CN1356561A - Antenna tracking device for robot helicopter and its operation method - Google Patents
Antenna tracking device for robot helicopter and its operation method Download PDFInfo
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Abstract
An antenna tracking device for robot helicopter is composed of measuring and controlling antenna, antenna turntable, transceiver, control computer system, and servo equipment. A control interface program is used to control the antenna to come in digital pilotted tracking mode, range calculation or amplitude mode, or manual control mode. Its advantages include simple structure, high effect and reliability.
Description
The present invention relates to a kind of wireless signal and follow the tracks of, particularly relate to a kind of antenna tracking device and method of operating that is used for pilotless helicopter.
In remote control telemetering system, consider problems such as gain is low, interference is big, multipath effect because omnidirectional antenna exists, therefore use antenna in the design with directional gain.Antenna tracking system is exactly for making antenna point to aircraft real-time and accurately, to obtain maximum antenna gain.In the antenna tracking system of unmanned plane, the most frequently used is the tracking antenna of conical scanning system, it is to correct antenna direction from the error that airborne radio-frequency signal detection appears at sensing, its precision is very high, the distance of using also can reach 200km, but cost is very high, equipment is complicated, and is disguised bad simultaneously.
Consider some singularity that native system uses, proposed to use antenna tracking system based on the tracking mode of digital designation, auxiliary simultaneously with voyage reckoning or amplitude tracking pattern and manual tracing mode, characteristics according to helicopter flight in system are handled targetedly, and can pattern be automaticallyed switch according to different states, guarantee its tracking accuracy, this scheme does not need airborne beacon, thereby has reduced the weight and the disguise that has improved aircraft of airborne equipment.
Antenna tracking system is the important component part of pilotless helicopter remote control telemetering system, the correct tracking sensing that guarantees antenna tracking system is the key technical problem of remote control telemetering system reliably working, system with respect to the conical scanning tracking system, native system equipment is succinct, efficient, reliable, cost is low, can satisfy simultaneously the performance requirement of system again, adapt to vehicle-mounted mobile earth station and install and use.
The purpose of this invention is to provide a kind of antenna tracking device that is used for pilotless helicopter.
Another object of the present invention provides a kind of method of operating that is used for the sky line following of pilotless helicopter.
Technical scheme of the present invention is achieved in that a kind of antenna tracking device that is used for pilotless helicopter, it comprises observing and controlling antenna, antenna rotating platform, remote-control romote-sensing transceiver, control computer system, servosystem etc., wherein, the observing and controlling antenna connects with the remote-control romote-sensing transceiver, the observing and controlling antenna is installed on the antenna rotating platform, antenna rotating platform connects with the control computer system, and servosystem is connected on the control interface of control computer system; Antenna rotating platform is made up of base, azimuth axis, antenna mounting rod, pitch axis, pitch axis endless screw support, left bracing frame, right bracing frame, stepper motor, camera erecting frame, fixed head, camera, azimuth axis is installed on the base, antenna mounting rod one end is installed on the azimuth axis, the other end is equipped with the observing and controlling antenna, the left end of pitch axis connects pitch axis worm and gear, left bracing frame, camera erecting frame, the right-hand member of pitch axis connects right bracing frame, pitch axis scrambler, left and right sidesing supporting frame is fixed on the fixed head, and fixed head connects with azimuth axis; Azimuth axis running orientation angles in the antenna rotating platform is ± 720 °, and running speed is 20 °/s, and angular acceleration is 10 °/s
2, the luffing angle of pitch axis is-5 °～185 °; Camera is installed on the camera erecting frame, and the direction of camera is consistent with the direction of observing and controlling antenna; Feedback transducer in the antenna rotating platform is used to read the position data of azimuth axis and pitch axis, forms closed-loop control, and feedback transducer is the necessary condition that guarantees tracking accuracy, mainly is to use the shaft-position encoder with certain precision to finish.
In the remote-control romote-sensing transceiver of the present invention remote transmitter, telemetering receiver are installed.High frequency combination in the remote-control romote-sensing equipment is made up of low noise amplifier and power amplifier, low noise amplifier carries out low noise to the weak signal that receives from the observing and controlling antenna and amplifies, send telemetering receiver then to, power amplifier carries out power amplification to the signal of remote transmitter output, is sent to receiving system on the pilotless helicopter by the observing and controlling antenna.
Control computer of the present invention system is made up of industrial control computer, control interface, and control interface connects the feedback transducer conditioning device in servosystem driver and the antenna rotating platform; The control computer system handles in real time the data of remote measurement and land station position, calculates numeral and follows the tracks of vectoring information, the state of work is judged, and the switching of the state of finishing the work, the supervision of tracker, demonstration, and realize mutual control between man-machine; Control interface is used for finishing the exchanges data of observing and controlling antenna to control computer and feedback transducer, servosystem.
Observing and controlling antenna of the present invention is the corner reflector antenna of S-band, and receiving gain is 11～23dBi, and transmitting gain is 11～23dBi, and the lobe angle is 40 °～13 °.
Servosystem of the present invention is finished two axial controls of observing and controlling antenna.
A kind of method of operating that is used for the sky line following of pilotless helicopter of the present invention, wherein: after the system power-up, program will be moved automatically, at this moment, be upper and lower, left and right key control antenna rotating platform sensing direct north and horizontal direction with keyboard, this moment, system finished the work of reading of reference point, can select the pattern of work then according to the actual conditions of aircraft;
(1) digital designation tracing mode, system reads the position angle and the angle of pitch from land station.Antenna now pointed the position can give control computer by control interface by two axial feedback transducers, program will present position and the position that will point to compare, obtain an error amount.Control computer is converted into the number of step-by-step impulse with this error amount, gives servosystem by control interface, thereby makes the correct sensing aircraft of antenna.As long as real-time telemetry is in normal condition, system will be in this mode state;
(2) voyage is calculated or the amplitude tracking pattern, in case the real-time telemetry Signal Fail in the system, when promptly real-time telemetry was in disarmed state, system will be according to the course of aircraft last time, the position of the existing aircraft of velocity information estimation.When being in this state, system is tracking aircraft at short notice still, recovers normal until the real-time telemetry signal.The existence of this pattern has improved the continuity of system keeps track;
(3) manually control tracing mode, when manual control signal, the control of upper and lower, left and right will be judged by system, make servosystem by artificial controlling party to rotation.This state is used for manually system is adjusted input with reference point;
When the distance of plane distance land station during greater than 200 meters, F1 on the keypad starts automatic digital designation tracing mode, antenna system will be aimed at aircraft automatically this moment, if abnormality appears in the real-time telemetry data, system will automatically switch to voyage and calculate or the amplitude tracking pattern, still guarantee the sensing aircraft that antenna can be correct; When plane distance is overhead stood less than 200 meters, if antenna tracking system swing, catastrophic failure appears in perhaps real-time telemetry data, made when voyage reckoning or amplitude tracking pattern and digital designation tracing mode lost efficacy, F2 on the keypad starts manual tracing mode, at this moment, utilize the camera tracking aircraft, guarantee the correct sensing aircraft of antenna; When switching to manual tracing mode, make observing and controlling antenna direction direct north position by the F3 on the lower keyboard, make observing and controlling antenna direction horizontal level by the F4 on the lower keyboard, make the observing and controlling antenna point to direct north and horizontal level simultaneously by the F5 on the lower keyboard; In any time of system operation, can use the numerical key 1,2,3 on the keyboard to select, select suitable filtering system to handle the real-time telemetry data of aircraft, selection numerical key 1 expression aircraft does not take off as yet or is in floating state, select numerical key 2 expression aircrafts to be in the rectilinear flight state, select numerical key 3 expression aircrafts to be in bank position, select correct filter patterns, will help improving the performance of antenna tracking system more.
The main effect of antenna tracking system is in the pilotless helicopter flight course, with certain precision Continuous Tracking target, target is near the center line of main beam all the time, thereby receives telesignalisation reliably continuously, send remote signal with the receiving gain and the transmitting gain of maximum.
In the present invention, antenna tracking system is simplified the ground-plane antenna servo system structure, greatly reduce the complexity of telemetry ground station, successfully solved simultaneously the problem that the top is followed the tracks of and closely followed the tracks of of crossing of pilotless helicopter, to handle control platform, antenna servo system, telemetry monitoring platform be the multifunctional vehicle mounted mobile earth station of one thereby can realize collecting pilotless helicopter.
Below will the present invention is described in further detail by drawings and Examples.
Fig. 1 is a basic structure composition frame chart of the present invention.
Fig. 2 is that antenna tracing mode of the present invention is switched synoptic diagram.
Fig. 3 is the distance relation curve map of orientation angles error and aircraft.
Fig. 4 is the graph of relation of luffing angle error and plane distance.
Fig. 5 is the switching synoptic diagram that is presented on the control computer display.
Fig. 6 is the structure cut-open view of antenna rotating platform of the present invention.
Among the figure: 1. base 2. azimuth axis encoders 3. azimuth axis 4. fixed heads 5. bearings 6. back-up blocks 7. left support framves 8. stepper motors 9. pitch axis endless screw supports 10. camera head installation racks 11. bearings 12. bearings 13. pitch axis worm and gears 14. antenna installing plates 15. antenna mounting rods 16. antenna installation shaft bases 17. pitch axis 18. bearings 19. encoder mounting blocks 20. pitch axis encoders 21. right support framves 22. support corner block 23. bearing holder (housing, cover)s 24. worm gear support tubes 25. linings 26. bearings 27. encoder mounting blocks 28. antenna rotating platforms
At a kind of antenna tracking device that is used for pilotless helicopter of the present invention, it comprises observing and controlling antenna, antenna rotating platform 28, remote-control romote-sensing transceiver, control computer system, servosystem etc., wherein, the observing and controlling antenna connects with the remote-control romote-sensing transceiver, the observing and controlling antenna is installed on the antenna rotating platform 28, antenna rotating platform 28 connects with the control computer system, and servosystem is connected on the control interface of control computer system; Antenna rotating platform 28 is by base 1, azimuth axis 3, antenna mounting rod 15, pitch axis 17, pitch axis endless screw support 9, left side bracing frame 7, right bracing frame 21, stepper motor 8, camera erecting frame 10, fixed head 4, the first-class composition of making a video recording, azimuth axis 3 is installed on the base 1, antenna mounting rod 15 1 ends are installed on the azimuth axis 3, the other end is equipped with the observing and controlling antenna, the left end of pitch axis 17 connects pitch axis worm and gear 13, left side bracing frame 7, camera erecting frame 10, the right-hand member of pitch axis 17 connects right bracing frame 21, pitch axis scrambler 20, a left side, right bracing frame is fixed on the fixed head 4, and fixed head 4 connects with the azimuth axis 3 of antenna turntable 28; Azimuth axis 3 running orientation angles in the antenna rotating platform are ± 720 °, and running speed is 20 °/s, and angular acceleration is 10 °/s
2, the luffing angle of pitch axis 17 is-5 °～185 °; Camera is installed on the camera erecting frame 10, and the direction of camera is consistent with the direction of observing and controlling antenna; Feedback transducer in the antenna rotating platform is used to read the position data of azimuth axis and pitch axis, forms closed-loop control, and feedback transducer is the necessary condition that guarantees tracking accuracy, mainly is to use the shaft-position encoder with certain precision to finish.
In remote-control romote-sensing transceiver of the present invention, remote transmitter, telemetering receiver are installed.High frequency combination in the remote-control romote-sensing equipment is made up of low noise amplifier and power amplifier, low noise amplifier carries out low noise to the weak signal that receives from the observing and controlling antenna and amplifies, send telemetering receiver then to, power amplifier carries out power amplification to the signal of remote transmitter output, is sent to receiving system on the pilotless helicopter by the observing and controlling antenna.
Be made up of industrial control computer, control interface in control computer of the present invention system, control interface connects the feedback transducer conditioning device in servosystem driver and the antenna rotating platform; The control computer system handles in real time the data of remote measurement and land station position, calculates numeral and follows the tracks of vectoring information, the state of work is judged, and the switching of the state of finishing the work, the supervision of tracker, demonstration, and realize mutual control between man-machine; Control interface is used for finishing the exchanges data of observing and controlling antenna to control computer and feedback transducer, servosystem.
At the corner reflector antenna that observing and controlling antenna of the present invention is a S-band, receiving gain is 11～23dBi, and transmitting gain is 11～23dBi, and the lobe angle is 40 °～13 °.
Servosystem in the present invention is what to be used for finishing to two axial controls of observing and controlling antenna.
Method of operating of the present invention is, after the system power-up, program will be moved automatically, at this moment, be upper and lower, left and right key control antenna rotating platform sensing direct north and horizontal direction with keyboard, this moment, system finished the work of reading of reference point, can select the pattern of work then according to the actual conditions of aircraft, had three kinds of patterns available:
(1) digital designation tracing mode, system reads the position angle and the angle of pitch from land station.Antenna now pointed the position can give control computer by control interface by two axial feedback transducers, program will present position and the position that will point to compare, obtain an error amount.Control computer is converted into the number of step-by-step impulse with this error amount, gives servosystem by control interface, thereby makes the correct sensing aircraft of antenna.As long as real-time telemetry is in normal condition, system will be in this mode state;
(2) voyage is calculated or the amplitude tracking pattern, in case the real-time telemetry Signal Fail in the system, when promptly real-time telemetry was in disarmed state, system will be according to the course of aircraft last time, the position of the existing aircraft of velocity information estimation.When being in this state, system is tracking aircraft at short notice still, recovers normal until the real-time telemetry signal.The existence of this pattern has improved the continuity of system keeps track;
(3) manually control tracing mode, when manual control signal, the control of upper and lower, left and right will be judged by system, make servosystem by artificial controlling party to rotation.This state is used for manually system is adjusted input with reference point;
When the distance of plane distance land station during greater than 200 meters, F1 on the keypad starts automatic digital designation tracing mode, antenna system will be aimed at aircraft automatically this moment, if abnormality appears in the real-time telemetry data, system will automatically switch to voyage and calculate or the amplitude tracking pattern, still guarantee the sensing aircraft that antenna can be correct; When plane distance is overhead stood less than 200 meters, if antenna tracking system swing, catastrophic failure appears in perhaps real-time telemetry data, made when voyage reckoning or amplitude mode and digital designation tracing mode lost efficacy, F2 on the keypad starts manual tracing mode, at this moment, utilize the camera tracking aircraft, guarantee the correct sensing aircraft of antenna; When switching to manual tracing mode, make observing and controlling antenna direction direct north position by the F3 on the lower keyboard, make observing and controlling antenna direction horizontal level by the F4 on the lower keyboard, make the observing and controlling antenna point to direct north and horizontal level simultaneously by the F5 on the lower keyboard; In any time of system operation, can use the numerical key 1,2,3 on the keyboard to select, select suitable filtering system to handle the real-time telemetry data of aircraft, selection numerical key 1 expression aircraft does not take off as yet or is in floating state, select numerical key 2 expression aircrafts to be in the rectilinear flight state, select numerical key 3 expression aircrafts to be in bank position, select correct filter patterns, will help improving the performance of antenna tracking system more.
In force, be the antenna tracking system of main tracking mode with digital designation, main error sources has site error, the mechanical system errors of real-time target.
The error that the site error of real-time target causes orientation angles at first is discussed.The orientation angles error is not only relevant with the positioning error of target, also the distance with aircraft is relevant, we are example with gps data as the real-time measurement data of target, and the distance relation that obtains orientation angles error and aircraft (supposes that GPS locatees 20 meters of square errors) as shown in Figure 3.
As seen from Figure 3, when plane distance is nearer, orientation angles exists bigger inherent error, when for example plane distance is 200 meters, the intrinsic tracking error that has orientation angles is 5 °, and along with the distance increase of aircraft, the inherent error of orientation angles will reduce gradually, when the distance of aircraft reached 1000 meters, the intrinsic tracking error of orientation angles was 1 °.
The error of luffing angle comes from the error of aircraft altitude locator data, the error analysis of its error analysis and orientation angles is similar, different places is that aircraft will be higher than the sensor of position far away in the precision of low clearance sensor, for higher height, sensor accuracy has smaller for the error effect of luffing angle.In the altitude measurement system of depopulated helicopter, we have used following equipment:
(1) radio altimeter, 0 to 300 meter of measurement range, 1 meter of precision;
(2) pressure altimeter, 20 meters of precision;
(3) GPS altitude information, 20 meters of precision.
Therefore, because the low clearance sensor accuracy is higher, make the luffing angle positioning error than little many of orientation angles error, the distance relation of luffing angle error and aircraft as shown in Figure 4.
As can be seen from Figure 4, within 2 °, behind the corner reflector antenna of the wide lobe of use, this error is smaller for the influence of communication link to the inherent error of luffing angle always.Therefore, solve the focusing on the inherent error that reduces orientation angles of precision problem, we have adopted the position data of real-time target have been carried out filtering, reduce the error of data.
In two dimensional surface, according to the characteristics of unmanned helicopter flight, we are divided into three kinds of main types with its flight path, respectively they are used different Filtering Model and handle:
(1), hover, aircraft adopts the Kalman filter model of point of fixity position this moment not taking off, being in this state in liftoff initial stage and the landing time, bearing accuracy can be improved near an order of magnitude.
(2), rectilinear flight, the flying method that aircraft adopts when takeoff point flies to mission area, can adopt the Kalman filter model of CA (uniform acceleration) or CV (constant speed) this moment.
(3), orbit, the flying method that aircraft adopts at mission area, can adopt the Kalman filter model of orbit to carry out data processing this moment.
Use said method to carry out data processing and not only can reduce real-time position data, a Forecasting Methodology that voyage is calculated also is provided simultaneously, improved the precision during voyage is calculated.
Though there is certain error in antenna system when closely following the tracks of, this moment, therefore, communication system had bigger allowance on power because aircraft is overhead stood very closely.Calculate and actual experimental result according to the channel theory of the lobe pattern of antenna and communication system, it is as follows to obtain the aircraft error angle that the permission of antenna tracking system exists closely the time:
This shows that the precision of antenna tracking system will be higher than desired precision.Site error with respect to real-time target, mechanical system errors just embodies at a distance the time for the influence of antenna tracking system, and mechanical system errors is because there is certain coupling precision in mechanical system to the influence of orientation angles and luffing angle.Because use shaft-position encoder to finish closed-loop control, therefore, the error that mechanical system causes antenna tracking system is the precision of shaft-position encoder, less than 1 °.
| Distance (rice) | Permissible error angle (degree) |
| ????50 | About 150 |
| ????100 | About 90 |
| ????200 | About 50 |
Antenna tracking system mainly contains following several tracing mode:
1, digital designation pattern
Real-time target location in the telemetry is extracted, do relevant computing, obtain the angle of real-time target with respect to land station with the positional information of land station.Then, the real-time angle that this angle and aerial position sensor obtain being subtracted each other, obtain angular error, is zero thereby make angular error by interface control circuit and servosystem control antenna.
2, voyage is calculated or amplitude mode
Voyage is calculated or amplitude mode will be according to the target location of former position data (also comprising speed data sometimes) the prediction present moment constantly of target, for flight with certain movement model, can use Kalman's predictor formula, and, can use the method for 2 extrapolation methods or other maneuvering target tracking for the maneuvering flight that does not possess model.
3, manual control model
By the Interactive control of operator by control computer, assign the instruction of antenna movement, antenna is transferred to some sensings position, finish tracking.
In above-mentioned three kinds of patterns, the digital designation pattern is the groundwork state of system, but under the various situation, needs to use different tracing modes.The switching of pattern can be undertaken by the operator, also can be carried out automatically according to certain priority by computing machine.The process that the antenna system tracing mode is switched as shown in Figure 2.
When real-time target location was sent to control computer by telemetry continuously, antenna tracking system was in the digital designation tracing mode, and control computer will obtain angular error by data, came the control antenna tracker to finish and followed the tracks of sensing.
Because the influence of factors such as communication link, in case losing of telemetry occur, to cause losing of real-time target location, therefore, system will switch to voyage and calculate or amplitude mode, predict this target location constantly, keep the continuity of following the tracks of, promptly, avoid because the tracking accuracy that loss of data causes descends by the prediction of data.
The error size of voyage reckoning or amplitude mode is relevant with the state of aircraft flight, when aircraft flight satisfies certain flight model, the error of voyage reckoning or amplitude is less, but when aircraft was in maneuvering flight, voyage was calculated or As time goes on the error of amplitude increases rapidly.Therefore, calculate or amplitude surpasses the regular hour that when voyage when its error that causes can not meet the demands, system will switch to manual control model, avoid following the tracks of lose objects, provide the indication of reporting to the police simultaneously.Data and theoretical reckoning by experiment, we provide under the various states, and voyage is calculated or the time of amplitude is:
| State | Voyage is calculated or the amplitude time (second) |
| Hover or do not take off | ????130 |
| Maneuvering flight | ????30 |
| Orbit | ????60 |
Antenna tracking system is the important component part of depopulated helicopter remote control telemetering system, and whether the antenna tracking system operate as normal also directly has influence on the work of remote control telemetering system simultaneously.In case antenna tracking system is lost tracking, to directly cause the remote control telemetering system interrupted communication link, its result is except land station can not obtain aircraft real-time state and operating aircraft, antenna tracking system also can not obtain the real-time position data of aircraft by telemetry, cause a vicious cycle.Therefore, must take corresponding method to avoid entering such circulation, also just seem very important of the reliability that guarantees antenna tracking system.
For addressing the above problem, antenna tracking system adopts method for processing abnormal data, guarantees the reliability of antenna tracking system.The processing of abnormal data is not only handled from the statistical information of data to reject wild value, also considers the flight characteristic of helicopter simultaneously.Data processing for the depopulated helicopter orientation can adopt different Filtering Model at three kinds of above-mentioned flight models, adopt different models can better improve the ability of unruly-value rejecting at different state of flight, the thresholding of handling about the abnormal data that adopts Filtering Model is selected and the calculating of false-alarm probability.For the data processing of depopulated helicopter height, also should be divided into two parts, i.e. Metacentre Height flight and motor-driven climbing (landing) flight.Metacentre Height flight can be used the disposal route and the corresponding method of abnormal value removing and correction of the Kalman filtering of fixed numbers, can use the Kalman filter model of CA or CV for motor-driven climbing (landing) flight.
More than the employing of these measures, guaranteed the reliability of antenna tracking system.
At the flight characteristic of depopulated helicopter, antenna tracking system also has two problems to need to handle:
(1) crosses the top tracking problem.Crossing top flight is special relatively state of flight of unmanned helicopter, crossing the top in-flight in order to guarantee aircraft, antenna tracking system still can be correct sensing, and can guarantee tracking velocity, adopted the method for designing of antenna pedestal to make the angle of pitch finish from-5 ° to 185 ° control.In addition, guarantee that from controlling the algorithm of following the tracks of antenna system can adopt the rotation of control pitch axis when crossing the top tracking, thereby avoid causing the delay of tracking by the 180 degree rotations of control azimuth axle.
(2) tracking antenna vibration problems closely.In the discussion in front, because there is relatively large error in the position angle in-plant the time, be stochastic distribution with time error, antenna will produce swing in the time of will causing aircraft closely if do not handle.For avoiding this state, we relax the tracking error closely the time, promptly along with the difference of plane distance, adopt different error threshold, in case the error of antenna tracking system has surpassed error threshold, correct again.The lobe pattern of antenna, the margin of power of communication system, the factors such as oscillating quantity when being untreated are depended in the selection of error threshold.Error threshold is selected as follows in native system:
| Distance (rice) | Error threshold (degree) |
| ??＜100 | ????10 |
| ??100～500 | ????5 |
| ??500～1000 | ????2 |
| ??＞1000 | ????1 |
In ground mooring experiment and flight test, adopt this method, closely the performance of Gen Zonging is normal fully, and the swing of antenna reduces greatly.
Claims (17)
1, a kind of antenna tracking device that is used for pilotless helicopter, it is characterized in that: it comprises observing and controlling antenna, antenna rotating platform, remote-control romote-sensing transceiver, control computer system, servosystem, the observing and controlling antenna connects with the remote-control romote-sensing transceiver, the observing and controlling antenna is installed on the antenna rotating platform, antenna rotating platform connects with the control computer system, and servosystem is connected on the control interface of control computer system.
2, device according to claim 1, it is characterized in that: antenna rotating platform is by base (1), azimuth axis (3), antenna mounting rod (15), pitch axis (17), pitch axis endless screw support (9), left side bracing frame (7), right bracing frame (21), stepper motor (8), camera erecting frame (10), fixed head (4), camera is formed, azimuth axis (3) is installed on the base (1), antenna mounting rod (15) one ends are installed on the azimuth axis (3), the other end is equipped with the observing and controlling antenna, the left end of pitch axis (17) connects pitch axis worm and gear (13), left side bracing frame (7), camera erecting frame (10), the right-hand member of pitch axis (17) connects right bracing frame (21), pitch axis scrambler (20), left and right sidesing supporting frame is fixed on the fixed head (4), and the same azimuth axis of fixed head (4) (3) connects.
3, device according to claim 1 is characterized in that: the azimuth axis in the antenna rotating platform (3) running orientation angles is ± 720 °, and running speed is 20 °/s, and angular acceleration is 10 °/s
2, the luffing angle of pitch axis is-5 °～185 °.
4, according to claim 1,2 described devices, it is characterized in that: camera is installed on the camera erecting frame (10), and the direction of camera is consistent with the direction of observing and controlling antenna.
5, according to claim 1,2 described devices, it is characterized in that: the feedback transducer in the antenna rotating platform is used to read the position data of azimuth axis and pitch axis, form closed-loop control, feedback transducer is the necessary condition that guarantees tracking accuracy, mainly is to use the shaft-position encoder with certain precision to finish.
6, device according to claim 1 is characterized in that: remote transmitter, telemetering receiver are installed in the remote-control romote-sensing transceiver.
7, device according to claim 1, it is characterized in that: the high frequency combination in the remote-control romote-sensing equipment is made up of low noise amplifier and power amplifier, low noise amplifier carries out low noise to the weak signal that receives from the observing and controlling antenna and amplifies, send telemetering receiver then to, power amplifier carries out power amplification to the signal of remote transmitter output, is sent to receiving system on the pilotless helicopter by the observing and controlling antenna.
8, device according to claim 1 is characterized in that: the control computer system is made up of industrial control computer, control interface, and control interface connects the feedback transducer conditioning device in servosystem driver and the antenna rotating platform.
9, device according to claim 1, it is characterized in that: the control computer system is for handling the data of remote measurement and land station position in real time, calculate numeral and follow the tracks of vectoring information, state to work is judged, finish the work switching, the supervision of tracker, the demonstration of state, and realize mutual control between man-machine.
10, according to claim 1,8 described devices, it is characterized in that: control interface is used for finishing the exchanges data of observing and controlling antenna to control computer and feedback transducer, servosystem.
11, device according to claim 1 is characterized in that: the observing and controlling antenna is the corner reflector antenna of S-band, and receiving gain is 11～23dBi, and transmitting gain is 11～23dBi, and the lobe angle is 40 °～13 °.
12, device according to claim 1 is characterized in that: servosystem is finished two axial controls of observing and controlling antenna.
13, a kind of method of operating that is used for the sky line following of pilotless helicopter, it is characterized in that: after the system power-up, program will be moved automatically, at this moment, be upper and lower, left and right key control antenna rotating platform sensing direct north and horizontal direction with keyboard, this moment, system finished the work of reading of reference point, can select the pattern of work then according to the actual conditions of aircraft
(1) digital designation tracing mode, system reads the position angle and the angle of pitch from land station, control computer can be given by control interface by two axial feedback transducers in observing and controlling antenna position now pointed, program compares present position and the position that will point to, obtain an error amount, control computer is converted into this error amount the number of step-by-step impulse, give servosystem by control interface, thereby make the correct sensing aircraft of antenna, as long as real-time telemetry is in normal condition, system will be in this mode state;
(2) voyage is calculated or the amplitude tracking pattern, in case the real-time telemetry Signal Fail in the system, be that real-time telemetry is when being in disarmed state, system will be according to the course of aircraft last time, the position that velocity information is estimated present aircraft, when being in this state, system is tracking aircraft at short notice still, recovers normal until the real-time telemetry signal, and the existence of this pattern has improved the continuity of system keeps track;
(3) manually control tracing mode, when using manual control signal, the control of upper and lower, left and right will be judged by system, make servosystem by artificial controlling party to rotation, this state is used for manually system is adjusted input with reference point.
14, method of operating according to claim 13, it is characterized in that: when the distance of plane distance land station the time greater than 200 meters, F1 on the keypad starts automatic digital designation tracing mode, antenna system will be aimed at aircraft automatically this moment, if abnormality appears in the real-time telemetry data, system will automatically switch to voyage and calculate or the amplitude tracking pattern, still guarantee the sensing aircraft that antenna can be correct.
15, method of operating according to claim 13, it is characterized in that: when plane distance is overhead stood less than 200 meters, if antenna tracking system swing, catastrophic failure appears in perhaps real-time telemetry data, made when voyage reckoning or amplitude tracking pattern and digital designation tracing mode lost efficacy, F2 on the keypad starts manual tracing mode, utilizes the camera tracking aircraft, guarantees the correct sensing aircraft of observing and controlling antenna.
16, method of operating according to claim 13, it is characterized in that: when switching to manual tracing mode, make observing and controlling antenna direction direct north position by the F3 on the lower keyboard, make observing and controlling antenna direction horizontal direction position by the F4 on the lower keyboard, make the observing and controlling antenna point to direct north and horizontal direction position simultaneously by the F5 on the lower keyboard.
17, method of operating according to claim 13, it is characterized in that: in any time of system operation, can use the numerical key 1,2,3 on the keyboard to select, select suitable filtering system to handle the real-time telemetry data of aircraft, selection numerical key 1 expression aircraft does not take off as yet or is in floating state, select numerical key 2 expression aircrafts to be in the rectilinear flight state, select numerical key 3 expression aircrafts to be in bank position, select correct filter patterns, will help improving the performance of antenna tracking system more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011302410A CN1185501C (en) | 2001-12-29 | 2001-12-29 | Antenna tracking device for robot helicopter and its operation method |
Applications Claiming Priority (1)
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| CNA2003101152817A Division CN1515914A (en) | 2001-12-29 | 2001-12-29 | Operation method of antenna tracking device for unmanned hverplane |
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| CN102610917A (en) * | 2012-01-20 | 2012-07-25 | 中国商用飞机有限责任公司 | Method for controlling antennas by high-precision data leading |
| CN102904017A (en) * | 2012-06-28 | 2013-01-30 | 上海创投机电工程有限公司 | Antenna structure system of parallel mechanism in super-hemisphere working airspace |
| CN102109850B (en) * | 2009-12-25 | 2013-04-10 | 中国科学院沈阳自动化研究所 | Portable automatic antenna tracking system for unmanned aerial vehicle (UAV) |
| CN103682556A (en) * | 2013-11-13 | 2014-03-26 | 南京航空航天大学 | Airborne remote antenna mounting device |
| CN104977580A (en) * | 2014-04-04 | 2015-10-14 | 上海机电工程研究所 | Remote measurement target tracking method remote measurement target tracking system |
| CN105676863A (en) * | 2016-04-06 | 2016-06-15 | 谭圆圆 | Unmanned aerial vehicle control method and control device |
| CN106506053A (en) * | 2016-10-27 | 2017-03-15 | 广东南方电信规划咨询设计院有限公司 | A kind of control method based on antenna control system |
| CN106524993A (en) * | 2016-10-11 | 2017-03-22 | 北京农业智能装备技术研究中心 | Dynamic outlier point detection method and device |
| CN106933249A (en) * | 2017-04-28 | 2017-07-07 | 安徽民航机场集团有限公司 | A kind of airborne vehicle real-time tracking guides system |
| CN107728645A (en) * | 2017-11-13 | 2018-02-23 | 中国人民解放军63636部队 | The autonomous tracking and controlling method of telemetering antenna |
| WO2018058309A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市大疆创新科技有限公司 | Control method, control device, electronic device, and aerial vehicle control system |
| WO2019128421A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle tracking antenna, remote control kit and unmanned aerial vehicle kit |
| CN111103839A (en) * | 2019-12-04 | 2020-05-05 | 贵州电网有限责任公司 | Line number enhanced vehicle-mounted unmanned aerial vehicle control platform |
| CN111098795A (en) * | 2019-12-04 | 2020-05-05 | 贵州电网有限责任公司 | Vehicle-mounted unmanned aerial vehicle integrated control system |
| CN111114448A (en) * | 2019-12-04 | 2020-05-08 | 贵州电网有限责任公司 | Comprehensive inspection control system for vehicle-mounted unmanned aerial vehicle |
| CN111930151A (en) * | 2020-07-14 | 2020-11-13 | 西安爱生无人机技术有限公司 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
| CN112650312A (en) * | 2020-12-18 | 2021-04-13 | 安徽博微长安电子有限公司 | Radar antenna multi-speed control system and control method |
| CN115603788A (en) * | 2022-10-09 | 2023-01-13 | 陕西航天技术应用研究院有限公司（Cn） | Automatic multichannel switching method, device and system for measurement and control station of aviation aircraft |
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2001
- 2001-12-29 CN CNB011302410A patent/CN1185501C/en not_active Expired - Fee Related
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102109850B (en) * | 2009-12-25 | 2013-04-10 | 中国科学院沈阳自动化研究所 | Portable automatic antenna tracking system for unmanned aerial vehicle (UAV) |
| CN102610917A (en) * | 2012-01-20 | 2012-07-25 | 中国商用飞机有限责任公司 | Method for controlling antennas by high-precision data leading |
| CN102610917B (en) * | 2012-01-20 | 2015-06-10 | 中国商用飞机有限责任公司 | Method for controlling antennas by high-precision data leading |
| CN102904017A (en) * | 2012-06-28 | 2013-01-30 | 上海创投机电工程有限公司 | Antenna structure system of parallel mechanism in super-hemisphere working airspace |
| CN102904017B (en) * | 2012-06-28 | 2016-04-06 | 上海创投机电工程有限公司 | Hemispherical work spatial domain parallel antenna structure system |
| CN103682556A (en) * | 2013-11-13 | 2014-03-26 | 南京航空航天大学 | Airborne remote antenna mounting device |
| CN103682556B (en) * | 2013-11-13 | 2015-12-30 | 南京航空航天大学 | A kind of airborne remote antenna erecting device |
| CN104977580A (en) * | 2014-04-04 | 2015-10-14 | 上海机电工程研究所 | Remote measurement target tracking method remote measurement target tracking system |
| CN105676863A (en) * | 2016-04-06 | 2016-06-15 | 谭圆圆 | Unmanned aerial vehicle control method and control device |
| CN105676863B (en) * | 2016-04-06 | 2019-01-01 | 谭圆圆 | The control method and control device of unmanned vehicle |
| WO2018058309A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市大疆创新科技有限公司 | Control method, control device, electronic device, and aerial vehicle control system |
| CN106524993A (en) * | 2016-10-11 | 2017-03-22 | 北京农业智能装备技术研究中心 | Dynamic outlier point detection method and device |
| CN106524993B (en) * | 2016-10-11 | 2019-02-22 | 北京农业智能装备技术研究中心 | A kind of dynamic outlier detection method and device |
| CN106506053A (en) * | 2016-10-27 | 2017-03-15 | 广东南方电信规划咨询设计院有限公司 | A kind of control method based on antenna control system |
| CN106933249B (en) * | 2017-04-28 | 2023-04-07 | 安徽民航机场集团有限公司 | Real-time tracking and guiding system for aircraft |
| CN106933249A (en) * | 2017-04-28 | 2017-07-07 | 安徽民航机场集团有限公司 | A kind of airborne vehicle real-time tracking guides system |
| CN107728645A (en) * | 2017-11-13 | 2018-02-23 | 中国人民解放军63636部队 | The autonomous tracking and controlling method of telemetering antenna |
| WO2019128421A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle tracking antenna, remote control kit and unmanned aerial vehicle kit |
| CN111103839A (en) * | 2019-12-04 | 2020-05-05 | 贵州电网有限责任公司 | Line number enhanced vehicle-mounted unmanned aerial vehicle control platform |
| CN111098795A (en) * | 2019-12-04 | 2020-05-05 | 贵州电网有限责任公司 | Vehicle-mounted unmanned aerial vehicle integrated control system |
| CN111114448A (en) * | 2019-12-04 | 2020-05-08 | 贵州电网有限责任公司 | Comprehensive inspection control system for vehicle-mounted unmanned aerial vehicle |
| CN111930151A (en) * | 2020-07-14 | 2020-11-13 | 西安爱生无人机技术有限公司 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
| CN112650312A (en) * | 2020-12-18 | 2021-04-13 | 安徽博微长安电子有限公司 | Radar antenna multi-speed control system and control method |
| CN115603788A (en) * | 2022-10-09 | 2023-01-13 | 陕西航天技术应用研究院有限公司（Cn） | Automatic multichannel switching method, device and system for measurement and control station of aviation aircraft |
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