CN115294807B - Control method for intelligent selection of exit of contact crossing for large unmanned aerial vehicle - Google Patents
Control method for intelligent selection of exit of contact crossing for large unmanned aerial vehicle Download PDFInfo
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- CN115294807B CN115294807B CN202211187504.XA CN202211187504A CN115294807B CN 115294807 B CN115294807 B CN 115294807B CN 202211187504 A CN202211187504 A CN 202211187504A CN 115294807 B CN115294807 B CN 115294807B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/06—Traffic control systems for aircraft, e.g. air-traffic control [ATC] for control when on the ground
- G08G5/065—Navigation or guidance aids, e.g. for taxiing or rolling
Abstract
The invention discloses a control method for intelligently selecting a contact crossing to drive out of a large unmanned aerial vehicle, which comprises the following specific steps of: secondly, the unmanned aerial vehicle drives according to a preloaded driving-out route, and if a lane changing driving-out instruction of a navigation management is not received, the unmanned aerial vehicle drives out of the airport according to the preloaded driving-out route; if the unmanned aerial vehicle receives a lane-changing exit instruction of the navigation tube, the unmanned aerial vehicle adjusts the speed and turns to exit by combining the position relation of the unmanned aerial vehicle and the lane-changing exit lane; by the control method, the defect of a control flow when the lane change is suddenly required during the integrated flight of the large unmanned aerial vehicle and the manned unmanned aerial vehicle is overcome, so that the large unmanned aerial vehicle can automatically generate corresponding turning points according to the requirement according to the control method, the large unmanned aerial vehicle can turn around nearby, the large unmanned aerial vehicle can be quickly and safely separated from an airport runway, the time length of the runway is shortened, and the air traffic jam of the airport is reduced.
Description
Technical Field
The invention relates to the technical field of large unmanned control, in particular to a control method for intelligently selecting a contact crossing to exit by a large unmanned aerial vehicle.
Background
At present, airports used by large unmanned aerial vehicles are mostly navigation airports or military airports, the routes of running out of runways are planned in advance basically, and at airports with lower runway use frequency, the maneuverability problem of the unmanned aerial vehicles is not obvious. However, with the progress of science and technology, the rail connection between the unmanned aerial vehicle and the civil aviation is the development trend in the future.
When a large unmanned aerial vehicle is driven out of a runway in the prior art, 3 modes are generally adopted:
the main flow is full-automatic control, namely the unmanned aerial vehicle runs according to a preset program and a preset route.
And command control, which can be controlled by commands within a preset safety range.
And manual control, wherein the problem encountered by the unmanned aerial vehicle is manually and timely responded to control.
Because the distance of rolling off the runway is usually not long, and the contact road width is limited, and unmanned aerial vehicle speed is very fast, and manual control can be because reasons such as link transmission delay and artificial reaction are slow, and the risk is higher, what adopt usually is that full automatic control is carried out to the first mode and realizes.
The problem that the unmanned aerial vehicle and the manned integrated flight meet is that the unmanned aerial vehicle and the manned integrated flight meet the problem that the runway of a busy civil aviation airport is complex or temporarily allocated by navigation management, and the unmanned aerial vehicle needs to maneuver and adjust the outgoing route in time to quickly break away from the runway. The traditional control method can not well lead the unmanned aerial vehicle to make maneuver or need the flight crew to enter the runway for traction, can lead the runway to occupy long time, has low use efficiency, causes unnecessary air traffic jam or potential safety hazard, and adds a higher barrier for the unmanned aerial vehicle to be connected with the civil aviation.
Disclosure of Invention
The invention aims to: aiming at the problems, the control method for intelligently selecting the connection crossing to drive out of the large unmanned aerial vehicle is provided, and the problems that when the unmanned aerial vehicle and the manned aircraft fly together in the prior art, the large unmanned aerial vehicle cannot autonomously make maneuver or needs a flight crew to enter a runway for traction, the runway occupies a long time, the use efficiency is low, and unnecessary air traffic jam or potential safety hazards are caused are solved.
The invention is realized by the following scheme:
a control method for intelligent selection of exit of a contact crossing of a large unmanned aerial vehicle comprises the following specific steps:
loading calibration information of all contact roads of an airport into unmanned aerial vehicle system navigation software;
secondly, the unmanned aerial vehicle drives according to a preloaded driving-out route, and if a lane-changing driving-out instruction of a navigation management is not received, the unmanned aerial vehicle drives out of an airport according to the preloaded driving-out route;
if the unmanned aerial vehicle receives a lane-changing exit instruction of the navigation tube, the unmanned aerial vehicle performs speed regulation and steering exit operation by combining the position relation of the unmanned aerial vehicle and the lane-changing exit channel, or performs speed regulation, turning around and steering exit operation by combining the position relation of the unmanned aerial vehicle and the lane-changing exit channel, and finally realizes intelligent selection of exit at the contact level.
Based on the control method for intelligently selecting the exit of the contact road junction by the large unmanned aerial vehicle, in the second step, when the unmanned aerial vehicle receives a lane change exit instruction of the navigation tube, the position of the unmanned aerial vehicle is recorded as P, the contact road which exits from the lane change is recorded as X, the intersection point of the extension line of the central line of the contact road X and the runway is recorded as a target point M, and the distance between the unmanned aerial vehicle and the target point M is
The distance of the unmanned aerial vehicle is S meters;
if 0 <
S, the unmanned aerial vehicle automatically generates 1 turning point at the D meter ahead of the target point M in forward navigation and records the turning point as T, the speed of the unmanned aerial vehicle is adjusted according to the linear interpolation of the distance from the turning point, the unmanned aerial vehicle continues to drive to the target point M after turning around at the turning point T, and when the unmanned aerial vehicle turns around at the turning point T, the unmanned aerial vehicle drives to the target point M
S is less than or equal to, unmanned aerial vehicle drives for minimum taxi speed with speed control, carries out left turn runway and breaks away from, and total route is: p → M → T → M → X;
if when it is used
The speed of the unmanned aerial vehicle is adjusted in a self-adaptive speed mode according to the linear interpolation of the distance from the turning point, the speed is controlled to be the minimum sliding speed when the unmanned aerial vehicle turns, the unmanned aerial vehicle turns right, and the runway is separated, wherein the total route is as follows: p → M → X.
Based on the control method for intelligently selecting the exit of the contact level crossing by the large unmanned aerial vehicle,if when it is used
< 0m, at this time
For the reverse heading distance, the unmanned aerial vehicle automatically generates 1 turning point T at the P point forward navigation of the unmanned aerial vehicle position and the D meter forward navigation, the speed of the unmanned aerial vehicle carries out self-adaptive speed adjustment according to the linear interpolation of the distance from the turning point, the unmanned aerial vehicle continues to run to a target point M after the unmanned aerial vehicle turns around, and when the unmanned aerial vehicle turns around, the unmanned aerial vehicle continues to run to the target point M
S is not more than S, and unmanned aerial vehicle drives for minimum taxi speed with speed control, and the runway that turns left breaks away from, and total route is: p → T → M → X.
Based on the control method for intelligently selecting the exit of the contact road junction by the large unmanned aerial vehicle, in the second step, when the unmanned aerial vehicle receives a lane change exit instruction of a navigation management, whether the unmanned aerial vehicle has a yaw of less than 5m or not is firstly judged, and if so, the next step of operation is carried out; if not, the unmanned aerial vehicle stops running and waits for the tractor to enter the runway for traction.
Based on the control method for intelligently selecting the exit of the communication road junction by the large unmanned aerial vehicle, the speed instruction of the unmanned aerial vehicle is selected within the range of 12 km/h-50 km/h.
Based on the control method for intelligently selecting the exit of the contact road junction by the large unmanned aerial vehicle, the distance between the turning point T and the target point M is at least 120 meters; when the unmanned aerial vehicle turns, the speed is controlled to be 5km/h minimum sliding speed for driving; the safe steering distance of the unmanned aerial vehicle is 50 meters.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. by the control method, the defect of a control flow when the lane change is suddenly required during the integrated flight of the large unmanned aerial vehicle and the manned unmanned aerial vehicle is overcome, so that the large unmanned aerial vehicle can automatically generate a corresponding turning point according to the requirement of the control method, the large unmanned aerial vehicle can turn around nearby, the large unmanned aerial vehicle can be quickly and safely separated from an airport runway, the time length of the runway is shortened, and the air traffic jam of the airport is reduced.
Drawings
FIGS. 1 and 2 are schematic diagrams of the route of embodiment 2 of the present invention;
FIG. 3 is a schematic route of embodiment 3 of the present invention.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature.
In the existing large unmanned aerial vehicle control method, a planned bidirectional autonomous outbound route is loaded to an unmanned aerial vehicle successfully, and then a preset route that a unique contact road is separated from a runway is executed. If the number of contact channels is large or the temporary allocation of civil aviation navigation management is carried out, a route for quickly separating from a runway by using a certain contact channel cannot be intelligently selected; or the corresponding exit action can be executed only by re-planning the task, confirming the new exit route and successfully loading the new exit route to the unmanned aerial vehicle. If the current position of the unmanned aerial vehicle does not meet the exit condition of the unmanned aerial vehicle separated from the corresponding contact road, the unmanned aerial vehicle still needs to be driven into the runway by a tractor for traction, and finally the runway occupies a long time and has low use efficiency, so that unnecessary air traffic jam or potential safety hazard is caused.
Example 1
The embodiment provides a control method for intelligently selecting a contact crossing to drive out by a large unmanned aerial vehicle, which is applied to an airport with the width of an airport runway being more than or equal to 40 m; the method comprises the following specific steps:
loading calibration information of all contact roads of an airport into unmanned aerial vehicle system navigation software;
secondly, the unmanned aerial vehicle drives according to a preloaded driving-out route, and if a lane-changing driving-out instruction of a navigation management is not received, the unmanned aerial vehicle drives out of an airport according to the preloaded driving-out route;
if the unmanned aerial vehicle receives a lane-changing exit instruction of the navigation management, the position of the unmanned aerial vehicle is recorded as P, the contact lane from which the unmanned aerial vehicle exits is recorded as X, the intersection point of the extension line of the central line of the contact lane X and the runway is recorded as a target point M, and the distance from the unmanned aerial vehicle to the target point M is
The unmanned aerial vehicle searches for a communication channel X given by a navigation management at the moment (the positive navigation direction is a positive value, and the negative navigation direction is a negative value, otherwise, the unmanned aerial vehicle judges the position of the unmanned aerial vehicle by combining the communication channel X with the position of the unmanned aerial vehicle, firstly judges whether the unmanned aerial vehicle has a yaw angle of less than 5m and a yaw angle of less than 3 degrees, and if so, carries out the next operation; if not, the unmanned aerial vehicle stops running to wait for the tractor to enter the runway for traction;
step three: when the unmanned aerial vehicle yaw is judged to be less than 5m and the yaw angle is less than 3 degrees, the following control is carried out;
if 0 <
Less than 50, the unmanned aerial vehicle automatically generates 1 turning point at the D meter ahead of the target point M in the forward navigation and records the turning point as T, the distance between the turning point T and the target point M is D, it is at least 120M, and unmanned aerial vehicle selects to turn around at turning around point T this moment and carries out the automation and turn around, and unmanned aerial vehicle's speed instruction is in 12km/h e &Within the range of 50km/h, performing self-adaptive speed adjustment according to linear interpolation of the distance from the turning point, namely when the distance M is farther, the speed of the unmanned aerial vehicle is higher, and the speed of the unmanned aerial vehicle is gradually reduced along with the reduction of the distance value;
after the unmanned aerial vehicle turns around, the unmanned aerial vehicle continues to drive to the target point M
Not more than 50m, unmanned aerial vehicle drives for minimum taxi speed 5km/h with speed control, and the runway that turns left breaks away from, and total route is: p → M → T → M → X (contact road);
if when it is used
More than or equal to 50M, controlling the speed of the unmanned aerial vehicle to run in the range of 12 km/h-50 km/h at the moment, and performing self-adaptive speed adjustment according to linear interpolation of the distance from the turning point, namely when the distance from the point M is farther, the speed of the unmanned aerial vehicle is higher, the speed of the unmanned aerial vehicle is gradually reduced along with the reduction of the distance value, controlling the speed to run at the minimum sliding speed of 5km/h during steering, and performing right-turning runway separation, wherein the total route is as follows: p → M → X (contact road);
if when it is used
< 0 at this time
For a reverse heading distance, the unmanned aerial vehicle automatically generates 1 turning point T forward to D meters in the forward direction of the unmanned aerial vehicle from a position P of the unmanned aerial vehicle, the turning point T is at least 120M away from the position P of the unmanned aerial vehicle, the unmanned aerial vehicle automatically turns around at the turning point T, the speed instruction of the unmanned aerial vehicle is in the range of 12 km/h-50 km/h, self-adaptive speed adjustment is carried out according to linear interpolation of the distance from the turning point, namely when the distance M is farther, the speed of the unmanned aerial vehicle is higher, and the speed of the unmanned aerial vehicle is gradually reduced along with the reduction of the distance value;
after the unmanned aerial vehicle turns around, the unmanned aerial vehicle continues to drive to the target point M
Not more than 50m, unmanned aerial vehicle drives for minimum taxi speed 5km/h with speed control, and the runway that turns left breaks away from, and total route is: p → T → M → X.
By the control method, the defect of control flow when the lane change is suddenly required during the integrated flight of the large unmanned aerial vehicle and the manned aircraft is overcome, so that the large unmanned aerial vehicle can automatically generate a corresponding turning point according to the requirement according to the control method, the large unmanned aerial vehicle can turn around nearby, the large unmanned aerial vehicle can be quickly and safely separated from an airport runway, the time length of the runway is shortened, and the air traffic jam of the airport is reduced.
Example 2
As shown in fig. 1 and 2, the present embodiment is explained with a specific example;
at the moment, the unmanned aerial vehicle is braked and stopped on the runway, and a loaded outgoing route is preset to be 27 communication roads A; at the moment, the position P of the unmanned aerial vehicle is positioned between the communication channels B and C, the lateral deviation of the unmanned aerial vehicle is less than 5m, and the yaw angle is less than 3 degrees;
the sudden connection navigation management requires that the unmanned aerial vehicle is quickly separated from the runway from the contact channel B, the pilot sends a 27 contact channel B exit instruction, and the distance between the unmanned aerial vehicle and a turning target point M of the contact channel is set as
At this time
Is a positive heading distance (heading 27) and is positive.
When 0 <
If the distance between the target Point M and the turning Point T is less than 50, automatically generating 1 turning Point T (Turn around Point) at a distance D meter ahead of the target Point M in forward navigation, wherein D is 120 meters (at the moment, the unmanned aerial vehicle selects the turning Point T to automatically Turn around), and the speed instruction is in the range of 12 km/h-50 km/h, and the adaptive speed adjustment is carried out according to the linear interpolation of the distance from the turning Point; when the unmanned aerial vehicle turns around,
less than or equal to 50, the minimum sliding speed is 5km/h, the left-turning runway is separated, and the total route is as follows: p → M → T → M → B (contact road).
When in use
The speed instruction of the unmanned aerial vehicle is in the range of 12-50 km/h, the minimum sliding speed is 5km/h according to the linear interpolation of the distance from the target point M, the right turning runway is separated, and the total route is as follows: p → M → B (contact lane).
Example 3
As shown in fig. 3, the present embodiment is explained by a specific example:
at the moment, the unmanned aerial vehicle is braked and stopped on the runway, and a loaded outgoing route is preset to be 27 communication roads A; at the moment, the position P of the unmanned aerial vehicle is positioned between the communication channels B and C, the lateral deviation of the unmanned aerial vehicle is less than 5m, and the yaw angle is less than 3 degrees;
the sudden connection navigation management requires that the unmanned aerial vehicle is quickly separated from the runway from the contact channel C (or D, E and the like), the pilot sends out a '09 contact channel C' (or D, E) exit instruction, and the distance between the unmanned aerial vehicle and a turning target point M of the contact channel is set as
At this time
The distance to the back heading (heading 09) is negative.
At this time
If the distance between the unmanned aerial vehicle and the turning Point is less than 0, automatically generating 1 turning Point T (Turn around Point) at a position P of the unmanned aerial vehicle which is just navigating forward by D meters, wherein D is 120m (at the moment, the unmanned aerial vehicle selects the turning Point T to automatically Turn around), and the speed instruction is in the range of 12 km/h-50 km/h, and self-adaptive speed adjustment is carried out according to linear interpolation of the distance from the turning Point; when the unmanned aerial vehicle turns around,
less than or equal to 50, the minimum sliding speed is 5km/h, the left-turning runway is separated, and the total route is as follows: p → T → M → C (or D, E) contact lane.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. A control method for intelligently selecting a contact crossing to exit by a large unmanned aerial vehicle is characterized by comprising the following steps: the method comprises the following specific steps:
loading calibration information of all contact roads of an airport into unmanned aerial vehicle system navigation software;
secondly, the unmanned aerial vehicle drives according to a preloaded driving-out route, and if a lane-changing driving-out instruction of a navigation management is not received, the unmanned aerial vehicle drives out of an airport according to the preloaded driving-out route;
if the unmanned aerial vehicle receives a lane-changing exit instruction of the navigation management, the unmanned aerial vehicle performs speed regulation and steering exit operation by combining the position relation of the unmanned aerial vehicle and a lane-changing exit channel, or performs speed regulation, turning around and steering exit operation by combining the position relation of the unmanned aerial vehicle and the lane-changing exit channel, and finally realizes intelligent selection of exit at the contact level; in the second step, when the unmanned aerial vehicle receives the lane change exit instruction of the navigation management, the position of the unmanned aerial vehicle is recorded as P, the contact lane for exiting the lane change is recorded as X, the intersection point of the extension line of the central line of the contact lane X and the runway is recorded as a target point M, and the distance between the unmanned aerial vehicle and the target point M is set as
The unmanned aerial vehicle searches a communication channel X given by a navigation management and judges the position of the unmanned aerial vehicle according to the position of the unmanned aerial vehicle;
if 0 <
S, unmanned aerial vehicle is automatic at the eyeMarking a point M forward sailing to generate 1 turning point to the front D meter as T, carrying out self-adaptive speed adjustment on the speed of the unmanned aerial vehicle according to the linear interpolation of the distance from the turning point, enabling the unmanned aerial vehicle to continue to drive to the target point M after the unmanned aerial vehicle turns around at the turning point T, and when the unmanned aerial vehicle turns around at the turning point T, keeping the target point M as T
S is less than or equal to, unmanned aerial vehicle drives for minimum taxi speed with speed control, carries out left turn runway and breaks away from, and total route is: p → M → T → M → X;
if when it is used
The speed of the unmanned aerial vehicle is adjusted in a self-adaptive speed mode according to the linear interpolation of the distance from the turning point, the speed is controlled to be the minimum sliding speed when the unmanned aerial vehicle turns, the unmanned aerial vehicle turns right, and the runway is separated, wherein the total route is as follows: p → M → X; if when it is used
< 0 at this time
For the reverse course distance, the unmanned aerial vehicle automatically generates 1 turning point T at the P point forward navigation of the unmanned aerial vehicle to the D meter ahead, the speed of the unmanned aerial vehicle is adjusted according to the linear interpolation of the distance from the turning point, the unmanned aerial vehicle continues to run to a target point M after the unmanned aerial vehicle turns around, and when the unmanned aerial vehicle turns around, the unmanned aerial vehicle drives to the target point M
S is not more than S, and unmanned aerial vehicle drives for minimum taxi speed with speed control, and the runway that turns left breaks away from, and total route is: p → T → M → X.
2. The control method for the intelligent selection of the contact crossing exit of the large unmanned aerial vehicle according to claim 1, characterized in that: in the second step, when the unmanned aerial vehicle receives a lane-changing exit instruction of the navigation management, whether the unmanned aerial vehicle has a yaw of less than 5m and a yaw angle of less than 3 degrees is firstly judged, and if yes, the next step of operation is carried out; if not, the unmanned aerial vehicle stops running and waits for the tractor to enter the runway for traction.
3. The control method for the intelligent selection of the contact crossing exit of the large unmanned aerial vehicle according to claim 1 or 2, characterized in that: the speed command of the unmanned aerial vehicle is selected within the range of 12 km/h-50 km/h.
4. The control method for the intelligent selection of the contact crossing exit of the large unmanned aerial vehicle according to claim 1 or 2, characterized in that: the distance between the turning point T and the target point M is at least 120 meters; when the unmanned aerial vehicle turns, the speed is controlled to be 5km/h minimum sliding speed for driving; the safe steering distance of the unmanned aerial vehicle is 50 meters.
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