CN114020003B - Unmanned aerial vehicle route planning method for calibrating and controlling marine shafting parameters of measurement and control antenna - Google Patents
Unmanned aerial vehicle route planning method for calibrating and controlling marine shafting parameters of measurement and control antenna Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
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- G—PHYSICS
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- 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
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Abstract
The application relates to an unmanned aerial vehicle route planning method for calibrating parameters of a marine shafting of a measurement and control antenna. According to the method, tracking requirements of pitching angles in different directions are met according to shafting parameter calibration, a route is designed according to calibration parameters in a mode of rising and descending of coils with a constant relative distance, the relative position relation of waypoints is obtained, the position coordinates of the waypoints in a geographic coordinate system are calculated through the relative position relation of the waypoints and the current geographic position of a measuring ship, the position coordinates of the waypoints in the geographic coordinate system are converted into ground station route files, and the ground station route files are uploaded to an unmanned plane, so that route planning is completed. By utilizing the calculation model provided by the application, the fast and high-precision airway design for tracking the shaft system parameter calibration of the unmanned aerial vehicle can be realized in a programming mode, and the efficiency of the unmanned aerial vehicle with low cost for shaft system 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 calibrating parameters of a marine shafting of a measurement and control antenna.
Background
In order to realize the offshore high-precision angle measurement, the shipborne measurement and control system needs to calibrate the equipment before performing offshore measurement and control each time. For the radio equipment, the calibration content is phase calibration and shafting parameter calibration. The calibration of the marine shafting parameters mainly comprises two methods at present: one is to directly obtain the electric axis correction parameters by tracking the transit satellite; the other method is that firstly, the theodolite is used as a reference, the correction parameters of the optical axis of the television for calibrating each measurement and control antenna are obtained through a synchronous fixed star measuring method, and then, the optical axis is used as a reference, and the photoelectric deviation is calibrated in a ball-releasing mode, so that the parameters of the electric axis are obtained. In the first method, although the electric axis parameters can be directly obtained, the electric axis parameters are limited by the frequency points of the border star, and if the frequency points are inconsistent with the measurement and control frequency points, the difference of the photoelectric parameters among different frequency points is obtained by a ball placing mode to perform equivalent calculation. Shafting parameter calibration involves long time and low efficiency.
Along 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 offshore calibration. The unmanned aerial vehicle carries the beacon to perform offshore calibration, so that the recoverable advantage of the unmanned aerial vehicle can be utilized to reduce cost, the communication link between the ground station of the unmanned aerial vehicle and the aircraft can be utilized to perform remote switching of the beacon frequency, the equipment calibration of a plurality of frequency points can be completed in one flight, and the calibration efficiency is improved; and unmanned aerial vehicle flight is steady, and tracking signal is stable, and the random error of calibration is little to can calculate unmanned aerial vehicle's relative antenna's of unmanned aerial vehicle guide angle and distance through unmanned aerial vehicle's positional information.
However, the unmanned aerial vehicle is utilized for calibrating shafting parameters, different quadrant orientations and pitching angles are required to be covered, the positions of the ships are different in each calibration, the route design is required according to the real-time ship position, and the conventional route planning method is difficult to meet the requirements of marine shafting parameter calibration application.
Disclosure of Invention
Based on the above, it is necessary to provide a low-cost and high-efficiency unmanned aerial vehicle route planning method for calibrating and controlling the parameters of the marine shafting of the antenna.
An unmanned aerial vehicle route planning method for calibrating parameters of a marine shafting of a measurement and control antenna, the method comprising:
the current geographic position of the measuring ship is obtained, and the calibration distance, the lowest pitch angle, the 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 are set.
And designing a route 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 adopting a winding lifting and winding descending mode for keeping the relative distance between each flying point and the measuring ship unchanged, so as to obtain the relative position relation of all the flying points.
Obtaining the geographic coordinate position of each waypoint according to the current geographic position of the measuring ship and the relative position relation;
Setting a geographic coordinate position of a return navigation point, converting the geographic coordinate position of the return navigation point and the geographic coordinate positions of all navigation points 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 unmanned aerial vehicle route planning.
In one embodiment, the relative positional relationship of waypoints includes: the relative distance between the waypoint and the survey vessel, the azimuth angle and pitch angle of the waypoint.
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 way of winding rising and winding descending is adopted to design a route, wherein the way of keeping the relative distance between each flying point and a measuring ship unchanged, and the way of obtaining the relative position relation of all flying points 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 method is a lifting process, according to the initial azimuth angle, the lowest pitch angle, the highest pitch angle, the number of flying turns in the lifting process and the number of flying points in the lifting process, obtaining the azimuth angle and the pitch angle of the lifting flying point; 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 0 is the initial azimuth; a i is the azimuth of the ith ascending navigation point, i is an integer which is more than 0 and less than or equal to the number of ascending navigation points; n 1 is the number of flying turns in the ascending process; m 1 is the number of navigation points in the ascending process; e max is the highest pitch angle; e 0 is the lowest pitch angle; e i is the pitch angle of the ith elevation waypoint.
When the method is a descending process, according to the azimuth angle of the M 1 th ascending waypoint in the ascending process, the lowest pitch angle, the highest pitch angle, the number of flying turns in the descending process and the number of navigation points in the descending process, obtaining the azimuth angle and the pitch angle of the descending waypoint; 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 M1 is the azimuth of the M 1 ascending waypoint; a j is the azimuth of the jth descending navigation point, j is an integer greater than 0 and less than or equal to the descending navigation point; n 2 is the number of turns in the descending process; m 2 is the number of navigation points in the descending process; e j is the 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 includes:
And 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 fixedly connected coordinate system coordinates of the current position.
And calculating the coordinate of the geocentric fixedly-connected coordinate system of the navigation point according to the coordinate of the rectangular coordinate system of the navigation point and the coordinate of the geocentric fixedly-connected coordinate system of the current position of the measuring ship.
And converting the geocentric fixedly connected coordinate system coordinates of the waypoints into geographic coordinate positions of the waypoints.
In one embodiment, converting the relative positional relationship of the waypoints into rectangular coordinates of the waypoints, and converting the current geographic position of the survey vessel into geocentric coordinates of the current position, includes:
And sequencing the relative position relation of the navigation points in the ascending process according to the sequence of increasing pitch angles, sequencing the relative position relation of the navigation points in the descending process according to the sequence of decreasing pitch angles, and combining the two sequences to obtain a relative position relation sequence of the navigation points.
Obtaining rectangular coordinates of the waypoints according to the relative position relation sequence and the conversion formula of the rectangular coordinates of the relative position relation according to the waypoints; the conversion formula of the relative position relative to the rectangular coordinate system coordinate is as follows:
Wherein (R, A k,Ek) is the relative position relation of the kth navigation point in the sequence of the relative position relation of the navigation points,
Wherein R is the relative distance between the navigation point and the measuring ship, A k is the azimuth angle of the kth navigation point, E k is the pitch angle of the kth navigation point, 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 navigation point number in the ascending process and the navigation point number in the descending process; (X kc,Ykc,Zkc) is the rectangular coordinate system coordinate of the kth waypoint.
Obtaining the coordinates of the geocenter 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 from the geographic coordinate system to the geocenter fixed coordinate system; the conversion formula from the geographic coordinate system to the geocentric fixedly connected coordinate system is as follows:
Wherein, (L 0,B0,H0) is the current geographic position of the measuring ship, (X oc,Yoc,Zoc) is the coordinate of a geocentric fixedly connected coordinate system of the current geographic position of the measuring ship, e is the eccentricity of an ellipsoid of the earth, e 2 =f (2-f), f is the polar flatness of the ellipsoid of the earth, and N is the curvature of a mortise circle of the current geographic position of the measuring ship.
In one embodiment, according to the rectangular coordinate system coordinate of the waypoint and the geocentric fixation coordinate system coordinate of the current position of the measuring ship, calculating the geocentric fixation coordinate system coordinate of the waypoint, wherein the calculation expression of the geocentric fixation coordinate system coordinate of the waypoint in the step is as follows:
Wherein, (X kt,Ykt,Zkt) is the geocentric attachment coordinate of the kth waypoint.
In one embodiment, converting the geocentric coordinate system of the waypoint to a geographic coordinate location of the waypoint comprises:
and converting the geocentric fixedly connected coordinate system coordinates of the waypoint position into longitude, latitude and altitude of the waypoint.
The longitude of the waypoint is:
the latitude and the altitude of the waypoint are obtained through an iterative calculation formula, wherein the iterative calculation formula is as follows:
Wherein u is an integer greater than or equal to 1, and the initial value is N0＝a，/>A. b is the semi-major axis and semi-minor axis of the earth's ellipsoid, respectively; the iteration convergence condition is: i H u-Hu-1|＜ε1,|Bu-Bu-1|＜ε2, where ε 1 and ε 2 are iterative convergence accuracies.
In one embodiment, a geographic coordinate position of a return point is set, the geographic coordinate position of the return point and the geographic coordinate positions of all waypoints are converted into a ground station route file, the ground station route file is imported to a ground station and uploaded to an unmanned aerial vehicle through ground station software, and unmanned aerial vehicle route planning is completed, including:
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 the waypoints into the airway file according to the interface requirements 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 into the unmanned aerial vehicle through a communication link between the ground station software and the unmanned aerial vehicle to complete unmanned aerial vehicle route planning.
According to the unmanned aerial vehicle route planning method for measuring and controlling the marine shafting parameter calibration of the antenna, tracking requirements of pitching angles of different directions are met according to shafting parameter calibration, a route is designed according to calibration parameters in a mode of rising and descending of coils with relative distances kept unchanged, the relative position relation of waypoints is obtained, the position coordinates of the waypoints in a geographic coordinate system are calculated through the relative position relation of the waypoints and the current geographic position of a measuring ship, the calculated position coordinates of the waypoints in the geographic coordinate system are converted into a ground station route file, and the ground station route file is uploaded to the unmanned aerial vehicle, so that route planning is completed. By utilizing the calculation model provided by the invention, the fast and high-precision airway design for tracking the shaft system parameter calibration of the unmanned aerial vehicle can be realized in a programming mode, and the efficiency of the unmanned aerial vehicle with low cost for shaft system parameter calibration is improved
Drawings
FIG. 1 is a schematic flow chart of an unmanned aerial vehicle route planning method for calibrating parameters of a marine shafting of a measurement and control antenna according to an embodiment;
FIG. 2 is a schematic diagram of another embodiment of a course design process for calibrating parameters of a shafting of a tracking unmanned aerial vehicle;
FIG. 3 is a chart of equidistant winding routing results for an axial calibration application in another embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one embodiment, as shown in fig. 1, there is provided an unmanned aerial vehicle route planning method for calibrating parameters of a marine shafting of a measurement and control antenna, the method comprising the steps of:
Step 100: the current geographic position of the measuring ship is obtained, and the calibration distance, the lowest pitch angle, the 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 are set.
Specifically, the current geographic position P 0(L0,B0,H0) of the survey vessel is directly obtained by reading the download of the unmanned aerial vehicle and displaying the download as the current position on the ground station.
The calibration parameters include: calibration distance R, minimum pitch angle E 0, and maximum pitch angle E max. The calibration parameters are set according to the requirements of the specific equipment calibration.
The number of flying turns in the ascending process N 1 and the number of flying turns in the descending process N 2 are set according to the flying performance of the unmanned aerial vehicle, and the specific value can be an integer or a real number.
In this embodiment, 1 waypoint is set every 10 degrees in azimuth, and then the number of ascending waypoints=the number of ascending waypoints× (360/10) +1, the number of descending waypoints=the number of descending waypoints× (360/10), and the highest point is included in the ascending process and not included in the descending process.
Step 102: and designing a route 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 adopting a winding lifting and winding descending mode for keeping the relative distance between each flying point and the measuring ship unchanged, so as to obtain the relative position relation of all the flying points.
Step 104: and obtaining the geographic coordinate position of each waypoint according to the current geographic position and the relative position relation of the measuring ship.
Step 106: setting the geographic coordinate positions of the return points, converting the geographic coordinate positions of the return points and the geographic coordinate positions of all the waypoints into ground station route files, importing the ground station route files into a ground station, uploading the ground station route files to the unmanned aerial vehicle through ground station software, and completing unmanned aerial vehicle route planning.
According to the unmanned aerial vehicle route planning method for measuring and controlling the marine shafting parameter calibration of the antenna, tracking requirements of pitching angles of different directions are met according to shafting parameter calibration, a route is designed according to calibration parameters in a mode of rising and descending of coils with a constant relative distance, the relative position relation of waypoints is obtained, the position coordinates of the waypoints under a geographic coordinate system are calculated through the relative position relation of the waypoints and the current geographic position of a measuring ship, the calculated position coordinates of the waypoints under the geographic coordinate system are converted into a ground station route file, and the ground station route file is uploaded to the unmanned aerial vehicle, so that route planning is completed. By utilizing the calculation model provided by the invention, the fast and high-precision airway design for tracking the shaft system parameter calibration of the unmanned aerial vehicle can be realized in a programming mode, and the efficiency of the unmanned aerial vehicle with low cost for shaft system parameter calibration is improved
In one embodiment, the relative positional relationship of waypoints includes: the relative distance between the waypoint and the measuring ship, and the azimuth angle and pitch angle of the waypoint; step 102 comprises: setting an initial azimuth angle, and setting the relative distance between each navigation point and the measuring ship as a calibration distance; when the method is a lifting process, according to the initial azimuth angle, the lowest pitch angle, the highest pitch angle, the number of flight turns in the lifting process and the number of navigation points in the lifting process, obtaining the azimuth angle and the pitch angle of the lifting navigation points; 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 0 is the initial azimuth; a i is the azimuth of the ith ascending navigation point, i is an integer which is more than 0 and less than or equal to the number of ascending navigation points; n 1 is the number of flying turns in the ascending process; m 1 is the number of navigation points in the ascending process; e max is the highest pitch angle; e 0 is the lowest pitch angle; e i is the pitch angle of the ith elevation waypoint.
When the method is a descending process, according to the azimuth angle, the lowest pitch angle, the highest pitch angle, the number of flight turns in the descending process and the number of navigation points in the descending process of the M 1 th ascending navigation point in the ascending process, obtaining the azimuth angle and the pitch angle of the descending navigation point; 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 M1 is the azimuth of the M 1 ascending waypoint; a j is the azimuth of the jth descending navigation point, j is an integer greater than 0 and less than or equal to the descending navigation point; n 2 is the number of turns in the descending process; m 2 is the number of navigation points in the descending process; e j is the 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 fixedly-connected coordinate system coordinates of the current position; calculating the coordinate of the geocenter fixedly connected coordinate system of the navigation point according to the coordinate of the rectangular coordinate system of the navigation point and the coordinate of the geocenter fixedly connected coordinate system of the current position of the measuring ship; and converting the geocentric fixedly connected coordinate system coordinates of the waypoints into geographic coordinate positions of the waypoints.
In one embodiment, step 104 includes: ordering the relative position relation of the navigation points in the ascending process according to the order of increasing pitch angles, ordering the relative position relation of the navigation points in the descending process according to the order of decreasing pitch angles, and combining the two sequences to obtain a relative position relation sequence of the navigation points; obtaining rectangular coordinates of the waypoints according to the relative position relation sequence and the conversion formula of the rectangular coordinates of the relative position relation according to the waypoints; the conversion formula of the relative position to the rectangular coordinate system coordinate is as follows:
Wherein (R, A k,Ek) is the relative position relation of the kth navigation point in the sequence of the relative position relation of the navigation points,
Wherein R is the relative distance between the navigation point and the measuring ship, A k is the azimuth angle of the kth navigation point, E k is the pitch angle of the kth navigation point, 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 navigation point number in the ascending process and the navigation point number in the descending process; (X kc,Ykc,Zkc) is the rectangular coordinate system coordinate of the kth waypoint;
Obtaining the coordinates of the geocenter 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 from the geographic coordinate system to the geocenter fixed coordinate system; the conversion formula from the geographic coordinate system to the geocentric fixedly connected coordinate system is as follows:
Wherein, (L 0,B0,H0) is the current geographic position of the measuring ship, (X oc,Yoc,Zoc) is the coordinate of a geocentric fixedly connected coordinate system of the current geographic position of the measuring ship, e is the eccentricity of an ellipsoid of the earth, e 2 =f (2-f), f is the polar flatness of the ellipsoid of the earth, f=1/298.257223565, and N is the curvature of a mortise and tenon circle of the current geographic position of the measuring ship
In one embodiment, the calculation expression of the geodetic coordinates of the waypoint in step 104 is:
Wherein, (X kt,Ykt,Zkt) is the geocentric attachment coordinate of the kth waypoint.
In one embodiment, converting the geocentric coordinate system of the waypoint to a geographic coordinate location of the waypoint comprises:
converting the coordinates of a geocentric fixedly connected coordinate system of the navigation point position into longitude, latitude and altitude of the navigation point; the longitude of the waypoint is:
the latitude and the altitude of the waypoint are obtained through an iterative calculation formula, wherein the iterative calculation formula is as follows:
Wherein u is an integer greater than or equal to 1, and the initial value is N0＝a，/>A. b is the semi-major axis and semi-minor axis of the earth's ellipsoid, respectively; the iteration convergence condition is: i H u-Hu-1|＜ε1,|Bu-Bu-1|＜ε2, where ε 1 and ε 2 are iterative convergence accuracies. Epsilon 1＝10-3,ε2＝10-4 is preferred.
In one embodiment, step 106 includes: setting a geographic coordinate position of a return point according to the position of the measuring ship; converting the geographic coordinate positions of all waypoints into a route file according to the interface requirements of the route file of the ground station software; the ground station route file is imported into the ground station software, and is loaded to the unmanned aerial vehicle through a communication link between the ground station software and the unmanned aerial vehicle, so that unmanned aerial vehicle route planning is completed.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In a specific embodiment, as shown in fig. 2, a route planning method for calibrating shafting parameters of a tracking unmanned aerial vehicle is provided, which includes the following steps:
S1, acquiring the current geographical position P 0(L0,B0,H0 of the measuring ship, setting a calibration distance as R (5000M in the example), setting a lowest pitch angle as E 0 (10 degrees in the example), setting a highest pitch angle as E max (60 degrees in the example), setting the number of flying turns in the ascending process as N 1 (1 in the example), setting the number of flying turns in the descending process as N 2 (1 in the example), setting the number of flying turns in the ascending process as M 1 (36 in the example), and setting the number of flying turns in the descending process as M 2 (36 in the example).
S2, calculating a geographic position P 1(L1,B1,H1 of the 1 st waypoint, wherein the relative measurement ship distance is R, the pitch angle is E 0, and the azimuth angle A 0;
Specifically, converting the relative position relation into a specific geographic coordinate position of the waypoint, firstly converting the relative position relation (R, A 0,E0) into a rectangular coordinate system coordinate (X c,Yc,Zc), converting the current geographic position P 0(L0,B0,H0 of the measuring ship into a geocentric fixedly connected coordinate system coordinate (X oc,Yoc,Zoc), then calculating a geocentric fixedly connected coordinate system coordinate Pt (X t,Yt,Zt) corresponding to the first waypoint, and converting Pt into a geographic coordinate position P 1(L1,B1,H1); the mathematical computational expression of the coordinate transformation is as follows:
1) The relative positional relationship (R, A 0,E0) is converted into rectangular coordinates (X c,Yc,Zc)
2) The current geographical position P 0(L0,B0,H0 of the measuring vessel is converted into the coordinate of the earth's center fixed connection coordinate system (X oc,Yoc,Zoc)
3) Calculating the coordinate Pt (X t,Yt,Zt) of the geocentric fixed coordinate system corresponding to the first navigation point according to the results of 1) and 2)
4) And converting the coordinate of the geocentric fixedly connected coordinate system Pt (X t,Yt,Zt) of the navigation point position into the longitude, latitude and altitude of the navigation point. The calculation formula of the longitude is as follows,
The latitude and the altitude are calculated by adopting an iterative method, the initial value is set as N 0 =a, Each iteration then proceeds as follows:
The iteration convergence condition is: i H u-Hu-1|＜ε1,|Bu-Bu-1|＜ε2, where ε 1 and ε 2 are iterative convergence accuracies. Here epsilon 1＝10-3,ε2＝10-4 is taken.
S3, calculating an i (i=1, 2,.. M 1 -1) ascending navigation point P i(Li,Bi,Hi in the ascending process, wherein the position is R, the pitch angle is E i, and the azimuth angle is A i;
S4, calculating a navigation point P M(LM,BM,HM corresponding to the highest pitch angle, wherein the distance between the position and the measuring ship is R, the pitch angle is E max, and the azimuth angle is A M;
S5, calculating a j (j=1, 2,.. M 2) descending navigation point P j(Lj,Bj,Hj in the descending process, wherein the position is R, the pitch angle is E j, and the azimuth angle is A j;
S6, setting a reverse navigation point P L(LL,BL,HL).
And S7, converting the calculated navigation point position information into a navigation file which can be identified by the ground station, importing the navigation file into the ground station, and uploading the navigation file to the unmanned aerial vehicle through ground station software to complete planning.
Through the steps, 1-frame-time route flight of the low-cost unmanned aerial vehicle can be completed. The same approach is used to design the way when flying 2 nd leg, except that the azimuth of the first waypoint is increased 180 degrees compared to 1 st leg, so that the tracking pitch angle of each quadrant uniformly covers E 0 to E max by two legs of flight. Fig. 3 shows a course designed according to this example with the survey vessel position (east longitude 100 °, south latitude 12 °), the unmanned aerial vehicle flying in a clockwise direction, wherein the triangular points represent waypoints during ascent of the unmanned aerial vehicle and the circular points represent waypoints during descent of the unmanned aerial vehicle.
According to the invention, the relative position relation between the equidistant height change and the direction which meets the application of the axis system calibration is designed, the relative position relation is converted into the waypoint coordinate, the waypoint coordinate is further converted into the waypoint file, the waypoint file is uploaded to the unmanned aerial vehicle to realize route planning, each frame flying 1 circle ascends and 1 circle descends, and the E 0 to E max pitch angles can be uniformly covered in different quadrants through 2 frame flying. The accuracy and efficiency of the airway design can be effectively improved, the application of the tracking unmanned aerial vehicle for shafting parameter calibration is realized, the calibration efficiency and the calibration accuracy are improved, and the calibration cost is reduced.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (4)
1. An unmanned aerial vehicle route planning method for calibrating parameters of a marine shafting of a measurement and control antenna is characterized by comprising the following steps:
Obtaining 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;
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 way of winding up and winding down is adopted to design a route, wherein the relative distance between each flying point and a measuring ship is kept unchanged, and the relative position relation of all flying points is obtained; the relative positional relationship of waypoints includes: the relative distance between the waypoint and the measuring ship, and the azimuth angle and pitch angle of the waypoint;
Obtaining the geographic coordinate position of each waypoint according to the current geographic position of the measuring ship and the relative position relation;
Setting a geographic coordinate position of a return point, converting the geographic coordinate position of the return point and the geographic 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 an unmanned aerial vehicle through ground station software, and completing unmanned aerial vehicle route planning;
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 way of rising and descending the windings, which keeps the relative distance between each flying point and a measuring ship unchanged, is adopted to design a navigation way, and the relative position relation of all the flying points is obtained, wherein 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 method is a lifting process, according to the initial azimuth angle, the lowest pitch angle, the highest pitch angle, the number of flying turns in the lifting process and the number of flying points in the lifting process, obtaining the azimuth angle and the pitch angle of the lifting flying point; 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 A0 is the initial azimuth; ai is the azimuth of the ith ascending navigation point, i is an integer which is more than 0 and less than or equal to the number of ascending navigation points; n1 is the number of flying turns in the ascending process; m1 is the number of navigation points in the ascending process; emax is the highest pitch angle; e0 is the lowest pitch angle; e i is the pitch angle of the ith ascending waypoint;
When the method is a descending process, according to the azimuth angle of the M 1 th ascending waypoint in the ascending process, the lowest pitch angle, the highest pitch angle, the number of flying turns in the descending process and the number of navigation points in the descending process, obtaining the azimuth angle and the pitch angle of the descending waypoint; 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 M1 is the azimuth of the M 1 ascending waypoint; aj is the azimuth angle of the jth descending navigation point, j is an integer which is more than 0 and less than or equal to the descending navigation point; n 2 is the number of turns in the descending process; m 2 is the number of navigation points in the descending process; ej is the pitch angle of the jth descending waypoint;
The method for obtaining the geographic coordinate position of each waypoint according to the current geographic position of the measuring ship and the relative position relation comprises the following steps:
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 fixedly-connected coordinate system coordinates of the current position;
Calculating the coordinate of the geocenter fixedly connected coordinate system of the navigation point according to the coordinate of the rectangular coordinate system of the navigation point and the coordinate of the geocenter fixedly connected coordinate system of the current position of the measuring ship;
converting the coordinates of the geocentric fixedly connected coordinate system of the waypoint into the geographic coordinate position of the waypoint;
The method for 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 the geocentric fixed coordinate system coordinates of the current position comprises the following steps:
Ordering the relative position relation of the navigation points in the ascending process according to the order of increasing pitch angles, ordering the relative position relation of the navigation points in the descending process according to the order of decreasing pitch angles, and combining the two sequences to obtain a relative position relation sequence of the navigation points;
obtaining rectangular coordinates of the waypoints according to the relative position relation sequence and the conversion formula of the rectangular coordinates of the relative position relation according to the waypoints; the conversion formula of the relative position relative to the rectangular coordinate system coordinate is as follows:
Wherein (R, ak, 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 ship, ak is the azimuth angle of the kth waypoint, ek is the pitch angle of the kth waypoint, k is the serial number of the waypoint, and k is an integer which is more than or equal to 1 and less than or equal to the sum of the ascending procedure waypoint and the descending procedure waypoint; (Xkc, ykc, zkc) is rectangular coordinates of the kth waypoint;
Obtaining the coordinates of the geocenter 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 from the geographic coordinate system to the geocenter fixed coordinate system; the conversion formula from the geographic coordinate system to the geocentric fixedly connected coordinate system is as follows:
Wherein, (L 0,B0,H0) is the current geographic position of the measuring vessel, (Xoc, yoc, zoc) is the geocentric fixed coordinate system coordinate of the current geographic position of the measuring vessel, e is the eccentricity of the ellipsoid of the earth, e 2 =f (2-f), f is the polar flatness of the ellipsoid of the earth, and N is the curvature of the mortise circle of the current geographic position of the measuring vessel.
2. The method of claim 1, wherein the calculation of the geocentric coordinates of the waypoint is performed based on the rectangular coordinates of the waypoint and the geocentric coordinates of the measuring vessel at the current position, and the calculation expression of the geocentric coordinates of the waypoint is:
Wherein, (X kt,Ykt,Zkt) is the geocentric attachment coordinate of the kth waypoint.
3. The method of claim 2, wherein converting the geocentric coordinate system coordinates of the waypoint to the geographic coordinate location of the waypoint comprises:
Converting the coordinates of a geocentric fixedly connected coordinate system of the navigation point position into longitude, latitude and altitude of the navigation point;
The longitude of the waypoint is:
the latitude and the altitude of the waypoint are obtained through an iterative calculation formula, wherein the iterative calculation formula is as follows:
Wherein u is an integer greater than or equal to 1, and the initial value is N0＝a，A. b is the semi-major axis and semi-minor axis of the earth's ellipsoid, respectively; the iteration convergence condition is: i H u-Hu-1|<ε1,|Bu-Bu-1|<ε2, where ε 1 and ε 2 are iterative convergence accuracies.
4. The method of claim 1, wherein setting the return point geographic coordinate locations, converting the return point geographic coordinate locations and the geographic coordinate locations 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, and completing unmanned aerial vehicle route planning, comprising:
Setting a geographic coordinate position of a return point according to the position of the measuring ship;
converting the geographic coordinate positions of all waypoints into a route file according to the interface requirements 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 into the unmanned aerial vehicle through a communication link between the ground station software and the unmanned aerial vehicle to complete unmanned aerial vehicle route planning.
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