CN116534278B - Test flight planning method for verifying minimum spiral radius index of low-speed unmanned aerial vehicle - Google Patents
Test flight planning method for verifying minimum spiral radius index of low-speed unmanned aerial vehicle Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000005070 sampling Methods 0.000 claims abstract description 66
- 239000011159 matrix material Substances 0.000 claims description 11
- 230000009194 climbing Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 4
- 238000012795 verification Methods 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
Abstract
The invention discloses a test flight planning method for verifying minimum spiral radius index of a low-speed unmanned aerial vehicle, which comprises the following steps: when the minimum hover radius test height is reached, the unmanned aerial vehicle starts to perform the minimum hover radius test flight, and the position information corresponding to the track of the minimum hover radius test flight is recorded in real time; sampling position information corresponding to the track of the minimum spiral radius test flight to obtain all sampling points; obtaining the minimum spiral radius according to all the sampling points; and judging whether the minimum spiral radius index is met or not according to the minimum spiral radius and a preset minimum spiral radius index. According to the invention, under the condition that wind objectively exists, the position information in which the continuous turning is not less than 360 degrees is recorded in real time by utilizing the position sensor, and accurate minimum spiral radius data of the test flight unmanned aerial vehicle is obtained through scientific and reasonable test flight planning.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a test flight planning method for verifying minimum spiral radius indexes by a low-speed unmanned aerial vehicle.
Background
Unmanned aerial vehicle designs have been developed primarily around achieving their performance and usage characteristics. Therefore, how to verify the performance index and the requirements of the use characteristics of the unmanned aerial vehicle is of great importance for the unmanned aerial vehicle.
Among all performance indicators, hover performance represents the maneuver performance of the unmanned aerial vehicle in a horizontal plane, focusing on the ability of the unmanned aerial vehicle to change speed direction, i.e., directional maneuverability. The smaller the minimum spiral radius is, the stronger the direction maneuverability is, and the method has quite important significance for reconnaissance and striking unmanned aerial vehicles.
Hover refers to a motorized flight of an unmanned aerial vehicle that turns continuously no less than 360 degrees. In the coiling process, the coiling radius is inversely proportional to the coiling attack angle, directly proportional to the coiling speed and inversely proportional to the coiling gradient, and the state, the speed and the throttle of the unmanned aerial vehicle are required to be coordinated.
The verification mode of the minimum spiral radius mainly comprises the following three modes: theoretical empirical formula, computational simulation and real flight verification. The most direct and effective means of this is real-fly authentication. Through at unmanned aerial vehicle internally mounted position sensor (including longitude, latitude, altitude information), can the real-time record unmanned aerial vehicle position information, utilize the position information in the continuous turn is not less than 360 degrees, can obtain minimum radius of spiraling.
Meanwhile, wind can influence the spiral radius of the unmanned aerial vehicle, and particularly, the unmanned aerial vehicle with low speed is obvious. On the one hand, when the unmanned aerial vehicle encounters against wind, the ground speed of the unmanned aerial vehicle is reduced, and under the condition that the rest conditions are unchanged, the spiral radius is reduced; when the unmanned aerial vehicle encounters downwind, the unmanned aerial vehicle has high speed, and the radius of the spiral is increased under the condition that other conditions are unchanged; the influence of positive upwind and positive downwind is the greatest; on the other hand, most areas where low-speed unmanned aerial vehicles are active are on the atmosphere troposphere, and wind is inevitably encountered. Under the comprehensive influence, after the unmanned aerial vehicle spirals, the path line can be a regular circle, a regular ellipse or an irregular curve, so that great difficulty is brought to minimum spiral radius data analysis.
Disclosure of Invention
In view of the above, the invention provides a test flight planning method for verifying a minimum spiral radius index of a low-speed unmanned aerial vehicle, for the low-speed unmanned aerial vehicle, through real flight verification, under the condition that wind objectively exists, position information in which continuous turning is not less than 360 degrees is recorded in real time by using a position sensor, and accurate minimum spiral radius data of the test flight unmanned aerial vehicle is obtained through scientific and reasonable test flight planning.
The invention discloses a test flight planning method for verifying minimum spiral radius index of a low-speed unmanned aerial vehicle, which comprises the following steps:
when the minimum hover radius test height is reached, the unmanned aerial vehicle starts to perform the minimum hover radius test flight, and the position information corresponding to the track of the minimum hover radius test flight is recorded in real time; wherein the location information includes longitude, latitude, and altitude;
sampling position information corresponding to the track of the minimum spiral radius test flight to obtain all sampling points; obtaining the minimum spiral radius according to all the sampling points;
and judging whether the minimum spiral radius index is met or not according to the minimum spiral radius and a preset minimum spiral radius index.
Further, before the unmanned aerial vehicle starts the minimum hover radius test flight when the minimum hover radius test altitude, the method further comprises:
determining a take-off configuration state and a take-off weight;
the unmanned aerial vehicle experiences take-off running, ground clearance, climbing to a minimum hover radius test height.
Further, the unmanned aerial vehicle starts to perform minimum hover radius test flight, including:
the unmanned aerial vehicle conducts test flight according to the maximum value of the attack angle limit and the maximum value of the spiral gradient limit, and continuously turns more than 360 degrees;
after the unmanned aerial vehicle starts to perform the minimum hover radius test flight, the method further comprises the following steps:
the unmanned aerial vehicle slides down to land, and the unmanned aerial vehicle weighs after landing.
Further, the obtaining the minimum spiral radius according to all the sampling points includes:
obtaining the distances in the latitude direction and the longitude direction between different sampling points according to the distances between the sampling points and the longitudes, latitudes and heights of the sampling points;
and obtaining the minimum spiral radius according to the distances between the latitude direction and the longitude direction of different sampling points.
Further, the obtaining the distance between the latitude and longitude directions of different sampling points according to the distance between the sampling points and the longitude, latitude and altitude of the sampling points includes:
defining a matrix A according to the distance between sampling points;
according to the longitude, latitude and height of each sampling point, the distance in the longitudinal direction between different sampling points is obtained;
and according to the latitude and the height of each sampling point, obtaining the distance in the latitude direction between different sampling points.
Further, the matrix a is:
wherein,the distance between the ith point and the jth point in the sampling points is defined, the value ranges of i and j are 1 to n, n is the total number of the sampling points, the matrix A is a symmetrical matrix, and +.>。
Further, the calculating the distance in the longitudinal direction between the different sampling points according to the longitude, latitude and altitude of each sampling point includes:
wherein the distance in the longitudinal direction is，/>And->Longitude of the ith and jth sample point, respectively, +.>And->Latitude of the ith and jth sampling point, respectively,/->And->The heights of the ith and jth sampling points, respectively.
Further, the calculating the distance between different sampling points in the latitudinal direction according to the latitude and the height of each sampling point includes:
wherein the distance in the latitudinal direction is，/>And->Respectively are provided withLatitude for the ith and jth sampling point,/->And->The heights of the ith and jth sampling points, respectively.
Further, the obtaining the minimum spiral radius according to the distances between the latitude direction and the longitude direction of different sampling points includes:
obtaining the distance between the ith point and the jth point in the sampling points：
1000
And (5) calculating the minimum spiral radius:
wherein,is the minimum spiral radius.
Further, the determining whether the minimum spiral radius index is satisfied according to the minimum spiral radius and the preset minimum spiral radius index includes:
if the minimum spiral radius is smaller than or equal to the preset minimum spiral radius index, the minimum spiral radius index is met, otherwise, the minimum spiral radius index is not met.
Due to the adoption of the technical scheme, the invention has the following advantages:
a test flight planning method for verifying minimum hover radius index of a low-speed unmanned aerial vehicle can record position information in 360 degrees or more of continuous turning in real time through a position sensor (containing longitude, latitude and altitude information), and provides support for the unmanned aerial vehicle to develop test flight with minimum hover radius; a test flight planning method for verifying minimum hover radius index of a low-speed unmanned aerial vehicle is characterized in that distances among all sampling points are calculated, the influence of wind loss on irregular hover track of the unmanned aerial vehicle is avoided by using a principle method of taking the maximum value of all the distances as the minimum hover diameter, and then the minimum hover diameter is divided by 2 to obtain the minimum hover radius, so that objective rules are met, and data are accurate and available; a test flight planning method for verifying minimum hover radius index of a low-speed unmanned aerial vehicle defines take-off and oil filling quantity, plans the whole test flight process, puts forward constraint on the real flight minimum hover radius process, and puts forward the condition whether the minimum hover radius index of the unmanned aerial vehicle meets the standard or not, and has the advantages of complete process, clear condition and feasible criterion; a test flight planning method for verifying minimum hover radius index of a low-speed unmanned aerial vehicle provides a test flight method for the unmanned aerial vehicle with an attack angle limit maximum value and a hover gradient limit maximum value, and comprehensively ensures the minimum hover radius; 5. a test flight planning method for verifying minimum spiral radius index of a low-speed unmanned aerial vehicle is suitable for the low-speed unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments described in the embodiments of the present invention, and other drawings may be obtained according to these drawings for those skilled in the art.
Fig. 1 is a flow chart of a test flight planning method for verifying a minimum hover radius index by a low-speed unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of a minimum hover radius flight profile according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, wherein it is apparent that the examples described are only some, but not all, of the examples of the present invention. All other embodiments obtained by those skilled in the art are intended to fall within the scope of the embodiments of the present invention.
Referring to fig. 1, the invention provides an embodiment of a pilot flight planning method for verifying a minimum hover radius index by a low-speed unmanned aerial vehicle, which comprises the following steps:
s1, determining the take-off configuration state and take-off weight according to design requirements or user specifications.
For unmanned aerial vehicle configurations, different configurations correspond to different task load devices based on task requirements, and generally comprise various configurations, and the configuration state before take-off needs to be confirmed in advance, or based on design requirements, or based on user specifications.
The design requirements of the minimum spiral radius for the takeoff weight are mainly as follows: full oil take-off or take-off above half oil, etc.; the user specification of the minimum hover radius for take-off weight is mainly: above half oil take off, above half oil or above landing half oil when tested with minimum spiral radius, etc.
S2, the unmanned aerial vehicle undergoes take-off running, ground leaving and climbing to a minimum hover radius test height, wherein the height is favorable for the minimum hover radius or specified by a user. See fig. 2.
S3, the unmanned aerial vehicle conducts minimum hover radius test flight.
The unmanned aerial vehicle conducts test flight according to the maximum value of the attack angle limit and the maximum value of the spiral gradient limit, and continuously turns more than 360 degrees.
S4, the unmanned aerial vehicle glides down and lands.
S5, weighing the unmanned aerial vehicle after landing.
This step S5 may be used to meet the requirements that the user may have for land weight.
S6, carrying out post-processing on the minimum spiral radius data.
The distance between all sampling points is calculated, and the minimum spiral radius is obtained by dividing the minimum spiral diameter by 2 by using the principle method that the maximum value of all the distances is the minimum spiral diameter.
The calculation process is as follows:
s6.1 defines a matrix a:
wherein the method comprises the steps ofDefined as the distance between the i-th point and the j-th point of the sampling point, i=1, 2, …, n, j=1, 2, …, n.
According to the definition above, matrix A is characterized as a symmetric matrix, and。
s6.2 obtaining the longitudinal distance between different sampling pointsUnits: kilometers:
wherein,and->Longitude of the ith and jth sample point, respectively, +.>And->Latitude of the ith and jth sampling point, respectively,/->And->The heights of the ith and jth sampling points, respectively.
S6.3 obtaining the distance between different sampling points in the latitude directionUnits: kilometers:
s6.4 obtaining distance elementUnits: rice:
1000
s6.5 obtaining the minimum spiral radiusUnits: rice equal to all distance elements->Divided by 2.
S7, the minimum spiral radius index meets a suitability criterion:
if the minimum spiral radius is actually measuredIs smaller than or equal to the minimum spiral radius index +.>I.e.
The index requirements are satisfied; otherwise, the index requirement is not satisfied.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (4)
1. A test flight planning method for verifying minimum spiral radius index of a low-speed unmanned aerial vehicle is characterized by comprising the following steps:
when the minimum hover radius test height is reached, the unmanned aerial vehicle starts to perform the minimum hover radius test flight, and the position information corresponding to the track of the minimum hover radius test flight is recorded in real time; wherein the location information includes longitude, latitude, and altitude;
sampling position information corresponding to the track of the minimum spiral radius test flight to obtain all sampling points; obtaining the minimum spiral radius according to all the sampling points;
judging whether the minimum spiral radius index is met or not according to the minimum spiral radius and a preset minimum spiral radius index;
obtaining the minimum spiral radius according to all the sampling points comprises the following steps:
obtaining the distances in the latitude direction and the longitude direction between different sampling points according to the distances between the sampling points and the longitudes, latitudes and heights of the sampling points;
obtaining the minimum spiral radius according to the distances between the latitude direction and the longitude direction of different sampling points;
the obtaining the distances between different sampling points in the latitude direction and the longitude direction according to the distances between the sampling points and the longitude, latitude and altitude of the sampling points comprises the following steps:
defining a matrix A according to the distance between sampling points;
according to the longitude, latitude and height of each sampling point, the distance in the longitudinal direction between different sampling points is obtained;
according to the latitude and the height of each sampling point, solving the distance in the latitude direction between different sampling points;
the matrix A is:
wherein,the distance between the ith point and the jth point in the sampling points is defined, the value ranges of i and j are 1 to n, n is the total number of the sampling points, the matrix A is a symmetrical matrix, and +.>；
The calculating the distance in the longitudinal direction between different sampling points according to the longitude, latitude and altitude of each sampling point comprises the following steps:
wherein the distance in the longitudinal direction is，/>And->Longitude of the ith and jth sample point, respectively, +.>And->Latitude of the ith and jth sampling point, respectively,/->And->The heights of the ith and jth sampling points respectively;
according to the latitude and the height of each sampling point, the distance in the latitude direction between different sampling points is obtained, and the method comprises the following steps:
wherein the distance in the latitudinal direction is，/>And->Latitude of the ith and jth sampling point, respectively,/->And->The heights of the ith and jth sampling points respectively;
the obtaining the minimum spiral radius according to the distances between the latitude direction and the longitude direction of different sampling points comprises the following steps:
obtaining the distance between the ith point and the jth point in the sampling points：
1000
And (5) calculating the minimum spiral radius:
wherein,at the minimum radius of spiral。
2. The method of claim 1, wherein the unmanned aerial vehicle begins the minimum hover radius test flight at the minimum hover radius test altitude, further comprising:
determining a take-off configuration state and a take-off weight;
the unmanned aerial vehicle experiences take-off running, ground clearance, climbing to a minimum hover radius test height.
3. The method of claim 1, wherein the unmanned aerial vehicle begins a minimum hover radius test flight comprising:
the unmanned aerial vehicle conducts test flight according to the maximum value of the attack angle limit and the maximum value of the spiral gradient limit, and continuously turns more than 360 degrees;
after the unmanned aerial vehicle starts to perform the minimum hover radius test flight, the method further comprises the following steps:
the unmanned aerial vehicle slides down to land, and the unmanned aerial vehicle weighs after landing.
4. The method of claim 1, wherein the determining whether the minimum hover radius indicator is met based on the minimum hover radius and a preset minimum hover radius indicator comprises:
if the minimum spiral radius is smaller than or equal to the preset minimum spiral radius index, the minimum spiral radius index is met, otherwise, the minimum spiral radius index is not met.
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