CN116592849A - Regional survey and drawing system of two machine formula unmanned aerial vehicle in one station - Google Patents
Regional survey and drawing system of two machine formula unmanned aerial vehicle in one station Download PDFInfo
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 10
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- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The invention discloses a one-station double-machine type unmanned aerial vehicle region mapping system, and relates to the technical field of unmanned aerial vehicles and mapping. The ground control station comprises a ground data terminal, a ground antenna and a ground control terminal, wherein the multi-rotor unmanned aerial vehicle is provided with an airborne data terminal and an airborne antenna; the data chain is composed of an airborne data terminal and a ground data terminal, the data chain adopts a time division multiple access mode, the ground control station controls two multi-rotor unmanned aerial vehicles to work simultaneously, and the two multi-rotor unmanned aerial vehicles respectively execute different tasks. According to the system, a single ground control station is adopted to monitor and control two multi-rotor unmanned aerial vehicle platforms carrying different task loads simultaneously, a specific area is mapped in a whole-process program control mode, and the working efficiency of area mapping is effectively improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles and mapping, in particular to a regional mapping system based on a multi-rotor unmanned aerial vehicle platform.
Background
Along with the development of technology, unmanned aerial vehicle technology has also brought on rapid progress, and its application field is also becoming more and more extensive. Unmanned aerial vehicle aerial survey technology for carrying out regional survey by carrying specific loads on unmanned aerial vehicle platforms has been greatly developed, and application of the unmanned aerial vehicle aerial survey technology to the fields of disaster emergency and treatment, resource development, town construction and the like is common. Compared with the traditional high-resolution satellite mapping and manual mapping, the unmanned aerial vehicle carries specific load to conduct regional mapping, and has the characteristics of low cost, high speed, high efficiency, flexibility, maneuver, wide application range and the like.
The unmanned aerial vehicle platform is used for carrying various loads such as visible light, infrared rays, radar and the like to map areas. However, due to the miniaturization degree and practical application mode of different loads, the unmanned plane platform carries different loads for regional mapping, and data acquisition is often carried out by adopting a mode that a single plane carries different loads for multiple frames, so that acquired data are not concurrent, the deviation is larger, and the reference value is greatly reduced.
Disclosure of Invention
In view of the above, the present invention provides a one-station double-machine unmanned aerial vehicle regional mapping system, which adopts a single ground control station to monitor and control two multi-rotor unmanned aerial vehicle platforms carrying different task loads simultaneously, and maps a specific region in a whole-process program control manner.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the one-station double-aircraft type unmanned aerial vehicle regional mapping system comprises a ground control station and A, B two multi-rotor unmanned aerial vehicles, wherein the ground control station comprises a ground data terminal, a ground antenna and a ground control terminal, the multi-rotor unmanned aerial vehicle is provided with an airborne data terminal and an airborne antenna, the multi-rotor unmanned aerial vehicle A carries a visible light or infrared load, and the multi-rotor unmanned aerial vehicle B carries a MiniSAR load; the ground control terminal is connected with the ground data terminal and the ground antenna through the Ethernet; the ground control station controls the two multi-rotor unmanned aerial vehicles to work simultaneously, and the two multi-rotor unmanned aerial vehicles respectively execute different tasks;
the ground control station is to two many rotor unmanned aerial vehicle's control method:
step 1, for a multi-rotor unmanned aerial vehicle A, planning a visible light or infrared load task according to the task and the actual situation, setting flight direction, flight speed, flight height and photographing overlapping rate parameters, selecting a target area range, and planning a working mode of a multi-rotor unmanned aerial vehicle A flight route and visible light or load;
step 2, for the multi-rotor unmanned plane B, carrying out MiniSAR load task planning according to tasks and actual conditions, setting flight speed, flight height, load resolution and ground wiping angle parameters, selecting a target area range, and planning a multi-rotor unmanned plane B flight route and MiniSAR load working state;
step 3, the ground control station controls the multi-rotor unmanned aerial vehicle platform A machine and the multi-rotor unmanned aerial vehicle platform B machine to take off, enter program-controlled flight and execute a given task;
and step 4, after the flight task is finished, the system withdraws and performs data post-processing.
Further, the specific mode of the step 1 is as follows:
step 101, selecting flight direction, flight speed, flight height and photographing overlapping rate parameters of the multi-rotor unmanned aerial vehicle A according to task requirements;
102, acquiring the position of a multi-rotor unmanned aerial vehicle A, clicking two points of the upper left corner and the lower right corner of a target rectangular area on a map, and determining the range of the target area;
and 103, planning the working modes of the route and the visible light or infrared load of the multi-rotor unmanned aerial vehicle A according to the parameter information determined in the steps 101 and 102.
Further, the specific mode of the step 2 is as follows:
step 201, selecting the flight speed and the flight height of the multi-rotor unmanned plane B according to task requirements, and selecting the resolution and the floor wiping angle of MiniSAR load;
step 202, determining the length of an imaging area strip according to target characteristics, and selecting a position of a B-plane route of the multi-rotor unmanned aerial vehicle at a position near or far from a ground control station in combination with field environmental conditions;
step 203, acquiring the position of the multi-rotor unmanned plane B, clicking the starting point and the end point of a strip on a map, and determining an imaging area;
and 204, planning the working states of the route and MiniSAR load of the multi-rotor unmanned plane B according to the parameter information determined in the steps 201-203.
Further, the ground data terminal and the two airborne data terminals form a receiving-transmitting network, the receiving-transmitting network works by adopting the same frequency point, and a single-hop time-division network of 3 nodes is formed through uplink and downlink time-division duplexing and time-division multiple access systems;
the transmission mode of the uplink remote control information is as follows: the control instructions generated by the ground control terminal and the task load control equipment are coded in a terminal processing unit of the ground data terminal, carrier modulation is completed by adopting an OFDM modulation mode, the carrier modulation is converted to radio frequency through a transceiver, and the radio frequency is transmitted through a ground antenna; the machine-carried antenna amplifies and frequency-converts the uplink signal through a transceiver of the machine-carried data terminal, outputs an intermediate frequency signal, and outputs a link remote control, a flight control remote control and a task load remote control data frame after despreading and demodulation through a terminal processing unit, and the link module, the flight control unit and the task load equipment are respectively transmitted through a data interface unit to realize the control and change of the working state of a data link, the attitude of an airplane and the attitude of a task load;
the transmission mode of the downlink telemetry information is as follows: the telemetry data is input to an airborne data terminal by a flight control unit, multiplexed and error correction coded with image telemetry data provided by a task load, and then transmitted to a ground data terminal after OFDM modulation and power amplification; after receiving the signal, the ground antenna amplifies and converts the frequency through the transceiver of the ground data terminal, outputs an intermediate frequency signal, and completes demodulation in the terminal processing unit; after demodulation, the image telemetering composite data is sent to a network interface board of the ground data terminal, and the network interface board transmits the data to the ground control terminal through Ethernet.
Further, the link network resource of the single-hop time division network adopts a dynamic allocation mode, and the node for obtaining the network resource performs networking data transmission in the network in a time division mode; the broadband link network resources include 2 narrow time slots and 6 wide time slots; the link communication system divides a time axis into transmission time frames, and each time frame is a transmission period; the time frame is divided into a plurality of time slots, each network node occupies one time slot to send own information, and receives information sent by other users in other time slots; the ground control station is used as a network center to occupy a narrow time slot to send double-machine uplink remote control information; the multi-rotor unmanned aerial vehicle A occupies a first wide time slot and a second wide time slot to transmit self image data and telemetry information; the multi-rotor unmanned plane B occupies a third wide time slot and a fourth wide time slot to transmit self image data and telemetry information; further, another narrow slot and the fifth and sixth wide slots are reserved as spares.
Further, the flight route of the multi-rotor unmanned aerial vehicle A adopts a winding path, and the distance D between adjacent outgoing paths and loops is as follows:
wherein P is the overlapping rate, H is the flying height, and alpha is the field angle of visible light or infrared load.
Further, the flight route of the multi-rotor unmanned aerial vehicle B is a straight line positioned at one side of the target area, the width of the strip of the target area is W, the length of the strip is L, and the distance from the flight route of the multi-rotor unmanned aerial vehicle B to the target area is G:
wherein H is the flying height, theta c For wiping the floor, θ e Pitching beam width, θ, of radar antenna for MiniSAR load i Is the radar antenna incident angle.
The invention has the beneficial effects that:
1. according to the invention, a single ground control station is adopted to monitor and control two multi-rotor unmanned aerial vehicle platforms carrying different task loads simultaneously, a specific area is mapped in a whole-process program control mode, the simultaneity of mapping the same area by different task loads is ensured to the maximum extent, and the working efficiency of area mapping is effectively improved.
2. The data link of the invention adopts a time division multiple access mode to realize that the ground control station controls the two multi-rotor unmanned aerial vehicle to work simultaneously.
3. The invention divides the broadband link network resource into 2 narrow time slots and 6 wide time slots, and divides the time axis into transmission time frames, and the time frames are divided into a plurality of time slots, thereby solving the problem of multi-node communication.
Drawings
FIG. 1 is a schematic diagram of a system architecture of the present invention;
FIG. 2 is a schematic diagram of a data flow diagram of a data chain subsystem;
FIG. 3 is a schematic diagram of a link TDMA time frame;
FIG. 4 is a schematic illustration of an automatic visible/infrared load task planning;
FIG. 5 is a MiniSAR load task automatic planning schematic diagram;
FIG. 6 is a schematic illustration of a "serpentine" flight path for a multi-rotor unmanned platform A aircraft;
FIG. 7 is a diagram of MiniSAR load mapping bandwidth;
fig. 8 is a schematic diagram of a flight path of a multi-rotor unmanned aerial vehicle platform B.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The one-station double-aircraft type unmanned aerial vehicle regional mapping system comprises a ground control station and A, B two multi-rotor unmanned aerial vehicles, wherein the ground control station comprises a ground data terminal, a ground antenna and a ground control terminal, the multi-rotor unmanned aerial vehicle is provided with an airborne data terminal and an airborne antenna, the multi-rotor unmanned aerial vehicle A carries a visible light or infrared load, and the multi-rotor unmanned aerial vehicle B carries a MiniSAR load; the ground control terminal is connected with the ground data terminal and the ground antenna through the Ethernet; the data chain is composed of an airborne data terminal and a ground data terminal, the data chain adopts a time division multiple access mode, the ground control station controls two multi-rotor unmanned aerial vehicles to work simultaneously, and the two multi-rotor unmanned aerial vehicles respectively execute different tasks.
The system is based on 'one-station double-machine' control of the unmanned aerial vehicle, and is realized by means of remote control and telemetry data rapid and safe transmission between a multi-rotor unmanned aerial vehicle platform and a ground control station by means of a data link, wherein the data link consists of an airborne data terminal and a ground data terminal.
The main functions of the airborne data terminal are as follows:
a) Receiving a remote control instruction sent by a ground control station;
b) Downloading telemetry information of the unmanned aerial vehicle;
c) Downloading task load telemetry information;
d) And downloading task load task data.
The main functions of the ground data terminal are as follows:
a) Transmitting remote control information of a multi-rotor unmanned aerial vehicle platform in real time;
b) Receiving telemetry information of a multi-rotor unmanned aerial vehicle platform in real time;
c) Receiving task data information of a task load in real time;
d) And the remote control and remote measurement with the ground control terminal and the task data transmission of the task load are realized.
The data link adopts a time division multiple access technology, an airborne data terminal and an airborne antenna are integrated in each multi-rotor unmanned aerial vehicle platform, and a ground control terminal is connected with the ground data terminal and the ground antenna through an Ethernet. The ground control terminal can realize 'one-station double-machine' type control, so that two multi-rotor unmanned aerial vehicle platforms can work simultaneously, and different tasks are executed respectively.
The two multi-rotor unmanned aerial vehicle platforms carry different task loads, task load data, flight control telemetry data and link telemetry data are multiplexed, compressed and encrypted through an airborne data terminal integrated on the unmanned aerial vehicle platform, the data are transmitted to a ground antenna through an airborne radio frequency antenna, the ground antenna transmits the task data to the ground data terminal, and the ground data terminal is transmitted to a ground control terminal to be displayed and stored through decryption and decompression processing in a wired mode.
The multi-rotor unmanned plane platform A carries visible light/infrared load, the ground control terminal performs visible light/infrared load task planning according to task requirements, and jigsaw mapping can be performed on a target area. As shown in fig. 4, the specific steps of the automatic planning of the visible light/infrared load task are as follows:
step S1, selecting parameters such as flight direction, flight speed, flight height, photographing overlapping rate and the like of a multi-rotor unmanned aerial vehicle platform according to task requirements;
s2, acquiring the platform position of the multi-rotor unmanned aerial vehicle, clicking two points of the upper left corner and the lower right corner of a target rectangular area on a map, and determining the range of the target area;
and step S3, according to the related parameter information of the step S1 and the step S2, the ground monitoring software automatically plans the working modes of the route and the visible light/infrared load of the multi-rotor unmanned aerial vehicle platform.
In step S1, the flight directions of the multi-rotor unmanned aerial vehicle platform are divided into "east-west direction" and "north-south direction", and are selected according to the environmental conditions such as wind speed and wind direction on the day of the mission.
In step S1, parameters such as flight speed, flight height, photographing overlapping rate of the multi-rotor unmanned aerial vehicle platform can be selected according to task requirements and environmental conditions, and the continuous shooting interval of visible light/infrared load is directly affected.
In step S2, the upper left corner of the target area is the multi-rotor unmanned aerial vehicle platform waypoint 1, and after the multi-rotor unmanned aerial vehicle platform reaches the waypoint 1, the visible light/infrared load executes the "vertical down view" and "quick continuous shooting" instructions.
In step S2, the lower right corner of the target area is the last navigation point of the platform of the multi-rotor unmanned aerial vehicle, the visible light/infrared load executes the instruction of stopping continuous shooting, the last navigation point is the landing point of the platform of the multi-rotor unmanned aerial vehicle, the landing point and the flying point are generally set to be the same point, and after the task is finished, the multi-rotor unmanned aerial vehicle automatically returns to the flying point.
The multi-rotor unmanned plane platform B carries MiniSAR load, and the ground control terminal performs MiniSAR load task planning according to task requirements, so that a target area can be mapped. As shown in fig. 5, the specific steps of the automatic planning of the MiniSAR load task are as follows:
m1, selecting the flying speed and flying height of a multi-rotor unmanned aerial vehicle platform according to task requirements, and selecting the resolution ratio and the floor wiping angle of MiniSAR load;
m2, determining the length of an imaging area strip according to target characteristics, and selecting a position of a multi-rotor unmanned aerial vehicle platform route at a near end or a far end from a ground control station in combination with field environmental conditions;
step M3, acquiring the position of a platform of the multi-rotor unmanned aerial vehicle, clicking a starting point and an ending point of a strip on a map, and determining an imaging area;
and M4, automatically planning the working states of the route and the MiniSAR load of the multi-rotor unmanned aerial vehicle platform by ground monitoring software according to the related parameter information of the steps M1, M2 and M3.
And related parameters in the steps M1, M2 and M3 need to comprehensively consider performance indexes such as the cruising ability of the multi-rotor unmanned aerial vehicle platform, the maximum flying speed and the like and the MiniSAR load imaging performance.
In step M4, ground monitoring software automatically plans the route of the multi-rotor unmanned aerial vehicle platform. MiniSAR load adopts positive side view strip imaging mode, and in the imaging process, many rotor unmanned aerial vehicle platform is along sharp uniform motion all the time, and the radar antenna is towards many rotor unmanned aerial vehicle platform motion route's positive side. When the multi-rotor unmanned aerial vehicle platform reaches the waypoint 1, accelerating along a route is started, and after the planning speed is reached, the MiniSAR load takes the heading of the multi-rotor unmanned aerial vehicle platform as a standard, and left-view imaging or right-view imaging is automatically carried out according to the imaging region position.
The following is a more specific example:
fig. 1 shows a one-station double-machine unmanned aerial vehicle regional mapping system, which comprises an unmanned aerial vehicle platform subsystem, a task load subsystem and a ground control station subsystem.
Wherein, unmanned aerial vehicle platform subsystem includes many rotor unmanned aerial vehicle platforms, lithium ion battery group. The lithium ion battery pack provides a power supply for the multi-rotor unmanned aerial vehicle platform;
the task load subsystem comprises a visible light/infrared load and a MiniSAR load, wherein the two task loads are consistent with each other in external hardware interfaces and can be carried on any one of two multi-rotor unmanned aerial vehicle platforms;
the ground control station subsystem comprises a ground control terminal and a ground data terminal, wherein the ground data terminal and the ground control terminal are in signal transmission through wired connection;
the lithium ion battery pack adopts a low-temperature lithium ion polymer battery, has the characteristics of high working voltage, large specific energy, long cycle life, good safety, quick charge, small self discharge and the like, and is widely applied to multi-rotor unmanned aerial vehicles;
the visible light/infrared load mainly comprises a gyro stabilizing platform assembly, a photoelectric load assembly, a digital processing assembly and a power supply assembly, and the targets can be mapped optically and infrared under different ambient conditions by utilizing the visible light and the infrared load.
MiniSAR load is a small-size imaging radar of X frequency channel, and physically structurally comprises radar host computer and stable platform, adopts Frequency Modulation Continuous Wave (FMCW) system, can install in many flying platforms such as rotor unmanned aerial vehicle below, acquires the two-dimensional microwave image of ground scene and target, and main characteristics include:
a) The equipment is light and small, the peak power is low, and the radiation of human bodies is safe;
b) Real-time imaging can be performed, and a target image can be previewed in real time;
c) The antenna has a stable platform, and the incident angle of the antenna is adjustable in real time;
d) The observation scene range is large, and the task execution efficiency is high;
e) The operation is simple, and the imaging process does not need manual intervention;
f) The working can be carried out in daytime and at night, and the working performance is irrelevant to the environment illumination condition;
g) The dust collector can penetrate through cloud, rain and snow, haze and smoke dust to work, and the working performance is little affected by weather;
the ground monitoring software installed on the ground control terminal mainly completes remote control and remote measurement of the multi-rotor unmanned aerial vehicle platform and task loads, can carry out route planning on the multi-rotor unmanned aerial vehicle platform, and simultaneously automatically generates unmanned aerial vehicle operation routes meeting the requirements of visible light/infrared load and MiniSAR load mapping tasks according to the working characteristics and parameter configuration of each task load. The software may download the national map offline, taking into account the job needs across the area in actual use.
The ground data terminal and the airborne data terminal form a complete data transmission system, and the remote control, remote measurement and task load task data transmission of the unmanned aerial vehicle are mainly realized.
The mapping operation steps of the system are as follows:
step X1, primarily determining task content, and primarily determining a flight route according to actual geographic environment through on-site investigation
Step X2, system erection, namely carrying out visible light/infrared load by using a multi-rotor unmanned aerial vehicle platform A machine and carrying out MiniSAR load by using a multi-rotor unmanned aerial vehicle platform B machine, and completing system inspection before take-off;
step X3, according to the task and the actual situation, performing visible light/infrared load task planning according to the steps S1-S3, setting parameters such as flight direction, flight speed, flight height, photographing overlapping rate and the like, selecting a target area range, and planning an A machine flight route, a visible light/load working mode and the like;
step X4, carrying out MiniSAR load task planning according to the tasks and actual conditions and the steps M1-M4, setting parameters such as flight speed, flight height, load resolution, ground wiping angle and the like, selecting a target area range, and planning a B machine flight route, miniSAR load working state and the like;
step X5, the ground control station controls the multi-rotor unmanned aerial vehicle platform A machine and the multi-rotor unmanned aerial vehicle platform B machine to take off, enter program-controlled flight and execute a given task;
and step X6, finishing the flight task, removing and receiving the system, and performing data post-processing.
In the step X3, the selection of the flight direction needs to consider the wind direction and the wind speed, and when the wind speed is larger (more than or equal to 6 m/s), the unmanned plane platform is prevented from being blown laterally by side wind as much as possible in the flight process; the selection of the flying speed and the flying height is carried out according to the suggested flying speed and the suggested flying height which comprehensively consider the endurance in ground monitoring software; the selection of the photographing overlapping rate is carried out according to the suggested overlapping rate which comprehensively considers the data processing capacity of the jigsaw software in the ground monitoring software;
in step X3, the flight route adopts a "serpentine" path (see fig. 6), and the distance D between adjacent paths is related to the overlap ratio P, the flight height H, and the visible light/infrared load field angle α, and can be obtained by the following formula:
in step X4, as shown in FIGS. 7 and 8, the flight path is determined by the swath width W and swath length L of the target area, the swath width and flight height H, and the ground wiping angle θ c Radar antenna pitching wave beam width theta of MiniSAR load e Related to the following. Wherein, the floor wiping angle and the incidence angle of the radar antenna are Guan i The strip width W and the distance G of the course from the target area can be found by the following formula:
and the step X2-X5 is realized by carrying out remote control and telemetry data rapid and safe transmission between the multi-rotor unmanned aerial vehicle platform and the ground control station by means of a data link. As shown in fig. 2, the data link is composed of an on-board data terminal and a ground data terminal. In the 'one station and two machines' working mode, a ground data terminal and two airborne data terminals form a receiving-transmitting network, the receiving-transmitting uses the same frequency point to work, and a 3-node single-hop time division network is formed through uplink and downlink time division duplex and a time division multiple access system (TDD-TDMA). The channel transmission modulation system adopts OFDM technology.
Further, the uplink remote control means that control instructions generated by the ground control terminal and the task load control device are encoded in a terminal processing unit of the ground data terminal, carrier modulation is completed by adopting an OFDM modulation mode, and the carrier modulation is converted to radio frequency through a transceiver and transmitted through a ground antenna. The machine-carried antenna amplifies and frequency-converts the uplink signal through the transceiver of the machine-carried data terminal, outputs an intermediate frequency signal, outputs a link remote control, a flight control remote control and a task load remote control data frame after despreading and demodulation through the terminal processing unit, and respectively sends the link module, the flight control unit and the task load equipment through the data interface unit to realize the control and change of the working state of a data link, the attitude of an airplane and the attitude of the task load.
Further, the downlink telemetry refers to that telemetry data is input to an airborne data terminal by a flight control unit, multiplexed with image telemetry data provided by a task load and error correction coded, and sent to a ground data terminal after OFDM modulation and power amplification. After receiving the signal, the ground antenna amplifies and frequency-converts the signal by the transceiver of the ground data terminal, outputs an intermediate frequency signal, and completes demodulation in the terminal processing unit. After demodulation, the image telemetering composite data is sent to a network interface board of the ground data terminal, and the network interface board transmits the data to the ground control terminal through Ethernet.
Furthermore, the link network resources of the single-hop time division network can be dynamically allocated, and the nodes for obtaining the network resources perform networking data transmission in the network in a time division mode. As shown in fig. 3, the broadband link network resources include 2 narrow slots and 6 wide slots. The link communication system divides the time axis into transmission time frames, each time frame being a transmission period. The time frame is divided into a plurality of time slots, each network node occupies one time slot to send own information, and receives information sent by other users in other time slots. The ground is used as a network center to occupy a narrow time slot for sending uplink remote control information of the double machines; the multi-rotor unmanned aerial vehicle platform A occupies a wide time slot 1 and a wide time slot 2 to transmit self image data and telemetry information; the multi-rotor unmanned aerial vehicle platform B occupies a wide time slot 3 and a wide time slot 4 to transmit self image data and telemetry information. Reserved narrow slot 2, wide slot 5 and wide slot 6 for use.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (7)
1. The one-station double-aircraft type unmanned aerial vehicle regional mapping system is characterized by comprising a ground control station and A, B two multi-rotor unmanned aerial vehicles, wherein the ground control station comprises a ground data terminal, a ground antenna and a ground control terminal, the multi-rotor unmanned aerial vehicle is provided with an airborne data terminal and an airborne antenna, the multi-rotor unmanned aerial vehicle A carries a visible light or infrared load, and the multi-rotor unmanned aerial vehicle B carries a MiniSAR load; the ground control terminal is connected with the ground data terminal and the ground antenna through the Ethernet; the ground control station controls the two multi-rotor unmanned aerial vehicles to work simultaneously, and the two multi-rotor unmanned aerial vehicles respectively execute different tasks;
the ground control station is to two many rotor unmanned aerial vehicle's control method:
step 1, for a multi-rotor unmanned aerial vehicle A, planning a visible light or infrared load task according to the task and the actual situation, setting flight direction, flight speed, flight height and photographing overlapping rate parameters, selecting a target area range, and planning a working mode of a multi-rotor unmanned aerial vehicle A flight route and visible light or load;
step 2, for the multi-rotor unmanned plane B, carrying out MiniSAR load task planning according to tasks and actual conditions, setting flight speed, flight height, load resolution and ground wiping angle parameters, selecting a target area range, and planning a multi-rotor unmanned plane B flight route and MiniSAR load working state;
step 3, the ground control station controls the multi-rotor unmanned aerial vehicle platform A machine and the multi-rotor unmanned aerial vehicle platform B machine to take off, enter program-controlled flight and execute a given task;
and step 4, after the flight task is finished, the system withdraws and performs data post-processing.
2. The one-station double-aircraft unmanned aerial vehicle region mapping system according to claim 1, wherein the specific mode of step 1 is as follows:
step 101, selecting flight direction, flight speed, flight height and photographing overlapping rate parameters of the multi-rotor unmanned aerial vehicle A according to task requirements;
102, acquiring the position of a multi-rotor unmanned aerial vehicle A, clicking two points of the upper left corner and the lower right corner of a target rectangular area on a map, and determining the range of the target area;
and 103, planning the working modes of the route and the visible light or infrared load of the multi-rotor unmanned aerial vehicle A according to the parameter information determined in the steps 101 and 102.
3. The one-station double-aircraft unmanned aerial vehicle region mapping system according to claim 1, wherein the specific mode of step 2 is as follows:
step 201, selecting the flight speed and the flight height of the multi-rotor unmanned plane B according to task requirements, and selecting the resolution and the floor wiping angle of MiniSAR load;
step 202, determining the length of an imaging area strip according to target characteristics, and selecting a position of a B-plane route of the multi-rotor unmanned aerial vehicle at a position near or far from a ground control station in combination with field environmental conditions;
step 203, acquiring the position of the multi-rotor unmanned plane B, clicking the starting point and the end point of a strip on a map, and determining an imaging area;
and 204, planning the working states of the route and MiniSAR load of the multi-rotor unmanned plane B according to the parameter information determined in the steps 201-203.
4. The one-station double-machine unmanned aerial vehicle regional mapping system according to claim 1, wherein the ground data terminal and the two airborne data terminals form a receiving-transmitting network, the receiving-transmitting network works by adopting the same frequency point, and a 3-node single-hop time-division network is formed by an uplink time-division duplex system and a downlink time-division multiple access system;
the transmission mode of the uplink remote control information is as follows: the control instructions generated by the ground control terminal and the task load control equipment are coded in a terminal processing unit of the ground data terminal, carrier modulation is completed by adopting an OFDM modulation mode, the carrier modulation is converted to radio frequency through a transceiver, and the radio frequency is transmitted through a ground antenna; the machine-carried antenna amplifies and frequency-converts the uplink signal through a transceiver of the machine-carried data terminal, outputs an intermediate frequency signal, and outputs a link remote control, a flight control remote control and a task load remote control data frame after despreading and demodulation through a terminal processing unit, and the link module, the flight control unit and the task load equipment are respectively transmitted through a data interface unit to realize the control and change of the working state of a data link, the attitude of an airplane and the attitude of a task load;
the transmission mode of the downlink telemetry information is as follows: the telemetry data is input to an airborne data terminal by a flight control unit, multiplexed and error correction coded with image telemetry data provided by a task load, and then transmitted to a ground data terminal after OFDM modulation and power amplification; after receiving the signal, the ground antenna amplifies and converts the frequency through the transceiver of the ground data terminal, outputs an intermediate frequency signal, and completes demodulation in the terminal processing unit; after demodulation, the image telemetering composite data is sent to a network interface board of the ground data terminal, and the network interface board transmits the data to the ground control terminal through Ethernet.
5. The one-station double-machine unmanned aerial vehicle regional mapping system according to claim 4, wherein the link network resources of the single-hop time division network adopt a dynamic allocation mode, and nodes for obtaining the network resources perform networking data transmission in the network in a time division mode; the broadband link network resources include 2 narrow time slots and 6 wide time slots; the link communication system divides a time axis into transmission time frames, and each time frame is a transmission period; the time frame is divided into a plurality of time slots, each network node occupies one time slot to send own information, and receives information sent by other users in other time slots; the ground control station is used as a network center to occupy a narrow time slot to send double-machine uplink remote control information; the multi-rotor unmanned aerial vehicle A occupies a first wide time slot and a second wide time slot to transmit self image data and telemetry information; the multi-rotor unmanned plane B occupies a third wide time slot and a fourth wide time slot to transmit self image data and telemetry information; further, another narrow slot and the fifth and sixth wide slots are reserved as spares.
6. The one-station double-aircraft unmanned aerial vehicle regional mapping system of claim 2, wherein the flight route of the multi-rotor unmanned aerial vehicle a adopts a serpentine path, and the distance D between adjacent outgoing routes and loops is:
wherein P is the overlapping rate, H is the flying height, and alpha is the field angle of visible light or infrared load.
7. A one-station two-aircraft unmanned aerial vehicle area mapping system according to claim 3, wherein the flight path of the multi-rotor unmanned aerial vehicle B is a straight line located on one side of the target area, the stripe width of the target area is W, the stripe length is L, and the distance from the flight path of the multi-rotor unmanned aerial vehicle B to the target area is G:
wherein H is the flying height, theta c For wiping the floor, θ e Pitching beam width, θ, of radar antenna for MiniSAR load i Is the radar antenna incident angle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117354054A (en) * | 2023-12-04 | 2024-01-05 | 苏州浩丰空间数据科技有限公司 | Unmanned aerial vehicle geological mapping data transmission method and system |
| CN117849788A (en) * | 2024-03-06 | 2024-04-09 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117354054A (en) * | 2023-12-04 | 2024-01-05 | 苏州浩丰空间数据科技有限公司 | Unmanned aerial vehicle geological mapping data transmission method and system |
| CN117354054B (en) * | 2023-12-04 | 2024-03-08 | 苏州浩丰空间数据科技有限公司 | Unmanned aerial vehicle geological mapping data transmission method and system |
| CN117849788A (en) * | 2024-03-06 | 2024-04-09 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
| CN117849788B (en) * | 2024-03-06 | 2024-05-10 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
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