CN206696434U - A kind of unmanned plane guides landing system automatically - Google Patents
A kind of unmanned plane guides landing system automatically Download PDFInfo
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- CN206696434U CN206696434U CN201621329493.4U CN201621329493U CN206696434U CN 206696434 U CN206696434 U CN 206696434U CN 201621329493 U CN201621329493 U CN 201621329493U CN 206696434 U CN206696434 U CN 206696434U
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Abstract
Unmanned aerial vehicle (UAV) control technical field is the utility model is related to, especially a kind of unmanned plane guides landing system automatically, and the system includes serving controller, GPS locator, tracking arithmetic unit, monitor out of control, communication module, memory, motor；Described to serve controller to be electrically connected respectively with GPS locator, tracking arithmetic unit, monitor out of control, communication module, memory, motor etc., the GPS locator is electrically connected with tracking arithmetic unit；The current position signal of unmanned plane is sent to described serve controller and the tracking arithmetic unit in real time by the d GPS locating module；The offset of the catching net target point to be landed for serving controller calculating unmanned plane current location point to be preserved with the memory at grade, sends the tracking arithmetic unit to；The tracking arithmetic unit does execution compensation according to offset and operated with error tracking.The system can accurately guide unmanned aerial vehicle net to land automatically using real time dynamic differential GPS technology.The system can accurately guide unmanned aerial vehicle net to land automatically using real time dynamic differential GPS technology, and precision is higher, easy to operate.
Description
Technical field
Unmanned aerial vehicle (UAV) control technical field is the utility model is related to, more particularly to a kind of unmanned plane guides landing system automatically.
Background technology
Unmanned flight's control system in correlation technique, operator scheme generally have manual mode and course line pattern.Unmanned plane
It can be flown automatically according to course line set in advance, this pattern is called course line pattern.Unmanned plane net collision recovery is a kind of preferable
Pinpoint way of recycling, be particularly suitable for small-sized fixed-wing unmanned plane and used on narrow recovery place or naval vessel, can be with
It is a kind of zero distance way of recycling to think it.The core technology of net collision recovery is how to guide unmanned plane to fly to seizure exactly
Net, so as to smoothly and precisely realize net collision recovery.Because the research of unmanned plane guiding landing is in the starting stage, and because
Reason, the achievements in research for disclosing report in this regard both at home and abroad such as technical know-how is underground are less.
At present, the research application of the domestic accurate bootstrap technique of unmanned plane to net collision recovery mainly has laser aiming, GPS to draw
Lead with TV track guiding etc..The wherein greatest problem of laser aiming and TV track guiding is to be unable to all weather operations, system
It is complicated；Automatic landing based on GPS is solution method the most frequently used at present, but conventional GPS guiding System guides precision is general,
Settle accounts slower, poor real in position.The collection site and scope of net collision recovery are defined in about 2~3 times of flying body size,
Therefore higher accuracy is required than other recovery methods.Also, unmanned plane net drop usually requires manual control unmanned plane and hit
Catching net, difficulty is higher, operation inconvenience.
Utility model content
The utility model draws automatically to overcome drawbacks described above to provide a kind of unmanned plane based on real time dynamic differential GPS
Landing system is led, the drawbacks of system solves the problem manual control is needed, precision is higher, easy to operate.
To achieve the above object, the utility model adopts the following technical scheme that：
A kind of unmanned plane based on real time dynamic differential GPS guides landing system automatically, including serves controller, GPS fixed
Position device, tracking arithmetic unit, monitor out of control, communication module, memory, motor；It is described serve controller respectively with GPS location
Device, tracking arithmetic unit, monitor out of control, communication module, memory, motor etc. are electrically connected, the GPS locator and tracking
Arithmetic unit is electrically connected.
The GPS locator, transmitted by PN sequences caused by local pseudo-random sequence generator and GPS nature's mysteries system
PN sequences are in sliding cross-correlation acquisition algorithm, obtain the longitude of unmanned plane, latitude, geographical height, time and east orientation, north orientation,
Above-mentioned data are transferred to data such as the ground velocity in three directions and described serve controller and the tracking arithmetic unit by it.
The tracking arithmetic unit, the input signal that GPS is measured is received, and earth axes of the site as origin are hit using ideal
Reference trajectory is established, generates and follows the trail of the optimal air route of beginning and end as defined in connection, performing GPS using European formula draws
Benchmark generation track and the computing of dynamic trajectory error are led, and error op result is exported immediately and serves controller to described.
The monitor out of control, whether the state of flight for monitoring unmanned plane in real time is out of control, particularly prevents automatic
In removal process, unmanned plane departs from reference trajectory or in the case of the low flight that height declines when changing way point, has air crash
Dangerous accident occurs；The monitor out of control serves controller described in monitoring information is sent to immediately.
The communication module, obtain the oblique distance signal of unmanned plane more afterwards to the PN sequences received and local sequence, and
Data are demodulated to obtain unmanned plane course and pitch deviation number is transferred to and described serves controller；The communication module, is also utilized
3G/4G Radio Transmission Technologys carry out the air transmission of data.
It is described to serve controller, built-in ARM core processors, support (SuSE) Linux OS and Android operation system；
It is described to serve controller to be used for the positional information according to the unmanned plane and default course line, the unmanned plane is controlled positioned at described pre-
If on course line；Preferably, it is described to serve roll angle, the angle of pitch and the course angle of controller measurement unmanned plane, and use rapid card
Kalman Filtering algorithm extrapolates the attitude angle of unmanned plane, and the key instruction and the corresponding motor control of generation of its track are followed the trail of in generation
Signal, the motor is controlled to perform corresponding undesirable dynamic operation.
The memory, it is mobile hard disk, SD card, USB flash disk or cloud storage system, for recording the state of flight of unmanned plane
And flight failure information.
The motor, controller is served to receive motor control signal from described, and according to the finger of the motor control signal
Order performs corresponding undesirable dynamic operation.
In descent, the d GPS locating module in real time sends the current position signal of unmanned plane to unmanned plane
It is described to serve controller and the tracking arithmetic unit, it is described to serve controller to calculate unmanned plane current location point and the memory
The offset of the catching net target point to be landed preserved at grade, sends the tracking arithmetic unit to；The tracking fortune
Calculation device does execution compensation and error tracking operation according to offset；The feedback that controller is served according to the tracking arithmetic unit
Data, pass through the flight attitude of the motor control unmanned plane.Repeat the above steps, up to unmanned plane precision approach to seizure
Net, withdraw unmanned plane.The monitor out of control, whether the state of flight for monitoring unmanned plane in real time is out of control, and monitoring is believed
Breath serves controller described in being sent to immediately.The communication module enters monitoring information and flying quality by wireless transmission method
Row air transmission.
Beneficial effect：
A kind of unmanned plane guides landing system automatically, and the system includes serving controller, GPS locator, tracking computing
Device, monitor out of control, communication module, memory, motor；It is described serve controller respectively with GPS locator, tracking arithmetic unit,
Monitor out of control, communication module, memory, motor etc. are electrically connected, and the GPS locator is electrically connected with tracking arithmetic unit
Connect；The current position signal of unmanned plane is sent to described serve controller and the tracking in real time by the d GPS locating module
Arithmetic unit；It is described to serve controller to calculate the catching net target point to be landed that unmanned plane current location point preserves with the memory
Offset at grade, send the tracking arithmetic unit to；The tracking arithmetic unit is done according to offset performs compensation
Track and operate with error.The system can accurately guide unmanned aerial vehicle net to land automatically using real time dynamic differential GPS technology.
Brief description of the drawings
With accompanying drawing, the utility model is described in further detail, but the embodiment in accompanying drawing is not formed to of the present utility model
What is limited.
Fig. 1 is the knot that a kind of unmanned plane based on real time dynamic differential GPS of the present utility model guides landing system automatically
Structure schematic diagram.
Embodiment
The utility model is further described with reference to the accompanying drawings and examples, this is of the present utility model preferably real
Apply example.
As shown in figure 1, a kind of unmanned plane based on real time dynamic differential GPS of the present utility model guides landing system automatically
System, including serve controller, GPS locator, tracking arithmetic unit, monitor out of control, communication module, memory, motor；It is described to watch
Controller is waited to be electrically connected with GPS locator, tracking arithmetic unit, monitor out of control, communication module, memory, motor etc. respectively
Connect, the GPS locator is electrically connected with tracking arithmetic unit.
The GPS locator, transmitted by PN sequences caused by local pseudo-random sequence generator and GPS nature's mysteries system
PN sequences are in sliding cross-correlation acquisition algorithm, obtain the longitude of unmanned plane, latitude, geographical height, time and east orientation, north orientation,
Above-mentioned data are transferred to data such as the ground velocity in three directions and described serve controller and the tracking arithmetic unit by it.
The tracking arithmetic unit, the input signal that GPS is measured is received, and earth axes of the site as origin are hit using ideal
Reference trajectory is established, generates and follows the trail of the optimal air route of beginning and end as defined in connection, performing GPS using European formula draws
Benchmark generation track and the computing of dynamic trajectory error are led, and error op result is exported immediately and serves controller to described.
The monitor out of control, whether the state of flight for monitoring unmanned plane in real time is out of control, particularly prevents automatic
In removal process, unmanned plane departs from reference trajectory or in the case of the low flight that height declines when changing way point, has air crash
Dangerous accident occurs；The monitor out of control serves controller described in monitoring information is sent to immediately.
The communication module, obtain the oblique distance signal of unmanned plane more afterwards to the PN sequences received and local sequence, and
Data are demodulated to obtain unmanned plane course and pitch deviation number is transferred to and described serves controller；The communication module, is also utilized
3G/4G Radio Transmission Technologys carry out the air transmission of data.
It is described to serve controller, built-in ARM core processors, support (SuSE) Linux OS and Android operation system；
It is described to serve controller to be used for the positional information according to the unmanned plane and default course line, the unmanned plane is controlled positioned at described pre-
If on course line；Preferably, it is described to serve roll angle, the angle of pitch and the course angle of controller measurement unmanned plane, and use rapid card
Kalman Filtering algorithm extrapolates the attitude angle of unmanned plane, and the key instruction and the corresponding motor control of generation of its track are followed the trail of in generation
Signal, the motor is controlled to perform corresponding undesirable dynamic operation.
The memory, it is mobile hard disk, SD card, USB flash disk or cloud storage system, for recording the state of flight of unmanned plane
And flight failure information.
The motor, controller is served to receive motor control signal from described, and according to the finger of the motor control signal
Order performs corresponding undesirable dynamic operation.
In descent, the d GPS locating module in real time sends the current position signal of unmanned plane to unmanned plane
It is described to serve controller and the tracking arithmetic unit, it is described to serve controller to calculate unmanned plane current location point and the memory
The offset of the catching net target point to be landed preserved at grade, sends the tracking arithmetic unit to；The tracking fortune
Calculation device does execution compensation and error tracking operation according to offset；The feedback that controller is served according to the tracking arithmetic unit
Data, pass through the flight attitude of the motor control unmanned plane.Repeat the above steps, up to unmanned plane precision approach to seizure
Net, withdraw unmanned plane.The monitor out of control, whether the state of flight for monitoring unmanned plane in real time is out of control, and monitoring is believed
Breath serves controller described in being sent to immediately.The communication module enters monitoring information and flying quality by wireless transmission method
Row air transmission.
Finally it should be noted that above example is only illustrating the technical solution of the utility model, rather than to this reality
With the limitation of novel protected scope, although being explained with reference to preferred embodiment to the utility model, this area it is general
It is logical it will be appreciated by the skilled person that can be modified to the technical solution of the utility model or equivalent substitution, without departing from this
The spirit and scope of utility model technical scheme.
Claims (8)
1. a kind of unmanned plane guides landing system automatically, it is characterised in that the system include serve controller, GPS locator,
Track arithmetic unit, monitor out of control, communication module, memory, motor；
It is described serve controller respectively with GPS locator, tracking arithmetic unit, monitor out of control, communication module, memory, motor
It is electrically connected, the GPS locator is electrically connected with tracking arithmetic unit；
The current position signal of unmanned plane is sent to described serve controller and the tracking in real time by the d GPS locating module
Arithmetic unit；
The catching net target point to be landed for serving controller calculating unmanned plane current location point to be preserved with the memory exists
Offset on same plane, send the tracking arithmetic unit to；
The tracking arithmetic unit does execution compensation according to offset and operated with error tracking.
2. unmanned plane according to claim 1 guides landing system automatically, it is characterised in that the GPS locator is one
The PN sequences that can be transmitted by PN sequences caused by local pseudo-random sequence generator and GPS nature's mysteries system, to obtain unmanned plane
Longitude, latitude, geographical height, time and east orientation, north orientation, ground velocity data from day to three directions, and by above-mentioned data transfer
To the locator for serving controller and the tracking arithmetic unit.
3. unmanned plane according to claim 1 guides landing system automatically, it is characterised in that the tracking arithmetic unit receives
The input signal that GPS is measured, and error op result is exported immediately and serves controller to described.
4. unmanned plane according to claim 1 guides landing system automatically, it is characterised in that the monitor out of control is used for
Whether the state of flight of monitoring unmanned plane is out of control in real time；The monitor out of control serves control described in monitoring information is sent to immediately
Device processed.
5. unmanned plane according to claim 1 guides landing system automatically, it is characterised in that the communication module is to receiving
To PN sequences and local sequence obtain the oblique distance signal of unmanned plane more afterwards, and data are demodulated to obtain unmanned plane course and bowed
Face upward variation and be transferred to and described serve controller；The communication module, the sky of data is also carried out using 3G/4G Radio Transmission Technologys
Middle transmission.
6. unmanned plane according to claim 1 guides landing system automatically, it is characterised in that it is described to serve controller, it is interior
ARM core processors are put, support (SuSE) Linux OS and Android operation system；It is described serve controller be used for according to described in
The positional information of unmanned plane and default course line, control unmanned plane are located on the default course line；It is described to serve controller to measure nothing
Man-machine roll angle, the angle of pitch and course angle, and use Fast Kalman filtering algorithm to extrapolate the attitude angle of unmanned plane, generate
Follow the trail of the key instruction and the corresponding motor control signal of generation of its track.
7. unmanned plane according to claim 1 guides landing system automatically, it is characterised in that the memory is mobile hard
Disk, SD card, USB flash disk or cloud storage system, for recording the state of flight and flight failure information of unmanned plane.
8. unmanned plane according to claim 1 guides landing system automatically, it is characterised in that the motor is served from described
Controller receives motor control signal, and performs corresponding undesirable dynamic operation according to the instruction of the motor control signal.
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| CN201621329493.4U CN206696434U (en) | 2016-12-06 | 2016-12-06 | A kind of unmanned plane guides landing system automatically |
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| CN201621329493.4U CN206696434U (en) | 2016-12-06 | 2016-12-06 | A kind of unmanned plane guides landing system automatically |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267753A (en) * | 2017-12-28 | 2018-07-10 | 福建中量智汇科技有限公司 | The method, system and device that a kind of UAV Landing point automatically configures |
| CN109144096A (en) * | 2018-08-15 | 2019-01-04 | 东汉太阳能无人机技术有限公司 | A kind of control method and unmanned plane of UAV Landing |
| CN109559333A (en) * | 2018-12-05 | 2019-04-02 | 中国科学院长春光学精密机械与物理研究所 | Track and record device |
| CN110442144A (en) * | 2019-08-06 | 2019-11-12 | 厦门理工学院 | Tour guide's UAV system and its working method based on Android |
| CN112198894A (en) * | 2020-07-31 | 2021-01-08 | 北京理工大学 | Autonomous moving landing guidance method and system for rotor unmanned aerial vehicle |
-
2016
- 2016-12-06 CN CN201621329493.4U patent/CN206696434U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267753A (en) * | 2017-12-28 | 2018-07-10 | 福建中量智汇科技有限公司 | The method, system and device that a kind of UAV Landing point automatically configures |
| CN109144096A (en) * | 2018-08-15 | 2019-01-04 | 东汉太阳能无人机技术有限公司 | A kind of control method and unmanned plane of UAV Landing |
| CN109559333A (en) * | 2018-12-05 | 2019-04-02 | 中国科学院长春光学精密机械与物理研究所 | Track and record device |
| CN110442144A (en) * | 2019-08-06 | 2019-11-12 | 厦门理工学院 | Tour guide's UAV system and its working method based on Android |
| CN112198894A (en) * | 2020-07-31 | 2021-01-08 | 北京理工大学 | Autonomous moving landing guidance method and system for rotor unmanned aerial vehicle |
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