CN116627158A - Aircraft track control method - Google Patents
Aircraft track control method Download PDFInfo
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- CN116627158A CN116627158A CN202210207342.5A CN202210207342A CN116627158A CN 116627158 A CN116627158 A CN 116627158A CN 202210207342 A CN202210207342 A CN 202210207342A CN 116627158 A CN116627158 A CN 116627158A
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- 230000003287 optical effect Effects 0.000 claims abstract description 8
- 230000000007 visual effect Effects 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 4
- 238000004088 simulation Methods 0.000 claims description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 238000010801 machine learning Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses an aircraft track control method, which comprises the steps of firstly, acquiring a preset track of an aircraft; then the position of the aircraft is measured through the laser ranging sensor and the camera, the laser ranging sensor is fixed with the camera and the optical axis is parallel, so that the aircraft always needs to horizontally rotate and vertically rotate when the aircraft is arranged in the center of the camera, and the coordinates of the aircraft can be determined according to the corresponding rotation angle and the corresponding distance, thereby performing track control. The method is more accurate and rapid in positioning of the aircraft, can accurately fly according to the preset flight path, is less affected by environment, and is wide in application range.
Description
Technical Field
The invention relates to the field of aircraft control, in particular to a high-precision flight path control method of an aircraft.
Background
At present, the positioning modes of the aircraft mainly comprise inertial positioning, ground-based radio positioning, satellite positioning, visual positioning and the like. Satellite positioning and visual positioning can be combined to enable positioning accuracy to be in the decimeter level, for example, the invention patent application with the name of CN201480079892.7 is entitled "a system and a method for monitoring by using visual marks", and auxiliary positioning is performed by adding a plurality of visual mark points, but in practical application, many scenes are not suitable for being attached with the visual marks, so that the use of the method is greatly limited. The indoor positioning is mainly based on vision or laser slam navigation positioning, such as the patent application with the name of CN201610362320.0, and the name of an aircraft positioning method based on a positioning sensing device, adopts an optical flow method to navigate an aircraft, and the method relies on the complexity of the environment and the extraction of characteristic points, has unstable performance, is greatly influenced by the indoor environment, and is difficult to realize high-precision positioning and accurate setting of tracks. The invention patent with the application number of 201810163125.4, named as an active navigation positioning device and a navigation positioning method of an aircraft, is characterized in that a laser is arranged on the aircraft, so that the load of the aircraft is increased, the power consumption is high, and the operation time of the aircraft which is not long in the original endurance time is shorter.
Disclosure of Invention
The invention aims to provide an aircraft track control method, which is more accurate and quicker in positioning of an aircraft, can realize accurate flying according to a preset track, has small environmental influence degree and is wide in application range.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an aircraft track control method comprising the steps of:
s1: acquiring a preset flight path of an aircraft;
s2: acquiring a position of an aircraft, comprising:
s21: fixing the relative positions of a camera and a laser ranging sensor, wherein the aircraft is arranged at the center of the visual field of the camera when being positioned at the initial position, and a reflecting component is arranged on the aircraft and is used for being aligned by the laser ranging sensor;
s22: when the aircraft flies, the control system detects the position of the aircraft in real time through the collected video stream, and controls a driving motor provided with the camera and the laser ranging sensor to rotate, so that the aircraft always appears at the center of the visual field of the camera, the reflecting part is simultaneously aligned by the laser ranging sensor to measure the distance, and the current position of the aircraft is determined through the rotating angle of the driving motor and the distance measured by the laser ranging sensor;
s3: and the control system controls the flight of the aircraft according to the current position of the aircraft and the preset track, so that the position of the aircraft continuously trends to the preset track.
Preferably, in the step S22, an optical axis of the laser ranging sensor is parallel to an optical axis of the camera, the driving motor includes a first motor and a second motor, the first motor rotates horizontally to generate a horizontal rotation angle, the second motor rotates vertically to generate a vertical rotation angle, and the current position of the aircraft is determined according to the horizontal rotation angle, the vertical rotation angle and the distance measured by the laser ranging sensor.
Preferably, in the step S22, the rotation of the first motor and the second motor is adjusted according to the direction and the speed of rotation of the horizontal rotation angle and the vertical rotation angle in the current period, so that the position of the aircraft in the next period always appears in the center of the field of view of the camera.
Preferably, in the step S22, the rotation axis of the first motor is perpendicular to the horizontal plane, the rotation axis of the second motor is perpendicular to the rotation axis of the first motor, the first motor drives the second motor, the camera and the laser ranging sensor to rotate in the horizontal direction to generate a horizontal rotation angle α, the second motor drives the camera and the laser ranging sensor to rotate in the vertical direction to generate a vertical rotation angle β, the distance measured by the laser ranging sensor is L, and then the current position of the aircraft in the rectangular coordinates is calculated according to the following formula:
the laser distance measuring device comprises a laser distance measuring sensor chip, a first motor, a second motor, a right-angle coordinate system, a Y-axis and an X-axis, wherein a is the distance from the laser distance measuring sensor chip to the axis of the first motor, b is the distance from the laser distance measuring sensor chip to the axis of the second motor, the Z-axis of the right-angle coordinate system coincides with the axis where the first motor is located, the direction is vertical upwards, the XY-axis plane is arranged on a chassis, the Y-axis is marked on the chassis, the direction is outwards along the radius direction of the circular chassis, the X-axis is determined by a right-hand spiral rule, and the initial position of the second motor coincides with the Y-axis.
Preferably, in the step S1, the preset track includes preset position information and flight attitude information of the aircraft, in the step S2, the position information of the aircraft is acquired, and meanwhile, the flight attitude information of the aircraft is also acquired through an inertial measurement unit on the aircraft, in the step S3, the flight of the aircraft is controlled according to the position information, the flight attitude information and the preset track, so that the position and the attitude of the aircraft continuously trend towards the preset track.
Preferably, in the step S1, the position and the flight attitude are determined by holding the aircraft to the target position to obtain the preset track, or the position and the flight attitude of the aircraft are determined by three-dimensional simulation of the flight of the aircraft to obtain the preset track.
According to the technical scheme, the video camera is used for shooting the flight video of the aircraft, the horizontal corner and the vertical corner of the video camera are adjusted through the visual means, so that the aircraft always appears in the center of the visual field of the video camera, meanwhile, the relative positions of the video camera and the laser ranging sensor are fixed, and the optical axes of the video camera and the laser ranging sensor are parallel, when the aircraft is kept in the center of the visual field, the laser ranging sensor can always aim at the aircraft and perform ranging, the condition that a target object is lost and cannot range is avoided, and then the position of the aircraft in a rectangular coordinate system can be calculated through angle information and distance information. The invention firstly presets the flight path, and the position of the aircraft continuously tends to the preset flight path in the control process, so that the accurate control can be realized, and the influence of the environment is reduced to the maximum extent. In the process of positioning the aircraft, the next position of the aircraft is predicted according to the directions and the speeds of the horizontal rotation angle and the vertical rotation angle, and the rotation of the first motor and the rotation of the second motor are actively adjusted according to the prediction, so that the camera can capture the aircraft in the center of the visual field more actively, delay is reduced, the target is prevented from being lost, and the positioning is more accurate.
Drawings
FIG. 1 is a schematic diagram of a target tracking system;
fig. 2 is a schematic diagram of the positional relationship among the first motor axis, the second motor axis, the camera and the laser ranging sensor chip in fig. 1.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the invention controls the flight path of the aircraft according to the following method:
firstly, an operator holds the aircraft to position, sequentially positions the aircraft on each space point expected to be experienced, obtains the position of the aircraft through a target tracking system and converts the position of the aircraft into three-dimensional coordinates of each space point, thereby forming a preset track, and the used target tracking system is the same as the target tracking system in the flying process of the aircraft. Besides the manual handheld positioning method, the method of three-dimensional simulation of the aircraft can be adopted to obtain the preset flight path.
Then, during take-off and flight of the aircraft, the position of the aircraft is acquired by means of the object tracking system, in particular:
the target tracking system includes: platform 1, first motor 2, second motor 3, the camera 4, laser rangefinder sensor 5, first motor installs on horizontal platform, the axis and the platform of first motor are perpendicular, first motor drives the second motor, the camera, laser rangefinder sensor rotates in the horizontal direction, produce horizontal corner alpha, the axis of second motor is perpendicular with the axis of first motor, drive camera and laser rangefinder sensor rotate in vertical direction, produce vertical corner beta, laser rangefinder sensor is fixed with camera relative position, and the two optical axes are parallel, when the aircraft appears in the center of camera field of vision, laser that laser rangefinder sensor sent always can be penetrated on the reflector of aircraft, the reflector reflects laser rangefinder sensor back, laser rangefinder sensor is received the distance of survey laser rangefinder sensor and aircraft reflector through the laser reflection that sends.
And establishing a space rectangular coordinate system, wherein the z axis of the space rectangular coordinate system coincides with the axis of the first motor, and the positive direction of the space rectangular coordinate system is the same as the extending direction of the output shaft of the first motor, and the z axis of the space rectangular coordinate system is vertically upwards. The axis of the second motor is coincident with the y-axis, and the positive direction of the y-axis is the same as the extending direction of the output shaft of the second motor, and the x-axis and the y-axis are positioned in the same horizontal plane and are determined by the right-hand screw rule. For example, the xy plane may be set as the surface of the chassis platform, and the intersection point of the xy plane and the z axis is the origin of coordinates O.
When the aircraft is in the initial position, the first motor and the second motor of the target tracking system are also positioned in the initial position, and the aircraft appears in the center of the field of view of the camera. When the aircraft takes off and moves to the next position, the camera shoots a flight video of the aircraft, the position of the aircraft in the visual field of the camera is analyzed through machine vision and a YOLO algorithm, then the control system controls the first motor and the second motor to rotate respectively, the aircraft appears in the center of the visual field of the camera again, at the moment, the horizontal rotation angle alpha rotated by the first motor and the vertical rotation angle beta rotated by the second motor can be acquired by the control system, at the moment, the distance L between the laser ranging sensor and the aircraft can be measured and sent to the control system, and the control system can calculate the coordinates (x, y, z) of the aircraft in a space rectangular coordinate system according to the horizontal rotation angle alpha, the vertical rotation angle beta and the distance L, the clockwise rotation angle is negative, and the anticlockwise rotation angle is positive. For example, as set forth above for a space rectangular coordinate system, the coordinates (x, y, z) can be calculated by the following formula:
where a is the distance from the center position p of the laser ranging sensor chip to the first motor axis (1 axis in fig. 2), and b is the distance from the laser ranging sensor chip to the axis of the second motor (2 axis in fig. 2).
And finally, the control system controls the aircraft to continuously trend to fly in the preset flight path according to the calculated position and the preset flight path of the aircraft, and finally enables the flight path of the aircraft to be consistent with the preset flight path, thereby realizing high-precision flight path control.
In a preferred embodiment, the flight attitude of the aircraft is set at the same time when the track is preset, so that the inertial measurement unit inside the aircraft transmits the flight attitude information to the control system, and the preset track comprises the preset position information and the preset flight attitude information of the aircraft. Therefore, the control system can control the flight attitude and the flight path simultaneously in the process of controlling the flight of the aircraft, so that the flight attitude of the aircraft meets the requirements. For example, when the aircraft photographs and overhauls the train, the aircraft is required to photograph in a proper posture, and the posture control and the track control at the moment can meet the requirements.
Considering that the position of the aircraft is continuously changed in the flight process, if the camera shoots the position of the aircraft at a certain moment, the control system drives the first motor and the second motor to rotate, delay is generated at the moment, so that the rotation of the camera is always not kept up with the position change of the aircraft, and the aircraft is difficult to appear in the exact center of the field of view of the camera, and laser measurement errors and angle calculation errors are caused. Thus, in one embodiment, the camera captures the target more accurately by increasing the computational power and response speed of the control system. In another embodiment, the position of the aircraft in the next period is predicted according to the rotating direction and speed of the horizontal rotation angle and the vertical rotation angle in the current period by a machine learning method, a filtering prediction algorithm (such as Kalman filtering) method and the like, and the rotating speeds of the first motor and the second motor are adjusted in advance, so that the rotation of the camera can accompany the flight of the aircraft and the position of the aircraft always appears in the center of the field of view of the camera. In order to accommodate changes in the distance of the aircraft and to obtain a clearer image, the camera may employ a zoom lens.
The present embodiments are merely illustrative of the present invention and are not intended to be limiting, and the technical solutions that are not substantially transformed under the present invention are still within the scope of protection.
Claims (6)
1. An aircraft track control method is characterized by comprising the following steps:
s1: acquiring a preset flight path of an aircraft;
s2: acquiring a position of an aircraft, comprising:
s21: fixing the relative positions of a camera and a laser ranging sensor, wherein the aircraft is arranged at the center of the visual field of the camera when being positioned at the initial position, and a reflecting component is arranged on the aircraft and is used for being aligned by the laser ranging sensor;
s22: when the aircraft flies, the control system detects the position of the aircraft in real time through the collected video stream, and controls a driving motor provided with the camera and the laser ranging sensor to rotate, so that the aircraft always appears at the center of the visual field of the camera, the reflecting part is simultaneously aligned by the laser ranging sensor to measure the distance, and the current position of the aircraft is determined through the rotating angle of the driving motor and the distance measured by the laser ranging sensor;
s3: and the control system controls the flight of the aircraft according to the current position of the aircraft and the preset track, so that the position of the aircraft continuously trends to the preset track.
2. The aircraft track control method according to claim 1, characterized in that in the step S22, the optical axis of the laser ranging sensor is parallel to the optical axis of the camera, the driving motor comprises a first motor and a second motor, the first motor rotates horizontally to generate a horizontal rotation angle, the second motor rotates vertically to generate a vertical rotation angle, and the current position of the aircraft is determined according to the horizontal rotation angle, the vertical rotation angle and the distance measured by the laser ranging sensor.
3. The aircraft track control method according to claim 2, wherein in the step S22, the rotation of the first motor and the second motor is adjusted according to the direction and the speed in which the horizontal rotation angle and the vertical rotation angle are rotated in the current period, so that the position of the aircraft in the next period always appears in the center of field of view of the camera.
4. The method according to claim 3, wherein in the step S22, the rotation axis of the first motor is perpendicular to the horizontal plane, the rotation axis of the second motor is perpendicular to the rotation axis of the first motor, the first motor drives the second motor and the camera and the laser ranging sensor to rotate in the horizontal direction to generate a horizontal rotation angle α, the second motor drives the camera and the laser ranging sensor to rotate in the vertical direction to generate a vertical rotation angle β, and the distance measured by the laser ranging sensor is L, and then the current position of the aircraft in the rectangular coordinates is calculated according to the following formula:
the laser distance measuring device comprises a laser distance measuring sensor chip, a first motor, a second motor, a right-angle coordinate system, a Y-axis and an X-axis, wherein a is the distance from the laser distance measuring sensor chip to the axis of the first motor, b is the distance from the laser distance measuring sensor chip to the axis of the second motor, the Z-axis of the right-angle coordinate system coincides with the axis where the first motor is located, the direction is vertical upwards, the XY-axis plane is arranged on a chassis, the Y-axis is marked on the chassis, the direction is outwards along the radius direction of the circular chassis, the X-axis is determined by a right-hand spiral rule, and the initial position of the second motor coincides with the Y-axis.
5. The method according to claim 1, wherein in the step S1, the preset track includes preset position information and flight attitude information of the aircraft, in the step S2, the position information of the aircraft is acquired, and in the step S3, the flight attitude information of the aircraft is also acquired through an inertial measurement unit on the aircraft, and in the step S3, the flight of the aircraft is controlled according to the position information of the aircraft, the flight attitude information and the preset track, so that the position and the attitude of the aircraft continuously trend toward the preset track.
6. The aircraft track control method according to claim 5, characterized in that in the step S1, the position and the flight attitude are determined by holding the aircraft to the target position to obtain the preset track, or the position and the flight attitude of the aircraft are determined by three-dimensional simulation of the flight of the aircraft to obtain the preset track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210207342.5A CN116627158A (en) | 2022-03-04 | 2022-03-04 | Aircraft track control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210207342.5A CN116627158A (en) | 2022-03-04 | 2022-03-04 | Aircraft track control method |
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| Publication Number | Publication Date |
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| CN116627158A true CN116627158A (en) | 2023-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210207342.5A Pending CN116627158A (en) | 2022-03-04 | 2022-03-04 | Aircraft track control method |
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| CN (1) | CN116627158A (en) |
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2022
- 2022-03-04 CN CN202210207342.5A patent/CN116627158A/en active Pending
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