CN1313325C - High-altitude balloon experiment cabin recovery system based on GPS technology - Google Patents

Abstract

The present invention relates to a high altitude balloon experiment cabin recovery system based on a GPS technique, which can measure the accurate positions of an experiment cabin and a recovery vehicle in real time and can guide the recovery personnel to rapidly recover the experiment cabin. The system is mainly composed of a GPS beacon machine and a recovery vehicle, wherein the inside of the beacon machine is provided with a GPS receiver and a ratio transmitter. The beacon machine can automatically measure the self position and the operating state, and can send out information to the recovery vehicle through the transmitter. The recovery vehicle is also provided with a GPS receiver and simultaneously is also provided with a beacon receiver and a portable electronic computer, and the recovery vehicle can measure the self position and can receive information, such as position data, etc., sent back by the beacon machine. The electronic computer treats, displays and stores the information, the geographical coordinates of the beacon machine and the recovery vehicle are displayed on an electronic map in real time, and the experiment cabin is found when the coordinates of the beacon machine and the recovery vehicle are overlapped.

Description

Aerostat Laboratory Module recovery system based on the GPS technology

Technical field

The invention provides a kind of aerostat Laboratory Module recovery system, relate to space technology, GPS application engineering and radio based on the GPS technology

Technical field.

Background technology

Aerostat is one of main means of delivery that carries out space exploration and space science experiment, and it is made by the plastic sheeting of tens micron thickness, and according to the different demands of load carrying ability with the lift-off height, its volume does not wait to the hundreds of thousands of cubic meter from several ten thousand steres.It can sling lift-off to the Laboratory Module of hundreds of and even thousands of kilogram weights to the high atmospheric advection layer of three, four myriametres, carries out various scientific observations and experimental study, therefore claims advection layer high-altitude scientific balloon again.Balloon system (referring to accompanying drawing 1) mainly is made up of balloon 1, disengagement gear 2, recorery parachute 3, beacon 4, main push-towing rope 5, Laboratory Module 6, bumper 7 etc.After experiment is finished, send the cutting instruction, start disengagement gear and beacon by ground control station.Disengagement gear is with balloon and parachute and separate with the lower part, by parachute with safe fallings such as Laboratory Modules to ground, beacon is sent the radio signal that the confession direction finding is used when separating.Laboratory Module by radio direction finding, is sought in the Laboratory Module that the recovery personnel provide according to the ground station zone of roughly landing.Because radio direction finding is a technical very strong job, need constantly to measure the orientation of beacon, just can move closer to and find Laboratory Module at last, this often needs the time of several hours even tens hours.In radio environment areas with complicated such as mountain area, or meagrely-populated Desert Area, owing to can not in time find Laboratory Module, the beacon power supply exhausts, and the example of Laboratory Module once takes place to can not find in a few days even lose.Very valuable for those test apparatuses or need in time collect test article test adopts above-mentioned radio direction finding to reclaim the method for Laboratory Module, obviously can not meet requirements.

Summary of the invention

The invention provides a kind of aerostat Laboratory Module recovery system based on the GPS technology, can the The real time measure Laboratory Module and the accurate position of recovery vehicle, guiding recovery personnel reclaim Laboratory Module rapidly.System mainly is made up of beacon and recovery vehicle, and GPS receiver and number transmission transmitter are housed in the beacon, can measure position and the mode of operation of oneself automatically, and gives recovery vehicle by emitter with the information timed sending.The GPS receiver also is housed on the recovery vehicle, data transmission receiver and portable computer also are housed simultaneously.Recovery vehicle can be measured the position of oneself, and receives the information such as position data that beacon is sent.Automatic computer handles, shows and store these information, and the geographic coordinates of beacon and recovery vehicle is presented on the electronic chart in real time, and the coordinate of the two has found Laboratory Module when overlapping.

Description of drawings

Fig. 1 is that high-altitude scientific balloon system forms scheme drawing;

Fig. 2 is based on the aerostat Laboratory Module recovery system block diagram of GPS technology;

Fig. 3 is the structural representation of GPS beacon;

Fig. 4 is the flow chart of single-sheet miniature controller;

Fig. 5 is a regularly execution subroutine block diagram of car-mounted computer.

The specific embodiment

The aerostat Laboratory Module recovery system that embodiment adopted is made up of GPS beacon and recovery vehicle, and its block diagram is referring to Fig. 2.Beacon is made up of gps antenna, GPS dash receiver OEM, single-sheet miniature controller (claiming micro controller system again) MCU, wireless data transmission module C11T and emitting antenna etc.The GPS dash receiver adopts parallel 12 passage GPS-OEM plate GARMIN-GPS15L, can follow the tracks of 12 satellites simultaneously.Its capture time again＜2 second, warm about 15 seconds of run up time, about 45 seconds of cold start-up time, satellite acquisition and self-align time 3-5 minute.It is by the signal and the treated location information (longitude and latitude, height etc.) that obtains beacon of antenna reception gps satellite group, and 15 meters of single-point accuracy of positionings (no S/A noise) can satisfy system requirements fully.MCU adopts P87LPC767, has 4 tunnel 8 AD, 1 UART (universal serial port transceiver) and some I/O mouths etc.MCU receives the GPGGA data flow (data rate 9600bps) of the NMEA-0183 form that the OEM plate sends by serial ports, and interpretation its whether locate effectively.If the location effectively, then position data is refreshed, then, measure in the beacon instrument compartment temperature T, transmitter supply voltage V1, controller power source voltage V2 and become ASC II character by AD, again with refresh after gps data packing, add prefix “ $SUN ", behind the suffix " BL ", by serial ports (data rate 1200bps) regularly (by program setting 30 seconds 1 time or 1 minute 1 time, each about 2 seconds) send to digital transmission module C11T (in FSK digital modulator MOD and radio transmitter TRN are arranged).C11T judges that by special-purpose connecting line what transmit is data, by emitting antenna, sends the data to recovery vehicle after treatment.If the GPS locating data is invalid, MCU does not then refresh position data, directly carries out AD conversion, and regularly (by program setting 3 minutes 1 time, each about 2 seconds) sends former actv. position data and the new AD data of having located.

The structural representation of beacon is referring to Fig. 3.Mainly passing emitting antenna 12, radome 13, antenna bracket 14, instrument compartment cover plate 15, aluminium matter hemisphere housing 16, digital transmission module 17, battery flat cover plate 18, battery flat 19, rechargeable battery pack 20 etc. by gps antenna 8, instrument compartment 9, GPS dash receiver OEM and microcontroller MCU assembly 10, shell 11, number forms.Shell 11 and radome 13 adopt the polystyrene material foaming to make, in order to radio wave transmissions.Shell divides upper and lower two halves, and the centre is lined with seal ring, behind the bolted connection of being made by insulating material, forms a complete leak free hollow ball jointly, in order to load beacon, has waterproof action simultaneously.Because battery pack is heavier, remainder is lighter, the center of gravity of whole beacon is below geometric centre, the bottom of beacon is made a hemisphere again, so just formed the tumbler structure, can guarantee to land the back beacon up, make that gps antenna is substantially parallel, number passes antenna and is basically perpendicular to ground, be convenient to receive gps satellite signal and outside emission locating information.

The program of microcontroller MCU adopts the assembly language establishment, and its block diagram is referring to Fig. 4.

Such design-calculated reason of program and benefit have following some:

1, by the structures shape of beacon, number transmission transmitter antenna and GPS receiving wire close proximity, and be in the same plane, the power ratio that adds emitter is big (5W), its frequency multiplication is very approaching with GPS frequency of operation (L1-1575.42MHz) again, counts transmission transmitter like this and certainly will cause interference to the GPS receiver, and (experiment shows, when the emitter running hours, the GPS receiver can't be located at all.) adopting emitter interrupter duty, the timed sending method of locating data, can fundamentally address this problem.

When 2, locating data is invalid, be programmed to last group location active data of timed sending, can guarantee that emitter disturbs can not locate or when beacon is landed back reception environment bad (such as seriously blocking), also can send its rearmost position information, former locating data is capped and loses when avoiding recovery vehicle to receive signal.

3, program design two timers, be respectively applied for the work-hours of normal and location, control GPS location emitter when invalid.Can guarantee that like this GPS receiver can normally locate during emitter quits work, and beacon starts for the first time or cause when relocating required initial information in the GPS treater and losing because of some reason (as external disturbance), the GPS dash receiver can restart, normal operation.

4, regularly another benefit of emission is transmitter supply consumption to be reduced to original 1/15 or 1/30, can prolong the work-hours of beacon greatly like this, guarantee that recovery vehicle can both be received locating information in several days, find Laboratory Module under complex environment condition extremely.

5, because the power consumptive province, before balloon take-off, just can open beacon, so not only can avoid unborn when balloon take-off beacon error starting or the cutting instruction problem of beacon of not opening that lost efficacy, but also can be to the balloon auxiliary positioning in balloon flight whole process.

Omnidirectional and directional beacon receiving wire and wireless data sending receiver module C11R (in receiver RES and FSK digital demodulator DEM are arranged), data selector DATASELE, gps antenna and OEM plate, notebook NOTEBOOK etc. are housed on the recovery vehicle.Number transmitting/receiving module C11R receives the information such as Laboratory Module position that beacon is sent, GPS-OEM plate receiving satellite signal and the treated location information that obtains vehicle, the two receives serial ports of computers through data selector, by computing machine receive, handle, show, storage, and the two position coordinate and running orbit be shown on the electronic chart in real time.The recovery personnel can take rational travel way, use the shortest time to find the balloon Laboratory Module by the guide of location information and electronic chart.If the place more complicated of Laboratory Module landing, vehicle can not enter, and then can be input to the location information of beacon (longitude and latitude) the handhold GPS location navigator (can buy finished product from market), guides the recovery personnel directly to find Laboratory Module by it.

The application program of the vehicle-mounted notebook automatic computer on the recovery vehicle adopts Visual Basic establishment, is provided with order button (Command Button), text box (Text Box), framework (Frame), picture box (Picture Box), timer (Timer), communication interface controls such as (MSComm) in the engineering Main form.Order button be used for startup, bolt down procedure, initial parameter, demonstration and hiding subgraph etc. are set, text box is used for showing the position of beacon and recovery vehicle, the data such as mode of operation of beacon, picture box is used for loading electronic chart, load the sub-pictures frame in the frame control, be mounted with the part figure that ratio is amplified in the sub-pictures frame, more accurate definite target location when being convenient near target.The communication interface control is used for connecting serial ports, and timer regularly receives and handle serial data etc.Be provided with controls such as scroll bar, OptionButton, label in addition, its effect obviously needn't be described in detail.

In the order button subprogram system is carried out various initialization settings, provide reason position, place, electronic chart compare rule, serial communication parameter as balloon, timer timing etc., and carry out startup or bolt down procedure, open serial ports, show and close order such as subgraph.

The timer control is provided with 2, and wherein the main effect of timer 1 is that the position coordinate of beacon and recovery vehicle is flashed 2 times each second, and the color difference of the two coordinate is convenient to the staff and is found and distinguish.The timer 2 subprogram is the maim body of engineering, and its block diagram is referring to Fig. 5, and its effect is the following work of regularly finishing:

Read the serial ports buffer area;

Data are handled, shown;

The geographic coordinates of calculating beacon and recovery vehicle is also marked on a map;

Describe the path of motion of the two;

Various data after handling are stored.

The described system of present embodiment puts into operation, facts have proved that it is reasonable in design, function admirable, reliable operation, has realized the important breakthrough of aerostat Laboratory Module recovery technology.

Claims (3)

1, a kind of aerostat Laboratory Module recovery method, it is used for the aerostat Laboratory Module with the receipts system, and this system is made up of GPS beacon and recovery vehicle,

GPS receiver, one-chip computer and wireless data sending transmitter module are housed, the input end of the mouth order sheet serial ports of computers of GPS receiver, the input end of the output termination wireless data sending transmitter module of one-chip computer serial ports in the beacon; GPS receiver, wireless data sending receiver module, data selector and portable computer are housed on the recovery vehicle, and the mouth of GPS receiver is connected by the input end of data selector with the portable computer serial ports with the mouth of wireless data sending receiver module;

It is characterized in that described method comprises the steps:

Above-mentioned beacon is hung over below the aerostat by parachute and main push-towing rope system with Laboratory Module, and GPS receiver wherein is used for the position in determination test cabin and send the data to recovery vehicle by the wireless data sending transmitter module;

GPS receiver on the above-mentioned recovery vehicle is in order to measure the position of recovery vehicle, the wireless data sending receiver module receives the position data of the Laboratory Module that beacon sends, the position data of beacon and recovery vehicle position data send portable computer to by the serial ports timesharing; Automatic computer handles, shows and store the location information of beacon and recovery vehicle, the geographical position coordinates of beacon and recovery vehicle is presented on the electronic chart in real time, and draws out the path of motion of beacon and recovery vehicle;

The experiment finish after, parachute, beacon, main push-towing rope and Laboratory Module separate with balloon, parachute opens, with Laboratory Module, main push-towing rope and beacon safe falling to ground; After beacon is landed, continue to send its location information to recovery vehicle, its position coordinate that shows on the recovery vehicle computer screen is no longer mobile;

The ground-surface driving together with the receipts personnel returned the vehicle to the garage and knock off, by the recovery vehicle path of motion that shows on the automatic computer screen and the guiding of beacon position coordinate, drive towards beacon, the position coordinate of recovery vehicle and the position coordinate of beacon are progressively close on electronic chart, when their position coordinate overlaps, show that recovery vehicle is in same geographic position with Laboratory Module, has promptly found beacon and Laboratory Module.

2, aerostat Laboratory Module recovery method as claimed in claim 1 is characterized in that: described beacon adopts the interrupted mode of operation that sends: locate when effective at GPS, sent 1 secondary data in per 30 seconds or 1 minute; Locate when invalid at the GPS receiver, sent in per 3 minutes and once to locate active data at last; Sent for 2 seconds, all the other time numbers pass transmitter modules and close fully at every turn.

3, aerostat Laboratory Module recovery method as claimed in claim 1 is characterized in that: described beacon adopts tumbler and waterproof construction.

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