CN117055595A - Helicopter load photoelectric load visual axis orientation control method for obstacle avoidance - Google Patents
Helicopter load photoelectric load visual axis orientation control method for obstacle avoidance Download PDFInfo
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- CN117055595A CN117055595A CN202311037018.4A CN202311037018A CN117055595A CN 117055595 A CN117055595 A CN 117055595A CN 202311037018 A CN202311037018 A CN 202311037018A CN 117055595 A CN117055595 A CN 117055595A
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Abstract
The application discloses a helicopter load photoelectric load visual axis orientation control method for obstacle avoidance, which comprises the following steps: constructing a ground rectangular coordinate system, and acquiring a first heading component included angle and a first pitching component included angle to be adjusted of a follow-up platform under the ground rectangular coordinate system according to components of the helicopter flying speed on all coordinate axes of the ground rectangular coordinate system; constructing a helicopter body coordinate system, and acquiring a heading attitude angle and a pitching attitude angle of the body coordinate system under the ground rectangular coordinate system; acquiring a second heading component included angle and a second pitching component included angle to be adjusted under a helicopter body coordinate system; and controlling the rotation of the follow-up platform according to the second heading component included angle and the second pitching component included angle, so that the photoelectric load visual axis faces the flight direction of the helicopter. The helicopter load photoelectric load visual axis orientation control method for obstacle avoidance can improve the driving safety of a helicopter.
Description
Technical Field
The application relates to the technical field of flight control, in particular to a helicopter load photoelectric load visual axis orientation control method for obstacle avoidance.
Background
The helicopter is generally provided with a photoelectric load for collecting images of a scene to be detected, and the photoelectric load is arranged on a set part of the helicopter through a follow-up platform. The following platform can control the direction of the photoelectric load visual axis according to the image acquisition requirement in the helicopter flight process, and the working mode of the following platform is generally as follows: 1. a stable mode, in which the follow-up platform controls the photoelectric load visual axis to keep relatively static relative to the helicopter so as to ensure the definition of the acquired image; 2. a target searching mode, in which the follow-up platform controls the photoelectric load visual axis to rotate in a certain set angle range relative to the helicopter so as to search a region corresponding to the angle range and further find a target to be detected; 3. and a target tracking mode, wherein the follow-up platform controls the photoelectric load visual axis to look at the tracked target, and rotates along with the change of the relative position of the tracked target and the helicopter. The three modes of operation do not have the effect of assisting the pilot in effectively avoiding the obstacles generated in the direction of flight of the helicopter. The pilot generally needs to adjust the follow-up platform by himself so as to observe obstacles in the flight direction through photoelectric loads, so that the pilot has high operating pressure for driving the helicopter, and particularly when the helicopter flies forward under a low head, the helicopter is easy to be dangerous due to inconvenient operation. Therefore, how to reduce the driving difficulty of the pilot and improve the driving safety has become a problem to be solved in the field.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings in the prior art, it is desirable to provide a method, system, and medium for controlling the visual axis orientation of a helicopter-mounted photoelectric load for obstacle avoidance that can improve driving safety.
The specific technical scheme is as follows:
first aspect
The application provides a helicopter load photoelectric load visual axis orientation control method for obstacle avoidance, which comprises the following steps:
constructing a ground rectangular coordinate system, and acquiring a first heading component included angle and a first pitching component included angle to be adjusted of a follow-up platform under the ground rectangular coordinate system according to components of the helicopter flying speed on all coordinate axes of the ground rectangular coordinate system;
constructing a helicopter body coordinate system, and acquiring a heading attitude angle and a pitching attitude angle of the body coordinate system under the ground rectangular coordinate system;
acquiring a second heading component included angle and a second pitching component included angle to be adjusted under a helicopter body coordinate system according to the following formula;
wherein,representing the second heading component angle, < >>Representing the second pitch component angle, +.>Representing the first heading component included angle,/->Representing the first pitch component angle, θ Yaw Representing the heading attitude angle, theta Pitch Representing the pitch attitude angle;
and controlling the rotation of the follow-up platform according to the second heading component included angle and the second pitching component included angle, so that the photoelectric load visual axis faces the flight direction of the helicopter.
As a further limitation of the present application, the construction of the geodetic rectangular coordinate system, and the acquisition of the first heading component included angle and the first pitch component included angle to be adjusted of the follower platform under the geodetic rectangular coordinate system according to the components of the helicopter flying speed on each coordinate axis of the geodetic rectangular coordinate system, specifically includes the following steps:
constructing the earth rectangular coordinate system by taking the east direction, the north direction and the sky direction as three coordinate axes;
acquiring components of the flying speed of the helicopter on all coordinate axes in the geodetic rectangular coordinate system;
acquiring a first heading component included angle and a first pitching component included angle to be adjusted of a follow-up platform under the geodetic rectangular coordinate system according to the following formula;
wherein V is E Represents the east speed, V N Indicates the north velocity, V U Indicating the tangential velocity.
As a further limitation of the present application, the construction of the helicopter body coordinate system specifically includes the following steps:
taking the mass center of the helicopter body as an origin O, and taking the direction pointing to the machine head along the point O as an X axis of the body coordinate system;
taking the direction of pointing to the right side of the helicopter body along the mass center of the helicopter body perpendicular to the X axis as the Y axis of the helicopter body coordinate system;
and taking a direction which is directed downwards along the mass center of the helicopter body and is perpendicular to the X-O-Y plane as a Z axis of the body coordinate system.
As a further limitation of the present application, the controlling the rotation of the following platform according to the second heading component included angle and the second pitch component included angle specifically includes the following steps:
judging the relative sizes of the second heading component included angle and the second pitching component included angle and a first set angle;
when the second heading component included angle or the second pitching component included angle is judged to be larger than the first set angle, controlling the follow-up platform to rotate according to the second heading component included angle and the second pitching component included angle;
and when the second heading component included angle and the second pitching component included angle are smaller than the first set angle, controlling the follow-up platform to keep a stable mode.
As a further limitation of the present application, when the second heading component angle or the second pitch component angle is determined to be smaller than the first set angle, the method further includes the following steps:
when the second heading component included angle or the second pitching component included angle is smaller than the first set angle, continuing to judge the working mode of the follow-up platform;
when the target tracking mode is judged to be in the target searching mode or the target tracking mode, judging the relative sizes of the second heading component included angle, the second pitching component included angle and a second set angle, wherein the second set angle is smaller than the first set angle;
when the second heading component included angle or the second pitching component included angle and the second set angle are judged to be larger than the second set angle, controlling the follow-up platform to rotate according to the instruction in the target search mode or the target tracking mode;
and when the second heading component included angle, the second pitching component included angle and the second set angle are smaller than the second set angle, controlling the follow-up platform to keep a stable mode.
As a further limitation of the present application, the controlling the rotation of the follower platform according to the second heading component included angle and the second pitch component included angle further includes the following steps:
respectively judging the values of the second heading component included angle and the second pitching component included angle which are acquired at set time intervals;
when the second course component included angle or the second pitching component included angle value obtained later is judged to be more than the set multiple of the corresponding value obtained later, mean value filtering processing is carried out on the second course component included angle and the second pitching component included angle value, and the rotation of the follow-up platform is controlled according to the second course component included angle and the second pitching component included angle obtained after the processing.
Second aspect
The application provides a helicopter load photoelectric load visual axis orientation control system for obstacle avoidance, which is used for realizing the helicopter load photoelectric load visual axis orientation control method for obstacle avoidance.
Third aspect of the application
The application provides a helicopter load photoelectric load visual axis orientation control medium for obstacle avoidance, which is used for realizing the helicopter load photoelectric load visual axis orientation control method for obstacle avoidance.
The application has the beneficial effects that:
according to the scheme, firstly, according to components of all coordinate axes of the helicopter flying speed in the ground rectangular coordinate system, the angle to be regulated of the photoelectric load visual axis is converted into the ground rectangular coordinate system, then according to the posture relation between the ground rectangular coordinate system and the helicopter body coordinate system, the angle to be regulated is converted into the body coordinate system, the angle to be regulated of the photoelectric load visual axis in the body coordinate system is obtained, finally, the follow-up platform is controlled to regulate the visual axis direction of the photoelectric load according to the angle to be regulated, wherein the regulation is to regulate the course axis and the pitching axis of the follow-up platform respectively, so that the visual axis always faces the helicopter flying speed direction when the photoelectric load does not execute target searching or tracking tasks. Therefore, the following platform can automatically provide the helicopter driver with the image picture in the speed direction of the helicopter, so that the pilot can avoid the obstacle possibly collided in time. Therefore, the driving safety of the helicopter is improved. The components of the flying speed on all coordinate axes in the ground rectangular coordinate system can be directly measured through an inertial navigation system on a helicopter.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
fig. 1 is a flow chart of steps of a method for controlling the visual axis orientation of a helicopter load photoelectric load for obstacle avoidance according to an embodiment of the application;
FIG. 2 is a schematic view of the helicopter of FIG. 1 in flight with a second pitch component angle;
FIG. 3 is a schematic view of the second heading component angle of the helicopter of FIG. 1 while in flight.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
Referring to fig. 1, a method for controlling the direction of the viewing axis of a helicopter carrying photoelectric load for obstacle avoidance according to the present embodiment includes the following steps:
constructing a ground rectangular coordinate system, and acquiring a first heading component included angle and a first pitching component included angle to be adjusted of a follow-up platform under the ground rectangular coordinate system according to components of the helicopter flying speed on all coordinate axes of the ground rectangular coordinate system;
constructing a helicopter body coordinate system, and acquiring a heading attitude angle and a pitching attitude angle of the body coordinate system under the ground rectangular coordinate system;
acquiring a second heading component included angle and a second pitching component included angle to be adjusted under a helicopter body coordinate system according to the following formula;
wherein,representing the second heading component angle, < >>Representing the second pitch component angle, +.>Representing the first heading component included angle,/->Representing the first pitch component angle, θ Yaw Representing the heading attitude angle, theta Pitch Representing the pitch attitude angle;
and controlling the rotation of the follow-up platform according to the second heading component included angle and the second pitching component included angle, so that the photoelectric load visual axis faces the flight direction of the helicopter.
According to the scheme, firstly, according to components of all coordinate axes of the helicopter flying speed in the ground rectangular coordinate system, the angle to be regulated of the photoelectric load visual axis is converted into the ground rectangular coordinate system, then according to the posture relation between the ground rectangular coordinate system and the helicopter body coordinate system, the angle to be regulated is converted into the body coordinate system, the angle to be regulated of the photoelectric load visual axis in the body coordinate system is obtained, finally, the follow-up platform is controlled to regulate the visual axis direction of the photoelectric load according to the angle to be regulated, wherein the regulation is to regulate the course axis and the pitching axis of the follow-up platform respectively, so that the visual axis always faces the helicopter flying speed direction when the photoelectric load does not execute target searching or tracking tasks. Therefore, the following platform can automatically provide the helicopter driver with the image picture in the speed direction of the helicopter, so that the pilot can avoid the obstacle possibly collided in time. Therefore, the driving safety of the helicopter is improved. The components of the flying speed on all coordinate axes in the ground rectangular coordinate system can be directly measured through an inertial navigation system on a helicopter.
The method specifically comprises the following steps in a preferred implementation mode of constructing a ground rectangular coordinate system and acquiring a first heading component included angle and a first pitching component included angle to be adjusted of a follow-up platform under the ground rectangular coordinate system according to components of a helicopter flying speed on all coordinate axes of the ground rectangular coordinate system:
constructing the earth rectangular coordinate system by taking the east direction, the north direction and the sky direction as three coordinate axes;
acquiring components of the flying speed of the helicopter on all coordinate axes in the geodetic rectangular coordinate system;
acquiring a first heading component included angle and a first pitching component included angle to be adjusted of a follow-up platform under the geodetic rectangular coordinate system according to the following formula;
wherein V is E Represents the east speed, V N Indicates the north velocity, V U Indicating the tangential velocity.
In the preferred embodiment for constructing the helicopter body coordinate system, the method specifically comprises the following steps:
taking the mass center of the helicopter body as an origin O, and taking the direction pointing to the machine head along the point O as an X axis of the body coordinate system;
taking the direction of pointing to the right side of the helicopter body along the mass center of the helicopter body perpendicular to the X axis as the Y axis of the helicopter body coordinate system;
and taking a direction which is directed downwards along the mass center of the helicopter body and is perpendicular to the X-O-Y plane as a Z axis of the body coordinate system.
In the preferred embodiment of controlling the rotation of the follow-up platform according to the second heading component included angle and the second pitching component included angle, the method specifically comprises the following steps:
judging the relative sizes of the second heading component included angle and the second pitching component included angle and a first set angle;
when the second heading component included angle or the second pitching component included angle is judged to be larger than the first set angle, controlling the follow-up platform to rotate according to the second heading component included angle and the second pitching component included angle;
and when the second heading component included angle and the second pitching component included angle are smaller than the first set angle, controlling the follow-up platform to keep a stable mode.
The angle to be adjusted of the photoelectric load follow-up stabilized platform is calculated in real time according to inertial navigation data in the helicopter flight process (see figure 2 and figure 3). Considering that the photoelectric load imaging is ensured to be clear in the flight process, the follow-up stable platform adopts a working mode of 'stable and directional adjustment of a movement direction', and the working flow is as follows: when the photoelectric load is directed at an angle corresponding to the calculated helicopter speed direction angle +.>When the deviation is above 8 degrees (the first set angle), the follow-up stable platform carries out the pointing adjustment to lead the visual axis to point to the flight direction, and the visual axis reaches the designated position (namely +.>) The platform is switched into a stable working mode, and the visual axis pointing direction is adjusted when the deviation between the visual axis pointing angle and the speed direction angle is larger than 8 degrees again.
In addition, the mechanism needs to be considered not to influence the follow-up platform in executing the target searching and target tracking tasks. And when the second heading component included angle or the second pitching component included angle is smaller than the first set angle, controlling the follow-up platform to maintain a stable mode, and further comprising the following steps:
when the second heading component included angle or the second pitching component included angle is smaller than the first set angle, continuing to judge the working mode of the follow-up platform;
when the target tracking mode is judged to be in the target searching mode or the target tracking mode, judging the relative sizes of the second heading component included angle, the second pitching component included angle and a second set angle, wherein the second set angle is smaller than the first set angle;
when the second heading component included angle or the second pitching component included angle and the second set angle are judged to be larger than the second set angle, controlling the follow-up platform to rotate according to the instruction in the target search mode or the target tracking mode;
and when the second heading component included angle, the second pitching component included angle and the second set angle are smaller than the second set angle, controlling the follow-up platform to keep a stable mode.
Wherein in the preferred embodiment of controlling rotation of the follow-up platform according to the second heading component included angle and the second pitch component included angle, the method further comprises the following steps:
respectively judging the values of the second heading component included angle and the second pitching component included angle which are acquired at set time intervals;
when the second course component included angle or the second pitching component included angle value obtained later is judged to be more than the set multiple of the corresponding value obtained later, mean value filtering processing is carried out on the second course component included angle and the second pitching component included angle value, and the rotation of the follow-up platform is controlled according to the second course component included angle and the second pitching component included angle obtained after the processing.
Based on the characteristics of inertial navigation system, the final calculation result can be obtainedMean value filtering processing is carried out to make photoelectric load visibleThe axis adjustment is smoother to improve imaging quality.
Example 2
The helicopter load photoelectric load visual axis orientation control system for obstacle avoidance provided by the embodiment is characterized by being used for realizing the helicopter load photoelectric load visual axis orientation control method for obstacle avoidance.
Example 3
The helicopter load photoelectric load visual axis orientation control medium for obstacle avoidance provided by the embodiment is characterized by being used for realizing the helicopter load photoelectric load visual axis orientation control method for obstacle avoidance.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (8)
1. A helicopter load photoelectric load visual axis orientation control method for obstacle avoidance is characterized by comprising the following steps:
constructing a ground rectangular coordinate system, and acquiring a first heading component included angle and a first pitching component included angle to be adjusted of a follow-up platform under the ground rectangular coordinate system according to components of the helicopter flying speed on all coordinate axes of the ground rectangular coordinate system;
constructing a helicopter body coordinate system, and acquiring a heading attitude angle and a pitching attitude angle of the body coordinate system under the ground rectangular coordinate system;
acquiring a second heading component included angle and a second pitching component included angle to be adjusted under a helicopter body coordinate system according to the following formula;
wherein,representing the second heading component angle, < >>Representing the second pitch component angle, +.>Representing the first heading component included angle,/->Representing the first pitch component angle, θ Yaw Representing the heading attitude angle, theta Pitch Representing the pitch attitude angle;
and controlling the rotation of the follow-up platform according to the second heading component included angle and the second pitching component included angle, so that the photoelectric load visual axis faces the flight direction of the helicopter.
2. The method for controlling the direction of the photoelectric load visual axis of the helicopter for avoiding the obstacle according to claim 1, wherein the steps of constructing a ground rectangular coordinate system and obtaining a first heading component included angle and a first pitching component included angle to be adjusted of a follow-up platform under the ground rectangular coordinate system according to components of the flying speed of the helicopter on all coordinate axes of the ground rectangular coordinate system specifically comprise the following steps:
constructing the earth rectangular coordinate system by taking the east direction, the north direction and the sky direction as three coordinate axes;
acquiring components of the flying speed of the helicopter on all coordinate axes in the geodetic rectangular coordinate system;
acquiring a first heading component included angle and a first pitching component included angle to be adjusted of a follow-up platform under the geodetic rectangular coordinate system according to the following formula;
wherein V is E Represents the east speed, V N Indicates the north velocity, V U Indicating the tangential velocity.
3. The method for controlling the direction of the photoelectric load visual axis of the helicopter for avoiding the obstacle according to claim 1, wherein the construction of the helicopter body coordinate system comprises the following steps:
taking the mass center of the helicopter body as an origin O, and taking the direction pointing to the machine head along the point O as an X axis of the body coordinate system;
taking the direction of pointing to the right side of the helicopter body along the mass center of the helicopter body perpendicular to the X axis as the Y axis of the helicopter body coordinate system;
and taking a direction which is directed downwards along the mass center of the helicopter body and is perpendicular to the X-O-Y plane as a Z axis of the body coordinate system.
4. The method for controlling the visual axis orientation of the photoelectric load carried by the helicopter for obstacle avoidance according to claim 1, wherein the step of controlling the rotation of the follow-up platform according to the second heading component included angle and the second pitching component included angle specifically comprises the following steps:
judging the relative sizes of the second heading component included angle and the second pitching component included angle and a first set angle;
when the second heading component included angle or the second pitching component included angle is judged to be larger than the first set angle, controlling the follow-up platform to rotate according to the second heading component included angle and the second pitching component included angle;
and when the second heading component included angle and the second pitching component included angle are smaller than the first set angle, controlling the follow-up platform to keep a stable mode.
5. The method for controlling the visual axis orientation of a photoelectric load carried by a helicopter for obstacle avoidance according to claim 4, wherein when the second heading component angle or the second pitch component angle is determined to be smaller than the first set angle, the method further comprises the steps of:
when the second heading component included angle or the second pitching component included angle is smaller than the first set angle, continuing to judge the working mode of the follow-up platform;
when the target tracking mode is judged to be in the target searching mode or the target tracking mode, judging the relative sizes of the second heading component included angle, the second pitching component included angle and a second set angle, wherein the second set angle is smaller than the first set angle;
when the second heading component included angle or the second pitching component included angle and the second set angle are judged to be larger than the second set angle, controlling the follow-up platform to rotate according to the instruction in the target search mode or the target tracking mode;
and when the second heading component included angle, the second pitching component included angle and the second set angle are smaller than the second set angle, controlling the follow-up platform to keep a stable mode.
6. The method for controlling the visual axis orientation of a photoelectric load carried by a helicopter for obstacle avoidance according to any one of claims 1-5, wherein said controlling the rotation of the follower platform according to said second heading component angle and said second pitch component angle further comprises the steps of:
respectively judging the values of the second heading component included angle and the second pitching component included angle which are acquired at set time intervals;
when the second course component included angle or the second pitching component included angle value obtained later is judged to be more than the set multiple of the corresponding value obtained later, mean value filtering processing is carried out on the second course component included angle and the second pitching component included angle value, and the rotation of the follow-up platform is controlled according to the second course component included angle and the second pitching component included angle obtained after the processing.
7. A helicopter load photoelectric load visual axis orientation control system for obstacle avoidance, which is characterized by being used for realizing the helicopter load photoelectric load visual axis orientation control method for obstacle avoidance as claimed in claims 1-6.
8. A helicopter load photoelectric load visual axis orientation control medium for obstacle avoidance, which is used for realizing the helicopter load photoelectric load visual axis orientation control method for obstacle avoidance as claimed in claims 1-6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311037018.4A CN117055595A (en) | 2023-08-16 | 2023-08-16 | Helicopter load photoelectric load visual axis orientation control method for obstacle avoidance |
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| CN202311037018.4A CN117055595A (en) | 2023-08-16 | 2023-08-16 | Helicopter load photoelectric load visual axis orientation control method for obstacle avoidance |
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