CN203283376U - Unmaned powered parafoil - Google Patents
Unmaned powered parafoil Download PDFInfo
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- CN203283376U CN203283376U CN2013203081919U CN201320308191U CN203283376U CN 203283376 U CN203283376 U CN 203283376U CN 2013203081919 U CN2013203081919 U CN 2013203081919U CN 201320308191 U CN201320308191 U CN 201320308191U CN 203283376 U CN203283376 U CN 203283376U
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- parafoil
- communication module
- zigbee communication
- gps
- powered
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model discloses an unmanned powered parafoil. The parafoil comprises a parafoil body, a processor, a steering engine, an electronic speed regulator, a brushless motor, a GPS module and a Zigbee communication module, wherein the processor is connected with the GPS module, the Zigbee communication module, the steering engine and the electronic speed regulator; and the parafoil body is fixed on the steering engine through a parachute cord. In the unmaned powered parafoil, the GPS module carried by a part of the parafoil is sued for acquiring information such as absolute geographical location, altitude and time; the Zigbee communication module is used to calculate relative locations of each node by other part of the parafoil; and a precise geographical location of the parafoil can be obtained by combining the absolute location of the GPS and the relative location of the Zigbee can be acquired, so that error of spot landing of the parafoil can be as small as possible. The unmaned powered parafoil is low in cost and is economic and practical.
Description
Technical field
The utility model relates to parafoil group's long-range accurate air-drop, particularly a kind of unmanned Powered parafoil.
Background technology
In the Modern Information based local war, the skirmishes such as fight-terrorism warfare on advanced technological arms antagonism basis are day by day frequent, and its importance also constantly highlights.For minor operation, personnel disperse relatively, and individual soldier's goods and materials carry less.The have inconvenient traffic importance of material supply in area of high mountain, island etc. highlights day by day.On this basis, the logistics supply ability is being played the part of more and more important role gradually, and this is for improving soldier's viability and enemy's kill capability being had very important effect.
Pay attention to Integrative Joint Operations Simulation in the information age, logistics supply is more aobvious important, carries goods and materials to mainly contain the land transportation air transport, and hard to get to, the place that is difficult to land, mainly take air-drop as main, comprises artificial air-drop and unmanned plane air-drop.Artificial air-drop cost is larger, even there will be fatal crass's situation under extreme case; The unmanned plane air-drop is easy to depart from objectives far, can't realize accurate air-drop.
The logistical materials supply of China at present is mainly by aerial and ground.Traffic is hindered when ground, is difficult to again find, for the place of aircraft landing, just can only take the method for dropping.But the precision of air-dropped material is difficult to hold, and may occur that in addition goods and materials collide the situation that causes parachute to be wound around aloft mutually, thereby cause unnecessary loss.
Nowadays along with IT application facilities army, accurately air-drop has become the training emphasis of air and land troop.But the means that mainly realize, still by the experience accumulation of operating personal and the skill level that acquires skill, do not form complete precision aerial delivery system.Wenchuan, during the great earthquake of cajaput, the inaccuracy that goods and materials are thrown in has caused very large loss, and therefore accurately the goods and materials input is more and more paid attention to.
The utility model content
Technical problem to be solved in the utility model is, not enough for prior art, a kind of unmanned Powered parafoil is provided, use the least possible GPS module, try to achieve in real time the accurate geographic position of parafoil to be positioned in-flight, make parafoil arrive at the order location error and reduce as far as possible.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of unmanned Powered parafoil, comprise parafoil body, treater, steering wheel, electronic governor, brushless motor, also comprise GPS module, Zigbee communication module, described treater is connected with described GPS module, Zigbee communication module, steering wheel, electronic governor, and described electronic governor is connected with described brushless motor; Described parafoil is fixed on described steering wheel by the umbrella rope.
Compared with prior art, the beneficial effect that the utility model has is: the utility model utilizes the GPS module that the part parafoil carries to obtain the information such as absolute geographic position, height above sea level and time, other parafoil is extrapolated the relative position of each node by the ZigBee communication module, can obtain the accurate geographic position of all parafoils in conjunction with the absolute fix of GPS and the relative positioning of ZigBee, thereby make the error of all parafoil pinpoint landings as far as possible little; Cost of the present utility model is low, and is economical and practical.
Description of drawings
Fig. 1 is the utility model one embodiment parafoil schematic circuit diagram;
Fig. 2 is the utility model one embodiment parafoil electric appliance installing structure schematic diagram;
Fig. 3 is the utility model one embodiment parafoil outside drawing;
Fig. 4 the utility model one embodiment parafoil localization method schematic diagram;
The accompanying drawing mark:
In Fig. 1-Fig. 3, the 1:Zigbee communication module; 2: electronic governor; 3: steering wheel; 4: treater; 5: brushless motor; The 6:GPS module; 7: screw propeller; 8: back up ring; 9: shell; 10: the parafoil body; 11: the umbrella rope.In Fig. 4, "●": the parafoil that has carried GPS; " zero ": the parafoil that does not carry GPS; "-": parafoil to be positioned is found range by the RSSI signal by Zigbee communication module and fixed position parafoil; "--": located between parafoil and carried out the error revision by the RSSI signal.
The specific embodiment
As shown in Figure 1-Figure 3, the utility model one embodiment comprises treater micro controller system STC12C5A60S2, steering wheel, parafoil body, electronic governor 30A, brushless motor KV4200, also comprise GPS module, Zigbee communication module, described treater is connected with described GPS module, Zigbee communication module, steering wheel, electronic governor, and described electronic governor is connected with described brushless motor; Described parafoil body is fixed on described steering wheel by the umbrella rope.
As shown in Figure 4, in order to reduce costs as much as possible under the condition keeping parafoil group positioning precision, if the parafoil group who is formed by N node, get K roof limb umbrella lift-launch GPS module and measure the true coordinate of oneself, the Zigbee communication module of all the other parafoils lift-launch lower costs calculates the coordinate of oneself.The spatial coordinates of remembering parafoil to be positioned is (x, y, z), known K (K
3) coordinate of the individual parafoil that has carried GPS for (
), the distance of establishing the parafoil of the oriented N of this parafoil distance is
Can set up following set of equations:
,
Wherein
The Representative errors correction term.Its source mainly contains two: the position error of the position error of gps system and Zigbee communication module.
GPS errors of the distance measurement system: get K GPS module, measure respectively the K point coordinate, and use ruler to measure any two points spacing
, by gps coordinate, calculate any two points spacing
Ask arithmetic average to draw the systematic error of GPS position fixing system:
,
Zigbee communication module range error:
Zigbee communication module range measurement principle is that transmitting terminal broadcasts out the RSSI signal, the RSSI signal strength judging distance of receiving end by receiving.Due to every pair of internodal RSSI signal strength Normal Distribution.So operation parameter is 0.6 gaussian filtering method, the signal strength elimination that probability of occurrence is little, for remaining signal strength by asking Geometric Mean to obtain signal strength.According to formula:
, can try to achieve two parafoil distances.Wherein
RSSI signal strength when the expression distance is d.
For reference range, usually be set to 1m,
Be that a unit is dBm, average is 0 Gaussian random variable, has reflected when distance one timing, the variation of the energy that receives.N is constant, and is relevant with the hardware node of concrete use, gets n=2 in this experiment.The distance of the parafoil that the K that gets of note carried the GPS module between in twos is
Therefore the system combined error is arranged
This solution of equations space is P, and this set of equations has K equation, optional 3 three-dimensional coordinates that just can draw one group of node to be measured
Altogether can draw
The group coordinate, therefore can draw following plan model:
Select one and be used as the coordinate of node to be measured with the optimal coordinate of set of equations, and precision is large as far as possible.
Behind the location of being undertaken by the method, the deviation that parafoil just can judge heading according to coordinates of targets and self coordinate of prior storage.And then by control steering wheel pull umbrella rope controlling party to, control motor speed by electronic governor and land.The distance of the rssi measurement of using in position fixing process simultaneously can be used for controlling the safety distance between parafoil, both can avoid being wound around the accidents such as collision, has also avoided the excessive network reliability that causes of parafoil group radius to reduce.
Claims (2)
1. unmanned Powered parafoil, comprise parafoil body, treater, it is characterized in that, also comprise GPS module, Zigbee communication module, described treater is connected with described GPS module, Zigbee communication module, steering wheel, electronic governor, and described electronic governor is connected with described brushless motor; Described parafoil body is fixed on described steering wheel by the umbrella rope.
2. parafoil according to claim 1, is characterized in that, described treater is micro controller system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203081919U CN203283376U (en) | 2013-05-31 | 2013-05-31 | Unmaned powered parafoil |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203081919U CN203283376U (en) | 2013-05-31 | 2013-05-31 | Unmaned powered parafoil |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203283376U true CN203283376U (en) | 2013-11-13 |
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ID=49539749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203081919U Expired - Fee Related CN203283376U (en) | 2013-05-31 | 2013-05-31 | Unmaned powered parafoil |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203283376U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303475A (en) * | 2013-05-31 | 2013-09-18 | 中国人民解放军国防科学技术大学 | Unmanned power parafoil and air-drop positioning method thereof |
-
2013
- 2013-05-31 CN CN2013203081919U patent/CN203283376U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303475A (en) * | 2013-05-31 | 2013-09-18 | 中国人民解放军国防科学技术大学 | Unmanned power parafoil and air-drop positioning method thereof |
| CN103303475B (en) * | 2013-05-31 | 2016-04-13 | 中国人民解放军国防科学技术大学 | A kind of air-drop localization method of unmanned Powered parafoil |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131113 Termination date: 20200531 |
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| CF01 | Termination of patent right due to non-payment of annual fee |