CN113848975A - Target drone flight path control method, device, equipment and storage medium - Google Patents
Target drone flight path control method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN113848975A CN113848975A CN202111162311.4A CN202111162311A CN113848975A CN 113848975 A CN113848975 A CN 113848975A CN 202111162311 A CN202111162311 A CN 202111162311A CN 113848975 A CN113848975 A CN 113848975A
- Authority
- CN
- China
- Prior art keywords
- target
- drone
- ship
- aircraft
- flight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 73
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 66
- 238000005259 measurement Methods 0.000 claims abstract description 38
- 230000008569 process Effects 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 239000011159 matrix material Substances 0.000 claims description 29
- 239000013598 vector Substances 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000006855 networking Effects 0.000 claims description 6
- 230000006870 function Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012821 model calculation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a target drone aircraft route control method, which is applied to the technical field of target drone aircraft route planning and comprises the following steps: the airborne flight control computer establishes a target aircraft flight path power model according to the path point coordinates and the navigation direction of the longitudinal axis position of the target ship and the pitch angle range of the target aircraft freedom degree power model, and the data of the target aircraft flight path power model is used as the along-ship path information; the airborne flight control computer controls the target drone to fly along the planning airway according to the warship-following airway information determined by the drone flight airway power model through the ground measurement and control station; and in the sailing process of the target ship, the airborne flight control computer calculates the navigation point coordinates of the target drone in the flying process in real time and controls the transverse offset of the target drone according to the nonlinear control system. The combined target drone aircraft flight path power model is used for determining the warship-following path information to guide the target drone to fly according to the planned path, and the reliability and reliability of the planned path are high, so that the relative position of motion between the target drone and a target ship is constant.
Description
Technical Field
The application relates to the technical field of target drone aircraft route planning, in particular to a target drone aircraft route control method, a device, equipment and a storage medium.
Background
The designed target drone course self-adaptive matching is based on a target drone course setting concept taking a ship as a center, the basic theory is that no matter how the ship moves, the relative course position relation between the target drone and the ship is always unchanged, therefore, before the target drone launches, a relative course taking the ship as the center is uploaded to the target drone, after the target drone is lifted off, a target drone ground station needs to acquire key information such as accurate position, speed, course and the like of the ship in real time and upload the information to the target drone through a measurement and control link, after the target drone receives the real-time course position and the course of the ship, the target drone calculates the flight course of the target drone under a geographic inertial coordinate system in real time by combining with the position coordinate of the relative target drone course taking the ship as the center and transmits the course information to an autopilot, and the autopilot takes the position information given by a combined navigation system as guidance, guiding the target drone to fly according to a new air route, and ensuring that the relative position relationship between the target drone and the ship is kept unchanged; however, in the course of the drone and the ship following the navigation, because the ship always moves, the traditional fixed navigation way cannot guide the drone to fly according to a new navigation way, a target pilot needing to control the drone modifies the navigation way according to the movement of the ship and sends the modified navigation way to the drone, so that interactive data of the drone and the ship are formed, and the transmission way has interactive data deviation and is low in flexibility and expansibility, so that the navigation efficiency is seriously influenced.
Disclosure of Invention
In view of this, an embodiment of the present application provides a target drone route control method, where a target drone flight route power model is established according to a route point coordinate and a navigation direction of a target ship longitudinal axis position and an operation result of the target drone freedom degree power model, the route point coordinate, the speed, and the navigation direction of the target ship can be accurately obtained, the combined target drone flight route power model is used to determine that a target drone flies along with ship route information and is guided to fly according to a planned route, and the reliability and reliability of the planned route are high.
In a first aspect, an embodiment of the present application provides a drone aircraft route control method, including:
the airborne flight control computer establishes a target drone flight path power model according to the path point coordinates and the navigation direction of the longitudinal axis position of the target ship and the pitch angle range of the target drone freedom degree power model, and the data of the target drone flight path power model is used as the on-board path information;
the airborne flight control computer controls the target drone to fly along a planning airway according to the warship-following airway information determined by the target drone flight airway power model through a ground measurement and control station;
and in the sailing process of the target ship, the airborne flight control computer calculates the navigation point coordinates of the target drone in the flying process in real time and controls the transverse offset of the target drone according to the nonlinear control system.
With reference to the first aspect, an embodiment of the present application provides a first possible implementation manner of the first aspect, where the establishing, by an airborne flight control computer, a drone aircraft flight path dynamic model according to a waypoint coordinate and a navigation direction of a target ship longitudinal axis azimuth and a range of a target drone aircraft degree of freedom dynamic model pitch angle, where data of the drone aircraft flight path dynamic model is used as information of a ship-following path, and the establishing includes:
the airborne flight control computer converts the origin and the axis vector of the target ship route point coordinate into a second-order matrix of a target drone freedom degree power model to obtain the minimum turning radius of the target drone; the motion waypoint coordinates of the target ship are the moving freedom degrees of three rectangular coordinates and the rotating freedom degrees around the three coordinates, and the three waypoint coordinates are an X axis in the right chord direction of the ship, a Y axis in the bow direction of the ship and a Z axis in the stern direction of the ship respectively;
calculating a pitch angle and a roll angle of the target drone freedom degree dynamic model according to an origin and an axial vector of a target ship waypoint coordinate in a second-order matrix of the drone freedom degree dynamic model and the minimum turning radius of the target drone;
and determining a target drone flight path power model according to the path point coordinates of the target ship and the calculation result of the target drone freedom degree power model, wherein the data of the target drone flight path power model is used as the information of the carrier-associated path.
With reference to the first possible implementation manner or the second possible implementation manner of the first aspect, an embodiment of the present application provides a second possible implementation manner of the first aspect, where the converting, by the onboard flight control computer, the origin and the axis vector of the target ship waypoint coordinates into a second-order matrix of the dynamic model of the degree of freedom of the drone to obtain the minimum turning radius of the drone includes:
the minimum turning radius of the target drone is according to the following formula:
wherein cos ψsRepresenting the sailing direction of the ship; r represents the minimum turning radius of the drone;
and the second-order matrix represents the shaft vector function in the power model of the degree of freedom of the drone aircraft.
With reference to the first possible implementation manner or the second possible implementation manner of the first aspect, an embodiment of the present application provides a third possible implementation manner of the first aspect, where calculating a pitch angle and a roll angle of the dynamic model of freedom degree of the drone according to an origin and an axis vector of a target ship waypoint coordinate in a second order matrix of the dynamic model of freedom degree of the drone and a minimum turning radius of the drone includes:
calculating the pitch angle according to the following formula:
Plat＝(PNy/R+Slat)*180/pi
Plon＝(PNx/(R*cos(Slat))+Slon)*180/pi
PNx and PNy represent components of a target ship second-order matrix in a waypoint coordinate system; slat and SlonRepresenting the rapid rotation angle of the latitude and longitude degree of the target ship; 180/pi represents the number of angles of one rotation; plat and PlonAnd representing the pitch angle after the P waypoint coordinate passes through multiple iterations.
With reference to the first possible implementation manner or the second possible implementation manner of the first aspect, an embodiment of the present application provides a fourth possible implementation manner of the first aspect, where determining a drone aircraft flight path dynamic model according to the waypoint coordinates of the target ship and the drone aircraft degree-of-freedom dynamic model calculation result, where calculating data in the drone aircraft flight path dynamic model as the ship-following path information includes:
calculating the on-board route information according to the following formula:
wherein ,
representing coordinates of two waypoints in the power model of the degree of freedom of the drone aircraft;
With reference to the first possible implementation manner or the second possible implementation manner of the first aspect, an embodiment of the present application provides a fifth possible implementation manner of the first aspect, where the controlling, by the airborne flight control computer, the drone aircraft to fly along the planned route according to the onboard route information determined by the drone aircraft flight route dynamic model through the ground measurement and control station includes:
the airborne flight control computer sends the calculated on-board route information to a ground measurement and control station through a wireless communication networking link;
and the ground measurement and control station sends the received on-board route information to the target drone through an uplink measurement and control link according to the GNSS antenna navigation equipment.
With reference to the first possible implementation manner or the second possible implementation manner of the first aspect, an embodiment of the present application provides a sixth possible implementation manner of the first aspect, where in a target ship sailing process, the onboard flight control computer reads on-board route information determined by a target aircraft flight route dynamic model in real time, and controls a lateral offset of the target aircraft according to a nonlinear control system, including:
in the sailing process of a target ship, an airborne flight control computer reads on-board route information determined by a target aircraft flight route power model in real time through a steering engine executing mechanism and a sensor;
and controlling the transverse offset of the target drone through a nonlinear control system according to the read real-time on-board ship route information.
In a second aspect, an embodiment of the present application further provides a target drone aircraft route control device, including:
the system comprises a creating module, an airborne flight control computer and a target aircraft dynamic model, wherein the airborne flight control computer creates a target aircraft flight path dynamic model according to the waypoint coordinates and the navigation direction of the longitudinal axis position of a target ship and the pitch angle range of the target aircraft freedom degree dynamic model, and the data of the target aircraft flight path dynamic model is used as the on-board route information;
the control module is used for controlling the target drone to fly along a planned airway according to the on-board airway information determined by the target drone flying airway power model through a ground measurement and control station;
and the calibration module is used for reading the on-board ship route information determined by the target aircraft flight route dynamic model in real time by the airborne flight control computer and controlling the transverse offset of the target aircraft according to the nonlinear control system in the target ship sailing process.
In a third aspect, an embodiment of the present application further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the drone aircraft route control method according to any one of claims 1 to 7 when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to perform steps of a method such as drone aircraft airway control.
According to the method for controlling the target drone aircraft airway, a self-adaptive method for the marine target drone aircraft airway is designed, and compared with a ship training following method, an unmanned aerial vehicle in the prior art is adopted; the airborne flight control computer establishes a target aircraft flight path power model according to the path point coordinate and the navigation direction of the longitudinal axis position of a target ship and the pitch angle range of the target aircraft freedom degree power model, and the data of the target aircraft flight path power model is used as the on-board path information; the airborne flight control computer controls the target drone to fly along the planning airway according to the warship-following airway information determined by the drone flight airway power model through the ground measurement and control station; and in the sailing process of the target ship, the airborne flight control computer reads the on-board route information determined by the target aircraft flight route power model in real time and controls the transverse offset of the target aircraft according to the nonlinear control system. Specifically, the airborne flight control computer can accurately acquire the waypoint coordinates, speed and navigation direction of the target ship according to the waypoint coordinates and the navigation direction of the longitudinal axis direction of the target ship and by combining a target aircraft freedom degree power model, determines that the target aircraft flies according to the planned route along with the ship route information by utilizing the combined target aircraft flight route power model, and has high reliability and reliability of the planned route, comprehensive consideration of the combined model, strong universality, capability of rapidly mastering route data and wide application range; controlling the target drone to fly along a planned route according to the power model of the flight route of the target drone, and accurately reading the coordinates and the navigation direction of the route point of the target ship in a static and moving state to meet the use requirement; in the navigation process of the target ship, the airborne flight control computer calculates the navigation point coordinates of the target aircraft in the flight process in real time, and the transverse offset of the navigation point coordinates in the movement process of the target ship is automatically calibrated through the nonlinear control system, so that the transverse yaw rate of the target aircraft flying along the planned navigation path is ensured.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows a flowchart of a drone aircraft route control method provided by an embodiment of the present application.
Fig. 2 is a schematic flow chart illustrating a process of establishing a drone aircraft flight path dynamic model in a drone aircraft flight path control method according to an embodiment of the present application.
Fig. 2-1 is a schematic diagram illustrating a method for calculating a minimum turning radius of a drone aircraft in a drone aircraft airway control method according to an embodiment of the present application.
Fig. 3 is a schematic flow chart illustrating a method for controlling a drone aircraft to fly along a planned route according to an embodiment of the present application.
Fig. 4 shows a schematic flow chart of controlling the lateral translation amount in the drone aircraft route control method according to the embodiment of the present application.
FIG. 5 is a schematic structural diagram of an apparatus for controlling a drone aircraft airway according to an embodiment of the present application.
Fig. 6 shows a schematic structural diagram of a computer device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The target drone flight path planning is mentioned in the concept of a tactical flight management system of the U.S. air force, and aims to improve the flight safety of the target drone and the success rate of task completion and liberate a pilot from a high-intensity work task to a certain extent, a Laite aviation laboratory obtains inspiration and experience from a civil aviation flight management system, and the core of the target drone flight path planning is to plan a track which meets the use requirement and has the optimal performance and then control the flight to fly along the planned track.
At present, in air defense training and exercise of navy, due to movement of ships, the fixed route planning method cannot meet the training and exercise requirements, flight operators need to modify routes according to the movement of the ships and interact with unmanned planes, the operation burden of the operators is increased, and manually modified route data are not accurate enough.
In view of the fact that the drone in the prior art cannot achieve adaptive control of the drone flight path, embodiments of the present application provide a drone flight path control method, which is described below by way of embodiments.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
FIG. 1 is a flow chart of a method for controlling a drone aircraft airway according to an embodiment of the present application; as shown in fig. 1, planning a ship-based route of a drone specifically includes the following steps:
and step S10, the airborne flight control computer establishes a target aircraft flight path dynamic model according to the path point coordinates and the navigation direction of the longitudinal axis direction of the target ship and the pitch angle range of the target aircraft freedom degree dynamic model, and the data of the target aircraft flight path dynamic model is used as the on-board path information.
Step S10 is implemented specifically, the horizontal axis of the navigation point coordinate system of the target ship is the boundary of the north-south hemisphere of the earth, the vertical axis is the boundary of the east-west hemisphere of the earth, the north-righting orientation geographic coordinate system is designated, the position of the target ship is the east-righting orientation, the airborne flight control computer converts the origin of the navigation point coordinate set in the longitudinal axis orientation of the target ship and the axial vector of the navigation point coordinate into the second-order matrix of the target aircraft freedom power model, the minimum turning radius of the target aircraft is obtained according to the converted second-order matrix, the pitch angle and the roll angle of the target aircraft freedom power model are calculated according to the origin and the axial vector of the navigation point coordinate of the target ship in the second-order matrix of the target aircraft freedom power model and the minimum turning radius of the target aircraft, the pitch angle is used as the navigation direction of the longitudinal axis orientation of the target ship, the navigation point coordinate of the longitudinal axis orientation of the target ship and the navigation direction calculated by the target aircraft freedom power model, establishing a target drone flight path power model, and taking data determined by the target drone flight path power model as carrier-borne path information; the airborne flight control computer in the steps can accurately acquire the waypoint coordinates, the speed and the navigation direction of the target ship, the running speed is favorably improved by combining the dynamic model of the degree of freedom of the target drone, and the combined dynamic model of the flight path of the target drone guides the target drone to fly according to the planned path, so that the relative position of the movement between the target drone and the target ship is constant.
And step S20, the airborne flight control computer controls the target drone to fly along the planned route according to the information of the ship-following route determined by the power model of the target drone flight route through the ground measurement and control station.
Step S20 is implemented specifically, the airborne flight control computer establishes bidirectional wireless networking link communication with the ground measurement and control station and the target aircraft respectively according to the GNSS antenna navigation equipment, the airborne flight control computer sends the on-board route information determined by the target aircraft flight route power model to the ground measurement and control station through the beacon equipment of the target ship, the ground measurement and control station sends the on-board route information to the target aircraft through the uplink measurement and control link according to the GNSS antenna navigation equipment, and the target aircraft flies along the planning route according to the received on-board route information; the target drone flight route dynamic model in the steps controls the target drone to fly along the planned route according to the bidirectional wireless networking link, so that the accurate reading of the route point coordinates and the navigation direction of the target ship in the static and moving states is realized, and when the phase center of the GNSS antenna navigation equipment is set to be more than 2 meters, the accuracy can reach 0.1 degree and the use requirement of the accuracy is met.
And step S30, in the sailing process of the target ship, the airborne flight control computer reads the on-board route information determined by the target aircraft flight route dynamic model in real time and controls the transverse offset of the target aircraft according to the nonlinear control system.
Step S30 is implemented specifically, in the process of target ship navigation, the onboard flight control computer reads the on-board route information determined by the target ship flight route power model in real time through the steering engine executor and the sensor, the nonlinear control system automatically calibrates the lateral offset of the route point coordinate in the motion process of the target ship according to the read on-board route information, and ensures the lateral yaw rate of the target ship along the planned route, and the steps effectively inhibit and eliminate the lateral yaw rate in the motion of the target ship.
In one possible implementation, fig. 2 shows a schematic flow chart for establishing a dynamic model of a flight path of a drone provided by an embodiment of the present application; in the above step S10, the airborne flight control computer establishes the drone aircraft flight path power model according to the waypoint coordinates and the navigation direction of the target ship longitudinal axis azimuth, and the range of the target aircraft degree of freedom power model pitch angle, and the data of the drone aircraft flight path power model is used as the on-board route information, including:
step S101, an airborne flight control computer converts an origin and an axis vector of a target ship route point coordinate into a second-order matrix of a target drone freedom degree power model to obtain a minimum turning radius of the target drone; the three waypoint coordinates are respectively an X axis in the right chord direction of the ship, a Y axis in the bow direction of the ship and a Z axis in the stern direction.
And S102, calculating a pitch angle and a roll angle of the target drone freedom degree dynamic model according to the origin and the axial vector of the target ship route point coordinate in the second-order matrix of the drone freedom degree dynamic model and the minimum turning radius of the target drone.
And S103, determining a target aircraft flight path power model according to the path point coordinates of the target ship and the calculation result of the target aircraft freedom degree power model, wherein data obtained by the target aircraft flight path power model according to the calculation result is used as the carrier-associated path information.
When the step S101 is implemented specifically, the airborne flight control computer converts the origin and the axis vector of the target ship waypoint coordinates into a second-order matrix of the power model of the degree of freedom of the target drone by using the following formula, to obtain the minimum turning radius of the target drone, and includes:
calculating the minimum turning radius of the target drone according to the following formula:
wherein cos ψsRepresenting the sailing direction of the ship; r represents the minimum turning radius of the drone;
a second-order matrix representing a shaft vector function in the power model of the degree of freedom of the drone aircraft;
wherein, the airborne flight control computer takes the center of the target ship as the origin, the planned longitudinal axis vector of the target ship is converted into a second-order matrix of the power model of the degree of freedom of the target ship, as shown in fig. 2-1, A (X) is set according to the horizontal axis and the longitudinal axis of the navigation direction of the target shipfA，YfA)、B(XfB，YfB)、C(XfC，YfC)、D(XfD，YfD) The longitude and latitude coordinates of the four way points of the target aircraft air route relative to the target ship are respectively taken as longitude and latitude coordinates of the four way points of the target aircraft ship, the longitude and latitude coordinates of the four way points are combined with a six-degree-of-freedom coordinate system of a target aircraft freedom power model, namely a ship right-chord direction X axis, a ship bow direction Y axis and a ship tail direction Z axis, according to the moving freedom degrees of three rectangular coordinates and the rotating freedom degrees around the three coordinates, a second-order matrix of the target aircraft freedom power model is obtained, and the minimum turning radius R of the target aircraft is calculated according to the second-order matrix of the target aircraft freedom power model.
Step S102, when the method is implemented specifically, according to the origin and the axial vector of the target ship navigation point coordinate in the second-order matrix of the dynamic model of the degree of freedom of the target drone and the minimum turning radius of the target, the pitch angle and the roll angle of the dynamic model of the degree of freedom of the target are calculated, and the method comprises the following steps:
calculating the pitch angle according to the following formula:
Plat＝(PNy/R+Slat)*180/pi
Plon＝(PNx/(R*cos(Slat))+Slon)*180/pi
PNx and PNy represent components of a target ship second-order matrix in a waypoint coordinate system; slat and SlonRepresenting the rapid rotation angle of the latitude and longitude degree of the target ship; 180/pi represents the number of angles of one rotation; plat and PlonRepresenting the pitch angle of the P longitudinal axis route point coordinate after multiple iterations;
according to the navigation direction horizontal axis and the navigation direction vertical axis, the longitude and latitude coordinates of the four navigation points are combined with the six-degree-of-freedom second-order matrix of the target drone degree-of-freedom dynamic model to obtain the minimum turning radius R of the target drone, and according to the substituted coordinates of the navigation points of the target drone degree-of-freedom dynamic model, the minimum turning radius and the target ship latitude and longitude rapid rotation angle S of the target shiplat and SlonAnd the number of the angles of one-time rotation of the target drone is 180/pi, and the pitch angle of the waypoint coordinate of the north pole after multiple iterations is obtained.
Step S103, when the method is specifically implemented, a target drone aircraft flight path dynamic model is determined according to the path point coordinates of the target ship and the calculation result of the target drone aircraft freedom degree dynamic model, and data of the target drone aircraft flight path dynamic model are used as carrier-following path information, and the method comprises the following steps:
calculating the on-board route information according to the following formula:
wherein ,
representing coordinates of two waypoints in the power model of the degree of freedom of the drone aircraft;
Wherein, the second-order matrix of the target aircraft freedom degree power model is converted according to the origin and the axial vector of the target ship route point coordinate, and the two route point coordinates X of the ship right chord direction X axis and the ship bow direction Y axis in the target aircraft freedom degree power modelf，YfAnd determining the ship-following route information of the target drone flight route power model.
In one possible implementation, fig. 3 illustrates a schematic flow chart of controlling a drone to fly along a planned route according to an embodiment of the present application; in the step S20, the onboard flight control computer controls the target drone to fly along the planned route according to the onboard route information determined by the target drone flight route power model through the ground measurement and control station, and includes:
and step S201, the airborne flight control computer sends the calculated on-board route information to a ground measurement and control station through a wireless communication networking link.
And S202, the ground measurement and control station sends the received on-board ship route information to the target drone through an uplink measurement and control link according to the GNSS antenna navigation equipment.
When the steps S201 and S202 are specifically implemented, the onboard flight control computer filters and amplifies an output signal of the target aircraft flight route power model through beacon equipment of a target ship, and converts the amplified output signal into a low-frequency or intermediate-frequency downlink telemetering signal, the onboard flight control computer sends on-board route information determined by the target aircraft flight route power model corresponding to the converted downlink telemetering signal to the ground measurement and control station, the ground measurement and control station sends the on-board route information to the target aircraft through an uplink measurement and control link according to GNSS antenna navigation equipment, and the target aircraft flies along a planned route according to the received on-board route information; the onboard flight control computer converts an output signal of a target aircraft flight path power model into an intermediate frequency or low frequency signal through beacon equipment of a target ship after filtering, and sends the converted signal to the ground measurement and control station, so that the onboard flight control computer can accurately receive or send ship-following path information under different frequency band motion states, and when the phase center of GNSS antenna navigation equipment is set to be more than 2 meters, the accuracy can reach 0.1 degree to meet the use requirement of the accuracy.
In one possible implementation, fig. 4 shows a schematic flow chart of controlling the lateral offset provided by the embodiment of the present application; in the step S30, in the course of the target ship sailing, the onboard flight control computer reads the on-board route information determined by the target aircraft flight route power model in real time, and controls the lateral offset of the target aircraft according to the nonlinear control system, including:
step S301, in the navigation process of a target ship, an airborne flight control computer reads on-board route information determined by a target aircraft flight route power model in real time through a steering engine executing mechanism and a sensor;
and S301, controlling the transverse offset of the target drone through a nonlinear control system according to the read real-time on-board ship route information.
When the steps S301 and S302 are specifically implemented, in the process of navigating the target ship, the onboard flight control computer reads the on-board route information determined by the target ship flight route power model in real time through the steering engine actuator and the sensor, and the nonlinear control system automatically calibrates the lateral offset of the route point coordinate in the motion process of the target ship according to the read on-board route information, so as to ensure the lateral yaw rate of the target ship flying along the planned route, and effectively suppress and eliminate the lateral yaw rate in the motion of the target ship.
Fig. 5 is a schematic structural diagram of an embodiment of the drone aircraft route control device 40 provided in the present application, and as shown in fig. 5, the device includes:
a creating module 401, wherein an airborne flight control computer establishes a target aircraft flight path power model according to the waypoint coordinates and the navigation direction of the longitudinal axis position of the target ship and the pitch angle range of the target aircraft freedom degree power model, and the data of the target aircraft flight path power model is used as the on-board route information;
the control module 402 controls the target drone to fly along the planned route according to the on-board route information determined by the target drone flying route power model through the ground measurement and control station;
and a calibration module 403, during the sailing process of the target ship, the onboard flight control computer reads the on-board route information determined by the target aircraft flight route dynamic model in real time, and controls the transverse offset of the target aircraft according to the nonlinear control system.
In the specific implementation, the airborne flight control computer converts the origin of the waypoint coordinates and the axis vector of the waypoint coordinates set in the longitudinal axis direction of the target ship into a second-order matrix of a target aircraft degree of freedom power model, obtains the minimum turning radius of the target aircraft according to the converted second-order matrix, calculates the pitch angle and the roll angle of the target aircraft degree of freedom power model according to the origin and the axis vector of the waypoint coordinates of the target ship in the second-order matrix of the target aircraft degree of freedom power model and the minimum turning radius of the target aircraft, the pitch angle is used as the navigation direction of the longitudinal axis direction of the target ship, establishes the target aircraft flight waypoint power model according to the waypoint coordinates of the longitudinal axis direction of the target ship and the navigation direction calculated by the target aircraft degree of freedom power model, establishes bidirectional wireless networking link communication with the ground measurement and control station and the target aircraft respectively according to the GNSS antenna navigation equipment, and passes through the beacon equipment of the target aircraft flight control ship, the method comprises the steps that the warship-following route information determined by a target aircraft flight route power model is sent to a ground measurement and control station, the ground measurement and control station sends the target aircraft to the target aircraft through an uplink measurement and control link according to GNSS antenna navigation equipment, the target aircraft flies along a planned route according to the received warship-following route information, an airborne flight control computer reads the warship-following route information determined by the target aircraft flight route power model in real time through a steering engine execution machine and a sensor in the navigation process of a target ship, and a nonlinear control system automatically calibrates the transverse offset of a route point coordinate in the movement process of the target ship according to the read warship-following route information to ensure the transverse yaw rate of the target aircraft flying along the planned route.
Corresponding to the satellite measurement and control method in fig. 1, an embodiment of the present application further provides a computer device 50, fig. 6, as shown in fig. 6, the device includes a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502, where the processor 502 implements the method when executing the computer program.
The airborne flight control computer establishes a target aircraft flight path power model according to the path point coordinates and the navigation direction of the longitudinal axis position of the target ship and the pitch angle range of the target aircraft freedom degree power model, and the data of the target aircraft flight path power model is used as the along-ship path information;
the airborne flight control computer controls the target drone to fly along the planning airway according to the warship-following airway information determined by the drone flight airway power model through the ground measurement and control station;
and in the sailing process of a target ship, the airborne flight control computer reads the on-board ship route information determined by the target aircraft flight route power model in real time and controls the transverse offset of the target aircraft according to the nonlinear control system.
Corresponding to the satellite measurement and control method in fig. 1, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the following steps:
the airborne flight control computer establishes a target aircraft flight path power model according to the path point coordinates and the navigation direction of the longitudinal axis position of the target ship and the pitch angle range of the target aircraft freedom degree power model, and the data of the target aircraft flight path power model is used as the along-ship path information;
the airborne flight control computer controls the target drone to fly along the planning airway according to the warship-following airway information determined by the drone flight airway power model through the ground measurement and control station;
and in the sailing process of a target ship, the airborne flight control computer reads the on-board ship route information determined by the target aircraft flight route power model in real time and controls the transverse offset of the target aircraft according to the nonlinear control system.
Based on the above analysis, compared with the unmanned aerial vehicle and ship training following method in the related art, the drone aircraft route control method provided by the embodiment of the application comprises the following steps: and establishing a target drone flight path power model according to the path point coordinates and the navigation direction of the longitudinal axis position of the target ship and the operation result of the target drone freedom degree power model, determining to guide the target drone to fly according to the planned path along with the ship path information by using the combined target drone flight path power model, and ensuring high reliability and reliability of the planned path.
The drone aircraft route control device provided by the embodiment of the application can be specific hardware on equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the measurement and control station and the unit described above may refer to corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A target drone flight path control method is characterized by comprising the following steps:
the airborne flight control computer establishes a target drone flight path power model according to the path point coordinates and the navigation direction of the longitudinal axis position of the target ship and the pitch angle range of the target drone freedom degree power model, and the data of the target drone flight path power model is used as the on-board path information;
the airborne flight control computer controls the target drone to fly along a planning airway according to the warship-following airway information determined by the target drone flight airway power model through a ground measurement and control station;
and in the sailing process of a target ship, the airborne flight control computer reads the on-board ship route information determined by the target aircraft flight route power model in real time and controls the transverse offset of the target aircraft according to the nonlinear control system.
2. The drone aircraft airway control method of claim 1, wherein the onboard flight control computer establishes the drone aircraft airway power model according to the airway point coordinates and the navigation direction of the target ship's longitudinal axis orientation, and the drone aircraft degree of freedom power model pitch angle range, and the data of the drone aircraft airway power model as the ship-following airway information includes:
the airborne flight control computer converts the origin and the axis vector of the target ship route point coordinate into a second-order matrix of a target drone freedom degree power model to obtain the minimum turning radius of the target drone; the motion waypoint coordinates of the target ship are the moving freedom degrees of three rectangular coordinates and the rotating freedom degrees around the three coordinates, and the three waypoint coordinates are an X axis in the right chord direction of the ship, a Y axis in the bow direction of the ship and a Z axis in the stern direction of the ship respectively;
calculating a pitch angle and a roll angle of the target drone freedom degree dynamic model according to an origin and an axial vector of a target ship waypoint coordinate in a second-order matrix of the drone freedom degree dynamic model and the minimum turning radius of the target drone;
and determining a target drone flight path power model according to the path point coordinates of the target ship and the calculation result of the target drone freedom degree power model, wherein the data of the target drone flight path power model is used as the information of the carrier-associated path.
3. The drone aircraft route control method of claim 2, wherein the onboard flight control computer converts the origin and axis vectors of the target ship route point coordinates into a second order matrix of the drone aircraft degree of freedom dynamic model to obtain a minimum turning radius of the drone aircraft, comprising:
the minimum turning radius of the target drone is according to the following formula:
wherein cos ψsRepresenting the sailing direction of the ship; r represents the minimum turning radius of the drone;
and the second-order matrix represents the shaft vector function in the power model of the degree of freedom of the drone aircraft.
4. The drone aircraft airway control method of claim 2, wherein calculating the pitch angle and the roll angle of the drone aircraft degree of freedom dynamic model according to the origin and the axis vector of the target ship airway point coordinates in the second order matrix of the drone aircraft degree of freedom dynamic model and the minimum turning radius of the drone aircraft comprises:
calculating the pitch angle according to the following formula:
Plat＝(PNy/R+Slat)*180/pi
Plon＝(PNx/(R*cos(Slat))+Slon)*180/pi
PNx and PNy represent components of a target ship second-order matrix in a waypoint coordinate system; slat and SlonRepresenting the rapid rotation angle of the latitude and longitude degree of the target ship; 180/pi represents the number of angles of one rotation; plat and PlonAnd representing the pitch angle after the P waypoint coordinate passes through multiple iterations.
5. The drone aircraft route control method according to claim 1, wherein the determination of the drone aircraft flight route dynamic model is performed according to the route point coordinates of the target ship and the calculation result of the drone aircraft degree-of-freedom dynamic model, and data of the drone aircraft flight route dynamic model, as the ship-following route information, includes:
calculating the on-board route information according to the following formula:
wherein ,
representing coordinates of two waypoints in the power model of the degree of freedom of the drone aircraft;
6. The method for controlling the flight path of the target drone according to claim 1, wherein the onboard flight control computer controls the target drone to fly along a planned flight path according to the onboard flight path information determined by the target drone flight path power model through a ground measurement and control station, and the method comprises the following steps:
the airborne flight control computer sends the calculated on-board route information to a ground measurement and control station through a wireless communication networking link;
and the ground measurement and control station sends the received on-board route information to the target drone through an uplink measurement and control link according to the GNSS antenna navigation equipment.
7. The drone aircraft airway control method of claim 1, wherein during a target vessel voyage, the onboard flight control computer reads onboard airway information determined by the drone aircraft flight airway dynamic model in real time during the target vessel voyage, and controls a lateral offset of the drone according to the nonlinear control system, comprising:
in the sailing process of a target ship, the airborne flight control computer reads the on-board route information determined by the target aircraft flight route power model in real time through a steering engine executing mechanism and a sensor;
and controlling the transverse offset of the target drone through a nonlinear control system according to the read real-time on-board ship route information.
8. A drone flight path control apparatus, the apparatus comprising:
the system comprises a creating module, an airborne flight control computer and a target aircraft dynamic model, wherein the airborne flight control computer creates a target aircraft flight path dynamic model according to the waypoint coordinates and the navigation direction of the longitudinal axis position of a target ship and the pitch angle range of the target aircraft freedom degree dynamic model, and the data of the target aircraft flight path dynamic model is used as the on-board route information;
the control module is used for controlling the target drone to fly along a planned airway according to the on-board airway information determined by the target drone flying airway power model through a ground measurement and control station;
and the calibration module is used for reading the on-board ship route information determined by the target aircraft flight route dynamic model in real time by the airborne flight control computer and controlling the transverse offset of the target aircraft according to the nonlinear control system in the target ship sailing process.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of the preceding claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162311.4A CN113848975B (en) | 2021-09-30 | 2021-09-30 | Target plane route control method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162311.4A CN113848975B (en) | 2021-09-30 | 2021-09-30 | Target plane route control method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113848975A true CN113848975A (en) | 2021-12-28 |
| CN113848975B CN113848975B (en) | 2023-09-15 |
Family
ID=78977560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111162311.4A Active CN113848975B (en) | 2021-09-30 | 2021-09-30 | Target plane route control method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113848975B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114384571A (en) * | 2022-03-24 | 2022-04-22 | 山东智航智能装备有限公司 | Unmanned aerial vehicle nest direction calibration method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107861521A (en) * | 2017-12-15 | 2018-03-30 | 北京盈想东方科技股份有限公司 | Unmanned target drone earth station system |
| CN109489491A (en) * | 2018-11-26 | 2019-03-19 | 北京金朋达航空科技有限公司 | The control method of stealthy high maneuver target drone and stealthy high maneuver target drone |
| CN109885094A (en) * | 2019-03-28 | 2019-06-14 | 河南机电职业学院 | Unmanned target drone is with warship Route planner and unmanned target drone with warship flight control method |
| KR102138363B1 (en) * | 2020-02-25 | 2020-07-27 | 국방과학연구소 | Method for controlling ground taxiing of unmanned aircraft |
| CN111634436A (en) * | 2020-06-03 | 2020-09-08 | 北京星网宇达科技股份有限公司 | Target aircraft launching control method and device, target aircraft flight control computer and storage medium |
| CN111813137A (en) * | 2020-07-15 | 2020-10-23 | 江西洪都航空工业集团有限责任公司 | Target robot in-loop control method |
-
2021
- 2021-09-30 CN CN202111162311.4A patent/CN113848975B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107861521A (en) * | 2017-12-15 | 2018-03-30 | 北京盈想东方科技股份有限公司 | Unmanned target drone earth station system |
| CN109489491A (en) * | 2018-11-26 | 2019-03-19 | 北京金朋达航空科技有限公司 | The control method of stealthy high maneuver target drone and stealthy high maneuver target drone |
| CN109885094A (en) * | 2019-03-28 | 2019-06-14 | 河南机电职业学院 | Unmanned target drone is with warship Route planner and unmanned target drone with warship flight control method |
| KR102138363B1 (en) * | 2020-02-25 | 2020-07-27 | 국방과학연구소 | Method for controlling ground taxiing of unmanned aircraft |
| CN111634436A (en) * | 2020-06-03 | 2020-09-08 | 北京星网宇达科技股份有限公司 | Target aircraft launching control method and device, target aircraft flight control computer and storage medium |
| CN111813137A (en) * | 2020-07-15 | 2020-10-23 | 江西洪都航空工业集团有限责任公司 | Target robot in-loop control method |
Non-Patent Citations (2)
| Title |
|---|
| 肖军;章玮玮;: "模型机与靶机的动力学相似关系", 四川兵工学报, no. 11 * |
| 郭继凯;王道波;李晓萌;杨华;王博航;: "某型高速无人靶机飞行控制的设计与实现", 机械与电子, no. 06 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114384571A (en) * | 2022-03-24 | 2022-04-22 | 山东智航智能装备有限公司 | Unmanned aerial vehicle nest direction calibration method and device |
| CN114384571B (en) * | 2022-03-24 | 2022-07-08 | 山东智航智能装备有限公司 | Unmanned aerial vehicle nest direction calibration method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113848975B (en) | 2023-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6161638B2 (en) | Wind calculation system using steady bank angle turning | |
| US9441985B2 (en) | Future scene generating system, device, and method for a remotely-operated vehicle | |
| CN106352872B (en) | A kind of unmanned plane autonomous navigation system and its air navigation aid | |
| CN109903590B (en) | Terrain envelope-based aircraft automatic maneuver evasion method | |
| CN105843249A (en) | Unmanned aerial vehicle automatic navigation system based on Pixhawk flight control and navigation method thereof | |
| Lizarraga et al. | Autonomous landing system for a UAV | |
| CN106249755A (en) | A kind of unmanned plane autonomous navigation system and air navigation aid | |
| EP3117183B1 (en) | Method and device for determining navigation data | |
| CN110044361A (en) | Autonomous Scheduling method on optics load star based on target projection position | |
| CN113848975B (en) | Target plane route control method, device, equipment and storage medium | |
| Ambroziak et al. | Experimental tests of hybrid VTOL unmanned aerial vehicle designed for surveillance missions and operations in maritime conditions from ship‐based helipads | |
| RU2523613C2 (en) | Remote control over drone and drone system | |
| CN112445230B (en) | High-dynamic aircraft multi-mode guidance system and guidance method under large-span complex environment | |
| Ashkenazi et al. | Robot positioning and the global navigation satellite system | |
| CN205230375U (en) | Unmanned aerial vehicle target tracker | |
| Jantawong et al. | Automatic landing control based on GPS for fixed-wing aircraft | |
| KR101725649B1 (en) | Unmanned aerial vehicle and remote controller for the unmanned aerial vehicle | |
| Ng et al. | Flight Systems and Control | |
| Schuchardt et al. | Mission Management and Landing Assistance for an Unmanned Rotorcraft for Maritime Operations | |
| CN106444832B (en) | A kind of air navigation aid for antisubmarine type aircraft low cruising condition | |
| Bennett | Development of technologies for low-cost oceanographic unmanned aeronautical vehicles | |
| Nicholson et al. | Scaled Experiments in Vision-Based Approach and Landing in High Sea States | |
| Kaminer et al. | Rapid Flight Test Prototyping System and the Fleet of UAV's and MAVs at the Naval Postgraduate School | |
| Kitowski et al. | Computer system of simulation of ship's motion | |
| CN107885195A (en) | A kind of robot automatic navigation method based on undercarriage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |