CN114740704B - Redundant ground station remote control system - Google Patents
Redundant ground station remote control system Download PDFInfo
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- CN114740704B CN114740704B CN202210436341.8A CN202210436341A CN114740704B CN 114740704 B CN114740704 B CN 114740704B CN 202210436341 A CN202210436341 A CN 202210436341A CN 114740704 B CN114740704 B CN 114740704B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 230000000007 visual effect Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims description 16
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 11
- 238000010586 diagram Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 3
- 210000003813 thumb Anatomy 0.000 claims description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a redundant ground station remote control system, which comprises an uninterruptible power supply, a ground station computer and display, a ground station accessory box and a ground station remote control console, wherein the ground station computer and display are connected with the ground station remote control console; the ground station remote control console is connected with the ground station accessory box, the ground station accessory box is connected with the ground station computer and the display, and the uninterruptible power supply provides standby power for the ground station computer and the display, the ground station accessory box and the ground station remote control console, so that the continuity and the reliability of remote control are ensured. The ground station remote control system adopts the triple redundancy data transmission station for transmitting ground control data and flight display data, so that the reliability and the integrity of key control and display data are ensured; the RTK differential signal adopts an independent data transmission channel, so that the accuracy of the navigation system at the airborne terminal is ensured; the airborne first visual angle video stream and the downward visual video stream pass through independent image transmission channels, so that a ground unit can remotely visually operate the aircraft.
Description
Technical Field
The invention relates to the technical field of aviation equipment, in particular to a redundant ground station remote control system.
Background
The ground station remote control system is used for remotely monitoring and controlling the aircraft by the ground unit, is connected with the airborne data chain through the ground data chain, realizes that the ground unit controls the flight at a first visual angle, and provides a control device and display equipment of a flight, navigation, monitoring and power device for the ground unit so that the ground unit can monitor and execute specified tasks related to the expected functions of the system and the equipment. The current aircraft is remotely controlled by a ground Futaba remote controller, and an onboard Futaba receiver receives a remote control instruction or a similar remote control method. Signal interference is easy to occur when data transmission is carried out, and the reliability of a ground station remote control system is not facilitated.
Disclosure of Invention
The invention aims to provide a redundant ground station remote control system which solves the problems in the background art. In order to achieve the above purpose, the present invention provides the following technical solutions: a redundant ground station remote control system comprises an uninterruptible power supply, a ground station computer and display, a ground station accessory box and a ground station remote control console;
The ground station remote control console is connected with the ground station accessory box, the ground station accessory box is connected with the ground station computer and the display, and the uninterruptible power supply provides standby power for the ground station computer and the display, the ground station accessory box and the ground station remote control console, so that the continuity and the reliability of remote control are ensured;
The remote control console comprises a switch and a control rod for remotely controlling the start and the flight of an airplane, the ground station accessory box comprises a data processing module, the data processing module is connected with a data transmission radio station and a ground station computer and display, the data processing module is connected with the switch and the control rod of the remote control console through signals, the ground station computer and the display are connected to a camera at an onboard end through a picture transmission channel of the picture transmission radio station, and an RTK receiver of an RTK ground base station is connected to a GNSS at the onboard end through the data transmission channel of the picture transmission radio station.
Preferably, the redundant ground station remote control system is crosslinked with the airborne terminal flight control computer through three redundant data transmission radio stations, and is connected with the airborne terminal video camera and the GNSS through a digital map integrated radio station.
Preferably, the ground station computer and display includes a ground station computer and a ground station computer display, the ground station computer display is connected with the ground station computer, the ground station computer display is a three-screen display, including a flight main display PFD, a monitoring display and a multifunctional display, the flight main display PFD displays aircraft attitude information, air pressure altitude, air pressure reference, radio altitude, radar altitude, indicated airspeed IAS, vacuum speed TAS, ground speed GS, elevation rate, aircraft heading, track, communication channel and frequency display, aircraft battery SOC display, flight remaining course and time display, warning comprehensive display entry, current flight mode and the like.
Preferably, the monitoring display displays key monitoring information of the aircraft: and the on-board diagram page information comprises a low-voltage system profile page, a high-voltage system profile page and a flight control surface profile page.
Preferably, the multifunctional display displays flight state data, including a real-time view picture (first view angle), an alarm list, route planning, a flight task, a route map, emergency state handling information and virtual operation keys, and has a touch function, so that route point information input and virtual key operation are facilitated.
Preferably, the operating lever of the remote control console comprises a steering lever and an accelerating lever, the flight state of the airplane is remotely controlled through a triple redundant data transmission station, the steering lever is positioned at the left side of the ground unit console and comprises a transverse control command, a longitudinal control command and a torsion bar triaxial control command, a transverse control command and a longitudinal control command of a thumb operating lever at the top end of the steering lever and an AP automatic flight cut-off button; the accelerating rod is positioned on the right side of the ground unit console and used for controlling the forward flight speed of the aircraft.
Preferably, the switches of the remote control console comprise three entity key switches, namely a high-voltage start button, an unlocking start button and an emergency drop button, and corresponding control instructions can be uploaded to the airborne flight control computer FCC through three redundant number transmission stations for controlling key functions of the remote control aircraft.
Preferably, a power module is arranged in the ground station accessory box and is connected with an uninterruptible power supply, and the power module provides direct current power for the data processing module, the data transmission radio station, the operating lever, the digital-image integrated radio station and an RTK base station receiver of the RTK ground base station.
The invention has the technical effects and advantages that: the ground station remote control system adopts the triple redundancy data transmission station for transmitting ground control data and flight display data, so that the reliability and the integrity of key control and display data are ensured; the RTK differential signal adopts an independent data transmission channel, so that the accuracy of the navigation system at the airborne terminal is ensured; the airborne first visual angle video stream and the downward visual video stream pass through independent image transmission channels, so that a ground unit can remotely visually operate the aircraft. The three data link channels are relatively independent, so that the reliability of the ground station remote control system is improved.
Drawings
FIG. 1 is a block diagram of the present redundant ground station remote control system;
FIG. 2 is a schematic diagram of a remote control system of the present redundant ground station;
Fig. 3 is a block diagram of an on-board end system for matching the remote control system of the redundant ground station.
Detailed Description
In order that the manner in which the above-recited features, advantages, objects and advantages of the present invention are attained and can be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings, in which the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected or detachably connected, or integrally or mechanically connected, or electrically connected, unless otherwise explicitly stated and defined; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements.
Examples
As shown in fig. 1, a redundant ground station remote control system includes an uninterruptible power supply, a ground station computer and display, a ground station accessory box, and a ground station remote control console. The uninterruptible power supply provides a standby power supply for the ground station remote control system, and ensures the continuity and reliability of remote control. The ground station computer and display includes a ground station computer and a ground station computer display, the ground station computer display being connected to the ground station computer. The ground station computer is displayed as a three screen display including a flight main display PFD, a monitor display and a multifunction display. Wherein:
The flight main display PFD displays aircraft attitude information, air pressure height, air pressure reference, radio height, radar height, indicated airspeed IAS, vacuum speed TAS, ground speed GS, rise rate, aircraft course, flight path, communication channel and frequency display, aircraft battery SOC display, flight residual course and flight time display, warning comprehensive display items, current flight mode and the like;
The engine state display ED and the sketch page display are positioned on a monitoring display, and the monitoring display displays key monitoring information of the aircraft: the system comprises aircraft power system state information, on-board diagram page information and the like, wherein the on-board diagram page information comprises a low-voltage system profile page, a high-voltage system profile page and a flight control surface profile page;
the multifunctional display displays flight state data, including real-time view pictures (first view), warning lists, route planning, flight tasks, route maps, emergency state treatment information and virtual operation keys, and has a touch function, so that route point information input and virtual key operation are facilitated.
The remote control console comprises a switch and a joystick for remotely controlling the start and the flight of the airplane. The switch comprises three entity key switches, namely a high-voltage start button, an unlocking start button and an emergency drop button, and corresponding control instructions can be uploaded to an airborne flight control computer FCC through three redundant number transmission stations for controlling key functions of the remote control aircraft; wherein:
High-pressure start button (H-POWER): the device is used for remotely starting a high-voltage power supply on the aircraft on the ground, and closing the high-voltage power supply by pressing down again; the high-voltage starting switch instruction is restrained when flying in the air, and no instruction is output when the button is pressed;
Unlock START button (START): the device is used for starting the idle rotation of the lift rotor (the aircraft does not take off) on the ground, and pressing down the lift rotor again to close the lift rotor; the unlocking start button instruction is restrained when flying in the air, and no instruction is output when the button is pressed;
Emergency drop button (EMERGENCY LANDING): after the protective cover is opened by pulling the switch with the red protective cover, the switch is upwards pulled to switch on the emergency landing program, and the switch is downwards pulled to release the emergency landing program and the aircraft keeps the in-situ hovering state.
The steering rod comprises a steering rod and an accelerating rod, the flight state of the aircraft is remotely controlled through a triple redundant data transmission radio station, the steering rod is positioned at the left side of the ground unit steering table and comprises a transverse control command, a longitudinal control command and a torsion bar triaxial control command, a transverse control command and a longitudinal control command of a thumb steering rod at the top end of the steering rod and an AP automatic flight cut-off key; the accelerating rod is positioned on the right side of the ground unit console and used for controlling the forward flight speed of the aircraft.
As shown in fig. 2, the ground station accessory case comprises a data processing module, the data processing module is connected with the data transmission station and the ground station computer and displays, the data processing module is connected with a switch and a control lever of the remote control console through signals, and a control instruction can be uploaded to the airborne flight control computer FCC through the three redundant data transmission stations for controlling key functions of the remote control aircraft. The ground station computer and the display are connected to the onboard camera through the image transmission channel of the digital-image integrated radio station, and the RTK receiver of the RTK ground base station is connected to the onboard GNSS through the digital transmission channel of the digital-image integrated radio station. The ground station accessory case is internally provided with a power supply module which is connected with an uninterruptible power supply and can convert alternating current provided by the uninterruptible power supply into direct current, thereby providing direct current power supply drive for a data processing module, a data transmission radio station, a control lever, a digital-image integrated radio station and an RTK base station receiver of an RTK ground base station.
As shown in fig. 3, the redundant ground station remote control system is crosslinked with the airborne terminal flight control computer through three redundant data transmission station data chains, and is connected with the airborne terminal video camera and the GNSS through a digital image integrated station, and is specifically embodied as follows:
a) The ground station control instruction and the flight display data are sent up and down through three redundant data links, the uplink control instruction comprises a switch instruction, a joystick instruction and route task data on a ground station remote control console, and the downlink flight display data comprises main flight display data, airborne system state data, position information and airborne alarm information;
b) The ground station accessory box data processing unit performs voting processing on three paths of redundant data, and uplink control instructions are synchronously sent to an airborne flight control terminal through three paths of data transmission radio stations and subjected to flight control voting processing; the downlink flight display data is received by the three paths of data transmission radio stations, voted by the ground station accessory box data processing unit and transmitted to the ground station computer for display through the LAN port;
c) RTK differential signals of the RTK base station receiver are transmitted to an airborne GNSS through an independent digital-image integrated radio station data transmission channel, and the accuracy of an airborne navigation system is improved;
d) The video streams of the first visual angle and the lower visual angle of the airborne end are transmitted to a ground station computer for display through independent digital-image integrated radio station image transmission channels, so that a ground unit can fly visually;
e) The uninterruptible power supply provides uninterruptible power for all equipment of the ground station remote control system.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (1)
1. The utility model provides a redundant ground station remote control system, includes uninterrupted power source, ground station computer and demonstration, ground station accessory case and ground station remote control platform, its characterized in that:
The ground station remote control console is connected with the ground station accessory box, the ground station accessory box is connected with the ground station computer and the display, and the uninterruptible power supply provides standby power for the ground station computer and the display, the ground station accessory box and the ground station remote control console, so that the continuity and the reliability of remote control are ensured;
The remote control console comprises a switch and a control rod for remotely controlling the start and the flight of an airplane, the ground station accessory box comprises a data processing module, the data processing module is connected with a data transmission radio station and a ground station computer and display, the data processing module is connected with the switch and the control rod of the remote control console through signals, the ground station computer and the display are connected to a camera at an onboard end through a graph transmission channel of the graph integrated radio station, and an RTK receiver of an RTK ground base station is connected to a GNSS at the onboard end through the data transmission channel of the graph integrated radio station;
The redundant ground station remote control system is crosslinked with the airborne terminal flight control computer through three redundant data transmission radio stations, and is connected with the airborne terminal video camera and the airborne terminal GNSS through a one-way digital image integrated radio station;
the ground station computer and display comprises a ground station computer and a ground station computer display, the ground station computer display is connected with the ground station computer, the ground station computer display is three-screen display, comprises a flight main display PFD, a monitoring display and a multifunctional display,
The flight main display PFD displays aircraft attitude information, air pressure height, air pressure reference, radio height, radar height, indicated airspeed IAS, vacuum speed TAS, ground speed GS, elevation rate, aircraft heading, flight path, communication channel and frequency display, aircraft battery SOC display, flight remaining course and flight time display, warning comprehensive display item and current flight mode;
The monitoring display displays key monitoring information of the aircraft: the system comprises aircraft power system state information and on-board diagram page information, wherein the on-board diagram page information comprises a low-voltage system profile page, a high-voltage system profile page and a flight control surface profile page;
The multifunctional display displays flight state data, including real-time visual pictures, warning lists, route planning, flight tasks, route maps, emergency state treatment information and virtual operation keys, and has a touch function, so that route point information input and virtual key operation are facilitated;
The control lever of the remote control console comprises a steering lever and an accelerating lever, the flight state of the aircraft is remotely controlled through a triple redundant data transmission radio station, the steering lever is positioned at the left side of the ground unit console and comprises a transverse control command, a longitudinal control command and a torsion bar triaxial control command, a transverse control command and a longitudinal control command of a thumb control lever at the top end of the steering lever and an AP automatic flight cut-off key; the accelerating rod is positioned on the right side of the ground unit console and is used for controlling the forward flight speed of the aircraft;
The switch of the remote control console comprises three entity key switches, namely a high-voltage start button, an unlocking start button and an emergency drop button, and corresponding control instructions can be uploaded to an airborne flight control computer FCC through three redundant number transfer stations for controlling key functions of a remote control aircraft;
The ground station accessory box is internally provided with a power module, the power module is connected with an uninterruptible power supply, and the power module provides direct current power for a data processing module, a data transmission radio station, a control lever, a digital-image integrated radio station and an RTK base station receiver of the RTK ground base station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210436341.8A CN114740704B (en) | 2022-04-25 | 2022-04-25 | Redundant ground station remote control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210436341.8A CN114740704B (en) | 2022-04-25 | 2022-04-25 | Redundant ground station remote control system |
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| CN114740704A CN114740704A (en) | 2022-07-12 |
| CN114740704B true CN114740704B (en) | 2024-04-26 |
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| JP2004213277A (en) * | 2002-12-27 | 2004-07-29 | Toshiba Corp | Logic diagram editing device |
| CN102915038A (en) * | 2012-11-16 | 2013-02-06 | 北京航空航天大学 | Dual-redundancy autonomous flight control system for micro-miniature unmanned helicopters |
| WO2018032430A1 (en) * | 2016-08-17 | 2018-02-22 | 邹霞 | Intelligent unmanned aerial vehicle system |
| CN210221080U (en) * | 2019-06-19 | 2020-03-31 | 中国电力工程顾问集团西北电力设计院有限公司 | Unmanned aerial vehicle measuring equipment and system integrated with depth camera |
| CN210609177U (en) * | 2019-12-25 | 2020-05-22 | 重庆市亿飞智联科技有限公司 | Unmanned aerial vehicle communication system, unmanned aerial vehicle roaming base station and remote terminal equipment station |
| CN111288963A (en) * | 2020-02-18 | 2020-06-16 | 中国电建集团西北勘测设计研究院有限公司 | High-risk deformable body GNSS monitoring terminal non-contact throwing device and method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11147459B2 (en) * | 2018-01-05 | 2021-10-19 | CareBand Inc. | Wearable electronic device and system for tracking location and identifying changes in salient indicators of patient health |
-
2022
- 2022-04-25 CN CN202210436341.8A patent/CN114740704B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004213277A (en) * | 2002-12-27 | 2004-07-29 | Toshiba Corp | Logic diagram editing device |
| CN102915038A (en) * | 2012-11-16 | 2013-02-06 | 北京航空航天大学 | Dual-redundancy autonomous flight control system for micro-miniature unmanned helicopters |
| WO2018032430A1 (en) * | 2016-08-17 | 2018-02-22 | 邹霞 | Intelligent unmanned aerial vehicle system |
| CN210221080U (en) * | 2019-06-19 | 2020-03-31 | 中国电力工程顾问集团西北电力设计院有限公司 | Unmanned aerial vehicle measuring equipment and system integrated with depth camera |
| CN210609177U (en) * | 2019-12-25 | 2020-05-22 | 重庆市亿飞智联科技有限公司 | Unmanned aerial vehicle communication system, unmanned aerial vehicle roaming base station and remote terminal equipment station |
| CN111288963A (en) * | 2020-02-18 | 2020-06-16 | 中国电建集团西北勘测设计研究院有限公司 | High-risk deformable body GNSS monitoring terminal non-contact throwing device and method |
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| CN114740704A (en) | 2022-07-12 |
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