RU2390815C1 - Method to control pilotless aircraft and device to this end - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: control signal is generated in the form of macro instructions to be sent to shared radio channel. Radio channel receives also messages from all participants of air traffic that contain data on their location, height, speed and flight direction, as well as extra data. Note here that using narrow-band data transmission channel allows a high noise immunity at limited power of radio transmitter.

EFFECT: higher efficiency of control and safety.

9 cl, 5 dwg

Description

The invention relates to the field of aeronautical engineering, namely to flight control systems for unmanned aerial vehicles (UAVs) and systems for monitoring movement in airspace.

UAVs are becoming more widespread in various areas of the national economy and in military equipment. UAVs are used to monitor and protect the transport networks of the fuel and energy complex, to patrol highways, forests and protected areas, to monitor weather conditions, for reconnaissance purposes, and for aerial photography. UAVs are widely used in the activities of such departments as the FSB, the Ministry of Internal Affairs, the Ministry of Emergencies, and the Customs Service.

There is a wide variety of different UAVs that differ in purpose, size, weight, speed, altitude and range. They can fly both in the upper airspace and in the lower. In this regard, the issue of ensuring flight safety, primarily, the prevention of unintended collisions of UAVs with other participants in air traffic, including civil aircraft (Aircraft), becomes urgent. As an analysis of the technical solutions of onboard autonomous UAV equipment and ground UAV flight control means shows, there are no effective technical solutions to this problem of reducing the risk of dangerous proximity and UAV collisions with other aircraft.

The typical structure of the control complex for UAVs (www.ruav.ru) consists of data sources that use inertial sensors for measuring acceleration and angular velocities, magnetic sensors, temperature sensors, pressure sensors, and an integrated GPS receiver. The data obtained through the block of analog-to-digital signal conversion fall into the block of the on-board automatic control system (BASU), where the parameters of the object’s movement are evaluated and control actions are generated on the actuators of the object. As input, the control unit can also take external control actions. The generated control signal values are fed to the UAV flight controls. The non-volatile memory of the BASU contains flight execution programs and control unit configurations that change under the influence of certain events that occur on the UAV in flight.

A known system and method for the wireless control of UAVs and access to surveillance data according to patent No. WO 2007146538, IPC B64C 39/00; B64C 39/00, publ. 2007-12-21 (ep.espacenet.com). The system includes a ground control station (NPU), an UAV equipped with control devices, devices for transmitting and receiving information, as well as a wireless communication system between the UAV and the NPU. The method consists in the fact that a wireless communication system, handheld data input, reception and transmission devices (for example, a cell phone or PDA), as well as other similar technologies are used to communicate UAVs and NPUs, transmit commands to control UAV flight parameters and to obtain surveillance data with an UAV. It is proposed to use mobile communications (GSM) network, a general packet radio service (GPRS) network, a code division multiple access (CDMA) network, an evolution-data optimized (EV-DO) network, enhanced data rates as a data network for GSM evolution (EDGE) network, a third generation global system for mobile communications (3GSM) network, a digital IS-136 / time division multiple access (IS-136 / TDMA) network, an integrated digital enhanced network (iDEN).

An analogue has a significant drawback. To transmit control commands in real time, a broadband radio communication system is required, which by definition is characterized by low noise immunity and noise immunity. Another disadvantage is the difficulty of collecting and transmitting complete information about the air situation, which inevitably reduces the level of flight safety.

The closest in technical essence to the claimed are the system and method for the safe flight of UAVs in civilian airspace according to US patent No. US2008033604, IPC G05D 1/00; G06F 17/00; G05D 1/00; G06F 17/00, publ. 2008-02-07 (ep.espacenet.com). The system includes a ground control station (NSC) equipped with a visualization device, a remote pilot operator on the NSC, and a data transmission system between the UAV and the NSC.

The method allows the operator-pilot to control the UAV flight using a three-dimensional synthesized image. During the flight, the onboard UAV system periodically broadcasts its identifier, location, altitude and azimuth. Based on the data received from the UAV, the situation around the current UAV location is generated and displayed on the monitor screen in the visualization system. The pilot-operator, analyzing this image, acts on the organs of the flight control system, whose signals are transmitted back to the UAV. During those phases of a UAV flight when the visualization system is not used for control, it performs a flight under the control of an onboard autonomous system. In addition, a communication channel is provided with the air traffic control system and pilots of other aircraft, having direct communication with the specified pilot-operator.

The disadvantage of the prototype is that for the transmission of control signals on board the UAV from the controls that are affected by the pilot operator, a broadband radio line is required, which, compared to a narrow-band data line (LPD), has a shorter range for the same transmitter power, as well as low noise immunity. Another drawback is the need to use additional channels for transmitting data on the air situation and for communication with the air traffic control system and pilots of other aircraft, which reduces the level of reliability and safety of flights in airspace.

The claimed technical solution expands the arsenal of tools for this purpose.

The purpose of the invention is to increase the efficiency of UAV control and the level of safety of flights in airspace by using new information technologies for collecting, processing and transmitting data.

This goal is achieved by the fact that in the known method of controlling one or more UAVs, each of which is equipped with an on-board automatic control system, satellite navigation system (SNA), a high-precision synchronized clock, as well as an on-board computer and a radio transceiver with which digital radio communication with the base radio station, with a stationary or mobile control station equipped with an automated workstation (AWS) of the operator, transmission of control commands UAV movement, data on the coordinates and parameters of its movement, as well as the transmission of identification numbers and data on the coordinates and parameters of the movement of other moving objects equipped with transceiver radios and within radio visibility, is carried out in one or more common radio channels. Messages are transmitted by each transmitting radio station to a predetermined interval of a single time scale with a time lead, which is sufficient to compensate for the delay in the receipt and execution of these commands.

Also new is that UAV control commands contain navigation data about one or several turning points of a route with an indication of their geographical latitude and longitude, given orthodromic track angles, lateral anticipation of a turn, restrictions on the amount of roll when performing a turn, as well as specified values of altitude flight, vertical speed and inclination of the trajectory.

The control commands transmitted to the UAV contain the code of each of the predefined maneuvers in the horizontal and vertical planes, the parameters of the specified maneuver, data on the moment the maneuver began and its end. According to the observations, deviations from the UAV programmed motion are calculated, and in the case when the indicated deviations exceed the permissible ones, additional corrective one-time commands are generated and transmitted to the radio channel, which are formed in such a way as to reduce the magnitude of these deviations.

Each of the participants in the movement transmits to the common channel in a predetermined time interval or upon request, its identification number, data on its own spatial coordinates, namely latitude, longitude and altitude, parameters of its own movement, namely its own ground speed, path angle, path angle and vertical speed, as well as the countdown of the moment of measurement of the specified data on a single time scale.

According to the data on the current coordinates and parameters of the movement of moving objects that were obtained via a common radio channel, a two-dimensional or three-dimensional image of the air situation is formed on the operator’s workstation monitor at the control center (PU), the predicted trajectories of all the participants in the movement are calculated, and then the approach criteria are checked. Upon detection of a forecast of a dangerous approach, they develop the UAV evasion maneuver commands and broadcast them to a common radio channel.

If there is a requirement for secrecy and confidentiality, messages about control commands and data on the coordinates and parameters of the UAV movement are encrypted before being transmitted to the common radio channel, and decrypted at the receiving end.

The message transmitted by the UAV's on-board radio station contains data on environmental parameters, such as wind speed and direction, temperature and atmospheric pressure at altitude, as well as additional information about the modes, malfunctions and failures of on-board equipment.

When calculating control commands, the dynamic characteristics of the UAV, the algorithms stored in the BASU memory, as well as external disturbances, possible malfunctions and failures of the onboard equipment are taken into account.

The UAV flight control complex consists of stationary or mobile launcher equipment, which includes the operator’s automated workstation, which includes an antenna unit connected to the first transponder input, a data input and output control panel and a weather station, the outputs of which are connected to the first and second inputs control command shaper, respectively, the third input of the control command shaper is connected to the output of the aeronautical data storage device and the flight and navigation characteristics of unmanned summer of the apparatus, the transponder and the shaper of control commands are connected to the first and second inputs of the encryption block, respectively, and the first and second outputs of the encryption block are connected to the second input of the transponder and to the fourth input of the shaper of control commands, respectively, the input of the data input and output control panel is connected to the second output control command generator, and the output is connected to the input of the display device. The onboard equipment of the unmanned aerial vehicle includes an antenna unit, a transponder and a computer are connected to the first and second inputs of the encryption unit, and the first and second outputs of the encryption unit are connected to the second input of the transponder and to the second input of the computer, respectively, the second input of the computer unit connected to a set of sensors for environmental parameters, a satellite navigation system, the output of which is connected to the third input of the computer, an autopilot, the input of which is connected to the output of the computer rer and an output - to the actuators of steering actuators. The transponders contain a high-precision clock and receive messages from one or more radio channels with a time division and transmit their own messages to the specified channel, which contain data on the position, coordinates and motion parameters, as well as control commands.

The analysis of technical solutions made it possible to establish that analogues, characterized by a combination of features that are identical to all the features of the claimed technical solution, are absent in known information carriers, which indicates the compliance of the claimed method with the condition of patentability "novelty".

The search results for well-known solutions in this and related fields of technology in order to identify features that match the distinctive features of the prototype, showed that they do not follow explicitly from the prior art. The prior art also did not reveal the popularity of the impact provided by the essential features of the claimed invention, the transformations on the achievement of the specified technical result. Therefore, the claimed invention meets the condition of patentability "inventive step".

The claimed method is illustrated by drawings, which show:

figure 1 is a drawing explaining the exchange of information between mobile objects, a control center and base radio stations, as well as the operation of the GPS satellite system;

figure 2 is a drawing explaining the distribution of slots in a common radio channel;

figure 3 is a structural diagram of a device that implements the claimed method;

4 is a transmission diagram of a single-slot message;

5 is a sequence diagram of the operation of the transceiver equipment.

An effective way to solve the above problem is to increase the information content of airborne surveillance equipment, as well as the use of effective UAV control methods.

This problem is solved in the claimed method. The possibility of implementing the inventive method with the achievement of the specified technical result is explained as follows.

The highest accuracy in determining location coordinates is currently possessed by satellite navigation systems. Moreover, with their help, the flight altitude is automatically determined, and motion parameters, such as vertical speed, ground speed and track angle, are also calculated. Using these systems, the onboard clocks are also synchronized, namely, they are tied to a single accurate time scale.

The onboard equipment of UAVs and civilian aircraft also includes an inertial navigation system, static pressure sensors, air temperature meters, and wind speed and direction calculators.

On the ground are one or more basic radio stations (BRS) 1.4 (see figure 1), designed to generate differential corrections of satellite positioning and navigation systems, as well as to coordinate the operation of radio channels. The control center 1.5 flight UAV 1.3 can be located both on the ground and on another moving object. If located on the ground, it can be combined with BRS 1.4. Transponders are installed on UAV 1.3, BRS 1.4, PU 1.5 and each of aircraft 1.2. Each transponder contains a satellite navigation system (CHC-GNSS) receiver of the NAVSTAR and / or GLONASS type, as well as a transceiver. The exchange of information between the PU 1.5, UAV 1.3, mobile and base radio stations 1.4 and the operation of the satellite navigation system 1.1 is illustrated in figure 1.

All transponders operate at the same frequency, so that UAVs and other objects of observation that are within the range of radio visibility from each other turn out to be connected by one or more common radio channels.

Each UAV listens to the radio channel, receives coordinate information about other traffic participants located in the radio visibility zone and transmits information about its identifier, own coordinates, altitude, speed and direction of movement and additional information to the radio channel.

At the control station, UAV flight receives messages from UAVs, as well as coordinates and motion parameters of other aircraft, generates control commands that are also transmitted to a common radio channel and received by a transponder that is installed on board the UAV. The use of a common narrow-band radio channel with time division allows to significantly increase noise immunity compared to broadband LPDs. A shared channel with time division can be organized in various ways. Its advantages are most fully manifested in the case of a system of automatic dependent monitoring (ADS) in the broadcast mode. The broadcast of these messages, as well as messages from the aircraft, is carried out in segments of the discrete time scale, which are combined into frames, with a known repetition period.

The process of distributing time periods is illustrated in FIG. 2 and in more detail by the Appendix. The SNA receiver provides each transponder with an exact reference to the time scale (UTS).

Each transponder listens for air and within the frame determines free slots, namely, not occupied by other transponders, reserves them, reports them on the air and subsequently transmits its own coordinates and UAV flight control commands in reserved slots 2.2, as shown in FIG. 2.

Along with the participants of movement 2.1, the transponder is also installed on the ground-based base station 2.3, which can be combined with the control panel 2.4. The base station can transmit differential corrections, accurate time signals, slot occupation commands, and other information.

For certain phases of the UAV flight, the plan and the program of its movement are stored in advance in the memory of the on-board computer, while the flight is performed offline using the autopilot. In real conditions, it is necessary to adjust the UAV motion parameters and rebuild the program depending on the changed situation and the emergence of new tasks. Given the increase in accuracy and reliability of the measurement of coordinates and motion parameters, which are provided by satellite observation systems, it becomes real to obtain reliable and accurate forecast of UAV movement over a certain time interval taking into account its dynamics and the influence of the external environment. This allows you to use a discrete control method in which control information is fed to the UAV in a compressed form, namely in the form of macros. The indicated commands contain the necessary data on the change of the movement program and are executed by the BASU in accordance with predefined algorithms.

The specified method for transmitting commands in compressed encoded form allows to reduce the data transfer rate and, as a result, the frequency band, which leads to an increase in transmission distance and noise immunity compared to a broadband line at the same transmitter power.

For flight along a route or for changing it, macros contain navigation data about the turning points of the route with an indication of their geographical latitude and longitude, given orthodromic directional angles, lateral anticipation of a u-turn, angles of anticipated exit from a u-turn, restrictions on the amount of roll during a u-turn, and also set values of flight altitude, vertical speed and inclination of the trajectory.

According to the indicated data and according to well-known algorithms, in the BASU computer, control actions for changing the motion parameters are generated in real time and fed to the autopilot.

To expand the possibility of using UAVs, macro control commands are provided that contain the code of each of the predefined maneuvers in horizontal and vertical planes, the parameters of the specified maneuver, and data on the moment the maneuver begins and ends. Such maneuvers are necessary when flying around obstacles, avoiding inadvertent collisions with other aircraft, as well as when solving UAV special tasks. When performing a maneuver in the vertical plane, the specified parameters are the specified vertical speeds or the angle of inclination of the trajectory, and for the maneuver in the horizontal plane, the specified path angle, as well as the angular velocity or the turning radius. Macro commands are formed on the workstation in the control room by the operator using the keyboard or other data input devices. According to the observations, deviations from the programmed motion are calculated, and in the case when the indicated deviations exceed the permissible ones, additional corrective one-time commands are generated and transmitted to the radio channel, which are formed in such a way as to reduce the magnitude of these deviations.

The advantage of the proposed control and monitoring method is the availability of information for all traffic participants equipped with a transponder.

In the case when the requirements for secrecy and confidentiality are imposed on the transmitted data, the access of external observers to the control commands and data on the coordinates and parameters of the UAV movement is limited by encrypting the corresponding messages. For encryption and decryption of signals using special software and hardware, systems or complexes that implement algorithms for cryptographic conversion of information when it is transmitted through communication channels.

The data transfer rate on the LPD of the AZN of the broadcast mode is 19,200 bits per second. Due to the time division of the channel (dividing each second into broadcast slots) and the design of each slot as a digital packet with a header and data integrity control, about 200 bits of useful information can be transmitted in each broadcast slot (and there are 75 seconds). Based on the fact that in the standard mode of operation of the LPD, no more than one slot per second is allocated to each participant in the radio exchange, we can talk about limiting the channel bandwidth from above at a speed of 200 bits per second. This speed is an average value, since the information packet is transmitted within 13.5 ms, and the rest of the time the radio channel is provided for use by other participants in the radio exchange. Thus, when using the control system, you can rely on the fast delivery of short control commands, fast delivery of short information packets containing data on the status of the controlled UAV.

The transmission and execution of control commands requires a certain time, which is calculated for each command. For aircraft-type UAVs, the time of transients between steady-state flight modes (for example, horizontal flight and a turn or climb or descent) is within a few seconds (1-3 s).

If necessary, urgent execution of one-time commands use an additional radio channel.

The proposed method is implemented by the device, a block diagram of which is presented in figure 3.

The diagram shows the PU equipment by UAV flight, consisting of antenna unit 3.1 connected to transponder 3.2 input “a”, data input and output control panel 3.8 and weather station 3.3, the outputs of which are connected to inputs “b” and “a” of control command generator 3.7 accordingly, input “g” of control command generator 3.7 is connected to the output of a memory device for storing aeronautical data and flight and navigation characteristics of UAV 3.6, transponder 3.2 and control command generator are connected to inputs “a” and “b” of encryption unit 3.4 3.7, respectively, and the first and second outputs of the encryption block 3.4 are connected to the input “b” of the transponder 3.2 and to the input “b” of the control command generator 3.7, respectively, the input of the data input and output control panel 3.8 is connected to the second output of the control command generator 3.7, and the output connected to the input of the display device 3.5.

The onboard equipment installed on the UAV includes an antenna unit 3.9 connected to the input “a” of the transponder 3.10, connected to the inputs “a” and “b” of the encryption unit 3.12, the transponder 3.10 and the calculator 3.15, respectively, and the first and second outputs of the encryption unit 3.12 are connected to the input “b” of the transponder 3.10 and to the input “b” of the calculator 3.15, respectively, the input “c” of the block of the calculator 3.15 is connected to the block of sensors of environmental parameters 3.14, the satellite navigation system 3.11, the output of which is connected to the input “a” of the calculator 3.15 autopilot 3.16, input of which go connected to the output of the calculator 3.15, and the output to the actuators of the steering drives 3.13.

The device operates as follows. Transponders contain high-precision clocks and receive messages from one or several radio channels with time division and transmit their own messages to the specified channel, which contain data on the position, coordinates and motion parameters.

In the control room, according to the data on the current coordinates and motion parameters of moving objects, which were obtained via a common radio channel, form a two or three-dimensional image of the air situation on the operator's workstation monitor screen.

In accordance with the purpose of the UAV and the specific tasks that it must solve at this stage of the flight, the pilot-operator sets the type of maneuver and its parameters, including the moment it begins and ends. Using the keyboard, mouse, touch screen monitors or other devices, the pilot operator enters their control command generation unit. In the calculator included in the indicated block, the lead time is calculated, and the commands are transmitted to the transponder. According to the data received by the transponder, the calculator also calculates the predicted trajectories of all participants in the movement, and checks the criteria for convergence. When a forecast of a dangerous approach is found, they develop teams to maneuver the evasion of the unmanned aerial vehicle and broadcast them to a common radio channel.

Thus, in accordance with this technical proposal, the operator of the UAV flight control center and other air traffic participants receive from one or several common radio channels complete and reliable information about the coordinates and flight parameters of all air traffic participants. Macro control commands are transmitted from the operator’s workstation to the specified channel, and due to the use of a narrow-band data transmission channel, high noise immunity with limited transmitter power is achieved. As a result, effective UAV control is ensured and, as a result, a high level of flight safety in airspace.

Claims (9)

1. A method for controlling one or more unmanned aerial vehicles, each of which is equipped with an on-board automatic control system, a satellite navigation system, a high-precision synchronized clock, as well as an on-board computer and a radio transmitter-receiver, with which digital radio communication with the base radio station is carried out, with a stationary or a mobile control center, which is equipped with an automated workstation of the operator, characterized in that the transmission of commands to the control movement of an unmanned aerial vehicle, the transmission of data on the coordinates and parameters of its movement, as well as the transmission of identification numbers and data on the coordinates and parameters of the movement of other mobile objects equipped with transceiver radios and within radio visibility, is carried out in one or more common radio channels, and broadcast messages of each transmitting radio station is made in a predetermined interval of a discrete scale of a single time with a time lead, which enough to compensate for the delay in receiving and executing these commands. 2. The method according to claim 1, characterized in that the control commands of the unmanned aerial vehicle contain navigation data about one or more turning points of the route with an indication of their geographical latitude and longitude, given orthodromic track angles, lateral anticipation of a turn, restrictions on the amount of roll at performing a turn, as well as the set values of the flight altitude, vertical speed and the angle of inclination of the trajectory. 3. The method according to claim 1, characterized in that the control commands contain a code for each of the predetermined maneuvers in the horizontal and vertical planes, the parameters of the specified maneuver, data about the moment the maneuver begins and ends, and according to the observations, deviations from the programmed movement are calculated, and in the case when the indicated deviations exceed the permissible ones, they develop and submit to the radio channel additional corrective one-time commands, which are formed in such a way as to reduce the magnitude of these deviations. 4. The method according to claim 1, characterized in that each of the participants in the movement transmits to the common channel in a predetermined time interval or upon request, its identification number, data on its own spatial coordinates, namely latitude, longitude and height, parameters of its own movement, namely, its own ground speed, the path angle, the angle of inclination of the trajectory and vertical speed, as well as the countdown of the moment of measurement of these data on a single time scale. 5. The method according to claim 1, characterized in that in the control center according to the data on the current coordinates and motion parameters of the moving objects, which are obtained via a common radio channel, form a two- or three-dimensional image of the air situation on the monitor screen of the operator’s workstation, calculate the predicted the trajectories of all participants in the movement, check the approximation criteria, and upon detection of a forecast of a dangerous approximation, they develop teams to evade the unmanned aerial vehicle and broadcast x in the common radio channel. 6. The method according to claim 1, characterized in that messages about control commands and data on the coordinates and motion parameters of the unmanned aerial vehicle are encrypted before being transmitted to a common radio channel, and decrypted at the receiving end. 7. The method according to claim 1, characterized in that the message transmitted by the on-board radio station of the unmanned aerial vehicle contains data on environmental parameters, namely wind speed and direction, temperature and atmospheric pressure at altitude, as well as data on the state of on-board equipment . 8. The method according to claim 1, characterized in that the control commands are calculated taking into account the dynamic characteristics of the unmanned aerial vehicle and its on-board automatic control system, as well as taking into account external disturbances, malfunctions and failures of the on-board equipment. 9. The flight control system of an unmanned aerial vehicle that implements the method according to claim 1, consisting of equipment of a stationary or mobile control center, which includes an automated workstation of a pilot-operator, which includes an antenna unit connected to the first input of the transponder, a control panel data input and output and a weather station, the outputs of which are connected to the first and second inputs of the control command generator, respectively, the third input of the control command generator is connected to the output storage devices for aeronautical data and flight and navigation characteristics of an unmanned aerial vehicle, a transponder and a command shaper are connected to the first and second inputs of the encryption block, respectively, and the first and second outputs of the encryption block are connected to the second input of the transponder and to the fourth input of the control command shaper, respectively, the input the data input and output control panel is connected to the second output of the control command generator, and the output is connected to the input of the device imagery, as well as an antenna unit mounted on board an unmanned aerial vehicle, connected to the first input of the transponder, connected to the first and second inputs of the encryption unit of the transponder and the computer, respectively, and the first and second outputs of the encryption unit are connected to the second input of the transponder and to the second input of the computer, respectively , the second input of the calculator block is connected to the block of sensors of environmental parameters, the satellite navigation system, the output of which is connected to the third input of the calculator, a slot, the input of which is connected to the output of the calculator, and the output - to the actuators of the steering drives, characterized in that the transponders contain a high-precision clock and receive messages from one or more radio channels with time division and transmit their own messages to the specified channel that contain position data , coordinates and motion parameters, as well as control commands.

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