TW200402641A - Image picture aided virtual sliding pathway guiding control system - Google Patents

Abstract

The present invention provides an image picture aided virtual sliding pathway guiding control system. The system computes the error of sliding pathway intercepted by an airplane for feedback to an automatic landing control system by the coordinate and flight direction of the airplane itself, and the coordinate and direction of the pre-programmed landing runway touching the ground, so as to guide the airplane to fly along the virtual sliding pathway, and then uses photo-electricity carrying airport runway image to correct the position error for being combined with the labeled image of flight gesture and touching ground point image label of runway to adjust the error, thereby making the airplane to continue to fly along the newly established virtual sliding pathway for guiding the airplane to enter the airport and land correctly.

Description

200402641

V. Description of the invention (1) 1. [Technical field to which the invention belongs] The present invention relates to a video image-assisted virtual glide path guidance control system, in particular to a virtual glide path calculation, using an automatic landing control system to guide Unmanned aircraft intercepts the glide path, performs the task of landing and landing, integrates the image of the photoelectric payload of the unmanned aircraft, combines the flight path image, and instantly corrects the virtual glide path performance so that the unmanned aircraft can assist the glide by the image and image A system that stops the descent position of the positive field and performs automatic landing. 2. [Previous Technology]

According to the general aircraft, when carrying out landing tasks, they must use radio signals transmitted by ground assistance facilities, while the aircraft controls the aircraft to block the radio signals, and guide the aircraft to the landing along the glide path; in the approach of traditional unmanned aircraft Landing is based on artificial remote control to guide the aircraft into the ground. However, due to the difficulty of remote pilot training and the consideration of the manufacturing cost of the unmanned aircraft, it is not possible to install high-precision navigation aids and related induction receiving devices. There are certain risks; for example, U.S. Patent No. 5, 49.9, 0 25 is engraved with different signs on the runway as reference coordinates for indications or warnings of various performance indicators for taxiing after takeoff or landing; U.S. Patent No. 5,5 9 3, 1 1 4 uses radio waves to correct the flight trajectory, uses an image sensor to identify the runway image, generates a runway image on the aircraft cabin instrument, and assists the radio wave to guide the flight. In order to solve the shortcomings of the above-mentioned conventional technologies, an object of the present invention is to provide an image-assisted virtual glide path guidance control system. The main purpose of the present invention is to provide a virtual glide path trajectory as an unmanned aircraft to intercept the approach of the glide path. The airport runway image and ground contact identifier provided by the photoelectric payload

Page 4 200402641 V. Description of the Invention (2), once the virtual glide path is in error, use the horizontal and vertical relative positions of the flight path symbol image and the runway image to correct the glide path error. Based on the above, the parameters can be adjusted at any time during the flight to recalculate a more correct virtual glide path, and the unmanned aircraft will continue to block the newly created virtual glide path to land correctly and safely. 3. [Content of the Invention] The present invention provides an image-assisted virtual glide path guidance control system, which mainly uses a GPS system to measure the position coordinates and heading of the aircraft itself, and the coordinates and orientation of the contact point with the pre-planned landing runway. The position coordinates and azimuth of the two points are used to calculate the angle between the aircraft's track and the relative glide track's track as a feedback signal for the glide path stop control. Errors in data sources such as position coordinates and bearing will cause the intercepted glide path and image Differences in actual scenes. With the optoelectronic payload imaging system and an image system similar to a head-up display, the differences between the flight path symbol and the relative target point (touching point), runway heading, and glide line angles are used to adjust the flight path and heading. Overlapping to ensure that the glide path blocked by the aircraft is correct, so that the landing safety of the aircraft is ensured; by the invention, the unmanned aircraft does not need to install high-precision navigation aids and related induction receiving devices, but can guide the aircraft to automatically intercept the virtual glide path Landing on the ground; combining the image of the flight track symbol with the runway image at the same time Adjust the parameters at any time to recalculate the more accurate virtual glide path performance. The unmanned aircraft will continue to block the newly created virtual glide path. The navigation aid display system of the image and image will be combined with the flight control system, except that it can be used as an automatic landing. In addition to the auxiliary system, it can also assist the unmanned aircraft flight control pilot to monitor the position and heading in flight.

200402641 V. Description of the invention (3) In order to allow your reviewers to further understand the structure, characteristics and purpose of this creation, the drawings and detailed description of the preferred embodiments are attached hereafter. Fourth, [Embodiment] Please refer to FIG. 1, which shows a flowchart of the image and image-assisted virtual glide path guidance control system according to the present invention. As shown in the figure, the present invention is mainly applied before the aircraft lands on the runway. The GPS system determines the aircraft's own position coordinates and heading 'and sets the initial values of the landing point coordinates and azimuth of the landing runway, including the landing point X position glide path glide angle and the landing point Y position runway heading angle. Position coordinates and azimuth. Calculate the angle between the aircraft's track and the relative glide track's track as the feedback signal of the glide path interception control, which includes calculating the glide path's glide positioning error amount and left and right positioning error amount, and the position coordinate and position information. The error of the source will cause the difference between the intercepted glide path and the actual scene in the image. With the photoelectric payload imaging system and the image system similar to the head-up display, the flight path symbol and the relative target point (touching the point), runway heading, and glide are used. Line angles and other differences are used to adjust the flight path and course overlap to establish a virtual glide path 'to provide courtesy The virtual machine stopped wearing the correct glide path. Please continue to refer to Figure 2 for the geometry of the aircraft's glide line along the glide path, and Figure 3 for the aircraft's left and right positioning line geometry along the glide path. Use the relative glide path longitudinal and lateral tracking error angles to correct the flight attitude and path. Figure 4 is a bird's-eye view of the aircraft's intercept glide path. The pre-drawn glide path line is at an angle of 3 degrees to the horizontal line of the runway. The angle of view of the aircraft to the target point is greater than 3 degrees.

200402641 V. Explanation of the invention (4) In this case, the angle between the speed vector and the horizontal line of the runway is greater than 3 degrees, and the aircraft should adjust the track along the path to advance and intercept the pre-planned glide path; and Figure 5 is the aircraft intercept glide path 4 image and image display diagram, in order to adjust the path, the body axis mark of the image display must be adjusted to the cross image of the runway touch point, and then the longitudinal tracking error is adjusted by the body axis and the flight path mark (FPM, Flight Path Marker (ZAB) and the combination of the body axis and the vertical yaw angle of 3 degrees glide angle as the basis for adjusting the vertical yaw angle. The block diagram of the vertical control system is shown in Figure 6, which is set by the vertical position on the floor. As the adjustment variable that the body axis mark overlaps the runway touch point cross mark, the adjustment factor will vary according to the characteristics of the flight vehicle system. Please refer to Figure 7 again for the horizontal top view of the aircraft intercepting glide path. The pre-drawn glide path line is a heading with an angle of 0 degrees overlapping the runway centerline. The angle between the aircraft's target point and the runway centerline is greater than 0 degrees. The flight path In this case, the angle between the velocity vector and the centerline of the runway is also greater than 0 degrees. The aircraft should adjust the track along the path to intercept the pre-planned glide path; and Figure 8 is the image and image display diagram of the aircraft blocking the glide path. In order to adjust the path, the lateral yaw angle (z DE) is the angle between the touch point and the flight path marker (FP M, F 1ight Path Marker), and the lateral tracking error (Z EF) angle is the touch point. The angle between the (cross mark) and the runway extension line is based on the combination of these two error angles as the basis for adjusting the lateral yaw angle, and at the same time adjust the position indicated by the runway extension line of the target point (cross mark). Therefore, through the implementation of the present invention, the landing horizontal position setting is used as the adjustment variable that the flight path mark image overlaps with the runway landing point and the runway centerline image, and the runway heading angle setting is used as the runway centerline extension line indicator.

200402641 V. Explanation of the invention (5) Error adjustment variable; In addition, when the aircraft intercepts the glide path and enters the ground, in order to avoid unexpected errors, the image and image system is used to correct the vertical and horizontal tracking error of the intercept glide path. Parameter scheduling of the up and down and left and right target points, scheduling of the centerline of the runway, and parameter adjustment of the glide to glide angle. During the approach of the glide path, the parameter adjustment method is used to change the geometric relationship between the flight image and the runway image. Ensure that the aircraft is flying on the glide path, and finally connect the smooth control system before landing to complete the automatic landing flight mission. The video image-assisted virtual glide path guidance control system of the present invention has the following advantages: (1) the combination of the flying image and the photoelectric payload image improves the monitoring function; (2) the fusion of multi-dimensional information of the image and the image signal provides automatic Landing flight information to improve flight safety; (3 :) In the future, image recognition functions can be developed. Through the fusion of images and image recognition signals, unmanned aircraft can achieve fully automated landing flight capabilities. The disclosure of the present invention is a preferred embodiment, and it is easy for a person skilled in the art to derive a partial change or modification from the technical idea of the present invention without departing from the patent scope of the present invention. To sum up, the present invention, regardless of the purpose, means, and effect, shows its technical characteristics that are quite different from the conventional ones. The first invention is practical, and it is also in line with the patent requirements of the invention. Pray for granting patents at an early date.

200402641

Brief Description of the Drawings Fig. 1 is a flow chart showing a flow chart of an image-assisted virtual glide path guidance control system according to the present invention. FIG. 2 is a schematic diagram showing a geometrical drawing of the glide line glide positioning line of the present invention. FIG. 3 is a schematic diagram showing the geometrical diagram of the left and right positioning lines of the glide path of the present invention. FIG. 4 is a schematic diagram showing a vertical view of the intercepting glide path of the present invention.

Fig. 5 is a schematic diagram showing an image and an image display diagram of a blocking glide path according to the present invention. FIG. 6 is a flowchart illustrating a longitudinal control system diagram of the present invention. Fig. 7 is a schematic view showing a horizontal top view of a blocking glide path according to the present invention. FIG. 8 is a schematic diagram showing an image and an image display diagram of the intercepting glide path according to the present invention. FIG. 9 is a flowchart illustrating a lateral control system diagram of the present invention.

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Claims (1)

200402641 6. Scope of patent application 1. An image and image-assisted virtual glide path guidance control system, which mainly includes: A geometric relationship calculation method, using the pre-planned landing runway landing position and orientation, and the aircraft position and heading, Calculate the tracking error angles of the left and right positioning line geometry of the glide path and the geometry of the glide line as feedback from the control system of the loading glide path; an integrated system of photoelectric payload images and flight images to provide the error of blocking the gliding path Correction: Use the horizontal or vertical angles between the flight image and the target image as the basis for parameter adjustment of the control system, modify the coordinate relationship between the image and the image, and use the image and image display system to ensure that the aircraft is flying at On the glide path; when the aircraft enters the landing procedure, use the position coordinates and heading of the aircraft itself, and the coordinates and orientation of the contact point with the pre-planned landing runway, and calculate the error amount of the aircraft intercepting the glide path using the above calculation method and feedback to the automatic landing control system , Guide the aircraft to fly along the virtual glide path, and then use the above The airport runway image and flight image of the integrated system of electrical payload image and flight image are used to correct the position error. The flight attitude mark image on the image and the runway touch point image mark are combined to adjust the error so that the aircraft continues to re-run A virtual glide path is established to guide the aircraft to the correct landing. 2. The image-assisted virtual down-slide guidance control system described in item 1 of the scope of patent application, wherein the position reading of the aircraft is based on signals provided by GPS. Page 10