CN113821058A - Forced landing method and system for fixed-wing unmanned aerial vehicle - Google Patents
Forced landing method and system for fixed-wing unmanned aerial vehicle Download PDFInfo
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Abstract
The application discloses a forced landing method and a forced landing system for a fixed wing unmanned aerial vehicle, wherein the method comprises the following steps: when the fixed-wing unmanned aerial vehicle enters a forced landing program, acquiring the current airspeed of the fixed-wing unmanned aerial vehicle; controlling the fixed wing unmanned aerial vehicle to adjust from the current airspeed to the glide flight airspeed; acquiring ground terrain information corresponding to a current airspace of the fixed-wing unmanned aerial vehicle; selecting a forced landing area to execute a forced landing gliding task according to the ground terrain information; acquiring regional area information, regional ground softness information and regional terrain trend information of a forced landing region in the process of executing a forced landing gliding task; generating a landing scheme of the fixed-wing unmanned aerial vehicle according to the regional area information, the regional ground softness information and the regional topography trend information; and when the forced landing gliding task process is finished, controlling the fixed wing unmanned aerial vehicle to carry out landing grounding according to a landing grounding scheme. This application has improved the security of fixed wing unmanned aerial vehicle when the forced landing is carried out in the forced landing region, reduces the damage rate of fixed wing unmanned aerial vehicle when forcing to land.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a forced landing method and a forced landing system for a fixed-wing unmanned aerial vehicle.
Background
Fixed wing unmanned aerial vehicle is at the task flight in-process, can meet unexpected circumstances such as aircraft machinery, electrical equipment are malfunctioning, the aircraft is lost, fuel is used up or weather condition worsens suddenly, can not land with normal procedure this moment, probably leads to the crash when serious.
The existing forced landing processing mode is as follows: if a situation that the flight is not normal is met, the emergency forced landing is required to a safe area. However, in the process of mission flight, the external landform and landform are complex, the flight path may pass through the scenes of rivers, mountains, fields and the like, the selection of forced landing points is difficult, and if the forced landing points and the forced landing mode are unreasonable, the fixed-wing unmanned aerial vehicle is easily damaged in the forced landing process.
Disclosure of Invention
In order to solve the problem that forced landing of a fixed-wing unmanned aerial vehicle is unreasonable under the complex landform and landform conditions, damage of the fixed-wing unmanned aerial vehicle in the forced landing process is caused, the application provides a forced landing method and a forced landing system of the fixed-wing unmanned aerial vehicle.
In a first aspect, the application provides a forced landing method for a fixed wing unmanned aerial vehicle, which adopts the following technical scheme:
a forced landing method for a fixed-wing drone, comprising:
when a fixed-wing unmanned aerial vehicle enters a forced landing program, acquiring the current airspeed of the fixed-wing unmanned aerial vehicle;
controlling the fixed wing drone to adjust from the current airspeed to a glide flight airspeed;
acquiring ground terrain information corresponding to the current airspace of the fixed-wing unmanned aerial vehicle;
selecting a forced landing area according to the ground terrain information, and executing a forced landing gliding task according to the forced landing area;
acquiring regional area information, regional ground softness information and regional terrain trend information of the forced landing region in the process of executing the forced landing gliding task;
generating a landing scheme of the fixed-wing unmanned aerial vehicle according to the region area information, the region ground softness information and the region topography trend information;
and when the forced landing gliding task process is finished, controlling the fixed-wing unmanned aerial vehicle to carry out landing grounding according to the landing grounding scheme.
By adopting the technical scheme, when the fixed-wing unmanned aerial vehicle cannot normally land in the flying process, a forced landing program is entered, the airspeed of the fixed-wing unmanned aerial vehicle is controlled at the glide flying airspeed, the ground terrain information corresponding to the lower part of the current airspace is determined, a forced landing area is selected, and when the forced landing gliding mission is executed, the area information, the area ground softness information and the area terrain trend information of the forced landing area are collected, because the forced landing area is selected according to the ground terrain information, only the ground situation of an approximate range can be obtained, when the final landing of the forced landing is related, the specific details of the forced landing area are not available, and when the forced landing area is selected, the fixed-wing unmanned aerial vehicle is higher in height and cannot collect the specific ground details through equipment such as a camera, therefore, in the gliding mission, and when the forced landing gliding task process is finished, the fixed-wing unmanned aerial vehicle is controlled to land according to the land grounding scheme. The safety of the fixed wing unmanned aerial vehicle when the forced landing area is in forced landing is improved, and the damage rate of the fixed wing unmanned aerial vehicle when the forced landing is reduced.
Optionally, controlling the fixed wing drone to follow after the current airspeed is adjusted to the glide flight airspeed, further includes:
judging whether an engine of the fixed-wing unmanned aerial vehicle has a fire fault;
if the fire fault occurs, the forced landing program is not exited;
if the fire fault does not occur, executing an engine air starting program;
if the engine is started successfully in the air, the forced landing program is exited, and the fixed-wing unmanned aerial vehicle is controlled to enter a normal landing program;
and if the engine is not started in the air, the forced landing procedure is not exited.
By adopting the technical scheme, after the airspeed of the fixed-wing unmanned aerial vehicle is adjusted, because forced landing inevitably has damage risks, whether the forced landing procedure is continued or not needs to be further determined, whether the engine of the fixed-wing unmanned aerial vehicle has a fire fault or not is judged, and if the fire fault occurs, the forced landing procedure is not quitted; if the fire fault does not occur, executing an engine air starting program; if the engine is started successfully in the air, the forced landing procedure is exited, and the fixed-wing unmanned aerial vehicle is controlled to enter a normal landing procedure; if the engine is not started in the air, the forced landing procedure is not exited. Can avoid forcing to land just avoids, further improvement fixed wing unmanned aerial vehicle's security.
Optionally, the obtaining of the ground terrain information corresponding to the current airspace of the fixed-wing unmanned aerial vehicle includes:
acquiring current longitude and latitude information of the fixed-wing unmanned aerial vehicle;
determining a current position according to the current longitude and latitude information, and forming a current airspace with a preset radius value by taking the current position as a center;
mapping the current airspace to the ground to obtain a current ground range;
and obtaining the ground terrain information of the current ground range through a geographic information system and/or satellite image information.
By adopting the technical scheme, the current longitude and latitude information of the fixed-wing unmanned aerial vehicle can be obtained through the longitude and latitude instrument loaded on the fixed-wing unmanned aerial vehicle, the current position is determined according to the current longitude and latitude information, the current position is used as the center, the preset radius value is used as the radius, the current airspace is divided, the current airspace is mapped to the ground, the current ground range is obtained, the ground terrain information of the current ground range can be obtained through a geographic information system, the satellite image information and the combination of the geographic information system and the satellite image information.
Optionally, the selecting a forced landing area according to the ground terrain information, and executing a forced landing gliding task according to the forced landing area includes:
selecting areas meeting forced landing conditions from the current ground range according to the ground terrain information as forced landing candidate areas, wherein at least one forced landing candidate area is selected;
selecting the area closest to the fixed-wing unmanned aerial vehicle from the forced landing candidate area as a forced landing area;
acquiring course information of the fixed-wing unmanned aerial vehicle, and determining the current course according to the course information;
judging whether the deviation angle between the current course and the course of the forced landing area is smaller than a preset deviation value or not;
if the deviation value is smaller than the preset deviation value, taking a connecting line of the current position of the fixed-wing unmanned aerial vehicle and the forced landing area as a forced landing sliding line, and obtaining a default sliding track angle of the forced landing sliding line;
if the deviation value is not smaller than the preset deviation value, the course of the fixed-wing unmanned aerial vehicle is adjusted, so that the deviation angle between the adjusted course and the course of the forced landing area is smaller than the preset deviation value, the connection line between the position of the fixed-wing unmanned aerial vehicle after course adjustment and the forced landing area is used as a forced landing sliding line, and the default sliding track angle of the forced landing sliding line is obtained;
and executing a forced landing gliding task according to the forced landing gliding line and the default gliding track angle.
By adopting the technical scheme, after the forced landing area is selected from the current ground range according to the ground terrain information, whether the current course can reach the forced landing area is judged, and if the current course is smaller than the preset deviation value, the connecting line of the current position of the fixed wing unmanned aerial vehicle and the forced landing area is used as a forced landing sliding line, and a default sliding track angle is obtained; if the deviation value is not smaller than the preset deviation value, the course of the fixed-wing unmanned aerial vehicle is adjusted, then the forced landing sliding line and the default sliding track angle are obtained, and the forced landing sliding task is executed according to the forced landing sliding line and the default sliding track angle.
Optionally, the executing the forced landing gliding task according to the forced landing gliding line and the default gliding trajectory angle includes:
acquiring a real-time height value of the fixed-wing unmanned aerial vehicle relative to the forced landing area;
when the real-time height value is larger than a first preset height value, generating a disc descending instruction, and controlling the fixed-wing unmanned aerial vehicle to be in disc descending to a second preset height value according to the disc descending instruction;
when the real-time height value is equal to the second preset height value, controlling a gasoline selection switch or a gasoline access switch to be turned off, and controlling a generator to stop working, so that the generator stops supplying power to sensor equipment of the fixed-wing unmanned aerial vehicle;
and when the real-time height value is smaller than the second preset height value, tracking the forced descent sliding line and the default sliding trajectory angle for forced descent according to an unpowered approach sliding control strategy.
Through adopting above-mentioned technical scheme, at the in-process of forced landing glide task, still need carry out the height that descends of circling on first preset height value, with the impact force that reduces fixed wing unmanned aerial vehicle dive, when reducing the second preset height value, close through control petrol select switch or petrol access switch, the fuel feeding of cutting off the generator, thereby control generator stop work, make the generator stop to supply power for fixed wing unmanned aerial vehicle's sensor equipment, shut down after the sensor equipment loses the power supply, avoid sensor equipment to receive the impact shutdown when forced landing, lead to data loss, again according to unpowered advance nearly glide control strategy, trail forced landing glide slope and acquiescence trajectory angle and carry out the forced landing.
Optionally, the generating a landing ground scheme of the fixed-wing drone according to the area information, the area ground softness information, and the area topography trend information includes:
determining the space size of the forced landing area according to the area information;
determining the ground wet-soft property of the forced landing area according to the area ground wet-soft degree information;
determining the gradient trend of the forced landing area according to the terrain trend information of the area;
and generating a landing and grounding scheme of the fixed-wing unmanned aerial vehicle according to the space size, the ground wet and soft property and the gradient trend.
Through adopting above-mentioned technical scheme, according to regional area information, regional ground wet softness information and regional topography trend information, can confirm space size, the wet soft attribute in ground and the slope trend respectively, formulate fixed wing unmanned aerial vehicle's landing ground scheme through space size, the wet soft attribute in ground and slope trend for fixed wing unmanned aerial vehicle is safer when landing.
Optionally, the generating a landing scheme of the fixed-wing drone according to the space size, the ground wet and soft property, and the gradient trend includes:
judging whether the space is narrow or not relative to the size data of the fixed-wing unmanned aerial vehicle according to the space size;
if the space is narrow, generating a landing grounding scheme of the fixed-wing unmanned aerial vehicle as sideslip grounding;
if the ground is not narrow, judging whether the forced landing area is a wet and soft zone according to the ground wet and soft property;
if the ground is in a wet and soft zone, generating a landing grounding scheme of the fixed-wing unmanned aerial vehicle as sideslip grounding;
and if the ground connection scheme is not a wet and soft zone, generating a landing ground connection scheme of the fixed-wing unmanned aerial vehicle according to the gradient trend, namely grounding the machine head in the direction with the high gradient.
By adopting the technical scheme, under the condition of determining narrow space according to the space size, in order to avoid crash, when the fixed-wing unmanned aerial vehicle lands, the landing grounding scheme is sideslip grounding; when the space is large, if the ground is in a wet and soft zone, the landing grounding scheme is also sideslip grounding, so that the front wheels are prevented from being sunk into the wet and soft zone to cause the fixed wing unmanned aerial vehicle to stand upside down; when ground is not wet soft area, according to the slope trend, let fixed wing unmanned aerial vehicle's aircraft nose to the direction ground connection that the slope is high, make fixed wing unmanned aerial vehicle can be more static with the help of the topography slope.
Optionally, before controlling the fixed-wing drone to land according to the landing scheme, the method further includes:
when the real-time height value of the fixed-wing unmanned aerial vehicle is in the height section before grounding, generating a leveling instruction;
and controlling the fixed-wing unmanned aerial vehicle to execute a leveling task according to the leveling instruction.
Through adopting above-mentioned technical scheme, the high section is one section height before landing before the real-time altitude value of fixed wing unmanned aerial vehicle is in high section before the ground connection, generates the instruction of leveling, controls fixed wing unmanned aerial vehicle according to the instruction of leveling and carries out the task of leveling for fixed wing unmanned aerial vehicle can be with great angle of attack and less speed ground connection, and the ground connection process is safer.
Optionally, the method further comprises:
when the fixed-wing unmanned aerial vehicle is detected to be grounded, generating a storage battery disconnection instruction;
and controlling the storage battery to cut off power supply according to the storage battery cut-off instruction.
Through adopting above-mentioned technical scheme, when fixed wing unmanned aerial vehicle ground connection, generate the battery disconnection instruction, supply power according to battery disconnection instruction control battery disconnection to guarantee fixed wing unmanned aerial vehicle's battery and circuit safety.
The second aspect, this application provides a forced landing system of fixed wing unmanned aerial vehicle, adopts following technical scheme:
the system comprises an acquisition module, an airspeed control module, a forced landing control module and a landing control module;
when the fixed-wing unmanned aerial vehicle enters a forced landing program, the acquisition module acquires the current airspeed of the fixed-wing unmanned aerial vehicle;
the airspeed control module controls the fixed-wing unmanned aerial vehicle to adjust from the current airspeed to a glide flight airspeed;
the acquisition module acquires ground terrain information corresponding to the current airspace of the fixed-wing unmanned aerial vehicle;
the forced landing control module selects a forced landing area according to the ground terrain information and executes a forced landing gliding task according to the forced landing area;
in the forced landing gliding task executing process, the landing control module acquires region area information, region ground softness information and region topography trend information of the forced landing region; generating a landing scheme of the fixed-wing unmanned aerial vehicle according to the region area information, the region ground softness information and the region topography trend information; and when the forced landing gliding task process is finished, controlling the fixed-wing unmanned aerial vehicle to carry out landing grounding according to the landing grounding scheme.
By adopting the technical scheme, when the fixed wing unmanned aerial vehicle can not land in a normal program in the flying process, the fixed wing unmanned aerial vehicle enters a forced landing program, when forced landing is performed, the airspeed control module controls the airspeed of the fixed wing unmanned aerial vehicle at the glide airspeed, the acquisition module determines the ground terrain information corresponding to the lower part of the current airspace, the forced landing control module selects a forced landing area, and when the forced landing glide mission is performed, the land grounding control module acquires the area information, the area ground softness information and the area terrain trend information of the forced landing area, and the forced landing area is selected according to the ground terrain information, so that only the ground condition of a rough range can be obtained, when the final landing of forced landing is related, the specific details of the forced landing area are not available, and when the forced landing area is selected, the height of the fixed wing unmanned aerial vehicle is higher, the ground contact scheme of the fixed-wing unmanned aerial vehicle is generated by combining the regional area information, the regional ground softness information and the regional terrain trend information of the forced landing area in the forced landing gliding task process, and the fixed-wing unmanned aerial vehicle is controlled to be grounded according to the ground contact scheme when the forced landing gliding task process is finished. The safety of the fixed wing unmanned aerial vehicle in the forced landing area can be improved, and the damage rate of the fixed wing unmanned aerial vehicle in the forced landing is reduced.
Drawings
Fig. 1 is a schematic flow diagram of a forced landing method of a fixed-wing drone according to the present application.
FIG. 2 is a flow diagram of the present application as to whether to exit the forced landing procedure.
Fig. 3 is a schematic flow chart of the present application for obtaining ground terrain information corresponding to the current airspace of a fixed-wing drone.
Fig. 4 is a schematic flow chart of selecting a forced landing area to execute a forced landing glide task according to the present application.
Fig. 5 is a schematic flow chart of the execution of the forced landing glide task according to the present application.
Fig. 6 is a schematic flow diagram of the present application for generating a landing scheme.
Fig. 7 is a schematic structural view of a forced landing system of a fixed wing drone of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application discloses a forced landing method of a fixed wing unmanned aerial vehicle.
Referring to fig. 1, the method includes:
101, when the fixed-wing unmanned aerial vehicle enters the forced landing program, acquiring the current airspeed of the fixed-wing unmanned aerial vehicle.
Wherein, fixed wing unmanned aerial vehicle is at the flight in-process, and unexpected circumstances such as aircraft machinery, electrical equipment are malfunctioning, aircraft are lost, fuel is used up or weather condition worsens suddenly can appear, can not descend with normal procedure this moment, need get into the procedure of forced landing, but to unmanned operation's condition, need carry out the formulation of the strategy of forced landing, improve the security of the process of forced landing, reduce unmanned aerial vehicle's damage probability. The current airspeed of the fixed-wing drone can be obtained through the indication of an airspeed instrument.
And 102, controlling the fixed wing unmanned aerial vehicle to adjust from the current airspeed to the glide flight airspeed.
Wherein, when carrying out and compelling to land, preferably with fixed wing unmanned aerial vehicle's airspeed control at the flight airspeed of gliding, the flight airspeed of gliding adopts existing historical empirical data, relatively is applicable to fixed wing unmanned aerial vehicle and reduces the height at the in-process of gliding, for example, the flight airspeed of gliding is 160 kM/h. Therefore, it is necessary to control the fixed wing drone to adjust from the current airspeed to the glide flight airspeed.
And 103, acquiring ground terrain information corresponding to the current airspace of the fixed-wing unmanned aerial vehicle.
The method comprises the steps of determining an airspace where a fixed-wing unmanned aerial vehicle is located, wherein the airspace serves as a current airspace, and ground terrain information corresponding to the lower portion of the current airspace needs to be determined firstly due to the fact that the approach principle is adopted for forced landing.
And 104, selecting a forced landing area according to the ground terrain information, and executing a forced landing gliding task according to the forced landing area.
The ground corresponding to the lower part of the current airspace has a large area, so that landforms such as mountains, water surfaces, farmlands and roads are possible, the ground suitable for landing needs to be selected for landing aiming at the requirement of forced landing of the fixed-wing unmanned aerial vehicle, therefore, the forced landing area is selected according to ground terrain information, and after the forced landing area is determined, the fixed-wing unmanned aerial vehicle is controlled to perform forced landing gliding tasks on the forced landing area.
105, acquiring regional area information, regional ground softness information and regional terrain trend information of the forced landing region in the process of executing the forced landing gliding task.
The forced landing area is selected according to the ground terrain information, only the ground condition in the general range can be obtained, when the final landing of forced landing is related, the specific details of the forced landing area are not available, and when the forced landing area is selected, the height of the fixed-wing unmanned aerial vehicle is higher, and the specific ground details cannot be collected through equipment such as a camera, so that in the forced landing gliding task needing to be executed, namely under the condition that the height from the forced landing area is smaller, the area information, the area ground softness information and the area terrain trend information of the forced landing area can be collected through instruments such as the camera.
And 106, generating a landing scheme of the fixed-wing unmanned aerial vehicle according to the region area information, the region ground softness information and the region topography trend information.
The landing success of the fixed-wing unmanned aerial vehicle is influenced by the size of the area, the softness of the ground of the area and the trend of the terrain of the area, so that the fixed-wing unmanned aerial vehicle cannot be damaged during landing, and the landing scheme of the fixed-wing unmanned aerial vehicle is generated by combining the area information, the softness information of the ground of the area and the trend information of the terrain of the area.
And 107, when the forced landing gliding task process is finished, controlling the fixed-wing unmanned aerial vehicle to carry out landing and grounding according to a landing and grounding scheme.
When the forced landing gliding task process is finished, the fixed-wing unmanned aerial vehicle is controlled to be grounded according to a landing grounding scheme.
The implementation principle of the embodiment is as follows: the fixed wing unmanned aerial vehicle enters a forced landing program when the fixed wing unmanned aerial vehicle cannot land in a normal program in the flying process, controls the airspeed of the fixed wing unmanned aerial vehicle at the glide flying airspeed when the forced landing is carried out, determines the ground terrain information corresponding to the lower part of the current airspace, selects a forced landing area, and acquires the area information, the area ground softness information and the area terrain trend information of the forced landing area in the forced landing gliding mission process, wherein the forced landing area is selected according to the ground terrain information, only the ground situation in a rough range can be acquired, when the final landing of the forced landing is related, the specific details of the forced landing area are unavailable, and when the forced landing area is selected, the fixed wing unmanned aerial vehicle is higher in height and cannot acquire the specific ground details through equipment such as a camera, so that in the forced landing gliding mission process, and when the forced landing gliding task process is finished, the fixed-wing unmanned aerial vehicle is controlled to land according to the land grounding scheme. The safety of the fixed wing unmanned aerial vehicle in the forced landing area can be improved, and the damage rate of the fixed wing unmanned aerial vehicle in the forced landing is reduced.
With reference to the above embodiment shown in fig. 1, after controlling 102 the fixed-wing drone to adjust from the current airspeed to the glide flight airspeed, as shown in fig. 2, the specific implementation further includes:
and 201, judging whether the engine of the fixed-wing unmanned aerial vehicle has a fire fault.
After entering the forced landing procedure, because the conditions for entering the forced landing procedure are various, and can be factors such as engine faults, weather and the like, and if the engine faults exist, but the forced landing procedure can be restarted, normal return flight and landing can be performed, so that whether the engine of the fixed-wing unmanned aerial vehicle has a fire fault or not needs to be judged first, and if the engine has the fire fault, the step 202 is executed; if no firing fault has occurred, step 203 is performed.
202, the force-down procedure is not exited.
When the engine is on fire, the generator cannot be started any more, and only the forced landing can be carried out in time without quitting the forced landing procedure.
And 203, executing an engine air starting program.
Wherein, when the engine is not on fire, executing an engine air starting program, and if the engine air starting is successful, executing step 204; if the engine is not started in air, step 202 is performed.
And 204, exiting the forced landing program and controlling the fixed wing unmanned aerial vehicle to enter a normal landing program.
If the engine is started successfully in the air, the fixed-wing unmanned aerial vehicle can continue flying, and then the forced landing program is exited, and the fixed-wing unmanned aerial vehicle is controlled to enter the normal landing program.
The implementation principle of the embodiment is as follows: after the airspeed of fixed wing unmanned aerial vehicle has been adjusted, because compel to land and must exist the damage risk, need further confirm whether continuing compel to land the procedure, what mainly involved is the engine, only does not have the fire at the engine, and under the condition that the engine can start aloft, just can withdraw from compel to land the procedure, normally land the procedure, can avoid compeling to land just avoiding, further improvement fixed wing unmanned aerial vehicle's security.
With reference to the above embodiment shown in fig. 1, the obtaining, in step 103, ground terrain information corresponding to the current airspace of the fixed-wing drone specifically executes, as shown in fig. 3, the method including:
301, obtaining the current longitude and latitude information of the fixed wing unmanned aerial vehicle.
The current longitude and latitude information of the fixed-wing unmanned aerial vehicle can be obtained through a longitude and latitude instrument loaded on the fixed-wing unmanned aerial vehicle.
And 302, determining the current position according to the current longitude and latitude information, and forming a current airspace with a preset radius value by taking the current position as the center.
The current position is determined according to the current longitude and latitude information, the current position is used as the center, the preset radius value is used as the radius, the current airspace is divided, and the preset radius value can be a fixed value, for example, 10km, and can also be obtained according to the height of the fixed wing unmanned aerial vehicle and the gliding flight airspeed. If the preset radius value is large and meaningless, a proper forced landing area cannot be selected if the preset radius value is small.
303, mapping the current airspace to the ground to obtain the current ground range.
After the current airspace is determined, the current airspace is mapped to the ground to obtain the current ground range.
And 304, obtaining the ground terrain information of the current ground range through a geographic information system and/or satellite image information.
The geographic information system is obtained by actual survey by a national or local surveying and mapping bureau, or can be obtained in other modes, and the satellite image information is generated by video shooting through an orbit satellite, so that the ground terrain information of the current ground range can be obtained through the geographic information system, the satellite image information, or the combination of the geographic information system and the satellite image information.
The implementation principle of the embodiment is as follows: the current longitude and latitude information of the fixed-wing unmanned aerial vehicle can be obtained through a longitude and latitude instrument loaded on the fixed-wing unmanned aerial vehicle, the current position is determined according to the current longitude and latitude information, the current position is used as the center, a preset radius value is used as the radius, the current airspace is divided, the current airspace is mapped to the ground, and the current ground range is obtained.
With reference to the above embodiment shown in fig. 1, in step 104, a forced landing area is selected according to the ground terrain information, and a forced landing glide task is executed according to the forced landing area, specifically, as shown in fig. 4, the method includes:
401, selecting an area meeting forced landing conditions from the current ground range according to the ground terrain information, and using the area as a forced landing candidate area.
The forced landing condition of the fixed-wing unmanned aerial vehicle is preferably flat, wide and close to a highway or village zone, so that personnel and property loss is reduced as much as possible, the ground is ensured to be suitable for forced landing, an area meeting the forced landing condition is selected from the current ground range according to ground terrain information and serves as a forced landing candidate area, and at least one forced landing candidate area is selected.
And 402, selecting the area closest to the fixed-wing unmanned aerial vehicle from the forced landing candidate area as a forced landing area.
And if the forced landing candidate areas are multiple, selecting the area closest to the fixed-wing unmanned aerial vehicle from the multiple forced landing candidate areas as the forced landing area.
And 403, acquiring the course information of the fixed-wing unmanned aerial vehicle, and determining the current course according to the course information.
And 404, judging whether the deviation angle between the current course and the course of the forced landing area is smaller than a preset deviation value.
The current course represents the flight direction of the fixed-wing unmanned aerial vehicle, the straight line is used as a standard, whether the fixed-wing unmanned aerial vehicle can reach a forced landing area or not in accordance with the current course flight is judged, the deviation angle is called a course deviation angle, and the preset deviation value can be 10 degrees. The heading deviation angle is less than 10 degrees, and step 405 is executed; the heading deviation angle is not less than 10 deg., step 406 is performed.
405, a connecting line between the current position of the fixed-wing unmanned aerial vehicle and the forced landing area is used as a forced landing sliding line, and a default sliding track angle of the forced landing sliding line is obtained.
Wherein, a connecting line of the current position of the fixed-wing unmanned aerial vehicle and the forced landing area is used as a forced landing sliding line, and a default sliding track angle of the forced landing sliding line is obtained, and the default sliding track angle is generally-7.5 degrees.
And 406, adjusting the course of the fixed-wing unmanned aerial vehicle to enable the deviation angle between the adjusted course and the course of the forced landing area to be smaller than a preset deviation value, taking the connecting line between the position of the fixed-wing unmanned aerial vehicle after course adjustment and the forced landing area as a forced landing sliding line, and obtaining a default sliding track angle of the forced landing sliding line.
And 407, executing the forced descending and gliding task according to the forced descending and gliding line and the default gliding track angle.
The implementation principle of the embodiment is as follows: after an forced landing area is selected from the current ground range according to ground terrain information, judging whether the current course can reach the forced landing area or not, wherein the current course is smaller than a preset deviation value, and taking a connecting line between the current position of the fixed-wing unmanned aerial vehicle and the forced landing area as a forced landing sliding line to obtain a default sliding track angle; if the deviation value is not smaller than the preset deviation value, the course of the fixed-wing unmanned aerial vehicle is adjusted, then the forced landing sliding line and the default sliding track angle are obtained, and the forced landing sliding task is executed according to the forced landing sliding line and the default sliding track angle.
With reference to the embodiment shown in fig. 4, in step 407, a forced landing glide-slope task is executed according to the forced landing glide-slope and the default glide trajectory angle, which is specifically executed as shown in fig. 5:
501, acquiring a real-time height value of the fixed-wing unmanned aerial vehicle relative to a forced landing area.
The fixed wing unmanned aerial vehicle obtains a current height value in real time in the process of starting forced landing and compares the current height value with a forced landing area to obtain a real-time height value.
502, when the real-time height value is greater than the first preset height value, a hover height instruction is generated, and the fixed-wing drone is controlled to hover to a second preset height value according to the hover height instruction.
When the real-time height value is larger than the first preset height value, the first preset height value is preset to be 100m, a spiral height reducing instruction is generated, the fixed-wing unmanned aerial vehicle is controlled to be in spiral height reduction to a second preset height value according to the spiral height reducing instruction, and the second preset height value is preset to be 50 m.
And 503, when the real-time height value is equal to the second preset height value, controlling the gasoline selection switch or the gasoline access switch to be turned off, and controlling the generator to stop working.
When the real-time height value is equal to the second preset height value, the gasoline selection switch or the gasoline access switch is controlled to be turned off, the oil supply of the generator is cut off, the generator is controlled to stop working, the generator stops supplying power to the sensor equipment of the fixed-wing unmanned aerial vehicle, the sensor equipment is turned off after losing the power supply, and the sensor equipment can be electronic devices and equipment which need to be supplied with power and operate, such as a main inertial navigation sensor or a standby inertial navigation sensor.
And 504, when the real-time height value is smaller than a second preset height value, tracking a forced descent sliding line and a default sliding trajectory angle for forced descent according to the unpowered approach sliding control strategy.
When the real-time height value is smaller than a second preset height value, the forced descent line and the default glide track angle are tracked for forced descent according to the unpowered approach glide control strategy.
The implementation principle of the embodiment is as follows: when the forced landing gliding task is executed, the real-time height value is needed to be determined, when the real-time height value is larger than the first preset height value, the fixed-wing unmanned aerial vehicle is controlled to hover to the second preset height value, the gasoline selector switch or the gasoline access switch is controlled to be closed, the oil supply of the generator is cut off, the generator is controlled to stop working, the generator stops supplying power to the sensor equipment of the fixed-wing unmanned aerial vehicle, and when the real-time height value is smaller than the second preset height value, the forced landing gliding line and the default gliding track angle are tracked according to the unpowered approaching gliding control strategy to perform forced landing. Make the in-process fixed wing unmanned aerial vehicle of forced landing glide task can reduce the height smoothly, improve the security of forced landing glide process, when the height value is predetermine to the second, let sensor equipment shut down earlier through stopping the power supply, avoid sensor equipment to receive the impact forced shutdown when forced landing, lead to data loss.
With reference to the embodiment shown in fig. 1, in step 105, a landing scheme of the fixed-wing drone is generated according to the area information, the regional ground softness information, and the regional terrain trend information, and the specific implementation is as shown in fig. 6, and includes:
601, determining the space size of the forced landing area according to the area information.
The area information represents the length value and the width value of the forced landing area, the forced landing direction of the fixed-wing unmanned aerial vehicle is used as the length value, the space size of the forced landing area can be obtained according to the length value and the width value, and whether the fixed-wing unmanned aerial vehicle can be contained or not can be measured according to the space size.
And 602, determining the ground wet and soft property of the forced landing area according to the regional ground wet and soft degree information.
The ground wet and soft attributes of the forced landing area are determined according to the regional ground wet and soft degree information, the ground wet and soft attributes are divided into wet and soft zones and non-wet and soft zones, the wet and soft zones are rice fields, wetlands, snowfields and the like, and the non-wet and soft zones are roads and the like.
603, determining the gradient trend of the forced landing area according to the terrain trend information of the area.
The slope trend of the forced landing area is determined according to the regional terrain trend information, and the slope trend indicates that the forced landing area is not flat ground but has a certain slope.
And 604, judging whether the space is narrow or not relative to the size data of the fixed-wing unmanned aerial vehicle according to the space size.
Firstly, judging whether the space is narrow relative to the size data of the fixed-wing unmanned aerial vehicle according to the space size, for example, if the span of the fixed-wing unmanned aerial vehicle is 5m and the width of the space size is 5.5m, it indicates that the space is narrow and possibly damaged, and if the space is narrow, executing a step 605; if the ground is flat and not narrow, step 606 is performed.
605, the landing scheme for generating the fixed wing drone is sideslip grounding.
Wherein, under the narrow and small condition in space, in order to avoid crashing, need when fixed wing unmanned aerial vehicle lands, before ground connection, control rudder makes fixed wing unmanned aerial vehicle sideslip ground connection, and occupation space has reduced when sideslip ground connection, reduces the risk of crashing.
And 606, judging whether the forced landing area is a wet and soft zone according to the wet and soft property of the ground.
When the space is large, whether the forced landing area is a wet and soft zone is judged according to the ground wet and soft property, if the forced landing area is the wet and soft zone, step 605 is executed, and when the ground is the wet and soft zone, in order to prevent the front wheels from sinking into the wet and soft zone when the fixed wing unmanned aerial vehicle lands on the ground, the front wheels are inverted and also need to sideslip to be grounded; if not, step 607 is performed.
607, the landing scheme of the fixed-wing unmanned aerial vehicle is generated according to the trend of the gradient, and the machine head is grounded towards the direction with the high gradient.
Wherein, when ground is not wet soft area, according to the slope trend, let fixed wing unmanned aerial vehicle's aircraft nose to the direction ground connection that the slope is high, make fixed wing unmanned aerial vehicle can be more static with the help of the topography slope.
The implementation principle of the embodiment is as follows: according to the regional area information, the regional ground softness information and the regional topography trend information, the space size, the ground softness and the gradient trend can be determined respectively, and the landing scheme of the fixed-wing unmanned aerial vehicle is formulated through the space size, the ground softness and the gradient trend, so that the fixed-wing unmanned aerial vehicle is safer during landing;
under the condition of determining narrow space according to the space size, in order to avoid crash, when the fixed-wing unmanned aerial vehicle lands, a landing grounding scheme is sideslip grounding; when the space is large, if the ground is in a wet and soft zone, the landing grounding scheme is also sideslip grounding, so that the front wheels are prevented from being sunk into the wet and soft zone to cause the fixed wing unmanned aerial vehicle to stand upside down; when ground is not the wet and soft area, according to the slope trend, let fixed wing unmanned aerial vehicle to the direction ground connection that the slope is high, make fixed wing unmanned aerial vehicle can be more static with the help of the topography slope.
In the preferred embodiment of the present application, before controlling the fixed-wing drone to land according to the landing scheme, the method further includes:
when the real-time height value of the fixed-wing unmanned aerial vehicle is in the height section before grounding, generating a leveling instruction;
and controlling the fixed-wing unmanned aerial vehicle to execute a leveling task according to the leveling instruction.
The implementation principle of the embodiment is as follows: the height section before grounding is a section of height before landing, generally 8-10m, when the real-time height value of the fixed-wing unmanned aerial vehicle is in the height section before grounding, a leveling instruction is generated, the fixed-wing unmanned aerial vehicle is controlled to execute a leveling task according to the leveling instruction, so that the fixed-wing unmanned aerial vehicle can be grounded at a larger attack angle and a smaller speed, and the grounding process is safer.
In a preferred embodiment of the present application, when the ground is connected, the method further includes:
when the fixed-wing unmanned aerial vehicle is detected to be grounded, generating a storage battery disconnection instruction;
and controlling the storage battery to cut off power supply according to the storage battery cut-off instruction.
The implementation principle of the embodiment is as follows: when the fixed wing unmanned aerial vehicle is grounded, a storage battery disconnection instruction is generated, and the storage battery is controlled to be disconnected for power supply according to the storage battery disconnection instruction, so that the safety of a battery and a circuit of the fixed wing unmanned aerial vehicle is guaranteed.
Having introduced the forced landing method of fixed wing unmanned aerial vehicle in detail in the above embodiment, the following explains with the forced landing system of fixed wing unmanned aerial vehicle of the above method through the embodiment application, as shown in fig. 7, the present application provides a forced landing system of fixed wing unmanned aerial vehicle, includes:
the system comprises an acquisition module 701, an airspeed control module 702, a forced landing control module 703 and a landing control module 704;
when the fixed-wing unmanned aerial vehicle enters a forced landing program, the acquisition module 701 acquires the current airspeed of the fixed-wing unmanned aerial vehicle;
the airspeed control module 702 controls the fixed wing drone to adjust from the current airspeed to the glide flight airspeed;
the acquisition module 701 acquires ground terrain information corresponding to a current airspace of the fixed-wing unmanned aerial vehicle;
the forced landing control module 703 selects a forced landing area according to the ground terrain information, and executes a forced landing gliding task according to the forced landing area;
in the forced landing gliding task executing process, the landing control module 704 acquires region area information, region ground softness information and region topography trend information of a forced landing region; generating a landing scheme of the fixed-wing unmanned aerial vehicle according to the regional area information, the regional ground softness information and the regional topography trend information; and when the forced landing gliding task process is finished, controlling the fixed wing unmanned aerial vehicle to carry out landing grounding according to a landing grounding scheme.
The implementation principle of the embodiment is as follows: when the fixed wing unmanned aerial vehicle can not land in a normal program in the flying process, the fixed wing unmanned aerial vehicle enters a forced landing program, when forced landing is performed, the airspeed control module 702 controls the airspeed of the fixed wing unmanned aerial vehicle at the glide flight airspeed, the acquisition module 701 determines the ground terrain information corresponding to the lower part of the current airspace, the forced landing control module 703 selects a forced landing area, and when a forced landing glide task is performed, the landing ground control module 704 acquires the area information, the area ground softness information and the area terrain trend information of the forced landing area, and as the forced landing area is selected according to the ground terrain information, only the ground condition in an approximate range can be obtained, when the final landing of forced landing is related, the specific details of the forced landing area are not available, and when the forced landing area is selected, the fixed wing unmanned aerial vehicle is located at a higher height, the specific ground details can not be acquired through equipment such as a camera, therefore, in the forced landing gliding task process, the landing scheme of the fixed-wing unmanned aerial vehicle is generated by combining the regional area information of the forced landing region, the regional ground softness information and the regional topography trend information, and when the forced landing gliding task process is finished, the fixed-wing unmanned aerial vehicle is controlled to be grounded according to the landing scheme. The safety of the fixed wing unmanned aerial vehicle in the forced landing area can be improved, and the damage rate of the fixed wing unmanned aerial vehicle in the forced landing is reduced.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (10)
1. A forced landing method of a fixed-wing unmanned aerial vehicle is characterized by comprising the following steps:
when a fixed-wing unmanned aerial vehicle enters a forced landing program, acquiring the current airspeed of the fixed-wing unmanned aerial vehicle;
controlling the fixed wing drone to adjust from the current airspeed to a glide flight airspeed;
acquiring ground terrain information corresponding to the current airspace of the fixed-wing unmanned aerial vehicle;
selecting a forced landing area according to the ground terrain information, and executing a forced landing gliding task according to the forced landing area;
acquiring regional area information, regional ground softness information and regional terrain trend information of the forced landing region in the process of executing the forced landing gliding task;
generating a landing scheme of the fixed-wing unmanned aerial vehicle according to the region area information, the region ground softness information and the region topography trend information;
and when the forced landing gliding task process is finished, controlling the fixed-wing unmanned aerial vehicle to carry out landing grounding according to the landing grounding scheme.
2. The method of claim 1, wherein said controlling said fixed-wing drone to adjust from said current airspeed to a glide flight airspeed further comprises:
judging whether an engine of the fixed-wing unmanned aerial vehicle has a fire fault;
if the fire fault occurs, the forced landing program is not exited;
if the fire fault does not occur, executing an engine air starting program;
if the engine is started successfully in the air, the forced landing program is exited, and the fixed-wing unmanned aerial vehicle is controlled to enter a normal landing program;
and if the engine is not started in the air, the forced landing procedure is not exited.
3. The forced landing method of the fixed-wing drone according to claim 1, wherein the obtaining of the ground terrain information corresponding to the current airspace of the fixed-wing drone includes:
acquiring current longitude and latitude information of the fixed-wing unmanned aerial vehicle;
determining a current position according to the current longitude and latitude information, and forming a current airspace with a preset radius value by taking the current position as a center;
mapping the current airspace to the ground to obtain a current ground range;
and obtaining the ground terrain information of the current ground range through a geographic information system and/or satellite image information.
4. The forced landing method of the fixed-wing drone according to claim 3, wherein the selecting a forced landing area according to the ground terrain information and performing a forced landing glide mission according to the forced landing area comprises:
selecting areas meeting forced landing conditions from the current ground range according to the ground terrain information as forced landing candidate areas, wherein at least one forced landing candidate area is selected;
selecting the area closest to the fixed-wing unmanned aerial vehicle from the forced landing candidate area as a forced landing area;
acquiring course information of the fixed-wing unmanned aerial vehicle, and determining the current course according to the course information;
judging whether the deviation angle between the current course and the course of the forced landing area is smaller than a preset deviation value or not;
if the deviation value is smaller than the preset deviation value, taking a connecting line of the current position of the fixed-wing unmanned aerial vehicle and the forced landing area as a forced landing sliding line, and obtaining a default sliding track angle of the forced landing sliding line;
if the deviation value is not smaller than the preset deviation value, the course of the fixed-wing unmanned aerial vehicle is adjusted, so that the deviation angle between the adjusted course and the course of the forced landing area is smaller than the preset deviation value, the connection line between the position of the fixed-wing unmanned aerial vehicle after course adjustment and the forced landing area is used as a forced landing sliding line, and the default sliding track angle of the forced landing sliding line is obtained;
and executing a forced landing gliding task according to the forced landing gliding line and the default gliding track angle.
5. The forced landing method of a fixed-wing drone according to claim 4, wherein performing a forced landing glide mission according to the forced landing glide line and the default glide trajectory angle comprises:
acquiring a real-time height value of the fixed-wing unmanned aerial vehicle relative to the forced landing area;
when the real-time height value is larger than a first preset height value, generating a disc descending instruction, and controlling the fixed-wing unmanned aerial vehicle to be in disc descending to a second preset height value according to the disc descending instruction;
when the real-time height value is equal to the second preset height value, controlling a gasoline selection switch or a gasoline access switch to be turned off, and controlling a generator to stop working, so that the generator stops supplying power to sensor equipment of the fixed-wing unmanned aerial vehicle;
and when the real-time height value is smaller than the second preset height value, tracking the forced descent sliding line and the default sliding trajectory angle for forced descent according to an unpowered approach sliding control strategy.
6. The forced landing method of a fixed-wing drone according to claim 5, wherein the generating a landing scheme for the fixed-wing drone according to the regional area information, the regional ground softness information, and the regional terrain trend information includes:
determining the space size of the forced landing area according to the area information;
determining the ground wet-soft property of the forced landing area according to the area ground wet-soft degree information;
determining the gradient trend of the forced landing area according to the terrain trend information of the area;
and generating a landing and grounding scheme of the fixed-wing unmanned aerial vehicle according to the space size, the ground wet and soft property and the gradient trend.
7. The method of claim 6, wherein the generating a landing scheme for the fixed-wing drone according to the space size, the ground wetting and softness property, and the slope trend comprises:
judging whether the space is narrow or not relative to the size data of the fixed-wing unmanned aerial vehicle according to the space size;
if the space is narrow, generating a landing grounding scheme of the fixed-wing unmanned aerial vehicle as sideslip grounding;
if the ground is not narrow, judging whether the forced landing area is a wet and soft zone according to the ground wet and soft property;
if the ground is in a wet and soft zone, generating a landing grounding scheme of the fixed-wing unmanned aerial vehicle as sideslip grounding;
and if the ground connection scheme is not a wet and soft zone, generating a landing ground connection scheme of the fixed-wing unmanned aerial vehicle according to the gradient trend, namely grounding the machine head in the direction with the high gradient.
8. The method of forced landing of a fixed-wing drone of claim 1, wherein, prior to controlling the fixed-wing drone to land according to the landing scheme, further comprising:
when the real-time height value of the fixed-wing unmanned aerial vehicle is in the height section before grounding, generating a leveling instruction;
and controlling the fixed-wing unmanned aerial vehicle to execute a leveling task according to the leveling instruction.
9. The method of forcing a landing of a fixed-wing drone of claim 1, further comprising:
when the fixed-wing unmanned aerial vehicle is detected to be grounded, generating a storage battery disconnection instruction;
and controlling the storage battery to cut off power supply according to the storage battery cut-off instruction.
10. A forced landing system for fixed wing drones, comprising:
the system comprises an acquisition module, an airspeed control module, a forced landing control module and a landing control module;
when the fixed-wing unmanned aerial vehicle enters a forced landing program, the acquisition module acquires the current airspeed of the fixed-wing unmanned aerial vehicle;
the airspeed control module controls the fixed-wing unmanned aerial vehicle to adjust from the current airspeed to a glide flight airspeed;
the acquisition module acquires ground terrain information corresponding to the current airspace of the fixed-wing unmanned aerial vehicle;
the forced landing control module selects a forced landing area according to the ground terrain information and executes a forced landing gliding task according to the forced landing area;
in the forced landing gliding task executing process, the landing control module acquires region area information, region ground softness information and region topography trend information of the forced landing region; generating a landing scheme of the fixed-wing unmanned aerial vehicle according to the region area information, the region ground softness information and the region topography trend information; and when the forced landing gliding task process is finished, controlling the fixed-wing unmanned aerial vehicle to carry out landing grounding according to the landing grounding scheme.
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