CN202928591U - Visual landing ground dynamic verification and testing device - Google Patents
Visual landing ground dynamic verification and testing device Download PDFInfo
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- CN202928591U CN202928591U CN2012206114712U CN201220611471U CN202928591U CN 202928591 U CN202928591 U CN 202928591U CN 2012206114712 U CN2012206114712 U CN 2012206114712U CN 201220611471 U CN201220611471 U CN 201220611471U CN 202928591 U CN202928591 U CN 202928591U
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Abstract
The utility model discloses a visual landing ground dynamic verification and testing device, and relates to the field of aircraft navigation, in order to solve the problems that the existing verification and testing device is single in measuring method and poor in complexity. The technical scheme is that the visual landing ground dynamic verification and testing device comprises a simulation airport cooperation mark, a digital camera, a wireless image transmission system, a visual landing ground working station, a comprehensive control operating platform, a six-degree-of-freedom mechanical arm, a ground conveying belt, a mechanical arm control cabinet and a conveying belt control cabinet. According to the utility model, the flying flight path of an aircraft is simulated through the motion trail through the digital camera, and the visual landing system scheme can be subjected to laboratory environment testing and verification, and each performance index is tested (such as positioning accuracy, the cooperative target detection accuracy, anti-interference capability).
Description
Technical field
The utility model relates to the aircraft navigation field, relates in particular to a kind of vision landing ground dynamic authentication proving installation.
Background technology
It is to concern the vital stage of flight safety that aircraft advances nearly landing period, and present accident more than 60% occurs in aircraft and advances nearly landing period according to statistics.Vision landing technology is to solve complex conditions to get off the plane and independently advance the important means of nearly landing, it is mainly by installing video camera aboard, use vision navigation method, estimate the state of flight of unmanned plane and position, the orientation of putting with respect to landing, have very high disguise and independence, possess wide application prospect in the independent landing system of various middle-size and small-size unmanned planes.
The checking of vision landing system scheme and the development of principle prototype all need the support of ground validation proving installation.The ground validation proving installation requires the visual environment of simulated aircraft landing mission peripheral that can high-fidelity, comprises airfield runway, cooperation sign; Can verify the application characteristic of dissimilar sensor, as infrared camera, Visible-light CCD; Can verify the impact of various interference, comprise sensor noise, ambient brightness changes interference; Can be under different flight paths dynamically precision, reliability, the availability of verification system continuously; Can provide the reference value of aircraft position and attitude under indoor environment, these have all proposed higher requirement to ground validation test device.
The verification method of vision landing at present mainly contains the method for Computer Simulation checking, glidepath checking, unmanned plane Flight.Wherein the method for Computer Simulation checking mainly realizes the simulation of airport what comes into a driver's by the method for microcomputer modelling, and the method can't effectively be verified the noise of camera, image delivering system, also can't verify the impact of carrier aircraft platform motion; The glidepath verification method is mainly by building physical track simulation glide paths, and one can be placed in orbit along the dolly that track glides, and places camera in dolly, the landing mission of the downslide simulated aircraft by dolly.The method can realize the dynamic similation of landing mission, but can't adjust the parameters such as flight path, gliding angle, and the line motion that the method can only simulated aircraft, angular movement that can't simulated aircraft; For the method for utilizing the unmanned aerial vehicle platform flight validation, due to the crosslinked coupling of control system, for the isolation of navigation performance assessment has brought great difficulty, and the unmanned plane during flying checking all has higher requirements to place, weather, manipulation hand, and has higher operational risk.
The utility model content
The purpose of this utility model is: propose a kind ofly to verify that cost is low, work flexibly, reusability is strong, the checking cost is low vision landing ground dynamic authentication proving installation.
The technical solution of the utility model is: a kind of vision landing ground dynamic authentication proving installation, comprise: virtual airport cooperation sign, digital camera, Wireless Image Transmission Systems, vision landing ground workstation, Comprehensive Control operator's console, six degree of freedom mechanical arm, floor conveyor, mechanical arm switch board, travelling belt switch board, wherein
The signal output part of Comprehensive Control operator's console is connected with mechanical arm switch board control end with travelling belt switch board control end respectively, the parameter output terminal of Comprehensive Control operator's console is connected with vision landing ground workstation parameter input end, described Comprehensive Control operator's console is respectively to travelling belt switch board and mechanical arm switch board sending controling instruction, and the flight path parameter that described Comprehensive Control operator's console is corresponding with described steering order sends to vision landing ground workstation in real time;
Travelling belt switch board signal output part is connected with the floor conveyor control end, and described travelling belt switch board is controlled floor conveyor according to the steering order of Comprehensive Control operator's console and done the vertical line motion;
Mechanical arm switch board signal output part is connected with six degree of freedom mechanical arm control end, and described mechanical arm switch board controls according to the steering order of Comprehensive Control operator's console the angular motion that the six degree of freedom mechanical arm is done x wire motion and three attitudes;
The six degree of freedom mechanical arm is arranged on floor conveyor, with the ground conveyer belt;
Digital camera is arranged on the six degree of freedom mechanical arm and with the six degree of freedom manipulator motion, described digital camera is connected with vision landing ground workstation by Wireless Image Transmission Systems, and described digital camera gathers virtual airport cooperation sign and sends to vision landing ground workstation by Wireless Image Transmission Systems;
Vision landing ground workstation is connected with the Comprehensive Control operator's console, described vision landing ground workstation according to the virtual airport cooperation sign of digital camera collection, digital camera is carried out the position and attitude parameter resolves, with calculation result and described flight path parameter is compared and the display comparison result.
Further, digital camera comprises infrared camera and photoelectricity CCD camera.
The utility model has the advantages that: the utility model is by the movement locus simulated aircraft flight track of digital camera, can carry out laboratory dynamic environment test and validation to vision landing system scheme, and property indices is tested (as bearing accuracy, cooperative target accuracy of detection, antijamming capability etc.); Realize the various tracks of marching into the arena, the performance verification of the vision landing system under the Moving Disturbance condition; Realize the checking of the multiple systems schemes such as daytime, night, infrared camera, Visible Light CCD Camera; Can the authentication image sensor, the noise of equipment impact of image delivering system.The utility model is a general testing authentication device, except the function of vision landing system scheme, gordian technique, performance, can also provide test environment for the new product of vision system, the software and hardware of new model, improves product development efficiency.
Description of drawings
Fig. 1 is the utility model structural representation.
Embodiment
The below is described in further details the utility model.
As shown in Figure 1, the utility model vision landing ground dynamic authentication proving installation, comprise: six degree of freedom mechanical arm 1, floor conveyor 2, digital camera 3, Wireless Image Transmission Systems 4, virtual airport cooperation sign 5, Comprehensive Control operator's console 6, vision landing ground workstation 7, mechanical arm switch board 8, travelling belt switch board 9, wherein:
The signal output part of Comprehensive Control operator's console 6 is connected respectively control end and is connected with the mechanical arm switch board with travelling belt switch board 9 control ends, the parameter output terminal of Comprehensive Control operator's console 6 is connected with vision landing ground workstation 7 parameter input ends, described Comprehensive Control operator's console 6 is respectively to travelling belt switch board 9 and mechanical arm switch board 8 sending controling instructions, and the flight path parameter that described Comprehensive Control operator's console 6 is corresponding with described steering order sends to vision landing ground workstation 7 in real time.
Travelling belt switch board 9 signal output parts are connected with floor conveyor 2 control ends, and described travelling belt switch board 9 is controlled floor conveyor 2 according to the steering order of Comprehensive Control operator's console 6 and done the vertical line motion;
Mechanical arm switch board 8 signal output parts are connected with six degree of freedom mechanical arm 1 control end, and described mechanical arm switch board 8 controls according to the steering order of Comprehensive Control operator's console 6 angular motion that six degree of freedom mechanical arm 1 is done x wire motion and three attitudes.
Six degree of freedom mechanical arm 1 is arranged on floor conveyor 2, with 2 motions of ground travelling belt.
Digital camera 3 is arranged on six degree of freedom mechanical arm 1 and with six degree of freedom mechanical arm 1 and moves, described digital camera 3 is connected with vision landing ground workstation 7 by Wireless Image Transmission Systems 4, and described digital camera 3 collection virtual airport cooperation signs 5 send to vision landing ground workstation 7 by Wireless Image Transmission Systems 4.
Vision landing ground workstation 7 is connected with Comprehensive Control operator's console 6,5 pairs of digital cameras of virtual airport cooperation sign 3 that described vision landing ground workstation 7 gathers according to digital camera 3 carry out the position with attitude parameter resolves, with calculation result and the described flight path parameter also display comparison result of comparing.
Further, digital camera 3 can comprise infrared camera and photoelectricity CCD camera, and infrared camera is used for simulating the vision landing plans checking under the dark condition at night, and photoelectricity CCD camera is used for vision landing plans checking under the simulate day ordinary ray.
At first the utility model arranges the glide paths of landing period on Comprehensive Control operator's console 6, comprise downslide angle, speed, reference position, attitude and position noise.Comprehensive Control operator's console 6 is given travelling belt switch board 9 with speed, start position information as steering order, give six degree of freedom mechanical arm switch board 8 with downslide angle, attitude, position noise information as steering order, and whole glide paths information that will arrange are given vision landing ground workstation 7.Travelling belt switch board 9 is controlled floor conveyor 2, drives six degree of freedom mechanical arm 1 and realizes the accurate control of position, the vertical line motion of simulated aircraft; Mechanical arm switch board 8 is controlled six degree of freedom mechanical arm 1, and by the angular motion of three attitudes and attitude motion and the noise of x wire motion simulation aircraft, floor conveyor 2 and six degree of freedom mechanical arm 1 are realized the trace simulation of landing phase aircraft jointly.Select different verification methods according to system schema, for the checking of landing of the vision under the daytime environment, select Visible Light CCD Camera, virtual airport cooperation sign 5 adopts reflecting coatings to make; For the vision landing plans checking at night, select infrared camera, close chamber's intraoral illumination equipment, virtual airport cooperation sign 5 adopts the infrared LED light fixture.During checking, infrared camera or Visible Light CCD Camera are arranged on the tool stand of six degree of freedom mechanical arm 1, take in real time virtual airport cooperation sign 5, and adopt the mode of wireless transmission to deliver to vision landing ground workstation 7 by Wireless Image Transmission Systems 4 image; Vision landing ground workstation 7 receives images, realizes that the vision guided navigation core resolves, and compares with the glide paths benchmark, and the assessment of completion system scheme precision, reliability, availability etc. realizes the vision guided navigation plan-validation.
Claims (2)
1. vision landing ground dynamic authentication proving installation, it is characterized in that, comprise: virtual airport cooperation sign, digital camera, Wireless Image Transmission Systems, vision landing ground workstation, Comprehensive Control operator's console, six degree of freedom mechanical arm, floor conveyor, mechanical arm switch board, travelling belt switch board, wherein
The signal output part of Comprehensive Control operator's console is connected with mechanical arm switch board control end with travelling belt switch board control end respectively, the parameter output terminal of Comprehensive Control operator's console is connected with vision landing ground workstation parameter input end, described Comprehensive Control operator's console is respectively to travelling belt switch board and mechanical arm switch board sending controling instruction, and the flight path parameter that described Comprehensive Control operator's console is corresponding with described steering order sends to vision landing ground workstation in real time;
Travelling belt switch board signal output part is connected with the floor conveyor control end, and described travelling belt switch board is controlled floor conveyor according to the steering order of Comprehensive Control operator's console and done the vertical line motion;
Mechanical arm switch board signal output part is connected with six degree of freedom mechanical arm control end, and described mechanical arm switch board controls according to the steering order of Comprehensive Control operator's console the angular motion that the six degree of freedom mechanical arm is done x wire motion and three attitudes;
The six degree of freedom mechanical arm is arranged on floor conveyor, with the ground conveyer belt;
Digital camera is arranged on the six degree of freedom mechanical arm and with the six degree of freedom manipulator motion, described digital camera is connected with vision landing ground workstation by Wireless Image Transmission Systems, and described digital camera gathers virtual airport cooperation sign and sends to vision landing ground workstation by Wireless Image Transmission Systems;
Vision landing ground workstation is connected with the Comprehensive Control operator's console, described vision landing ground workstation according to the virtual airport cooperation sign of digital camera collection, digital camera is carried out the position and attitude parameter resolves, with calculation result and described flight path parameter is compared and the display comparison result.
2. device as claimed in claim 1, is characterized in that, digital camera comprises infrared camera and photoelectricity CCD camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012206114712U CN202928591U (en) | 2012-11-16 | 2012-11-16 | Visual landing ground dynamic verification and testing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012206114712U CN202928591U (en) | 2012-11-16 | 2012-11-16 | Visual landing ground dynamic verification and testing device |
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| CN202928591U true CN202928591U (en) | 2013-05-08 |
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| CN2012206114712U Expired - Lifetime CN202928591U (en) | 2012-11-16 | 2012-11-16 | Visual landing ground dynamic verification and testing device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870910A (en) * | 2019-03-02 | 2019-06-11 | 哈尔滨理工大学 | A kind of flying vehicles control method based on synovial membrane control |
| CN111537000A (en) * | 2020-06-08 | 2020-08-14 | 中国科学院微小卫星创新研究院 | Ground verification system and method for deep space small celestial body landing segment optical navigation algorithm |
| CN111637902A (en) * | 2020-06-08 | 2020-09-08 | 中国科学院微小卫星创新研究院 | Ground demonstration verification system and method for remote approach of small deep space celestial body |
-
2012
- 2012-11-16 CN CN2012206114712U patent/CN202928591U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109870910A (en) * | 2019-03-02 | 2019-06-11 | 哈尔滨理工大学 | A kind of flying vehicles control method based on synovial membrane control |
| CN111537000A (en) * | 2020-06-08 | 2020-08-14 | 中国科学院微小卫星创新研究院 | Ground verification system and method for deep space small celestial body landing segment optical navigation algorithm |
| CN111637902A (en) * | 2020-06-08 | 2020-09-08 | 中国科学院微小卫星创新研究院 | Ground demonstration verification system and method for remote approach of small deep space celestial body |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130508 |