CN117566114A - Method for recycling and controlling astronomical hooks of small carrier-based cluster unmanned aerial vehicle - Google Patents
Method for recycling and controlling astronomical hooks of small carrier-based cluster unmanned aerial vehicle Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000004064 recycling Methods 0.000 title abstract description 4
- 238000011084 recovery Methods 0.000 claims abstract description 163
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
- B64F1/029—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables using a cable or tether
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/10—Wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
- B64U70/92—Portable platforms
- B64U70/93—Portable platforms for use on a land or nautical vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
- B64U70/97—Means for guiding the UAV to a specific location on the platform, e.g. platform structures preventing landing off-centre
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Abstract
The invention discloses a method for recycling and controlling a hook of a small carrier-based cluster unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle control; the method comprises the following steps: aiming at a small carrier-based cluster unmanned aerial vehicle, acquiring relative position, speed, heading and attitude information of a ship between the unmanned aerial vehicle and the ship through differential satellite navigation, and guiding landing of the unmanned aerial vehicle; dividing the route in the unmanned aerial vehicle astronomical hook recovery process into three sections: the approach section flight control module controls the unmanned aerial vehicle to reduce the altitude and the speed, and the alignment recovery device enters a following flight mode; the recovery section continuously corrects the hook point of the overhead hook through the real-time attitude of the ship, and continuously performs lateral offset control and height control on the unmanned aerial vehicle through an L1 guidance law and a PID controller, so that the accuracy of the hook is improved; the flying section monitors and judges the unmanned aerial vehicle state at decision points and hook points, and the recovery mode is re-entered through the shortest route as long as the flying section is in flying, so that the recovery flight time is reduced, and the influence on the recovery of the subsequent unmanned aerial vehicle in the cluster is minimized.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle control, and particularly relates to a method for recycling and controlling a small-sized carrier-based cluster unmanned aerial vehicle sky hook.
Background
Currently, in order to improve the naval combat capability, enrich the maritime combat means and perfect the constitution of the air-sea force, unmanned aerial vehicles are gradually applied to various surface vessels as a simple, efficient, low-cost and low-risk combat platform for carrying out the tasks of reconnaissance, monitoring, searching, information relay transmission, material transportation, attack and the like, so that the scope of ship perception and attack implementation is greatly increased.
The carrier-based unmanned plane can be arranged on the warships such as an aircraft carrier, a expelling ship, a guard ship, an amphibious ship and the like due to small and light weight, and performs various combat tasks everywhere along with the deep sea of the aircraft carrier, so that the combat mode of the warship is optimized and expanded. The unmanned aerial vehicle cluster is taken as an important development direction, and compared with a single unmanned aerial vehicle, the unmanned aerial vehicle cluster can remarkably improve the overall efficiency and plays an important role in offshore application scenes such as combined attack, reconnaissance, exploration and the like.
The carrier-borne unmanned aerial vehicle can be generally divided into the following categories: fixed wing unmanned aerial vehicle, unmanned helicopter, tilting wing unmanned aerial vehicle and compound wing unmanned aerial vehicle. Compared with other types of unmanned aerial vehicles, the fixed wing unmanned aerial vehicle has the advantages of high load, high speed, low resistance, simple structure, high reliability, long voyage and the like, but the taking-off and landing mode is the most complex, and particularly, landing recovery is difficult. In the cluster combat mode, how to deal with the problem of continuous landing recovery of multiple unmanned aerial vehicles is an important subject.
The recovery mode of the small carrier-based fixed wing unmanned aerial vehicle mainly comprises water surface parachute, net collision recovery, overhead hook recovery and the like. The water surface parachute is extremely susceptible to wind, and needs to be provided with additional equipment such as a pontoon or an air bag and the like and is subjected to waterproof treatment on the whole machine, so that the water surface parachute is less in use.
In recent years, a rope hook recovery system called "overhead hook" has been developed internationally, and this recovery method has been developed based on a net collision recovery technique. The system is generally composed of a capturing device, a guiding device, a buffering device and the like, the unmanned aerial vehicle is guided to the vicinity of the capturing device, the unmanned aerial vehicle collides with a recovery rope through an accurate navigation technology, the recovery rope slides to the wing tip along the wing, and is hooked and locked through a small hook of the wing tip, so that the unmanned aerial vehicle is manually taken down after buffering by utilizing the rotary speed reduction, and recovery is completed. Compared with the net collision recovery, the overhead hook recovery device is simpler, the longitudinal length of the recovery window is larger, and the flying control system is required to accurately guide the unmanned aerial vehicle and accurately collide with the capturing device.
Under the ship-based application environment, the unmanned aerial vehicle recovery operation can be generally carried out on the ship in navigation, and due to the limitation of wing span length and the influence of ship swaying and rolling motion, the vertical recovery rope with the length of more than ten meters can irregularly shake in a large range, so that the recovery difficulty of the ship-based unmanned aerial vehicle astronomical hook is improved, and the track tracking error of the transverse side direction of the unmanned aerial vehicle becomes a key factor affecting the recovery success rate.
Disclosure of Invention
The invention provides a method for controlling the recovery of a small-sized carrier-borne cluster unmanned aerial vehicle, which aims to solve the problem of the recovery control of the fixed-wing unmanned aerial vehicle in a carrier-borne environment, can effectively solve the problem of the large-amplitude swing of the carrier-borne astronomical hook device caused by sea waves in an offshore environment, and simultaneously performs route design and optimization aiming at the problems of flying and cluster recovery and the like.
The method for controlling the recovery of the astronomical hooks of the small carrier-based cluster unmanned aerial vehicle comprises the following specific steps:
step one, aiming at small carrier-based cluster unmanned aerial vehicles, each small unmanned aerial vehicle is respectively provided with a GD30 differential satellite navigation module and a flight control and navigation module, and wingtips on two sides are provided with wingtip hooks for recovering a day hook rope.
Installing a hook recovery device on the naval vessel, erecting a recovery rope, and arranging a ground station and corresponding dynamic differential ground equipment in a safety zone;
the recovery frame in the ship-based overhead hook recovery device vertically erects a recovery rope at an open space for recovery of the collision hook of the unmanned aerial vehicle; a rotary table is arranged at the bottom of the recovery frame, recovery ropes are expanded to three, and the intervals of 120 degrees are uniformly distributed on the main rod of the recovery frame along the circumference; when the unmanned aerial vehicle successfully hits the hook, the recovery frame is fixed after rotating for 120 degrees, and the next unmanned aerial vehicle can simultaneously use the next recovery rope to carry out recovery operation;
step three, setting required parameters of the overhead hook recovery device in advance;
the parameters include the position offset of the astronomical hook, the landing direction, the relative height and speed when the astronomical hook is hit, the distance between the points of the landing route, the error threshold of the resolution point of the missed approach, the included angle of the route, etc.
Fourthly, after the unmanned aerial vehicle cluster completes a preset task, a homing instruction is sent out; every three unmanned aerial vehicles are divided into a group, return in fixed formations at fixed intervals, and enter a recovery hook process;
when each group of unmanned aerial vehicle is recovered, the distance interval between the front unmanned aerial vehicle and the rear unmanned aerial vehicle is ensured: the hook recovery device automatically rotates 120 degrees to the next task state through the rotary table.
The method comprises the following steps:
step 401, for the first unmanned aerial vehicle in the current group, the flight control and navigation module calculates each waypoint of the landing route of the unmanned aerial vehicle in real time according to the received real-time position and gesture information of the naval vessel, and continuously refreshes the route along with the movement of the naval vessel.
The landing route is rectangular and comprises the following waypoints: a follow flying point 1 point, a approach point 2 point, a resolution point 3 point, a hook point 4 point, a fly-away point 5 point and a transition point 6 point, wherein four vertexes are respectively 1 point, 2 points, 5 points and 6 points;
step 402, when the unmanned aerial vehicle returns to a range set near a ship, a landing instruction is sent out; locking the longitude and latitude position of the waypoint 1 on the landing route at the moment when the flight control and navigation module receives the landing instruction, and determining the longitude and latitude position as a target waypoint;
step 403, gradually reducing to a preset altitude of the waypoint in a slope control mode in the process that the unmanned aerial vehicle flies to the target waypoint 1.
Step 404, after the unmanned aerial vehicle arrives at the waypoint 1, formally entering a landing stage, switching a target waypoint to be the waypoint 2, and locking the longitude and latitude positions of the waypoint 2 at the switching moment, wherein the unmanned aerial vehicle makes a turn to drop the altitude so as to be aligned with a landing route;
the actual flight path at waypoint 2 is the arc of a circle made by the minimum turning radius of the unmanned aerial vehicle.
Step 405, when turning at the waypoint 2, the target waypoint is switched to the waypoint 3, the following flying mode is entered, the following target waypoint (landing route) moves along with the movement of the ship, the target waypoint continues to descend in the process of going to the waypoint 3, and the side offset is eliminated based on the L1 guidance law aiming at the landing direction of the route.
406, in the continuous correction of the route caused by the swing of the hook point 4, adjusting the target path at each moment in real time, and continuously correcting the lateral offset, namely continuously correcting the current position of the unmanned aerial vehicle by adjusting the rolling gesture;
step 407, carrying out missed approach decision when the unmanned aerial vehicle reaches the waypoint 3, and discarding hook recovery to carry out advanced missed approach operation when the decision is not satisfied; otherwise, the recovery operation is normally performed, and the step 408 is entered;
the missed approach decision for waypoint 3 includes: judging whether the side offset distance is smaller than a transverse error threshold, whether the difference between the height and the expected hook point is smaller than the height error threshold, and whether the difference between the speed and the expected hook speed is smaller than the speed error threshold, and if at least one of the three conditions is not satisfied, carrying out fly-away.
When flying in advance, the corresponding point of the waypoint 3 on the connecting line of the waypoint 5 and the waypoint 6 is taken as the waypoint 6', and the route consisting of the waypoint 1, the waypoint 2, the waypoint 3 and the waypoint 6' is taken as a new landing route. Locking longitude and latitude positions of a waypoint 1, a waypoint 2, a waypoint 5 and a waypoint 6' in a landing route at the moment of flying, judging and executing the landing process after winding and flying;
and when the recovery operation is normally carried out, continuously tracking the swinging hook point through lateral offset control and height control in the flight process from the waypoint 3 to the waypoint 4 until the hook is formed.
Step 408, performing hook collision recovery when the unmanned aerial vehicle reaches the waypoint 4, judging whether the current instantaneous acceleration of the unmanned aerial vehicle is greater than 1.5G, if so, successfully recovering the hook, shutting down the engine, and taking down the unmanned aerial vehicle after the unmanned aerial vehicle rotates on a vertical recovery rope for buffering; otherwise, the hook is failed to recover, and the fly-away operation is carried out.
In the step of flying, a landing route is formed by the waypoint 1, the waypoint 2, the waypoint 5 and the waypoint 6, and the step 407 is the same as the step of flying;
step five, after the first unmanned aerial vehicle hook of the group succeeds in or flies away, the second unmanned aerial vehicle flies normally to the recovery frame which has rotated 120 degrees, hook recovery operation is also carried out, and then the third frame is carried out; the other groups of unmanned aerial vehicles spiral and wait, so that the distance between the current recovery group and the unmanned aerial vehicle of the next standby group is ensured, and at least one flying unmanned aerial vehicle is inserted into a queue.
The invention has the advantages that:
(1) Compared with the methods of blocking hook recovery, water surface parachute landing, net collision recovery and the like, the method for controlling the recovery of the small-sized ship-based cluster unmanned aerial vehicle astronomical hooks is simple in device, convenient to assemble, small in occupied area and capable of being carried on most water-surface ships;
(2) The method solves the application problem of the recovery of the astronomical hooks under the condition of irregular swing at sea, can keep higher recovery success rate under certain stormy waves, and has been verified in a ground swing test;
(3) The method for controlling the recovery of the astronomical hooks of the small carrier-based cluster unmanned aerial vehicle is strong in expansibility, and can finish the recovery operation of the astronomical hooks of the small unmanned aerial vehicle under the conditions of including ground static sites, vehicle-mounted ground moving platforms and the like, carrier-based and the like.
(4) The utility model provides a small-size carrier-borne cluster unmanned aerial vehicle sky hook recovery control method, has solved the application problem that utilizes sky hook recovery unit to carry out cluster unmanned aerial vehicle recovery under the carrier-borne environment, can make the unmanned aerial vehicle cluster carry out reliable and efficient carrier-borne recovery operation, has further expanded the application mode and the scope of unmanned aerial vehicle cluster in the marine environment.
Drawings
FIG. 1 is a flow chart of a method for controlling the recovery of a hook of a small carrier-based clustered unmanned aerial vehicle;
FIG. 2 is a schematic diagram of a mobile station and a mobile base station design of a method for controlling the recovery of a hook of a small carrier-based cluster unmanned aerial vehicle;
FIG. 3 is a schematic diagram of a differential GNSS antenna design of a method for controlling the recovery of a hook of a small carrier-based cluster unmanned aerial vehicle;
FIG. 4 is a schematic diagram of a design of a ship-based hook recovery device of a method for controlling the recovery of a small-sized ship-based cluster unmanned aerial vehicle hook;
FIG. 5 is a plan view of a landing route (taking a landing direction as an example on the left side) of a method for controlling the recovery of a hook of a small carrier-based cluster unmanned aerial vehicle;
FIG. 6 is a schematic diagram of a follow recovery route update of a method for controlling the recovery of a hook of a small carrier-based clustered unmanned aerial vehicle;
FIG. 7 is a control flow chart of the landing stage of the method for controlling the recovery of the astronomical hooks of the small carrier-borne cluster unmanned aerial vehicle;
FIG. 8 is a perspective view of a landing route of a method for controlling the recovery of a hook of a small carrier-based clustered unmanned aerial vehicle according to the present invention;
FIG. 9 is a diagram of the altitude relationship of the waypoints of the method for controlling the recovery of the astronomical hooks of the small carrier-based cluster unmanned aerial vehicle;
FIG. 10 is a schematic illustration of the transverse outer loop L1 guidance law employed in the present invention;
fig. 11 is a schematic diagram of a cluster recovery stage time interval of a method for controlling the recovery of a hook of a small carrier-based cluster unmanned aerial vehicle.
Detailed Description
The invention will be described in further detail with reference to the drawings and examples.
The invention provides a method for controlling the recovery of a small carrier-borne cluster unmanned aerial vehicle, which can enable the small fixed wing unmanned aerial vehicle to utilize a hook recovery device to carry out landing recovery in a carrier-borne environment, as shown in fig. 1, and comprises the following specific steps:
step one, aiming at small carrier-based cluster unmanned aerial vehicles, each small unmanned aerial vehicle is respectively provided with a GD30 differential satellite navigation module and a flight control and navigation module, and wingtips on two sides are provided with wingtip hooks for recovering a day hook rope.
The unmanned aerial vehicle selects a small unmanned aerial vehicle with a wingspan of about two meters; the GD30 differential satellite navigation module comprises a mobile platform end and an onboard end:
the mobile platform end and the ground station are installed on the ship together, the high-precision GNSS positioning and the Beidou maneuvering reference station are used as moving base stations, and information such as the posture, the position, the heading, the speed and the like of the ship is returned through an inertial navigation system and is sent to the onboard end in the form of differential messages;
the airborne end and the flight control and navigation module are installed on the unmanned aerial vehicle, information such as the position and the speed of the unmanned aerial vehicle is measured in real time through two differential GNSS antennas and the mobile station and transmitted back to the ground station, and meanwhile, the received mobile platform information is sent to the flight control and navigation module, and recovery control decision is carried out by the flight control.
The flight control and navigation module is arranged at the front part of the machine body and far away from the engine, and performs corresponding vibration reduction treatment to prevent the engine vibration from influencing the measurement of inertial navigation, and simultaneously performs sealing treatment to prevent the disturbance of the air flow in the cabin section of the machine body from influencing the measurement of barometer and other equipment;
further, the mobile station is arranged at a proper position and is connected with the flight control and navigation module through a serial bus, and the design of the mobile station is shown in figure 2;
further, two differential GNSS antennas are mounted on the upper portion of the machine body in tandem, extend out of the machine body through openings, and are connected with the mobile station through feeder lines, wherein front-rear connecting lines are parallel to the axis of the unmanned aerial vehicle.
Installing a hook recovery device on the naval vessel, erecting a recovery rope, and arranging a ground station and corresponding dynamic differential ground equipment in a safety zone;
the GD30 mobile station should be installed at a high place of the open ground to prevent poor satellite signal reception caused by signal shielding, and the mobile station are designed to be the same as each other, as shown in fig. 2. The dual antennas should also be arranged in tandem and flush with the ship axis to effectively measure the heading of the ship, and the dual antenna design is shown in fig. 3.
The ship-based overhead hook recovery device consists of a recovery frame, a recovery rope, a buffer device, a support frame and the like. The recovery frame is vertically erected at the open space with the recovery rope with the length of tens meters and is used for the recovery of the collision hook of the unmanned aerial vehicle.
The method comprises the following steps of specifically designing a hook recovery device aiming at a cluster application environment: the rotary table is arranged at the bottom of the recovery frame, the recovery ropes are expanded to three, and the intervals of 120 degrees are uniformly distributed around the main rod of the recovery frame along the circumference. After one unmanned aerial vehicle successfully hits the hook, retrieve and fix again after rotatable 120 degrees, the staff can carry out unmanned aerial vehicle's dismantlement recovery operation in the safety zone, and the next recovery rope of back unmanned aerial vehicle use simultaneously carries out recovery operation, and carrier-borne sky hook recovery unit design diagram is as shown in fig. 4.
Step three, setting required parameters of the overhead hook recovery device in advance;
the parameters include the position offset of the astronomical hook, the landing direction, the relative height and speed when the astronomical hook is hit, the distance between the points of the landing route, the error threshold of the resolution point of the missed approach, the included angle of the route, etc.
The deviation of the actual measurement position (installation position) of the movable base station and the position of the hook rope (actual hook point) of the movable base station is the deviation of the position of the movable base station, including the deviation of the axis direction of the ship body and the deviation perpendicular to the axis direction;
the landing direction is the direction of selecting left side or right side, namely selecting the spiral turning direction of a landing route according to the actual condition of the ship;
the relative height when the hook is hit is the height difference between the expected hook point and the plane of the dynamic difference, namely the height offset;
the speed of the unmanned aerial vehicle when the hook collides with the sky should be the lowest speed in the state of keeping the flying straight and flat, ensure that the speed of the hook is low enough to reduce the impact of impact energy on the body result, prevent stall and keep the ability to fly away, and the speed should be set according to the specific performance of the unmanned aerial vehicle;
taking the landing direction as the left side entry as shown in fig. 5 as an example, the landing route is rectangular, and is composed of 6 total waypoints, namely 1 point following the flying point, 2 point approaching the point, 3 point determining the breakpoint, 4 point hooking point, 5 point flying point and 6 point transition point (6' point is the advanced transition point), wherein the distance between every two adjacent waypoints needs to be set in advance, and the route is updated in real time along with the movement of the ship, as shown in fig. 6;
the flying-break point error threshold comprises a transverse error threshold, a height error threshold and a speed error threshold, and when the unmanned aerial vehicle flies to the waypoint 3, if one of the lateral offset between the unmanned aerial vehicle and the airlines, the height difference between the current height and the hook and the speed difference between the current speed and the hook is larger than the set value of the error threshold, the unmanned aerial vehicle is judged to not have the hook condition at present, and the flying-break operation is immediately executed;
the angle of the course is the angle between the approach side (2, 3, 4, 5 waypoint connecting lines) and the axis of the ship body.
Fourthly, after the unmanned aerial vehicle cluster completes a preset task, a homing instruction is sent out; every three unmanned aerial vehicles are divided into a group, return in fixed formations at fixed intervals, and enter a recovery hook process;
when each group of unmanned aerial vehicle is recovered, the distance interval between the front unmanned aerial vehicle and the rear unmanned aerial vehicle is ensured: the hook recovery device automatically rotates 120 degrees to the next task state through the rotary table.
As shown in fig. 7, specifically:
step 401, for the first unmanned aerial vehicle in the current group, according to the received real-time position and gesture information of the naval vessel, the flight control and navigation module calculates each waypoint of the landing route of the unmanned aerial vehicle in real time by combining with preset parameters, and continuously refreshes the route along with the movement of the naval vessel.
As shown in fig. 8, four vertices of the landing route are 1 point, 2 points, 5 points and 6 points, respectively;
the position of the overhead hook recovery rope is a navigation point 4, and the position longitude and latitude are measured according to the received ship dynamic difference, and the offset of the overhead hook is calculated, and the calculation method is as follows:
Lon 4 ＝Lon D +(D x sinψ+D y cosψ)/(a*cos(Lat D ))
Lat 4 ＝Lat D +(D x cosψ-D y sinψ)/a
wherein Lon 4 And Lat 4 Longitude and latitude for waypoint 4; lon (Lon) D And Lat D Measuring longitude and latitude of the location for the dynamic difference; d (D) x And D y The forward offset along the axis of the ship and the rightward offset along the vertical axis are respectively measured in meters; psi is the ship course; the coefficient a is a conversion coefficient of longitude and latitude (°) and distance (m), a= 111195m/°.
The longitude and latitude of the rest of the positions of the waypoints are calculated according to the positions of the waypoints 4, the included angles of the airlines and the relative distances between the adjacent waypoints.
The heights of the waypoints 1, 5 and 6 are the lower limit of the safe flight height of the unmanned aerial vehicle plus 20 meters; the heights of the waypoints 3 and 4 are the relative heights when the astronomical hook is hit;
the altitude of the waypoint 2 is obtained from the distance ratio of the waypoint 1 altitude and the waypoint 3 altitude, namely
Wherein H is 1 、H 2 、H 3 The heights of waypoints 1, 2 and 3, respectively, L 12 For the horizontal distance between waypoints 1, 2, L 23 Is the horizontal distance between waypoints 2, 3; the altitude relationship of each waypoint is shown in fig. 9.
Further, the triaxial angle of the ship sways is measured in real time through the dynamic differential system, so that the actual position of the navigation point 4, namely the expected hooking point on the recovery rope is corrected.
The correction method comprises the following steps:
establishing a geodetic coordinate system by taking the position of the base where the hook recovery rope corrected by the offset as an origin, wherein an x-axis points to north, a y-axis points to east, and a z-axis is vertically downward; the ship coordinate system is built by taking the point as the origin, the x axis points to the bow along the axis of the ship, the y axis points to the right side of the ship vertically, and the z axis points to the plane of the ship downwards.
At this time, under the condition that the ship body is stationary, the coordinates of the hook point in two coordinate systems are P= (0, -H) e ) T Wherein H is e Is the relative height at which the hook is struck. The triaxial angles of the ship body are respectively rolling angles measured by dynamic differenceThe pitch angle θ and yaw angle ψ, the transformation matrix between the two coordinate systems is:
assuming that the combination of the ship body and the overhead hook system is a rigid body and ignoring factors such as deformation, relative displacement and the like, the coordinate of the hook point under the ship body coordinate system is always P B ＝(0,0,-H e ) T 。
So the coordinate of the hook point in the geodetic coordinate system is P G ＝T GB *P B 。
Finally, the latitude correction amounts of the hook points are respectively as follows:
Lat＝P G (1)/a
Lon＝P G (2)/(a*cos(Lat b ))
H＝P G (3)-P B (3)＝P G (3)+H e
the latitude correction amount is Lat, the longitude correction amount is Lon, and the height correction amount is H; lat b Is the latitude of the ship body.
Step 402, when the unmanned aerial vehicle returns to a range set near a ship, a landing instruction is sent out; locking the longitude and latitude position of the waypoint 1 on the landing route at the moment when the flight control and navigation module receives the landing instruction, and determining the longitude and latitude position as a target waypoint;
step 403, gradually reducing to a preset altitude of the waypoint in a slope control mode in the process that the unmanned aerial vehicle flies to the target waypoint 1.
The slope control is a height control mode that the unmanned aerial vehicle descends along the gradient of the connecting line of the two waypoints.
Step 404, after the unmanned aerial vehicle arrives at the waypoint 1, formally entering a landing stage, switching a target waypoint to be the waypoint 2, and locking the longitude and latitude positions of the waypoint 2 at the switching moment, wherein the unmanned aerial vehicle makes a turn to drop the altitude so as to be aligned with a landing route;
the actual flight path at waypoint 2 is the arc of a circle made by the minimum turning radius of the unmanned aerial vehicle.
Step 405, when turning at the waypoint 2, the target waypoint is switched to the waypoint 3, the following flying mode is entered, the following target waypoint (landing route) moves along with the movement of the ship, the target waypoint continues to descend in the process of going to the waypoint 3, and the side offset is eliminated based on the L1 guidance law aiming at the landing direction of the route.
The lateral offset distance is the vertical distance between the current position of the unmanned aerial vehicle and the current route, and is the vertical distance between the connecting lines of the unmanned aerial vehicle and the waypoints 2 and 3.
The specific control algorithm is as follows:
as shown in FIG. 10, a reference point L1 is selected on the target path, d is the track error, V is the cruising speed (preferably the ground speed of the unmanned aerial vehicle at this time), η 1 And eta 2 Respectively corresponding angles. Assuming that the angle eta is very small, the centripetal acceleration required by the circular motion of the reference point of the unmanned plane at the moment is as follows:
from the following componentsThe above formula is known to be equivalent to:
wherein->
From the above equation, it can be seen that in the case of straight line tracking, the linear approximation model of the guidance law is a simple second-order system, the damping ratio is 0.707, and the natural frequency is determined by the ratio of the velocity V to the distance L1.
Selecting a proper L1 distance parameter, measuring the magnitude and direction of a ground speed vector V of the current unmanned aerial vehicle, and measuring the corrected navigation point 4 position at the current moment to obtain a target route path, namely calculating the target centripetal acceleration a at the moment according to a formula aim . The calculation formula of the target roll angle is as follows:
wherein G is the gravity of the unmanned aerial vehicle;
obtaining a target roll angle through an L1 guidance law, so as to give the target roll angle to a transverse inner loop control loop, and obtaining a corresponding aileron control quantity through an inner loop PID controller; the calculation formula is as follows:
wherein the method comprises the steps ofFor the target roll angle +.>Delta as the current roll angle a For aileron rudder amount->Roll angle feedback gain, roll angle rate feedback gain, roll angle integral gain, +.>Is the roll angle rate.
Step 406, in the continuous correction of the route caused by the swing of the hook point 4, the target path at each moment is adjusted in real time, and the side offset is corrected continuously by the control method, namely the current position of the unmanned aerial vehicle is corrected continuously by adjusting the rolling gesture, so that the real-time tracking of the swinging astronomical hook recovery rope is achieved.
Step 407, carrying out missed approach decision when the unmanned aerial vehicle reaches the waypoint 3, and discarding hook recovery to carry out advanced missed approach operation when the decision is not satisfied; otherwise, the recovery operation is normally performed, and the step 408 is entered;
the missed approach decision for waypoint 3 includes: judging whether the side offset distance is smaller than a transverse error threshold, whether the difference between the height and the expected hook point is smaller than the height error threshold, and whether the difference between the speed and the expected hook speed is smaller than the speed error threshold, and if at least one of the three conditions is not satisfied, carrying out fly-away.
When flying in advance, the corresponding point of the waypoint 3 on the connecting line of the waypoint 5 and the waypoint 6 is taken as the waypoint 6', and the route consisting of the waypoint 1, the waypoint 2, the waypoint 3 and the waypoint 6' is taken as a new landing route. Locking longitude and latitude positions of a waypoint 1, a waypoint 2, a waypoint 5 and a waypoint 6' in a landing route at the moment of flying, judging and executing the landing process after winding and flying;
and when the recovery operation is normally carried out, continuously tracking the swinging hook point through lateral offset control and height control in the flight process from the waypoint 3 to the waypoint 4 until the hook is formed.
Step 408, performing hook collision recovery when the unmanned aerial vehicle reaches the waypoint 4, judging whether the current instantaneous acceleration of the unmanned aerial vehicle is greater than 1.5G, if so, successfully recovering the hook, shutting down the engine, and taking down the unmanned aerial vehicle after the unmanned aerial vehicle rotates on a vertical recovery rope for buffering; otherwise, the hook is failed to recover, and the fly-away operation is carried out.
In the step of flying, a landing route is formed by the waypoint 1, the waypoint 2, the waypoint 5 and the waypoint 6, and the step 407 is the same as the step of flying;
step five, after the first unmanned aerial vehicle hook of the group succeeds in or flies away, the second unmanned aerial vehicle flies normally to the recovery frame which has rotated 120 degrees, hook recovery operation is also carried out, and then the third frame is carried out; the other groups of unmanned aerial vehicles spiral and wait, so that the distance between the current recovery group and the unmanned aerial vehicle of the next standby group is ensured, and at least one flying unmanned aerial vehicle is inserted into a queue.
Examples:
for the control recovery strategy of the whole cluster, a certain small fixed wing unmanned aerial vehicle is taken as an example for explanation:
the unmanned aerial vehicle adopts a rocket launching mode, and a total of 18 unmanned aerial vehicles form a cluster. In the process of returning after the task is executed, every three unmanned aerial vehicles are divided into a group, each group returns in a fixed formation, and the unmanned aerial vehicles are staggered for a certain distance through speed regulation and control, so that recovery is completed in sequence.
When each group of unmanned aerial vehicle is recovered, the distance interval between the front machine and the rear machine is required to ensure that the overhead hook recovery device can automatically rotate one third of a circle to the next task state through a mechanical structure. When retrieving, other group unmanned aerial vehicle is waited for in the open airspace spiral to ensure that the interval between the unmanned aerial vehicle of current recovery group and the next group of standing by can guarantee that at least one flies unmanned aerial vehicle inserts the queue. The recovery success rate of the whole cluster can be obviously improved by a certain flying machine.
Through practical tests, if the hooking fails to fly off the unmanned aerial vehicle, the time required for the flying off route to reenter the landing process from the waypoint 4 to the waypoint 1 is about 3 minutes; the hook recovery device automatically rotates through a mechanical structure, the time required for rotating one third of a circle to the next task state is assumed to be about 1 minute, and after the unmanned aerial vehicle is successfully hooked, the unmanned aerial vehicle can be manually taken down in the time before the recovery rope is re-rotated to the recovery position.
According to the early actual test data, the success rate of single hook recovery of each unmanned aerial vehicle is assumed to be 85%, and under the condition that the total recovery amount of single ships is 18, the expected number of successful recovery of each unmanned aerial vehicle for the first time is about 15, and the average 3 unmanned aerial vehicles have a chance of failing to fly in the first hook.
Only consider the case of hooking failure at waypoint 4 (neglecting the case of flying around at waypoint 3), and design the overall recovery flow of the cluster in combination with the remaining factors as follows:
as shown in fig. 11, three unmanned aerial vehicles were collected in one group and divided into 6 groups in total. Each group of unmanned aerial vehicles was arranged one after the other at intervals of 1 minute, and the distance between the unmanned aerial vehicles was found to be approximately 2520 m according to the cruising speed of the unmanned aerial vehicle of 42 m/s. When retrieving, other group unmanned aerial vehicle is waited in the open airspace spiral to ensure to keep 2 minutes's time interval between current recovery group and the unmanned aerial vehicle of next group of standing by, can ensure like this that every group middle can insert an unmanned aerial vehicle that flies off and carry out secondary recovery. Thus, the first unmanned aerial vehicle in each group can be directly inserted into the queue during flying, and the 2 nd and 3 rd unmanned aerial vehicles can be staggered in height to hover at the navigation point 1 if flying is required, and wait to be inserted into the next inter-group interval.
Thus, the whole cluster recovery queue can provide 5 missed flies, which is greater than 3 missed flies required by the expected value. The single recovery success rate of each unmanned aerial vehicle is 85%, and the single recovery success rate can be improved to 97.75% by the second flying machine, so that the possibility of successful recovery of the single unmanned aerial vehicle is remarkably improved. If the secondary recovery is still unsuccessful, the unmanned aerial vehicle is proved to have some faults, so that the operation is changed into manual operation intervention, and protective measures are executed. Assuming that the last group of drones were successfully hooked for the first time and then no drones fly off, the total length of time required for recovery of all drones is about 22 minutes.
Claims (7)
1. The method for controlling the recovery of the astronomical hooks of the small carrier-based cluster unmanned aerial vehicle is characterized by comprising the following specific steps:
step one, aiming at small carrier-based cluster unmanned aerial vehicles, each small unmanned aerial vehicle is respectively provided with a GD30 differential satellite navigation module and a flight control and navigation module, and wingtips at two sides are provided with wingtip hooks for recovering a day hook rope;
installing a hook recovery device on the naval vessel, erecting a recovery rope, and arranging a ground station and corresponding dynamic differential ground equipment in a safety zone;
step three, setting required parameters of the overhead hook recovery device in advance;
fourthly, after the unmanned aerial vehicle cluster completes a preset task, a homing instruction is sent out; every three unmanned aerial vehicles are divided into a group, return in fixed formations at fixed intervals, and enter a recovery hook process;
when each group of unmanned aerial vehicle is recovered, the distance interval between the front unmanned aerial vehicle and the rear unmanned aerial vehicle is ensured: the overhead hook recovery device automatically rotates 120 degrees to the next task state through the rotary table;
the method comprises the following steps:
step 401, aiming at a first unmanned aerial vehicle in a current group, a flight control and navigation module of the first unmanned aerial vehicle calculates each waypoint of a landing route of the unmanned aerial vehicle in real time according to the received real-time position and gesture information of a ship, and continuously refreshes the route along with the movement of the ship;
the landing route is rectangular and comprises the following waypoints: a follow flying point 1 point, a approach point 2 point, a resolution point 3 point, a hook point 4 point, a fly-away point 5 point and a transition point 6 point, wherein four vertexes are respectively 1 point, 2 points, 5 points and 6 points;
step 402, when the unmanned aerial vehicle returns to a range set near a ship, a landing instruction is sent out; locking the longitude and latitude position of the waypoint 1 on the landing route at the moment when the flight control and navigation module receives the landing instruction, and determining the longitude and latitude position as a target waypoint;
step 403, gradually reducing to a preset altitude of the waypoint in a slope control mode in the process that the unmanned aerial vehicle flies to the target waypoint 1;
step 404, after the unmanned aerial vehicle arrives at the waypoint 1, formally entering a landing stage, switching a target waypoint to be the waypoint 2, and locking the longitude and latitude positions of the waypoint 2 at the switching moment, wherein the unmanned aerial vehicle makes a turn to drop the altitude so as to be aligned with a landing route;
the actual flight track at the waypoint 2 is an arc made by the minimum turning radius of the unmanned plane;
step 405, when turning at the waypoint 2, switching the target waypoint into the waypoint 3, entering a following flying mode, moving the chased target waypoint along with the movement of the ship, continuing to lower the altitude in the process of going to the waypoint 3, and aiming at the landing direction of the route to eliminate the side offset based on the L1 guidance law;
406, in the continuous correction of the route caused by the swing of the hook point 4, adjusting the target path at each moment in real time, and continuously correcting the lateral offset, namely continuously correcting the current position of the unmanned aerial vehicle by adjusting the rolling gesture;
step 407, carrying out missed approach decision when the unmanned aerial vehicle reaches the waypoint 3, and discarding hook recovery to carry out advanced missed approach operation when the decision is not satisfied; otherwise, the recovery operation is normally performed, and the step 408 is entered;
the missed approach decision for waypoint 3 includes: judging whether the side offset distance is smaller than a transverse error threshold, whether the difference between the height and the expected hook point is smaller than the height error threshold, and whether the difference between the speed and the expected hook speed is smaller than the speed error threshold, and if at least one of the three conditions is not satisfied, carrying out fly-away;
when flying in advance, taking the corresponding point of the waypoint 3 on the connecting line of the waypoint 5 and the waypoint 6 as the waypoint 6', and taking the route consisting of the waypoint 1, the waypoint 2, the waypoint 3 and the waypoint 6' as a new landing route; locking longitude and latitude positions of a waypoint 1, a waypoint 2, a waypoint 5 and a waypoint 6' in a landing route at the moment of flying, judging and executing the landing process after winding and flying;
when the recovery operation is normally carried out, continuously tracking the swinging hook point through side offset control and height control in the flight process from the waypoint 3 to the waypoint 4 until the hook is hooked;
step 408, performing hook collision recovery when the unmanned aerial vehicle reaches the waypoint 4, judging whether the current instantaneous acceleration of the unmanned aerial vehicle is greater than 1.5G, if so, successfully recovering the hook, shutting down the engine, and taking down the unmanned aerial vehicle after the unmanned aerial vehicle rotates on a vertical recovery rope for buffering; otherwise, the hook fails to recover and the fly-away operation is carried out;
in the process of flying, a landing route is formed by the waypoint 1, the waypoint 2, the waypoint 5 and the waypoint 6;
step five, after the first unmanned aerial vehicle hook of the group succeeds in or flies away, the second unmanned aerial vehicle flies normally to the recovery frame which has rotated 120 degrees, hook recovery operation is also carried out, and then the third frame is carried out; the other groups of unmanned aerial vehicles spiral and wait, so that the distance between the current recovery group and the unmanned aerial vehicle of the next standby group is ensured, and at least one flying unmanned aerial vehicle is inserted into a queue.
2. The method for controlling the recovery of the astronomical hooks of the small carrier-based cluster unmanned aerial vehicle as claimed in claim 1, wherein the GD30 differential satellite navigation module in each small unmanned aerial vehicle comprises a mobile platform end and an onboard end:
the mobile platform end and the ground station are installed on the ship together, the high-precision GNSS positioning and Beidou maneuvering reference station is used as a moving base station, and the attitude, the position, the heading and the speed information of the ship are returned through the inertial navigation system and are sent to the airborne end in the form of differential messages;
the airborne end and the flight control and navigation module are installed on the unmanned aerial vehicle together, the position and speed information of the unmanned aerial vehicle are measured in real time through the two differential GNSS antennas and the mobile station and transmitted back to the ground station, and meanwhile, the received mobile platform information is sent to the flight control and navigation module, and recovery control decision is carried out by the flight control.
3. The method for controlling the recovery of the astronomical hooks of the small carrier-borne cluster unmanned aerial vehicle according to claim 1, wherein a recovery frame in the recovery device of the carrier-borne astronomical hooks vertically erects a recovery rope at an open space for recovery of the collision hooks of the unmanned aerial vehicle; a rotary table is arranged at the bottom of the recovery frame, recovery ropes are expanded to three, and the intervals of 120 degrees are uniformly distributed on the main rod of the recovery frame along the circumference; after the unmanned aerial vehicle successfully hits the hook, the recovery frame is fixed after rotating 120 degrees, and the next unmanned aerial vehicle can use the next recovery rope to carry out recovery operation simultaneously.
4. The method for controlling the recovery of the astronomical hooks of the small carrier-based clustered unmanned aerial vehicle according to claim 1, wherein the parameters comprise the position offset of the astronomical hooks, the landing direction, the relative height when the astronomical hooks are hit, the speed, the distance between the points of a landing route, the error threshold of the resolution point of a missed approach and the included angle of the route.
5. The method for controlling the recovery of the astronomical hooks of the small carrier-borne cluster unmanned aerial vehicle according to claim 1, wherein in the step 401, the navigation point 4 is the position of the astronomical hook recovery rope, and the calculation method is as follows:
Lon 4 ＝Lon D +(D x sinψ+D y cosψ)/(a*cos(Lat D ))
Lat 4 ＝Lat D +(D x cosψ-D y sinψ)/a
wherein Lon 4 And Lat 4 Longitude and latitude of 4 points; lon (Lon) D And Lat D Measuring longitude and latitude of the location for the dynamic difference; d (D) x And D y The forward offset along the axis of the ship and the rightward offset along the vertical axis are respectively; psi is the ship course angle; the coefficient a is a conversion coefficient of longitude and latitude and distance;
the longitude and latitude of the positions of the rest navigation points are calculated according to the positions of the 4 points, the included angles of the navigation lines and the relative distances between the adjacent navigation points;
the heights of the navigation point 1, the point 5 and the point 6 are 20 meters added to the lower limit of the safe flight height of the unmanned aerial vehicle; the heights of the navigation points 3 and 4 are the relative heights when the head hook is hit;
the altitude of waypoint 2 is derived from the distance ratio of each point according to the altitude of waypoint 1 and the altitude of waypoint 3, namely:
wherein H is 1 、H 2 、H 3 The heights of waypoints 1, 2 and 3, respectively, L 12 For the horizontal distance between waypoints 1, 2, L 23 Is the horizontal distance between waypoints 2, 3.
6. The method for controlling the recovery of the astronomical hooks of the small carrier-based cluster unmanned aerial vehicle according to claim 1, wherein in the step 401, the tri-axial angle of the ship swaying is measured in real time by a dynamic differential system, so as to correct the actual position of the navigation point 4, namely the expected hooking point on the recovery rope.
7. The method for controlling the recovery of the astronomical hooks of the small carrier-based clustered unmanned aerial vehicle according to claim 1, wherein in the step 405, the lateral offset distance is a vertical distance between the current position of the unmanned aerial vehicle and the current route, and is a vertical distance between the current position and the connecting line of the waypoints 2 and 3;
obtaining a target roll angle through an L1 guidance law, so as to give the target roll angle to a transverse inner loop control loop, and obtaining a corresponding aileron control quantity through an inner loop PID controller; the calculation formula is as follows:
wherein the method comprises the steps ofFor the target roll angle +.>Delta as the current roll angle a For aileron rudder amount->Roll angle feedback gain, roll angle rate feedback gain, roll angle integral gain, +.>Is the roll angle rate.
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