intervals of a certain time in the process of moving towards the center of the landing platform, the optical signal detector rotates for a circle around the center of the aircraft body, and the photoelectric sensor receives the reflection intensity D of the optical signal reflected by the landing platform;
s500, the internal control end of the aircraft judges the light signal reflection intensity D detected by the photoelectric sensor, judges the current position of the aircraft according to the light signal reflection intensity D, and controls the aircraft to correct the flight route according to the change of the light signal reflection intensity;
s600, when the control end in the aircraft judges that the light signal intensity D detected by the photoelectric sensor only comprises C, judging that the aircraft completely enters the area above the transitional parking area, starting a terminal Bluetooth receiving device of the aircraft at the moment, receiving wireless signals of Bluetooth beacons on a landing platform, judging the field intensities of the wireless signals of the aircraft and different Bluetooth beacons, and adjusting the position of the aircraft according to the field intensities of the wireless signals of the aircraft and different Bluetooth beacons;
s700, when the aircraft lands to the center of the landing platform, the internal control end stops operating a power mechanism inside the aircraft, stops the photoelectric sensor to detect and stops the terminal Bluetooth receiving device, and sends information of landing completion to the central control system.
Further, the specific method for adjusting the position of the aircraft by the internal control end using the wireless signal field strengths of the aircraft and the bluetooth beacon in the step S600 is as follows:
s601, the terminal Bluetooth receiving device in the aircraft receives signal field intensities of different Bluetooth beacons, the internal control end compares the received signal field intensities of the different Bluetooth beacons, and the distance between the aircraft and the Bluetooth beacons is judged.
S602, when the internal control end judges that the wireless signal field intensity of a certain Bluetooth beacon is smaller than the signal field intensities of other Bluetooth beacons, the internal control end of the aircraft controls the aircraft to horizontally shift towards the direction of the Bluetooth beacon with small wireless signal field intensity, the internal control end compares the received wireless signal field intensity in real time in the shifting process, once the internal control end detects that the wireless signal field intensity in other directions is larger than the wireless signal field intensity in the current flight direction in the shifting process, the flight direction is changed, and the aircraft shifts towards the Lainferior beacon with the minimum wireless signal field intensity.
And S603, the aircraft corrects the flight direction in real time according to the method in the step S602, when the internal control end judges that the wireless signal field strengths of all the Bluetooth beacons are equal, the aircraft stops deviating, and the aircraft is positioned right above the central position of the landing platform.
S604, when the aircraft is located right above the center of the landing platform, the aircraft lands in the vertical direction, and the signal field intensity is always kept equal in the landing process.
Further, the specific method for determining the position of the aircraft by using the reflection intensity of the optical signal in the step S500 is as follows:
s501, judging the reflection intensity D of the optical signal detected by the photoelectric sensor by the internal control end in the aircraft, and judging that the reflection intensity D of the received optical signal only contains A when the internal control end judges that the reflection intensity D of the received optical signal only contains ANThen, it is insideThe control end judges that the aircraft is completely positioned in the annular parking area ANAn upper region;
s502, when the internal control end judges that the reflection intensity D of the received optical signal only contains ANAnd AN-1Then the internal control end judges that the aircraft is positioned in the annular parking area AN-1And a ring-shaped parking area ANThe upper region in between;
and S503, repeating the methods of S501 and S502 until the internal control end judges that the reflection intensity D of the received optical signal only comprises C.
Further, the specific method for the internal control end to correct the flight path according to the duration of the reflection intensity of the different optical signals in the step S500 is as follows:
s504, an internal control end of the aircraft firstly sets an original advancing direction according to GPS position information of a landing platform and aircraft position information sent by a central control end;
s505, in the process that the aircraft travels along the original traveling direction, the aircraft keeps a hovering state at intervals of a certain time, and when the aircraft is located in the annular parking area AN-1And a ring-shaped parking area ANWhen the optical signal sensor rotates for a circle, the internal control end records the reflection intensity A of the optical signal in the upper area between the optical signal sensor and the optical signal sensorN-1Has a duration of TAN-1Reflection intensity of optical signal ANHas a duration of TAN；
S506, recording the light signal reflection intensity of the aircraft in the advancing direction in real time by the internal control end, and judging the light signal reflection intensity AN-1And the reflection intensity A of the optical signalNWhen the intensity of light signal reflection A changesN-1Duration T ofAN-1The value is kept reduced, and the reflection intensity A of the optical signal is reducedNDuration TANWhen the numerical value keeps increasing, the internal control end controls the aircraft to move in the same direction; when the light signal reflection intensity AN-1Duration T ofAN-1The value begins to increase and the light signal reflection intensity ANDuration TANWhen the numerical value begins to decrease, the internal control end controls the aircraft to keep hovering, and the next step is carried out;
s507. insideAfter the control end controls the advancing direction of the aircraft to change by 90 degrees, the aircraft keeps hovering after being displaced for a certain distance, and meanwhile, the optical signal sensor rotates for a circle to record the reflection intensity A of the optical signalN-1And the reflection intensity A of the optical signalNIf the intensity of the reflected light signal is AN-1Duration T ofAN-1The value is kept reduced, and the reflection intensity A of the optical signal is reducedNDuration TANWhen the numerical value keeps increasing, the internal control end controls the aircraft to displace along the changed traveling direction; if the light signal reflection intensity AN-1Duration T ofAN-1The numerical value is increased, and the reflection intensity A of the optical signal is increasedNDuration TANIf the numerical value is reduced, the internal control end controls the aircraft to move after the advancing direction is changed by 180 degrees again;
and S508, continuously executing the operations from the step S505 to the step S507 by the internal control end of the aircraft until the aircraft enters a transitional parking area of the landing platform.
Compared with the prior art, the invention has the following advantages:
1) the unmanned aerial vehicle guiding landing system accurately guides the position of the unmanned aerial vehicle in a mode of combining a Bluetooth field intensity signal with optical signal intensity, firstly, the unmanned aerial vehicle is guided in a mode of guiding the optical signal intensity when flying to the peripheral area of a landing platform, and because the unmanned aerial vehicle does not accurately land at the stage and the area of the peripheral area of the landing platform is large, the advancing direction of the unmanned aerial vehicle can be corrected by adopting the optical signal intensity, and the coverage range is wider; and when unmanned aerial vehicle flies to the transition berth district, unmanned aerial vehicle has been close to the platform center, unmanned aerial vehicle needs the guide of higher precision in this stage, guarantee that unmanned aerial vehicle accurate landing to the platform center, but adopt a plurality of bluetooth beacons accurate positioning unmanned aerial vehicle in the position change of transition berth district, through the equal distance of keeping of adjustment unmanned aerial vehicle and each bluetooth beacon, can accurate guide unmanned aerial vehicle flight to the platform center directly over, the transition berth district and the center landing district that descend the platform in this stage are located the platform middle part in addition, occupied area is littleer, only need a small amount of bluetooth beacons can cover above-mentioned region, the cost is lower.
2) The unmanned aerial vehicle guiding landing system conducts position guiding through the Bluetooth field intensity signals, compared with a traditional three-point positioning mode, the unmanned aerial vehicle can be guided to land to the center of a platform accurately only through the change of the Bluetooth field intensity without accurately calculating the moving coordinates of the unmanned aerial vehicle, the guiding mode greatly reduces the processing time consumption of an internal control end, improves the guiding efficiency, and simultaneously ensures the guiding precision.
Drawings
FIG. 1 is a schematic route of an aircraft landing process in embodiment 1 of the present invention;
fig. 2 is a schematic route of the aircraft landing process in embodiment 2 of the present invention.
The specific meanings of the reference numbers in the drawings:
101-a circular docking area; 102-a central drop zone; 103-circular path of one revolution of the photosensors in the aircraft; 104 — original direction of travel of the aircraft; 105 — changed direction of travel of the aircraft;
201-annular docking area; 202-a transitional docking area; 203-central drop zone; 204-bluetooth beacon; 205-circular path of one revolution of the photosensors in the aircraft; 206-original direction of travel of the aircraft.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Example 1:
referring to fig. 1, in this embodiment 1, a high-precision guided landing system for an aircraft is disclosed, which includes an aircraft, a landing platform, and a central control system.
The landing platform comprises 5 annular parking areas and a central landing area, the annular parking areas and the central landing area are concentrically arranged, the widths of the annular parking areas in the landing platform are equal, and the light reflection intensity area on the surface of the landing platform is sequentially increased from the outer annular parking area to the central landing area.
The aircraft comprises an aircraft body, wherein a photoelectric sensor for detecting the intensity of reflected light of a landing platform is arranged at the bottom of the aircraft body, a distance is formed between the photoelectric sensor and the center of the aircraft body, and the photoelectric sensor rotates for 360 degrees around the center of the aircraft body; in the embodiment, the aircraft is an unmanned aerial vehicle, the unmanned aerial vehicle comprises a plurality of arms, and propellers are arranged at the end parts of the arms, so that preferably, the photoelectric sensor is arranged at the bottom of the propeller at the end part of the arm of the unmanned aerial vehicle; the diameter of a circular path obtained by the photoelectric sensor in the aircraft rotating for one circle around the center of the aircraft body is smaller than the width of the annular parking area, and the structure can ensure that the aircraft can only span two annular parking areas at most at any position on the landing platform; the diameter of a circular path obtained by rotating the photoelectric sensor in the aircraft around the center of the aircraft body for one circle is smaller than the diameter of a central landing area in the landing platform.
The central control system is used for controlling the flight line of the aircraft, and the central control system is in communication connection with the aircraft in a wireless transmission mode.
According to the above system, this embodiment 1 further discloses a high-precision aircraft guided landing method, which includes the following steps:
s100, 5 annular parking areas and a central landing area which are arranged concentrically and have the same width are arranged in the landing platform, and 5 annular parking areas are arrangedThe preset light signal reflection intensity of the leaning area at a certain height H is respectively as follows: a. the1、A2、A3、A4、A5The preset light signal reflection intensity of the central landing area at a certain height H is B, the difference value of the preset light signal reflection intensity of the adjacent annular parking areas is P, and P is A5-A4＝A4-A3＝A3-A2＝A2-A1＝B-AN. It should be noted that in this embodiment, A1、A2、A3、A4、A5And B are specific numerical values.
S200, the central control end sends GPS position information of the landing platform, after the aircraft receives the GPS position information of the landing platform, the aircraft flies to the upper portion of the area where the landing platform is located, the central control end sends a landing signal, and after the aircraft receives the landing signal of the central control end, the aircraft is controlled by the internal control end to perform a landing process.
S300, a photoelectric sensor is arranged at the bottom of the aircraft body, the photoelectric sensor is started by the internal control end of the aircraft, the photoelectric sensor emits a detection light beam, and the reflection intensity D of a light signal reflected by the landing platform is received.
It should be noted that, in the actual flying process of the aircraft, the altitude of the aircraft is not accurately guaranteed to be constant at a specific value in the vertical direction, the optical signal reflection intensity value received by the photoelectric sensor on the landing platform fluctuates, so that in the actual detection process, the optical signal reflection intensity received by the photoelectric sensor can be analyzed, a fluctuation threshold value is set for the preset optical signal reflection intensity of the annular parking area and the central landing area on the landing platform on the height H, and when the optical signal reflection intensity received by the photoelectric sensor is within the fluctuation threshold value of the preset optical signal reflection intensity, the actually obtained optical signal reflection intensity is determined to be equal to the preset optical signal reflection intensity.
S400, controlling the aircraft to keep the height H to move towards the center of the landing platform by the internal control end of the aircraft; the aircraft keeps a hovering state at intervals of a certain time in the process of moving towards the center of the landing platform, the optical signal detector rotates for a circle around the center of the aircraft body, and the photoelectric sensor receives the reflection intensity D of the optical signal reflected by the landing platform; it should be noted that the reflection intensity of the optical signal received by the photoelectric sensor after one rotation includes a plurality of values, so the reflection intensity D of the optical signal reflected by the landing platform received by the photoelectric sensor in this embodiment is a set composed of a plurality of data.
S500, the internal control end of the aircraft judges the light signal reflection intensity D detected by the photoelectric sensor, judges the current position of the aircraft according to the light signal reflection intensity D, and controls the aircraft to correct the flight route according to the duration time of different light signal reflection intensities;
specifically, the specific method for determining the position of the aircraft by using the reflection intensity of the optical signal in the step S500 is as follows:
s501, judging the reflection intensity D of the optical signal detected by the photoelectric sensor by the internal control end in the aircraft, and judging that the reflection intensity D of the received optical signal only comprises A when the internal control end judges that the reflection intensity D of the received optical signal only comprises A1Then the internal control end judges that the aircraft is completely positioned in the annular parking area A1An upper region;
s502, when the internal control end judges that the reflection intensity D of the received optical signal only comprises A1And A2Then the internal control end judges that the aircraft is positioned in the annular parking area A1And a ring-shaped parking area A2The upper region in between;
and S503, repeating the methods of S501 and S502 until the internal control end judges that the reflection intensity D of the received optical signal only comprises B.
Specifically, the specific method for the internal control end to correct the flight path according to the duration of the reflection intensity of the different optical signals in the step S500 is as follows:
s504, the internal control end of the aircraft firstly sets an original advancing direction according to the GPS position information of the landing platform and the aircraft position information sent by the central control end.
S505, in the process that the aircraft moves along the original moving direction, the aircraft keeps a hovering state at intervals of a certain time, and when the aircraft moves along the original moving directionLocated in an annular parking area A1And a ring-shaped parking area A2When the optical signal sensor rotates for a circle, the internal control end records the reflection intensity A of the optical signal in the upper area between the optical signal sensor and the optical signal sensor1Has a duration of T1Reflection intensity of optical signal A2Has a duration of T2。
S506, recording the light signal reflection intensity of the aircraft in the advancing direction in real time by the internal control end, and judging the light signal reflection intensity A1And the reflection intensity A of the optical signal2When the intensity of light signal reflection A changes1Duration T of1The value is kept reduced, and the reflection intensity A of the optical signal is reduced2Duration T2When the numerical value keeps increasing, the internal control end controls the aircraft to move in the same direction; when the light signal reflection intensity A1Duration T of1The value begins to increase and the light signal reflection intensity A2Duration T2When the numerical value begins to decrease, the internal control end controls the aircraft to keep hovering, and the next step is carried out.
S507, after the traveling direction of the aircraft is controlled to change by 90 degrees by the internal control end, the aircraft keeps hovering after being displaced for a certain distance, and meanwhile, the optical signal sensor rotates for a circle to record the reflection intensity A of the optical signal1And the reflection intensity A of the optical signal2If the intensity of the reflected light signal is A1Duration T of1The value is kept reduced, and the reflection intensity A of the optical signal is reduced2Duration T2When the numerical value keeps increasing, the internal control end controls the aircraft to move along the changed traveling direction; if the light signal reflection intensity A1Duration T of1The numerical value is increased, and the reflection intensity A of the optical signal is increased2Duration T2And if the numerical value is reduced, the internal control end controls the aircraft to shift after the traveling direction is changed by 180 degrees again.
The principle adopted by the method is the sag theorem in mathematical plane geometry, and the method is specifically expressed as follows: according to the principle, once the original advancing direction of the aircraft deviates from the center of the landing platform, the flying route of the aircraft is cut into annular parking areas in concentric circles, the flying route of the aircraft is equivalent to the chord line on the arc, the duration change of the reflection intensity of the optical signal is judged through a photoelectric sensor, the midpoint of the chord line can be judged, the flying direction is changed by 90 degrees, the flying direction of the aircraft can be ensured to pass through the center of the landing platform, and therefore the purpose of correcting the flying route of the aircraft is achieved.
S508, the internal control end of the aircraft continuously executes the operations from the step S505 to the step S507 until the aircraft sequentially passes through the annular parking area A1、A2、A3、A4、A5Entering a central landing area B of the landing platform.
S600, when the internal control end of the aircraft judges that the optical signal reflection intensity D detected by the photoelectric sensor only comprises B, the aircraft is judged to be completely positioned in an area above a central landing area, the aircraft stops moving in the horizontal direction at the moment, and the internal control end controls the aircraft to descend in the vertical direction;
s700, when the aircraft lands on the landing platform, the internal control end stops the operation of a power mechanism in the aircraft and stops the detection of the photoelectric sensor, and the internal control end sends information of landing completion to the central control system.
At this point, the aircraft completes the landing process.
Example 2:
based on the guiding method and the guiding system in embodiment 1, embodiment 2 is further improved, and since the aircraft cannot be precisely maintained at a certain position when the landing platform is detected by using the photoelectric sensor, and slight shaking occurs during flight, a high-precision aircraft guided landing system is further provided in embodiment 2, and as shown in fig. 2, the system also includes the aircraft, the landing platform, and a central control system.
Specifically, the landing platform includes that two rings shape are berthhed district, a transition and are berthhed district, three bluetooth beacon and a center and fall the district, ring shape is berthhed district, transition and is berthhed district and the concentric setting of center and fall the district, the transition is berthhed the district and is located ring shape and berth between district and the center and fall the district, the width that the district was berthhed to ring shape in the landing platform is equal, just the light signal reflection intensity that descends the platform surface is berthhed the district by the outside ring shape and is progressively increased to the platform center in proper order, bluetooth beacon fixes on the landing platform surface, just bluetooth beacon is the equidistance around the transition is berthhed district's outside edge and is distributed.
The aircraft includes the organism, the bottom of the body is equipped with the photoelectric sensor who is used for detecting landing platform reflected light intensity, just photoelectric sensor is equipped with the interval with the center of organism, photoelectric sensor is 360 around the center rotation of organism, photoelectric sensor is less than around the circular path diameter that aircraft organism center rotation a week obtained in the aircraft the district width is berthhed to the annular. The diameter of a circular path obtained by the photoelectric sensor in the aircraft rotating for one circle around the center of the aircraft body is smaller than the diameter of a central landing area in the landing platform; the inside terminal bluetooth receiving arrangement that is equipped with of aircraft, terminal bluetooth receiving arrangement is used for receiving the wireless signal that the bluetooth beacon sent on the landing platform, and obtains the signal field intensity between every bluetooth beacon and the terminal bluetooth receiving arrangement through terminal bluetooth receiving arrangement.
The central control system is used for controlling the flight line of the aircraft, and the central control system is in communication connection with the aircraft in a wireless transmission mode.
According to the system, the embodiment 2 discloses a high-precision aircraft guided landing method, which includes the following steps:
s100, 2 annular parking areas, a transition parking area and a central landing area which are arranged concentrically and have the same width are arranged in the landing platform, and the reflection intensity of the 2 annular parking areas on a certain height H is respectively as follows: a. the1、A2The preset light signal reflection intensity of the transition parking area on the height H is C, and the preset light signal reflection intensity of the central landing area on the height H is B. It should be noted that in this embodiment, A1、A2B and C are specific numerical values.
S200, the central control end sends GPS position information of the landing platform, after the aircraft receives the GPS position information of the landing platform, the aircraft flies to the upper portion of the area where the landing platform is located, the central control end sends a landing signal, and after the aircraft receives the landing signal of the central control end, the aircraft is controlled by the internal control end to perform a landing process.
S300, a photoelectric sensor is arranged at the bottom of the aircraft body, the photoelectric sensor is started by the internal control end of the aircraft, the photoelectric sensor emits a detection light beam, and the reflection intensity D of a light signal reflected by the landing platform is received.
S400, controlling the aircraft to keep the height H to move towards the center of the landing platform by the internal control end of the aircraft; the aircraft keeps a hovering state at intervals of a certain time in the process of moving towards the center of the landing platform, the optical signal detector rotates for a circle around the center of the aircraft body, and the photoelectric sensor receives the reflection intensity D of the optical signal reflected by the landing platform; it should be noted that the reflection intensity of the optical signal received by the photoelectric sensor after one rotation includes a plurality of values, so the reflection intensity D of the optical signal reflected by the landing platform received by the photoelectric sensor in this embodiment 2 is a set composed of a plurality of data.
S500, the internal control end of the aircraft judges the light signal reflection intensity D detected by the photoelectric sensor, judges the current position of the aircraft according to the light signal reflection intensity D, and controls the aircraft to fly to a transition parking area according to the change of the light signal reflection intensity.
Specifically, the specific method for determining the position of the aircraft by using the reflection intensity of the optical signal in the step S500 is the same as that in embodiment 1, specifically:
s501, judging the reflection intensity D of the optical signal detected by the photoelectric sensor by the internal control end in the aircraft, and judging that the reflection intensity D of the received optical signal only comprises A when the internal control end judges that the reflection intensity D of the received optical signal only comprises A1Then the internal control end judges that the aircraft is completely positioned in the annular parking area A1An upper region;
s502, when the internal control end judges that the reflection intensity D of the received optical signal only comprises A1And A2Then the internal control end judges that the aircraft is positioned in the annular parking area A1And a ring-shaped parking area A2In betweenA square area;
and S503, repeating the methods of S501 and S502 until the internal control end judges that the reflection intensity D of the received optical signal only comprises C.
Specifically, the specific method for the internal control end to correct the flight path according to the duration of the reflection intensity of the different optical signals in the step S500 is as follows:
s504, the internal control end of the aircraft firstly sets an original advancing direction according to the GPS position information of the landing platform and the aircraft position information sent by the central control end.
S505, in the process that the aircraft travels along the original traveling direction, the aircraft keeps a hovering state at intervals of a certain time, and when the aircraft is located in the annular parking area A1And a ring-shaped parking area A2When the optical signal sensor rotates for a circle, the internal control end records the reflection intensity A of the optical signal in the upper area between the optical signal sensor and the optical signal sensor1Has a duration of T1Reflection intensity of optical signal A2Has a duration of T2。
S506, recording the light signal reflection intensity of the aircraft in the advancing direction in real time by the internal control end, and judging the light signal reflection intensity A1And the reflection intensity A of the optical signal2When the intensity of light signal reflection A changes1Duration T of1The value is kept reduced, and the reflection intensity A of the optical signal is reduced2Duration T2When the numerical value keeps increasing, the internal control end controls the aircraft to move in the same direction; when the light signal reflection intensity A1Duration T of1The value begins to increase and the light signal reflection intensity A2Duration T2When the numerical value begins to decrease, the internal control end controls the aircraft to keep hovering, and the next step is carried out.
S507, after the traveling direction of the aircraft is controlled to change by 90 degrees by the internal control end, the aircraft keeps hovering after being displaced for a certain distance, and meanwhile, the optical signal sensor rotates for a circle to record the reflection intensity A of the optical signal1And the reflection intensity A of the optical signal2If the intensity of the reflected light signal is A1Duration T of1The value is kept reduced, and the reflection intensity A of the optical signal is reduced2Duration T2When the numerical value keeps increasing, the internal control end controls the aircraft to move along the changed traveling direction; if the light signal reflection intensity A1Duration T of1The numerical value is increased, and the reflection intensity A of the optical signal is increased2Duration T2And if the numerical value is reduced, the internal control end controls the aircraft to shift after the traveling direction is changed by 180 degrees again.
And S508, continuously executing the operations from the step S505 to the step S507 by the internal control end of the aircraft until the aircraft enters a transitional parking area of the landing platform.
S600, when the control end in the aircraft judges that the light signal intensity D detected by the photoelectric sensor only comprises C, the aircraft is judged to completely enter the region above the transition parking area, the terminal Bluetooth receiving device of the aircraft is started at the moment, the wireless signals of the Bluetooth beacons on the landing platform are received, the wireless signal field intensities of the aircraft and different Bluetooth beacons are judged, and the position of the aircraft is adjusted through the wireless signal field intensities of the aircraft and different Bluetooth beacons
Specifically, the specific method for adjusting the position of the aircraft by the internal control end using the wireless signal field strengths of the aircraft and the bluetooth beacon in the step S600 includes:
s601, the terminal Bluetooth receiving device in the aircraft receives signal field intensities of different Bluetooth beacons, the internal control end compares the received signal field intensities of the different Bluetooth beacons, and the distance between the aircraft and the Bluetooth beacons is judged.
S602, when the internal control end judges that the wireless signal field intensity of a certain Bluetooth beacon is smaller than the signal field intensities of other Bluetooth beacons, the internal control end of the aircraft controls the aircraft to horizontally shift towards the direction of the Bluetooth beacon with small wireless signal field intensity, the internal control end compares the received wireless signal field intensity in real time in the shifting process, once the internal control end detects that the wireless signal field intensity in other directions is larger than the wireless signal field intensity in the current flight direction in the shifting process, the flight direction is changed, and the aircraft shifts towards the Lainferior beacon with the minimum wireless signal field intensity.
And S603, the aircraft corrects the flight direction in real time according to the method in the step S602, when the internal control end judges that the wireless signal field strengths of all the Bluetooth beacons are equal, the aircraft stops deviating, and the aircraft is positioned right above the central position of the landing platform.
And S603, when the aircraft is positioned right above the central position of the landing platform, the aircraft lands along the vertical direction, and the signal field intensity is always kept equal in the landing process.
S700, when the aircraft lands to the center of the landing platform, the internal control end stops operating a power mechanism inside the aircraft, stops the photoelectric sensor to detect and stops the terminal Bluetooth receiving device, and sends information of landing completion to the central control system.
At this point, the aircraft completes the landing process.
The guided landing method in embodiment 2 has higher positioning accuracy than the method in embodiment 1, and because the photoelectric sensor and the bluetooth beacon are combined in embodiment 2, compared with the conventional three-point positioning method, the distance between the bluetooth beacons on the landing platform does not need to be set too large, and the positioning accuracy is higher, and in addition, the number of the bluetooth beacons in embodiment 2 is not limited to 3, and can be increased by a proper amount according to the size of the field.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (5)

1. A high-precision aircraft guided landing method is characterized by comprising the following steps:
s100, N annular parking areas, a transition parking area and a central landing area which are arranged concentrically and have the same width are arranged in the landing platform, and the reflection intensity of the preset optical signals of the N annular parking areas on a certain height H is sequentially from outside to inside:
Figure 535848DEST_PATH_IMAGE001
said is passingThe preset light signal reflection intensity of the transition parking area on the height H is C, the preset light signal reflection intensity of the central falling area on the height H is B, the annular parking area, the transition parking area and the central falling area are concentrically arranged, the transition parking area is positioned between the annular parking area and the central falling area, the light reflection intensity areas on the surface of the landing platform are sequentially increased from the outer annular parking area to the central falling area, the Bluetooth beacons are fixed on the surface of the landing platform and are distributed around the outer edge of the transition parking area in an equidistant mode,
s200, the central control end sends GPS position information of a landing platform, after the aircraft receives the GPS position information of the landing platform, the aircraft flies above an area where the landing platform is located, the central control end sends a landing signal, and after the aircraft receives the landing signal of the central control end, the aircraft is controlled by the internal control end to land;
s300, a photoelectric sensor is arranged at the bottom of the aircraft body of the aircraft, the photoelectric sensor is started by an internal control end of the aircraft, the photoelectric sensor emits a detection light beam and receives the reflection intensity of a light signal reflected by the landing platform;
s400, controlling the aircraft to keep the height H to move towards the center of the landing platform by the internal control end of the aircraft; the aircraft keeps a hovering state at intervals of a certain time in the process of displacing towards the center of the landing platform, the photoelectric sensor rotates for a circle around the center of the aircraft body, and the photoelectric sensor receives the reflection intensity D of the optical signal reflected by the landing platform;
s500, the internal control end of the aircraft judges the light signal reflection intensity D detected by the photoelectric sensor, judges the current position of the aircraft according to the light signal reflection intensity D, and controls the aircraft to correct the flight route according to the change of the light signal reflection intensity;
the specific method for the internal control end to correct the flight path according to the duration of the reflection intensity of the different optical signals in the step S500 is as follows:
s504, an internal control end of the aircraft firstly sets an original advancing direction according to GPS position information of the landing platform and aircraft position information sent by a central control end;
s505, the aircraft keeps a hovering state at intervals of a certain time in the process of traveling according to the original traveling direction, and when the aircraft is positioned at a preset light signal reflection intensity
Figure 315716DEST_PATH_IMAGE002
And the predetermined light signal reflection intensity is
Figure 618522DEST_PATH_IMAGE003
When the upper area between the annular parking areas is occupied, the internal control end records the reflection intensity of the optical signal in the process of one rotation of the photoelectric sensor
Figure 100318DEST_PATH_IMAGE004
Has a duration of
Figure 248403DEST_PATH_IMAGE005
Intensity of light signal reflection
Figure 882778DEST_PATH_IMAGE003
Has a duration of
Figure 356485DEST_PATH_IMAGE006
；
S506, recording the reflection intensity of the optical signal of the aircraft in the advancing direction in real time by the internal control end, and judging the reflection intensity of the optical signal
Figure 59998DEST_PATH_IMAGE007
And intensity of light signal reflection
Figure 746195DEST_PATH_IMAGE008
When the intensity of the reflected light signal changes
Figure 749923DEST_PATH_IMAGE009
Duration of (2)
Figure 128951DEST_PATH_IMAGE010
The value is kept reduced, and the reflection intensity of the optical signal is reduced
Figure 333143DEST_PATH_IMAGE011
Duration of time
Figure 88610DEST_PATH_IMAGE012
When the numerical value keeps increasing, the internal control end controls the aircraft to move in the same direction; when the reflection intensity of the optical signal
Figure 415686DEST_PATH_IMAGE013
Duration of (2)
Figure 231195DEST_PATH_IMAGE014
The value begins to increase and the light signal reflection intensity
Figure 909301DEST_PATH_IMAGE015
Duration of time
Figure 953612DEST_PATH_IMAGE016
When the numerical value begins to decrease, the internal control end controls the aircraft to keep hovering, and the next step is carried out;
s507, after the traveling direction of the aircraft is controlled to change by 90 degrees by the internal control end, the aircraft keeps hovering after being displaced for a certain distance, and meanwhile, the photoelectric sensor rotates for a circle to record the reflection intensity of the optical signal
Figure 666353DEST_PATH_IMAGE017
And intensity of light signal reflection
Figure 387184DEST_PATH_IMAGE018
If the intensity of the reflected light signal is high
Figure 552586DEST_PATH_IMAGE019
Duration of (2)
Figure 649855DEST_PATH_IMAGE020
The value is kept reduced, and the reflection intensity of the optical signal is reduced
Figure 967835DEST_PATH_IMAGE015
Duration of time
Figure 593989DEST_PATH_IMAGE021
When the numerical value keeps increasing, the internal control end controls the aircraft to displace along the changed traveling direction; if the intensity of the reflected light signal
Figure 512266DEST_PATH_IMAGE022
Duration of (2)
Figure 147647DEST_PATH_IMAGE023
Increased value, reflected intensity of optical signal
Figure 569401DEST_PATH_IMAGE024
Duration of time
Figure 632035DEST_PATH_IMAGE025
If the numerical value is reduced, the internal control end controls the aircraft to move after the advancing direction is changed by 180 degrees again;
s508, the internal control end of the aircraft continuously executes the operations from the step S505 to the step S507 until the aircraft enters a transition parking area of the landing platform;
s600, when the control end in the aircraft judges that the light signal intensity D detected by the photoelectric sensor only comprises C, judging that the aircraft completely enters the area above the transitional parking area, starting a terminal Bluetooth receiving device of the aircraft at the moment, receiving wireless signals of Bluetooth beacons on a landing platform, judging the field intensities of the wireless signals of the aircraft and different Bluetooth beacons, and adjusting the position of the aircraft according to the field intensities of the wireless signals of the aircraft and different Bluetooth beacons;
the specific method for adjusting the position of the aircraft by the internal control end by using the wireless signal field intensity of the aircraft and the Bluetooth beacon in the step S600 is as follows:
s601, the terminal Bluetooth receiving device in the aircraft receives signal field intensities of different Bluetooth beacons, the internal control end compares the received signal field intensities of the different Bluetooth beacons, and the distance between the aircraft and the Bluetooth beacons is judged;
s602, when the internal control end judges that the wireless signal field intensity of a certain Bluetooth beacon is smaller than the signal field intensities of other Bluetooth beacons, the internal control end of the aircraft controls the aircraft to horizontally shift towards the direction of the Bluetooth beacon with small wireless signal field intensity, the internal control end compares the received wireless signal field intensity in real time in the shifting process, once the internal control end detects that the wireless signal field intensity in other directions is larger than the wireless signal field intensity in the current flight direction in the shifting process, the flight direction is changed, and the aircraft shifts towards the direction of the Bluetooth beacon with the minimum wireless signal field intensity;
s603, the aircraft corrects the flight direction in real time according to the method in the step S602, when the internal control end judges that the wireless signal field strengths of all the Bluetooth beacons are equal, the aircraft stops offsetting, and the aircraft is positioned right above the center of the landing platform;
s604, when the aircraft is positioned right above the center of the landing platform, the aircraft lands in the vertical direction, and the signal field strengths are always kept equal in the landing process;
s700, when the aircraft lands to the center of the landing platform, the internal control end stops operating a power mechanism inside the aircraft, stops the photoelectric sensor to detect and stops the terminal Bluetooth receiving device, and sends information of landing completion to the central control system.
2. The method of claim 1, wherein: the specific method for judging the position of the aircraft by using the reflection intensity of the optical signal in the step S500 is as follows:
s501, judging the reflection intensity D of the optical signal detected by the photoelectric sensor by the internal control end in the aircraft, wherein the judgment of the reflection intensity D of the optical signal received by the internal control end only includes
Figure 522761DEST_PATH_IMAGE026
Then the internal control end judges that the aircraft is completely positioned at the preset light signal reflection intensity
Figure 227412DEST_PATH_IMAGE027
The annular parking area is arranged above the annular parking area;
s502, when the internal control end judges that the reflection intensity D of the received optical signal only contains
Figure 503673DEST_PATH_IMAGE027
And
Figure 737208DEST_PATH_IMAGE028
then the internal control end judges that the aircraft is positioned at the preset light signal reflection intensity
Figure 364498DEST_PATH_IMAGE029
And the predetermined light signal reflection intensity is
Figure 355064DEST_PATH_IMAGE030
The upper area between the annular parking areas;
and S503, repeating the methods of S501 and S502 until the internal control end judges that the reflection intensity D of the received optical signal only comprises C.
3. A high-precision aircraft guided landing system using the high-precision aircraft guided landing method according to any one of claims 1 or 2, comprising an aircraft, a landing platform, and a central control system, wherein:
the landing platform comprises at least one annular parking area, a transition parking area, at least three Bluetooth beacons and a central landing area, wherein the annular parking area, the transition parking area and the central landing area are concentrically arranged, the transition parking area is positioned between the annular parking area and the central landing area, the light reflection intensity area of the surface of the landing platform is sequentially increased from the outer annular parking area to the central landing area, the Bluetooth beacons are fixed on the surface of the landing platform, and the Bluetooth beacons are distributed around the outer edge of the transition parking area at equal intervals;
the aircraft comprises an aircraft body, wherein a photoelectric sensor used for detecting the intensity of reflected light of a landing platform is arranged at the bottom of the aircraft body, a distance is arranged between the photoelectric sensor and the center of the aircraft body, the photoelectric sensor rotates 360 degrees around the center of the aircraft body, a terminal Bluetooth receiving device is arranged in the aircraft body and used for receiving wireless signals sent by Bluetooth beacons on the landing platform, and the signal field intensity between each Bluetooth beacon and the terminal Bluetooth receiving device is obtained through the terminal Bluetooth receiving device;
the central control system is used for controlling the flight line of the aircraft, and the central control system is in communication connection with the aircraft in a wireless transmission mode.
4. The system of claim 3, wherein: the diameter of a circular path obtained by rotating the photoelectric sensor in the aircraft around the center of the aircraft body is smaller than the width of the annular parking area.
5. The system of claim 3, wherein: the diameter of a circular path obtained by rotating the photoelectric sensor in the aircraft around the center of the aircraft body is smaller than the diameter of a central landing area in the landing platform.
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