CN114020003A - Unmanned aerial vehicle route planning method for measuring and controlling antenna marine shafting parameter calibration - Google Patents
Unmanned aerial vehicle route planning method for measuring and controlling antenna marine shafting parameter calibration Download PDFInfo
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Abstract
The application relates to an unmanned aerial vehicle route planning method for measurement and control antenna marine shafting parameter calibration. The method comprises the steps of meeting the tracking requirements of pitching angles of different directions according to shafting parameter calibration requirements, designing a navigation path in a winding rising and winding descending mode with unchanged relative distance according to calibration parameters to obtain the relative position relation of navigation points, calculating the position coordinates of the navigation points under a geographic coordinate system according to the relative position relation of the navigation points and the current geographic position of a measuring ship, converting the calculated position coordinates of the navigation points under the geographic coordinate system into a ground station navigation path file, uploading the ground station navigation path file to an unmanned aerial vehicle, and completing navigation path planning. By utilizing the calculation model provided by the invention, the route design of the unmanned aerial vehicle shafting parameter calibration application can be quickly and accurately tracked in a programming mode, and the efficiency of the low-cost unmanned aerial vehicle for shafting parameter calibration is improved.
Description
Technical Field
The invention relates to the technical field of aerospace measurement and control, in particular to an unmanned aerial vehicle route planning method for parameter calibration of measurement and control antenna marine shafting.
Background
In order to realize offshore high-precision angle measurement, the shipborne measurement and control system needs to calibrate equipment before offshore measurement and control each time. For radio equipment, calibration contents are phase calibration and shafting parameter calibration. At present, there are two main methods for calibrating marine shafting parameters: one is to directly obtain the electric axis correction parameter by tracking the transit satellite; the other method is that firstly, the theodolite is taken as a reference, the optical axis correction parameters of the calibration television of each measurement and control antenna are obtained through a synchronous fixed star measurement method, then, the optical axis is taken as a reference, and the photoelectric deviation is calibrated in a ball-releasing mode to obtain the parameters of the electric axis. Although the first method can directly obtain the electric axis parameters, the first method is limited by the transit star frequency point, and if the frequency point is inconsistent with the current measurement and control frequency point, the difference of the photoelectric parameters among different frequency points is obtained in a ball-dropping mode for equivalent calculation. Shafting parameter calibration involves long time, and is inefficient.
With the development of unmanned aerial vehicle technology in recent years, the price of the unmanned aerial vehicle is continuously reduced, the application field is continuously expanded, and the unmanned aerial vehicle can also be applied to maritime calibration. The beacon is carried by the unmanned aerial vehicle for offshore calibration, so that the cost can be reduced by using the recoverable advantage of the unmanned aerial vehicle, the remote switching of the beacon frequency can be performed by using a communication link between a ground station of the unmanned aerial vehicle and an airplane, the equipment calibration of multiple frequency points can be completed by one-time flight, and the calibration efficiency is improved; and the unmanned aerial vehicle flies steadily, and the tracking signal is stable, and the random error of calibration is little to can calculate the guide angle and the distance of unmanned aerial vehicle relative antenna through unmanned aerial vehicle's positional information.
However, when the unmanned aerial vehicle is used for shafting parameter calibration, different quadrant azimuths and pitching angles need to be covered, the position of a ship is different in each calibration, and the route design needs to be carried out according to the real-time ship position.
Disclosure of Invention
Therefore, in order to solve the technical problems, an unmanned aerial vehicle route planning method for measuring and controlling antenna marine shafting parameter calibration with low cost and high efficiency is provided.
An unmanned aerial vehicle route planning method for measurement and control antenna marine shafting parameter calibration, the method comprises the following steps:
and acquiring the current geographic position of the measuring vessel, and setting a calibration distance, a lowest pitch angle, a highest pitch angle, the number of flying turns in the ascending process, the number of flying turns in the descending process, the number of flying turns in the ascending process and the number of flying turns in the descending process.
And designing a navigation path by adopting a winding ascending and winding descending mode for keeping the relative distance between each navigation point and the measuring ship unchanged according to the lowest pitch angle, the highest pitch angle, the calibration distance, the ascending process flying turn number, the ascending process navigation turn number, the descending process flying turn number and the descending process navigation turn number, and obtaining the relative position relation of all the navigation points.
Obtaining the geographical coordinate position of each navigation point according to the current geographical position of the survey vessel and the relative position relation;
and setting the geographic coordinate position of the return points, converting the geographic coordinate position of the return points and the geographic coordinate positions of all the waypoints into a ground station route file, importing the ground station route file into a ground station, uploading the ground station route file to the unmanned aerial vehicle through ground station software, and finishing unmanned aerial vehicle route planning.
In one embodiment, the relative positional relationship of the waypoints comprises: the relative distance between the navigation point and the measuring ship, and the azimuth angle and the pitch angle of the navigation point.
According to the lowest pitch angle, the highest pitch angle, the calibration distance, the number of flying turns in the ascending process, the number of flying turns in the descending process and the number of flying turns in the descending process, a navigation path is designed in a winding ascending and winding descending mode for keeping the relative distance between each navigation point and the measuring ship unchanged, and the relative position relation of all the navigation points is obtained, and the method comprises the following steps:
setting an initial azimuth angle, and setting the relative distance between each navigation point and the measuring ship as a calibration distance.
When the ascending process is carried out, obtaining the azimuth angle and the pitch angle of the ascending waypoint according to the initial azimuth angle, the lowest pitch angle, the highest pitch angle, the number of flying turns in the ascending process and the number of waypoints in the ascending process; the calculation expression of the azimuth angle and the pitch angle of the ascending navigation point is as follows:
Ai＝A0+360×i×(N1/M1)
Ei＝E0+i×(Emax-E0)/M1
wherein A is0Is the initial azimuth; a. theiThe azimuth angle of the ith ascending waypoint is shown, i is an integer which is more than 0 and less than or equal to the number of waypoints in the ascending process; n is a radical of1The flying turns are taken as the ascending process; m1Counting the number of voyages in the ascending process; emaxIs the highest pitch angle; e0Is the lowest pitch angle; eiThe pitch angle of the ith lift point.
When the descending process is performed, according to the M-th in the ascending process1Obtaining the azimuth angle and the pitch angle of a descending waypoint by the azimuth angle of each ascending waypoint, the lowest pitch angle, the highest pitch angle, the number of turns of flight in the descending process and the number of waypoints in the descending process; the calculation expression of the azimuth angle and the pitch angle of the descending navigation point is as follows:
Aj＝AM1+360×j×(N2/M2)
Ej＝Emax-i×(Emax-E0)/M2
wherein A isM1Is Mth1Azimuth angle of each ascending waypoint; a. thejThe azimuth angle of the jth descending waypoint is j, and j is an integer which is greater than 0 and less than or equal to the number of waypoints in the descending process; n is a radical of2The flying turns are in the descending process; m2The number of flight points in the descending process; ejThe pitch angle of the jth descent waypoint.
In one embodiment, obtaining the geographic coordinate position of each waypoint according to the current geographic position of the survey vessel and the relative position relationship comprises:
and converting the relative position relation of the navigation points into the coordinates of a rectangular coordinate system of the navigation points, and converting the current geographic position of the measuring ship into the coordinates of a geocentric fixed connection coordinate system of the current position.
And calculating the coordinates of the geocentric fixed coordinate system of the navigation point according to the coordinates of the rectangular coordinate system of the navigation point and the coordinates of the geocentric fixed coordinate system of the current position of the measuring ship.
And converting the coordinates of the geocentric fixed coordinate system of the waypoint into the geographic coordinate position of the waypoint.
In one embodiment, converting the relative position relationship of the waypoints into rectangular coordinate system coordinates of the waypoints and converting the current geographic position of the survey vessel into earth-centered fixed coordinate system coordinates of the current position comprises:
and sequencing the relative position relations of the navigation points in the ascending process according to the increasing sequence of the pitch angle, sequencing the relative position relations of the navigation points in the descending process according to the decreasing sequence of the pitch angle, and combining the two sequences to obtain the relative position relation sequence of the navigation points.
Obtaining the coordinates of the rectangular coordinate system of the waypoints according to the relative position relation sequence of the waypoints and a conversion formula from the relative position relation to the coordinates of the rectangular coordinate system; the conversion formula from the relative position relation to the coordinates of the rectangular coordinate system is as follows:
wherein, (R, A)k,Ek) Is the relative positional relationship of the kth waypoint in the sequence of relative positional relationships of the waypoints,
wherein R is the relative distance between the navigation point and the survey vessel, AkAzimuth of the kth waypoint, EkIs as followsThe pitch angles of k navigation points are the serial numbers of the navigation points, and k is an integer which is greater than or equal to 1 and less than or equal to the sum of the number of the navigation points in the ascending process and the number of the navigation points in the descending process; (X)kc,Ykc,Zkc) Is the coordinate of the rectangular coordinate system of the kth navigation point.
Obtaining the coordinates of the geocentric fixed coordinate system of the current geographic position of the measuring ship according to the current geographic position of the measuring ship and a conversion formula for fixedly connecting the coordinate system from the geographic coordinate system to the geocenter; the conversion formula from the geographic coordinate system to the earth center fixed connection coordinate system is as follows:
wherein (L)0,B0,H0) To measure the current geographic position of the vessel, (X)oc,Yoc,Zoc) The earth center of the current geographic position of the measuring ship is fixedly connected with coordinates of a coordinate system, e is the eccentricity of an ellipsoid of the earth, e2F (2-f), wherein f is the extremely flat rate of an earth ellipsoid, and N is the curvature of a prime-unitary ring of the current geographic position of the measuring ship.
In one embodiment, the geocentric fixed coordinate system coordinate of the waypoint is calculated according to the rectangular coordinate system coordinate of the waypoint and the geocentric fixed coordinate system coordinate of the current position of the measuring ship, and the calculation expression of the geocentric fixed coordinate system coordinate of the waypoint in the step is as follows:
In one embodiment, converting the geocentric fixed coordinate system coordinates of the waypoint into geographic coordinate locations of the waypoint comprises:
and converting the coordinates of the geocentric fixed coordinate system of the position of the waypoint into the longitude, the latitude and the height of the waypoint.
The longitude of the waypoint is:
the latitude and the height of the waypoint are obtained through an iterative calculation formula, wherein the iterative calculation formula is as follows:
wherein u is an integer of 1 or more and the initial value is
N0＝a，
a. b is a semi-major axis and a semi-minor axis of an earth ellipsoid respectively; the iteration convergence condition is as follows: | Hu-Hu-1|＜ε1，|Bu-Bu-1|＜ε2In which epsilon1And ε2Is the iterative convergence precision.
In one embodiment, the method for planning the route of the unmanned aerial vehicle comprises the steps of setting a geographical coordinate position of a return point, converting the geographical coordinate position of the return point and geographical coordinate positions of all waypoints into a ground station route file, importing the ground station route file into a ground station, uploading the ground station route file to the unmanned aerial vehicle through ground station software, and completing route planning of the unmanned aerial vehicle, and comprises the following steps:
and setting the geographic coordinate position of the return point according to the position of the measuring ship.
And converting the geographic coordinate positions of all waypoints into the route file according to the interface requirement of the route file of the ground station software.
And importing the ground station route file into ground station software, and loading the ground station route file to the unmanned aerial vehicle through a communication link between the ground station software and the unmanned aerial vehicle to complete the route planning of the unmanned aerial vehicle.
According to the unmanned aerial vehicle route planning method for measuring and controlling antenna marine shafting parameter calibration, tracking requirements of different azimuth pitching angles are met according to shafting parameter calibration requirements, routes are designed in a winding rising and winding descending mode with unchanged relative distance according to calibration parameters, relative position relations of waypoints are obtained, waypoint position coordinates under a geographic coordinate system are calculated according to the relative position relations of the waypoints and the current geographic position of a measuring ship, the calculated waypoint position coordinates under the geographic coordinate system are converted into ground station route files, and the ground station route files are uploaded to an unmanned aerial vehicle to complete route planning. By utilizing the calculation model provided by the invention, the route design of the shafting parameter calibration application of the tracking unmanned aerial vehicle with high speed and high precision can be realized in a programming mode, and the efficiency of the low-cost unmanned aerial vehicle for the shafting parameter calibration is improved
Drawings
Fig. 1 is a schematic flow chart of an unmanned aerial vehicle route planning method for measurement and control antenna marine shafting parameter calibration in one embodiment;
FIG. 2 is a course design process for calibrating shafting parameters of a tracked drone in another embodiment;
FIG. 3 is a diagram illustrating the result of equidistant winding route planning for shafting alignment in another embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further 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.
In one embodiment, as shown in fig. 1, there is provided a method for planning a route of an unmanned aerial vehicle for measurement and control antenna marine shafting parameter calibration, the method including the following steps:
step 100: and acquiring the current geographic position of the measuring vessel, and setting a calibration distance, a lowest pitch angle, a highest pitch angle, the number of flying turns in the ascending process, the number of flying turns in the descending process, the number of flying turns in the ascending process and the number of flying turns in the descending process.
In particular, the current geographical position P of the ship is measured0(L0,B0,H0) Directly get for current position through reading unmanned aerial vehicle and downloading and showing on ground station.
The calibration parameters comprise: calibration distance R and minimum pitch angle E0And the highest pitch angle Emax. And the calibration parameters are set according to the calibration requirements of specific equipment.
Number of flying turns N in ascending process1And the number of flying turns N in the descending process2According to unmanned aerial vehicle's flight performance setting, specific value can be the integer, also can real number.
In this embodiment, 1 waypoint is set every 10 degrees in azimuth, the number of ascent waypoints is equal to the number of ascent flight turns x (360/10) +1), the number of descent flight turns is equal to the number of descent flight turns x (360/10), and the highest point is included in the ascent process and is not included in the descent process.
Step 102: and designing a navigation path by adopting a winding ascending and winding descending mode for keeping the relative distance between each navigation point and the measuring ship unchanged according to the lowest pitch angle, the highest pitch angle, the calibration distance, the number of flying turns in the ascending process, the number of flying turns in the descending process and the number of flying turns in the descending process, and obtaining the relative position relation of all the navigation points.
Step 104: and obtaining the geographic coordinate position of each navigation point according to the current geographic position and the relative position relation of the measuring ship.
Step 106: and setting the geographic coordinate position of the return points, converting the geographic coordinate position of the return points and the geographic coordinate positions of all the waypoints into a ground station route file, importing the ground station route file into a ground station, uploading the ground station route file to the unmanned aerial vehicle through ground station software, and finishing the route planning of the unmanned aerial vehicle.
According to the unmanned aerial vehicle route planning method for measuring and controlling antenna marine shafting parameter calibration, tracking requirements of different azimuth pitching angles are met according to shafting parameter calibration requirements, routes are designed in a winding rising and winding descending mode with unchanged relative distance according to calibration parameters, relative position relations of waypoints are obtained, waypoint position coordinates under a geographic coordinate system are calculated according to the relative position relations of the waypoints and the current geographic position of a measuring ship, the calculated waypoint position coordinates under the geographic coordinate system are converted into ground station route files, and the ground station route files are uploaded to the unmanned aerial vehicle to complete route planning. By utilizing the calculation model provided by the invention, the route design of the shafting parameter calibration application of the tracking unmanned aerial vehicle with high speed and high precision can be realized in a programming mode, and the efficiency of the low-cost unmanned aerial vehicle for the shafting parameter calibration is improved
In one embodiment, the relative positional relationship of the waypoints comprises: the relative distance between the navigation point and the measuring ship, and the azimuth angle and the pitch angle of the navigation point; step 102 comprises: setting an initial azimuth angle, and setting the relative distance between each navigation point and a measuring ship as a calibration distance; when the ascending process is carried out, obtaining the azimuth angle and the pitch angle of the ascending waypoint according to the initial azimuth angle, the lowest pitch angle, the highest pitch angle, the number of flying turns in the ascending process and the number of waypoints in the ascending process; the calculation expression of the azimuth angle and the pitch angle of the ascending navigation point is as follows:
Ai＝A0+360×i×(N1/M1)
Ei＝E0+i×(Emax-E0)/M1
wherein A is0Is the initial azimuth; a. theiThe azimuth angle of the ith ascending waypoint is shown, i is an integer which is more than 0 and less than or equal to the number of waypoints in the ascending process; n is a radical of1The flying turns are taken as the ascending process; m1Counting the number of voyages in the ascending process; emaxIs the highest pitch angle; e0Is the lowest pitch angle; eiThe pitch angle of the ith lift point.
When the descending process is performed, according to the M-th in the ascending process1Obtaining azimuth angles and pitch angles of descending waypoints by azimuth angles, minimum pitch angles, maximum pitch angles, number of flight turns in the descending process and number of waypoints in the descending process of the ascending waypoints; of azimuth and pitch angles of descending waypointsThe calculation expression is:
Aj＝AM1+360×j×(N2/M2)
Ej＝Emax-i×(Emax-E0)/M2
wherein A isM1Is Mth1Azimuth angle of each ascending waypoint; a. thejThe azimuth angle of the jth descending waypoint is j, and j is an integer which is greater than 0 and less than or equal to the number of waypoints in the descending process; n is a radical of2The flying turns are in the descending process; m2The number of flight points in the descending process; ejThe pitch angle of the jth descent waypoint.
In one embodiment, step 104 includes: converting the relative position relation of the navigation points into rectangular coordinate system coordinates of the navigation points, and converting the current geographic position of the measuring ship into geocentric fixed connection coordinate system coordinates of the current position; calculating the coordinates of the geocentric fixed coordinate system of the navigation point according to the coordinates of the rectangular coordinate system of the navigation point and the coordinates of the geocentric fixed coordinate system of the current position of the measuring ship; and converting the coordinates of the geocentric fixed coordinate system of the waypoint into the geographic coordinate position of the waypoint.
In one embodiment, step 104 includes: sequencing the relative position relation of the waypoints in the ascending process according to the increasing order of the pitch angle, sequencing the relative position relation of the waypoints in the descending process according to the decreasing order of the pitch angle, and combining the two sequences to obtain the relative position relation sequence of the waypoints; obtaining the coordinates of the rectangular coordinate system of the waypoints according to the relative position relation sequence of the waypoints and a conversion formula from the relative position relation to the coordinates of the rectangular coordinate system; the conversion formula from the relative position relation to the coordinates of the rectangular coordinate system is as follows:
wherein, (R, A)k,Ek) Is the relative positional relationship of the kth waypoint in the sequence of relative positional relationships of the waypoints,
wherein R is the relative distance between the navigation point and the survey vessel, AkAs the party of the kth waypointAzimuth angle, EkThe pitch angle of the kth navigation point is, k is the serial number of the navigation point, and k is an integer which is more than or equal to 1 and less than or equal to the sum of the number of navigation points in the ascending process and the number of navigation points in the descending process; (X)kc,Ykc,Zkc) A rectangular coordinate system coordinate of the kth navigation point;
obtaining the coordinates of the geocentric fixed coordinate system of the current geographic position of the measuring ship according to the current geographic position of the measuring ship and a conversion formula for fixedly connecting the coordinate system from the geographic coordinate system to the geocenter; the conversion formula from the geographic coordinate system to the earth center fixed connection coordinate system is as follows:
wherein (L)0,B0,H0) To measure the current geographic position of the vessel, (X)oc,Yoc,Zoc) The earth center of the current geographic position of the measuring ship is fixedly connected with coordinates of a coordinate system, e is the eccentricity of an ellipsoid of the earth, e2F (2-f), wherein f is the oblateness of the earth ellipsoid, f is 1/298.257223565, and N is the curvature of the prime-unitary circle of the current geographic position of the measuring ship
In one embodiment, the calculation expression of the geocentric fixed coordinate system coordinates of the waypoint in step 104 is:
wherein (X)kt,Ykt,Zkt) And fixedly connecting coordinates of a coordinate system for the geocenter of the kth navigation point.
In one embodiment, converting the geocentric fixed coordinate system coordinates of the waypoint into geographic coordinate locations of the waypoint comprises:
converting the geocentric fixed coordinate system coordinates of the waypoint position into longitude, latitude and height of the waypoint; the longitude of the waypoint is:
the latitude and the height of the waypoint are obtained through an iterative calculation formula, wherein the iterative calculation formula is as follows:
wherein u is an integer of 1 or more and the initial value is
N0＝a，
a. b is a semi-major axis and a semi-minor axis of an earth ellipsoid respectively; the iteration convergence condition is as follows: | Hu-Hu-1|＜ε1，|Bu-Bu-1|＜ε2In which epsilon1And ε2Is the iterative convergence precision. As preferably epsilon1＝10-3，ε2＝10-4。
In one embodiment, step 106 includes: setting a geographical coordinate position of a return point according to the position of the measuring ship; converting the geographical coordinate positions of all waypoints into an airway file according to the interface requirement of the airway file of the ground station software; and importing the ground station route file into ground station software, and loading the ground station route file to the unmanned aerial vehicle through a communication link between the ground station software and the unmanned aerial vehicle to complete the route planning of the unmanned aerial vehicle.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In a specific embodiment, as shown in fig. 2, there is provided a method for planning an airway for tracking an unmanned aerial vehicle to perform shafting parameter calibration, including the following steps:
s1, acquiring the current geographic position P of the survey vessel0(L0,B0,H0) The calibration distance is set to R (set to 5000m in this example) and the minimum pitch angle is set to E0(set to 10 in this example) and a maximum pitch angle Emax(60 in this example) and the number of flying turns during ascent is N1(set to 1 in this example) and the number of flying turns during descent is N2(set to 1 in this example), the number of flight points during ascent is M1(setting M in this example)136), the number of descent process waypoints is M2(setting M in this example)236) is used.
S2, calculating the geographical position P of the 1 st waypoint1(L1,B1,H1) The distance of the position relative to the measuring ship is R, and the pitch angle is E0Azimuth angle A0；
Specifically, the relative position relationship is converted into a specific geographical coordinate position of the waypoint, and the relative position relationship (R, A) is firstly0,E0) Converting into rectangular coordinate system coordinate (X)c,Yc,Zc) Will measure the current geographic position P of the vessel0(L0,B0,H0) Converting into coordinates (X) of earth center fixed coordinate systemoc,Yoc,Zoc) Then calculating the coordinates Pt (X) of the earth center fixed connection coordinate system corresponding to the first navigation pointt,Yt,Zt) Converting Pt into a geographic coordinate position P1(L1,B1,H1) (ii) a The mathematical computational expression for the coordinate transformation is as follows:
1) relative positional relationship (R, A)0,E0) Converting into rectangular coordinate system coordinate (X)c,Yc,Zc)
2) Current geographical position P of survey vessel0(L0,B0,H0) Converting into coordinates (X) of earth center fixed coordinate systemoc,Yoc,Zoc)
3) Calculating the geocentric fixed coordinate system coordinate Pt (X) corresponding to the first waypoint according to the results of 1) and 2)t,Yt,Zt)
4) Fixedly connecting the center of the earth of the navigation point position with a coordinate system Pt (X)t,Yt,Zt) The coordinates are converted to longitude, latitude and altitude of the waypoint. The longitude is calculated by the formula of,
the latitude and the altitude are calculated by an iterative method, and the initial value is set to be N0＝a,
Each iteration then proceeds according to the following formula:
the iteration convergence condition is as follows: | Hu-Hu-1|＜ε1，|Bu-Bu-1|＜ε2In which epsilon1And ε2Is the iterative convergence precision. Here take ε1＝10-3，ε2＝10-4。
S3, calculating the i (i ═ 1, 2., M during ascent1-1) ascending waypoints Pi(Li,Bi,Hi) The distance of the position relative to the measuring ship is R, and the pitch angle is EiAzimuth angle is Ai；
S4, calculating a navigation point P corresponding to the highest pitch angle pointM(LM,BM,HM) The distance of the position relative to the measuring ship is R, and the pitch angle is EmaxAzimuth angle is AM；
S5, calculating the j (j ═ 1, 2.., M) in the descending and ascending process2) A descending waypoint Pj(Lj,Bj,Hj) The distance of the position relative to the measuring ship is R, and the pitch angle is EjAzimuth angle is Aj；
S6, setting a reverse navigation point PL(LL,BL,HL)。
And S7, converting the calculated waypoint position information into a route file which can be identified by the ground station, importing the route file into the ground station, and uploading the route file to the unmanned aerial vehicle through ground station software to finish planning.
Can accomplish the route flight of 1 frame of low-cost unmanned aerial vehicle through above-mentioned step. During the 2 nd-rack flight, the same method is adopted to design the air route, except that the azimuth angle of the first air point is increased by 180 degrees compared with the 1 st rack, so that the tracking pitch angle of each quadrant uniformly covers E through the two-rack flight0To Emax. Fig. 3 shows that when the position of the measuring vessel is (east longitude 100 °, south latitude 12 °), the unmanned aerial vehicle flies in a clockwise direction according to the flight path designed in this example, wherein the points of the triangle represent the waypoints during ascent of the unmanned aerial vehicle and the points of the circle represent the waypoints during descent of the unmanned aerial vehicle.
According to the invention, the relative position relation of the equal distance variable height and direction meeting the application of shafting calibration is designed, then the relative position relation is converted into a waypoint coordinate, the waypoint coordinate is further converted into a waypoint file, the waypoint file is uploaded to an unmanned aerial vehicle to realize route planning, each overhead flight is carried out for 1 circle of rise and 1 circle of fall, and the uniform coverage of different quadrants E can be realized through 2 overhead flights0To EmaxAnd (6) a pitch angle. The method can effectively improve the accuracy and efficiency of the air route design, realizes the application of tracking the shafting parameter calibration of the unmanned aerial vehicle, contributes to improving the calibration efficiency and the calibration accuracy, and reduces the calibration cost.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. An unmanned aerial vehicle route planning method for measurement and control antenna offshore shafting parameter calibration is characterized by comprising the following steps:
acquiring the current geographic position of a measuring ship, and setting a calibration distance, a lowest pitch angle, a highest pitch angle, the number of flying turns in the ascending process, the number of flying turns in the descending process, the number of flying turns in the ascending process and the number of flying turns in the descending process;
designing a navigation path by adopting a winding raising and winding lowering mode for keeping the relative distance between each navigation point and the measuring ship unchanged according to the lowest pitch angle, the highest pitch angle, the calibration distance, the number of flying turns in the rising process, the number of flying turns in the falling process and the number of flying turns in the falling process, and obtaining the relative position relation of all the navigation points;
obtaining the geographical coordinate position of each navigation point according to the current geographical position of the survey vessel and the relative position relation;
and setting the geographic coordinate position of the return points, converting the geographic coordinate position of the return points and the geographic coordinate positions of all the waypoints into a ground station route file, importing the ground station route file into a ground station, uploading the ground station route file to the unmanned aerial vehicle through ground station software, and finishing unmanned aerial vehicle route planning.
2. The method of claim 1, wherein the relative positional relationship of the waypoints comprises: the relative distance between the navigation point and the measuring ship, and the azimuth angle and the pitch angle of the navigation point;
according to the lowest pitch angle, the highest pitch angle, the calibration distance, the number of flying turns in the ascending process, the number of flying turns in the descending process and the number of flying turns in the descending process, a navigation path is designed in a winding ascending and winding descending mode for keeping the relative distance between each navigation point and the measuring ship unchanged, and the relative position relation of all the navigation points is obtained, and the method comprises the following steps:
setting an initial azimuth angle, and setting the relative distance between each navigation point and a measuring ship as a calibration distance;
when the ascending process is carried out, obtaining the azimuth angle and the pitch angle of the ascending waypoint according to the initial azimuth angle, the lowest pitch angle, the highest pitch angle, the number of flying turns in the ascending process and the number of waypoints in the ascending process; the calculation expression of the azimuth angle and the pitch angle of the ascending navigation point is as follows:
Ai＝A0+360×i×(N1/M1)
Ei＝E0+i×(Emax-E0)/M1
wherein A is0Is the initial azimuth; a. theiThe azimuth angle of the ith ascending waypoint is shown, i is an integer which is more than 0 and less than or equal to the number of waypoints in the ascending process; n is a radical of1The flying turns are taken as the ascending process; m1Counting the number of voyages in the ascending process; emaxIs the highest pitch angle; e0Is the lowest pitch angle; eiThe pitch angle of the ith ascending navigation point;
when the descending process is performed, according to the M-th in the ascending process1Obtaining the azimuth angle and the pitch angle of a descending waypoint by the azimuth angle of each ascending waypoint, the lowest pitch angle, the highest pitch angle, the number of turns of flight in the descending process and the number of waypoints in the descending process; the calculation expression of the azimuth angle and the pitch angle of the descending navigation point is as follows:
Ej＝Emax-i×(Emax-E0)/M2
wherein the content of the first and second substances,
is Mth1Azimuth angle of each ascending waypoint; a. thejThe azimuth angle of the jth descending waypoint is j, and j is an integer which is greater than 0 and less than or equal to the number of waypoints in the descending process; n is a radical of2The flying turns are in the descending process; m2The number of flight points in the descending process; ejThe pitch angle of the jth descent waypoint.
3. The method of claim 2, wherein obtaining the geographic coordinate position of each waypoint from the current geographic position of the survey vessel and the relative positional relationship comprises:
converting the relative position relation of the navigation points into rectangular coordinate system coordinates of the navigation points, and converting the current geographic position of the measuring ship into geocentric fixed connection coordinate system coordinates of the current position;
calculating the coordinates of the geocentric fixed coordinate system of the navigation point according to the coordinates of the rectangular coordinate system of the navigation point and the coordinates of the geocentric fixed coordinate system of the current position of the measuring ship;
and converting the coordinates of the geocentric fixed coordinate system of the waypoint into the geographic coordinate position of the waypoint.
4. The method of claim 3, wherein converting the relative positional relationship of the waypoints to rectangular coordinate system coordinates of the waypoints and converting the current geographic position of the survey vessel to geo-stationary coordinate system coordinates of the current position comprises:
sequencing the relative position relation of the waypoints in the ascending process according to the increasing order of the pitch angle, sequencing the relative position relation of the waypoints in the descending process according to the decreasing order of the pitch angle, and combining the two sequences to obtain the relative position relation sequence of the waypoints;
obtaining the coordinates of the rectangular coordinate system of the waypoints according to the relative position relation sequence of the waypoints and a conversion formula from the relative position relation to the coordinates of the rectangular coordinate system; the conversion formula from the relative position relation to the coordinates of the rectangular coordinate system is as follows:
wherein, (R, A)k,Ek) Is the relative position relation of the kth waypoint in the relative position relation sequence of the waypoints, wherein R is the relative distance between the waypoint and the measuring vessel, AkAzimuth of the kth waypoint, EkIs the pitch angle of the kth waypoint, k is the serial number of the waypoint, k is more than or equal to 1 and less than or equal toAn integer of the sum of the number of the flight points in the ascending process and the number of the flight points in the descending process; (X)kc,Ykc,Zkc) A rectangular coordinate system coordinate of the kth navigation point;
obtaining the coordinates of the geocentric fixed coordinate system of the current geographic position of the measuring ship according to the current geographic position of the measuring ship and a conversion formula for fixedly connecting the coordinate system from the geographic coordinate system to the geocenter; the conversion formula from the geographic coordinate system to the earth center fixed connection coordinate system is as follows:
wherein (L)0,B0,H0) To measure the current geographic position of the vessel, (X)oc,Yoc,Zoc) The earth center of the current geographic position of the measuring ship is fixedly connected with coordinates of a coordinate system, e is the eccentricity of an ellipsoid of the earth, e2F (2-f), wherein f is the extremely flat rate of an earth ellipsoid, and N is the curvature of a prime-unitary ring of the current geographic position of the measuring ship.
5. The method according to claim 4, wherein the geocentric stationary coordinate system coordinates of the waypoint are calculated according to the rectangular coordinate system coordinates of the waypoint and the geocentric stationary coordinate system coordinates of the current position of the measuring vessel, and the calculation expression of the geocentric stationary coordinate system coordinates of the waypoint in the step is as follows:
wherein (X)kt,Ykt,Zkt) And fixedly connecting coordinates of a coordinate system for the geocenter of the kth navigation point.
6. The method of claim 5, wherein converting the geocentric fixed coordinate system coordinates of the waypoint to geographic coordinate locations of the waypoint comprises:
converting the geocentric fixed coordinate system coordinates of the waypoint position into longitude, latitude and height of the waypoint;
the longitude of the waypoint is:
the latitude and the height of the waypoint are obtained through an iterative calculation formula, wherein the iterative calculation formula is as follows:
wherein u is an integer of 1 or more and the initial value is
N0＝a，
a. b is a semi-major axis and a semi-minor axis of an earth ellipsoid respectively; the iteration convergence condition is as follows: | Hu-Hu-1|＜ε1，|Bu-Bu-1|＜ε2In which epsilon1And ε2Is the iterative convergence precision.
7. The method of claim 1, wherein setting a return point geographical coordinate position, converting the return point geographical coordinate position and geographical coordinate positions of all waypoints into a ground station route file, importing the ground station route file into a ground station, and uploading the ground station route file to the unmanned aerial vehicle through ground station software to complete unmanned aerial vehicle route planning, and the method comprises the following steps:
setting a geographical coordinate position of a return point according to the position of the measuring ship;
converting the geographical coordinate positions of all waypoints into an airway file according to the interface requirement of the airway file of the ground station software;
and importing the ground station route file into ground station software, and loading the ground station route file to the unmanned aerial vehicle through a communication link between the ground station software and the unmanned aerial vehicle to complete the route planning of the unmanned aerial vehicle.
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