CN114815905B - Multi-machine continuous landing guide control method and device - Google Patents
Multi-machine continuous landing guide control method and device Download PDFInfo
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- CN114815905B CN114815905B CN202210751443.9A CN202210751443A CN114815905B CN 114815905 B CN114815905 B CN 114815905B CN 202210751443 A CN202210751443 A CN 202210751443A CN 114815905 B CN114815905 B CN 114815905B
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- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application belongs to the technical field of radar navigation ground facility design, and particularly relates to a multi-machine continuous landing guidance control method and device. The method comprises the steps of S1, determining the flight phase of the feedback of the multiple target unmanned aerial vehicles; step S2, when the flight phase is a near phase, a leveling phase or a landing and sliding phase, adding the corresponding target unmanned aerial vehicle into the pool of unmanned aerial vehicles to be guided; step S3, determining an idle radar; step S4, for each idle radar, selecting a target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided to be bound with the idle radar, and deleting the target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided; step S5, the position of the target unmanned aerial vehicle and the number of the airborne responder are sent to the radar corresponding to the target unmanned aerial vehicle, and the radar guides the target unmanned aerial vehicle to land; and step S6, repeating the steps until all the unmanned aerial vehicles are guided to land. The landing method and the landing system ensure that the landing is automatically and orderly completed by multiple machines, improve the radar guiding landing efficiency and reduce the workload of operators.
Description
Technical Field
The application belongs to the technical field of radar navigation ground facility design, and particularly relates to a multi-machine continuous landing guidance control method and device.
Background
Two sets and more than two sets of radar guidance system scenes are configured for one set of ground station, when the unmanned aerial vehicle is guided to land, the airborne transponder number of the unmanned aerial vehicle needs to be sent to a certain radar, the unmanned aerial vehicle is guided to land by the radar, and at present, when the radar loads the airborne transponder number, a link monitor needs to confirm with a higher level before a task, and the number setting is manually completed. In the landing process, the radar system sets conditions according to the numbers before the tasks, and the landing guidance of the corresponding unmanned aerial vehicle is completed.
The aforesaid sets up the in-process to the radar, the main problem who exists is that the machine carries the transponder serial number and relies on operator manual setting, when the unmanned aerial vehicle that guides has taken place to change, current unmanned aerial vehicle guide is accomplished promptly, when need guide another unmanned aerial vehicle to land, need the operator in time to confirm with higher level, cause the task burden, especially to carrying out the many times unmanned aerial vehicle's of formation joint task processing process at present, need quick big batch take off and land, to the operation of landing of this kind of multimachine continuous guide, the current mode treatment effeciency through the manual setting of monitoring personnel is lower.
In summary, the current radar guidance system only considers the single-station single-machine guidance mode, does not consider the continuous landing guidance process of the single-station multiple-machine, and has low guidance efficiency.
Disclosure of Invention
In order to solve the problems, the application provides a multi-machine continuous landing guide control method and a multi-machine continuous landing guide control device, which are combined with the landing profile characteristics of the existing model unmanned aerial vehicles, and a multi-machine continuous landing guide control mechanism based on multiple ground radar relays is designed according to the limitation that only one unmanned aerial vehicle can be guided to land in the same period of time by one set of radar system and in consideration of the dynamic change of the guided unmanned aerial vehicle and the flight stage of the guided unmanned aerial vehicle, so that the relay landing guide of a single station and multiple machines is realized.
The application provides a multi-machine continuous landing guidance control method in a first aspect, which mainly comprises the following steps:
step S1, determining the flight phase of the feedback of the multiple target unmanned aerial vehicles;
step S2, when the flight phase is any one of an initial approach phase, a middle approach phase, a final approach phase, a leveling phase and a landing and running phase, adding the corresponding target unmanned aerial vehicle into the pool of unmanned aerial vehicles to be guided;
step S3, determining idle radars in the multiple radars for guiding the unmanned aerial vehicle to land;
step S4, traversing all idle radars in sequence, selecting a target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided to bind with each idle radar, and deleting the target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided;
step S5, the position of the bound target unmanned aerial vehicle and the number of the airborne responder are sent to the radar corresponding to the target unmanned aerial vehicle, and the radar guides the target unmanned aerial vehicle to land;
and step S6, repeating the steps until all the target unmanned aerial vehicles are guided to land.
Preferably, step S3 is preceded by:
receiving idle signals which are sent by each radar and carry self position information; and receiving the information carrying the position and the number sent by each unmanned aerial vehicle.
Preferably, in step S4, the selecting a target drone from the pool of drones to be guided and binding the target drone with a free radar includes: and selecting one target unmanned aerial vehicle which is closest to the idle radar in each target unmanned aerial vehicle in the unmanned aerial vehicle pool to be guided for each idle radar, and binding the target unmanned aerial vehicle with the idle radar.
Preferably, the number of the radars is 2 to 5.
The second aspect of the present application provides a multi-machine continuous landing guidance control device, which mainly includes: the flight phase acquisition module is used for determining the flight phase fed back by the multiple target unmanned aerial vehicles; the unmanned aerial vehicle pool to be guided updating module is used for adding a corresponding target unmanned aerial vehicle into the unmanned aerial vehicle pool to be guided when the flight phase is any one of an initial approach phase, an intermediate approach phase, a final approach phase, a leveling phase and a landing and running phase; the idle radar acquisition module is used for determining idle radars in the multiple radars for guiding the unmanned aerial vehicle to land; the unmanned aerial vehicle and radar binding module is used for traversing all idle radars in sequence, selecting a target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided for each idle radar to bind with the target unmanned aerial vehicle, and deleting the target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided; the guiding function issuing module is used for sending the bound position of the target unmanned aerial vehicle and the number of the airborne responder to the radar corresponding to the target unmanned aerial vehicle, and the radar guides the target unmanned aerial vehicle to land; and the circulation control module is used for circularly calling the modules until all the target unmanned aerial vehicles are guided to land.
Preferably, the multi-machine continuous landing guidance control apparatus further includes: the data receiving module is used for receiving idle signals which are sent by each radar and carry self position information; and receiving the information carrying the position and the number sent by each unmanned aerial vehicle.
Preferably, the drone and radar binding module includes: and the position calculation unit is used for selecting one target unmanned aerial vehicle which is closest to the idle radar in each target unmanned aerial vehicle in the unmanned aerial vehicle pool to be guided for each idle radar, and binding the target unmanned aerial vehicle with the idle radar.
Preferably, the number of the radars is 2 to 5.
The landing method and the landing system ensure that the landing is automatically and orderly completed by multiple machines, improve the radar guiding landing efficiency and reduce the workload of operators.
Drawings
Fig. 1 is a flowchart of a multi-machine continuous landing guidance control method according to a preferred embodiment of the present application.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the drawings.
The application provides a multi-machine continuous landing guidance control method in a first aspect, as shown in fig. 1, which mainly includes:
step S1, determining the flight phase of the feedback of the multiple target unmanned aerial vehicles;
step S2, when the flight phase is any one of an initial approach phase, a middle approach phase, a final approach phase, a leveling phase and a landing and running phase, adding the corresponding target unmanned aerial vehicle into the pool of unmanned aerial vehicles to be guided;
step S3, determining idle radars in the multiple radars for guiding the unmanned aerial vehicle to land;
step S4, traversing all idle radars in sequence, selecting a target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided to bind with each idle radar, and deleting the target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided;
step S5, the position of the bound target unmanned aerial vehicle and the number of the airborne responder are sent to the radar corresponding to the target unmanned aerial vehicle, and the radar guides the target unmanned aerial vehicle to land;
and step S6, repeating the steps until all the target unmanned aerial vehicles are guided to land.
In this application, unmanned aerial vehicle or aircraft land mainly includes following several stages, the initial approach phase: after flying over the initial approach navigation point, the unmanned aerial vehicle shifts to an initial approach stage, and is mainly used for controlling the descending height of the airplane and finishing aligning to the intermediate approach navigation section. Intermediate approach stage: after the unmanned aerial vehicle flies through the middle approach navigation point, the unmanned aerial vehicle shifts to a middle approach stage and is mainly used for adjusting the alignment course of the aircraft. The final approach stage: and after the unmanned aerial vehicle flies over the final approach point, the unmanned aerial vehicle shifts to a final approach stage and is mainly used for completing track alignment and descending landing. Leveling stage: when the distance between the aircraft and the ground is less than X meters (X can be 15-20 meters relative to the satellite), the aircraft enters a leveling stage, and the method is mainly used for the process that the aircraft enters an approximately level flight state from a gliding state. Landing and running stage: after the airplane is grounded, the landing and sliding stage is started, and the landing and sliding stage is mainly used for increasing airplane resistance and shortening sliding distance in the grounding stage. A runway shutdown stage: after the airplane lands on the runway and runs off, the runway is stopped, and then the runway is stopped. And (3) an exit stage: and after the unmanned aerial vehicle stops at the runway, controlling the gliding stage to the contact road or the parking apron according to air route planning or manual instructions. Parking apron shutdown stage: after the airplane runs out and slides to the parking apron, the airplane is automatically braked and then shifts to the parking apron stopping stage.
In some optional embodiments, step S3 is preceded by:
receiving idle signals which are sent by each radar and carry self position information; and receiving information which is sent by each unmanned aerial vehicle and carries the position and the number of the unmanned aerial vehicle, and completing the distance calculation of the unmanned aerial vehicle to be guided based on the information.
In some optional embodiments, the selecting, in step S4, a target drone from the pool of drones to be guided to bind with an idle radar includes: and selecting one target unmanned aerial vehicle which is closest to the idle radar in each target unmanned aerial vehicle in the unmanned aerial vehicle pool to be guided for each idle radar, and binding the target unmanned aerial vehicle with the idle radar.
In some optional embodiments, the radar includes 2 to 5.
Taking 2 radar systems as an example for explanation, firstly, whether an unmanned aerial vehicle in an initial approach stage, an intermediate approach stage, a final approach stage, a leveling stage or a landing roll-off stage exists is judged, and the unmanned aerial vehicle meeting the conditions is guided to land by a first radar or a second radar according to a distance priority principle.
The method comprises the steps that a task control station sends the position of an unmanned aerial vehicle to a first radar, the first radar is set to use an airborne transponder number corresponding to the unmanned aerial vehicle, and when the unmanned aerial vehicle enters a runway shutdown stage, a drive-out stage or an apron shutdown stage, the unmanned aerial vehicle is stopped to guide; and then, judging whether other unmanned aerial vehicles waiting for guidance exist in the unmanned aerial vehicle pool to be guided, if so, calculating the distance value between the unmanned aerial vehicles and the first radar, selecting the unmanned aerial vehicle with the closest distance as the unmanned aerial vehicle to be guided, rejecting the unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided, and otherwise, ending the guidance process.
Similarly, the task control station sends the corresponding unmanned aerial vehicle position to the second radar, the second radar is set to use the number of the airborne transponder corresponding to the unmanned aerial vehicle, when the unmanned aerial vehicle enters a runway shutdown stage, a departure stage or an air park shutdown stage, the unmanned aerial vehicle guidance is stopped, then whether other unmanned aerial vehicles waiting for guidance exist in the pool of unmanned aerial vehicles to be guided is judged, if the unmanned aerial vehicles exist, the distance value between the unmanned aerial vehicles and the second radar is calculated, the unmanned aerial vehicle closest to the distance value is selected as the unmanned aerial vehicle to be guided, the unmanned aerial vehicle is removed from the pool of unmanned aerial vehicles to be guided, and if not, the guidance process is ended.
In the above-mentioned implementation process, preferentially for first radar distribution unmanned aerial vehicle, confirm rather than nearest unmanned aerial vehicle to delete it from waiting to guide the unmanned aerial vehicle pond, later for the second radar distribution unmanned aerial vehicle, confirm with the nearest unmanned aerial vehicle of second radar, and delete it from waiting to guide the unmanned aerial vehicle pond, later wait for the landing guide of these two radars to accomplish the signal, who finishes earlier and continues to distribute for who waits to descend unmanned aerial vehicle.
Compared with the existing ground station landing guidance control method, the automatic setting of the serial numbers of the radar answering machines is considered when the multiple machines are guided, the multi-machine landing guidance relay flow of the single-station dual-radar system is determined, the multiple machines are guaranteed to automatically and orderly complete the landing, the radar guidance landing efficiency is improved, and the workload of operators is reduced.
The second aspect of the present application provides a multi-machine continuous landing guidance control device corresponding to the above method, which mainly includes: the flight phase acquisition module is used for determining the flight phase fed back by the multiple target unmanned aerial vehicles; the unmanned aerial vehicle pool to be guided updating module is used for adding a corresponding target unmanned aerial vehicle into the unmanned aerial vehicle pool to be guided when the flight phase is any one of an initial approach phase, an intermediate approach phase, a final approach phase, a leveling phase and a landing and running phase; the idle radar acquisition module is used for determining idle radars in the multiple radars for guiding the unmanned aerial vehicle to land; the unmanned aerial vehicle and radar binding module is used for traversing all idle radars in sequence, selecting a target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided for each idle radar to bind with the target unmanned aerial vehicle, and deleting the target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided; the guiding function issuing module is used for sending the bound position of the target unmanned aerial vehicle and the number of the airborne responder to the radar corresponding to the target unmanned aerial vehicle, and the radar guides the target unmanned aerial vehicle to land; and the circulation control module is used for circularly calling the modules until all the target unmanned aerial vehicles are guided to land.
In some optional embodiments, the multi-machine continuous landing guidance control apparatus further comprises: the data receiving module is used for receiving idle signals which are sent by each radar and carry self position information; and receiving the information carrying the position and the number sent by each unmanned aerial vehicle.
In some optional embodiments, the drone and radar binding module includes: and the position calculation unit is used for selecting one target unmanned aerial vehicle which is closest to the idle radar in each target unmanned aerial vehicle in the unmanned aerial vehicle pool to be guided for each idle radar, and binding the target unmanned aerial vehicle with the idle radar.
In some optional embodiments, the radar includes 2 to 5.
Although the present application has been described in detail with respect to the general description and specific embodiments, it will be apparent to those skilled in the art that certain modifications or improvements may be made based on the present application. Accordingly, such modifications and improvements are intended to be within the scope of this invention as claimed.
Claims (6)
1. A multi-machine continuous landing guide control method is characterized by comprising the following steps:
step S1, determining the flight phase of the feedback of the multiple target unmanned aerial vehicles;
step S2, when the flight phase is any one of an initial approach phase, a middle approach phase, a final approach phase, a leveling phase and a landing and running phase, adding the corresponding target unmanned aerial vehicle into the pool of unmanned aerial vehicles to be guided;
step S3, determining idle radars in the multiple radars for guiding the unmanned aerial vehicle to land;
step S4, traversing all idle radars in sequence, selecting a target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided to bind with each idle radar, and deleting the target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided;
step S5, the position of the bound target unmanned aerial vehicle and the number of the airborne responder are sent to the radar corresponding to the target unmanned aerial vehicle, and the radar guides the target unmanned aerial vehicle to land;
step S6, repeating the steps until all the target unmanned aerial vehicles are guided to land;
in step S4, the selecting a target drone from the pool of drones to be guided and binding the target drone with an idle radar includes:
and for each idle radar, selecting one target unmanned aerial vehicle which is closest to the idle radar in all the target unmanned aerial vehicles in the pool of the unmanned aerial vehicles to be guided, and binding the target unmanned aerial vehicle with the idle radar.
2. The multi-machine continuous landing guidance control method according to claim 1, wherein the step S3 is preceded by the step of:
receiving idle signals which are sent by each radar and carry self position information; and receiving the information carrying the position and the number sent by each unmanned aerial vehicle.
3. The multi-machine continuous landing guidance control method according to claim 1, wherein the number of the radars is 2-5.
4. A multi-machine continuous landing guidance control device is characterized by comprising:
the flight phase acquisition module is used for determining the flight phase fed back by the multiple target unmanned aerial vehicles;
the unmanned aerial vehicle pool to be guided updating module is used for adding the corresponding target unmanned aerial vehicle into the unmanned aerial vehicle pool to be guided when the flight phase is any one of an initial approach phase, an intermediate approach phase, a final approach phase, a leveling phase and a landing and running phase;
the idle radar acquisition module is used for determining idle radars in the multiple radars for guiding the unmanned aerial vehicle to land;
the unmanned aerial vehicle and radar binding module is used for traversing all idle radars in sequence, selecting a target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided for each idle radar to bind with the target unmanned aerial vehicle, and deleting the target unmanned aerial vehicle from the unmanned aerial vehicle pool to be guided;
the guiding function issuing module is used for sending the position of the bound target unmanned aerial vehicle and the number of the airborne responder to the radar corresponding to the binding target unmanned aerial vehicle, and guiding the bound target unmanned aerial vehicle to land by the radar;
the circulation control module is used for circularly calling the modules until all the target unmanned aerial vehicles are guided to land;
wherein, the unmanned aerial vehicle binds the module with the radar and includes:
and the position calculation unit is used for selecting one target unmanned aerial vehicle which is closest to the idle radar in each target unmanned aerial vehicle in the unmanned aerial vehicle pool to be guided for each idle radar, and binding the target unmanned aerial vehicle with the idle radar.
5. The multi-aircraft continuous landing guidance control device according to claim 4, wherein the multi-aircraft continuous landing guidance control device further comprises:
the data receiving module is used for receiving idle signals which are sent by each radar and carry self position information; and receiving the information carrying the position and the number sent by each unmanned aerial vehicle.
6. The multi-machine continuous landing guidance control device according to claim 4, wherein the number of the radars is 2-5.
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Inventor after: Xiao Lin Inventor after: Zhan Guang Inventor after: Wang He Inventor after: Tao Hongxu Inventor after: Zhang Shihui Inventor after: Zhang Jian Inventor before: Xiao Lin Inventor before: Wang He Inventor before: Tao Hongxu Inventor before: Zhang Shihui |
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