CN103092211A - Unmanned aerial vehicle emergent land method based on guidance of radio and laser - Google Patents
Unmanned aerial vehicle emergent land method based on guidance of radio and laser Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle emergent land method based on guidance of radio and laser. A device using the method comprises a laser scanner, laser receivers and a data processor. The laser scanner is installed at an end of one end of a runway. A scanning center is aligned to a central line of the runway and a sheet laser beam is emitted in a scanning range of +/-5 degrees to +/-10 degrees. The two laser receivers are installed at two end portions of wings of the unmanned aerial vehicle and are connected with the data processor through cables. The data processor is installed in a device cabin in the unmanned aerial vehicle. When flight control system of the unmanned aerial vehicle judges that malfunction occurs in receiving global position system (GPS) data, emergent landing of the unmanned aerial vehicle is achieved through two part guidance of long-distance radio guidance and short-distance laser guidance.
Description
Technical field
The present invention relates to a kind of unmanned plane get off the plane in GPS device fails or the disturbed and loss situation of gps signal can safety, the method for precision landing, the security when increasing the unmanned plane landing improves the airport security guarantee condition.
Background technology
Must be with specific course heading with highly near accurately landing of runway during the unmanned plane landing, in this process, traditional landing mission is that unmanned plane carries out flight path control by the given positional information of GPS, elevation information, velocity reversal information.But in a single day Airborne GPS equipment break down or gps signal is disturbed and loss, can cause whole guidance system to quit work, and can have influence on the safe falling of unmanned plane, and in serious situation, unmanned plane even can be lost crash.At present, in the safe retrieving of sliding race landing unmanned plane, seldom there is unmanned plane to possess emergent Landing Guidance System, when GPS breaks down with problem, the unmanned plane operator can only be opened the remote manual control aircraft landing or guide to make unmanned plane landing by the relatively poor radio of precision, and this causes the probability that unmanned plane can safe falling greatly to reduce.Therefore, the effect along with UAV Landing guiding in modern unmanned plane is more and more important, be necessary to design a kind of unmanned plane without the GPS situation under the method for emergency landing guiding, thereby guarantee the precision landing of unmanned plane, the security when increasing the unmanned plane landing.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of unmanned plane emergency landing method based on radio and laser aiming is provided, can realize that the precise and safety of unmanned plane is landed in without the GPS situation.
Technical solution of the present invention is: a kind of unmanned plane emergency landing method based on radio and laser aiming, and the equipment that method is relied on comprises laser scanner, laser pickoff and data processor; Laser scanner is arranged on the end of runway one end, scanning center's line up with runway center line, send the sheet laser beam with positive and negative 5 degree to the sweep limit of positive and negative 10 degree, two laser pickoffs are arranged on two ends of unmanned plane wing, be connected with data processor by cable, data processor is arranged in the equipment compartment of unmanned plane; When the flight control system of unmanned plane judged that the gps data that receives breaks down, the emergency landing method step was as follows:
(1) mask gps data, change the radio bootmode over to, ground control station is sent to unmanned plane the flight control system of unmanned plane to the GPS latitude and longitude information of distance, position angle, the angle of pitch and the ground control station of ground control station by radio;
(2) flight control system of unmanned plane is according to the GPS latitude and longitude information of the unmanned plane that receives to distance, position angle, the angle of pitch and the ground control station of ground control station, extrapolate roughly the latitude and longitude information of unmanned plane, UAV Flight Control System is carried out independent navigation according to the latitude and longitude information of extrapolating, until fly into the window of marching into the arena;
(3) unmanned plane is according to the radio guiding of ground control station, and Ding Gaoping flies along the runway center line marking direction;
(4) enter the laser aiming window, namely unmanned plane during flying to the position apart from 8 to 10 kilometers of runway proximal heads, judges whether laser pickoff receives the laser intelligence that laser scanner sends, if do not receive, turns step (5), otherwise turns step (6);
(5) unmanned plane is kept former state of flight, continue to judge whether laser pickoff receives the laser intelligence that laser scanner sends in this process, meanwhile flight control system judge unmanned plane apart from the distance of runway proximal head whether lower than 5 kilometers, if lower than 5 kilometers, control unmanned plane and go around and give an encore, restart from step (4);
(6) data processor is determined direction that unmanned plane is current and the distance between unmanned plane and laser scanner according to the laser intelligence that receives, UAV Flight Control System direction current according to unmanned plane adjusted unmanned plane with the direction flight over against the runway center, and controls unmanned plane safe landing on runway according to the distance between unmanned plane and laser scanner.
The present invention compared with prior art beneficial effect is:
(1) for overcome that in a single day Airborne GPS equipment break down or gps signal is disturbed and loss situation under cause whole unmanned plane guidance system to quit work and deficiency that can't safe landing, the present invention has designed a kind of emergency landing method that is applied to unmanned plane, by landing mission being divided into long-range vectoring and closely guiding two parts, carry out remote coarse adjustment by radio respectively, replace the resulting relevant information of GPS receiver by laser aiming and carry out accurate adjustment, guarantee the safe falling of unmanned plane.
(2) the present invention is in the safe landing process, adopt the tradition window of marching into the arena reliably, by the safe minimum that lands is set, when receiving laser intelligence before not entering safe minimum, can guarantee that unmanned plane has time enough and distance to carry out safe landing, otherwise, the security that further improves UAV Landing by the mode of again giving an encore.
Description of drawings
Fig. 1 is remote-wireless electricity bootup process schematic diagram of the present invention;
Fig. 2 is closely laser aiming process of the present invention schematic diagram;
Fig. 3 is that unmanned plane of the present invention is marched into the arena, the emergent schematic diagram that guides and go around;
Fig. 4 is laser scanning of the present invention, guiding schematic diagram;
Fig. 5 is the process flow diagram of emergency landing method of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is elaborated, for a better understanding of the present invention, at first the below makes an explanation to the equipment that the present invention relies on.
The equipment that the present invention relies on comprises laser scanner, laser pickoff and data processor;
Laser scanner is arranged on the end of runway one end, and scanning center's line up with runway center line sends the sheet laser beam with positive and negative 5 degree to the sweep limit of positive and negative 10 degree, and sweep frequency is certain.
Two laser pickoffs are arranged on two ends of unmanned plane wing, are connected with data processor by cable, and data processor is arranged in the equipment compartment of unmanned plane, is connected with flight control computer by serial ports.
As shown in Figure 5, unmanned plane is when executing the task, the position data that the ground control station computing machine is sent ground control station GPS receiver here and the actual location data of tracking telemetry and command station constantly compare, and obtain the position correction amount, and launch by the wireless station of ground control station.The position correction amount that the aircraft position data that airborne computer is sent the GPS receiver here and radio receiver are sent here is carried out data and is processed, obtain position data more accurately, again these data and prebriefed pattern are compared the error signal that obtains actual flight path point standoff, and it is delivered to flight control system, aircraft is got back on the prearranged heading, the autonomous GPS navigation when completing aerial mission; When aircraft need to land, the position data of GPS more accurately that airborne computer obtains is determined current flight path, and compare with predetermined glide path, must deviate, and departure is delivered to flight control system, flight control system is controlled the flight position of unmanned plane, makes it follow the tracks of the landing glide path, according to the course line safe falling of planning in advance.
When the Airborne GPS device fails, perhaps gps signal is interfered and when losing, will cause the normal workflow of above-mentioned unmanned plane to carry out smoothly, the aerial mission of aircraft and landing process all can be affected, flight control system more can't be accurately with the unmanned plane talk down owing to can not get effective gps data and then can't control accurately aircraft track.
The technical scheme that the present invention designs in order to address the above problem just mainly comprises remote-wireless electricity guiding and laser aiming two parts closely.
One, remote-wireless electricity guiding
The long haul radio vectoring phase, march into the arena window till the laser aiming window by ground control station with radio vector aircraft arrival after breaking down from Airborne GPS.In Fig. 1, the main composition of long haul radio guiding is ground control station.It is the ground control station that unmanned plane carries, because needs provide relatively accurate radiogoniometry, so need to tracking telemetry and command station is parallel or be fixed perpendicular to runway accurately, and with carry out initial calibration through the runway course of demarcating, make the GPS information of ground control station satisfy accuracy requirement.
Concrete steps are as follows:
(1) mask gps data, change the radio bootmode over to, ground control station is sent to unmanned plane the flight control system of unmanned plane to the GPS latitude and longitude information of distance, position angle, the angle of pitch and the ground control station of ground control station by radio;
(2) flight control system of unmanned plane is according to the GPS latitude and longitude information of the unmanned plane that receives to distance, position angle, the angle of pitch and the ground control station of ground control station, as shown in Figure 1, extrapolate roughly the latitude and longitude information of unmanned plane, UAV Flight Control System is carried out independent navigation according to the latitude and longitude information of extrapolating, until fly into the window of marching into the arena;
As shown in Figure 3, the window definition of marching into the arena is apart from airfield runway proximal head 13-15 kilometer, the scope of height 500-800 rice.
Unmanned plane is completed data communication by radio and ground control station, and ground control station possesses radio signal search, tracking and positioning function, can make unmanned plane all the time along the flight of radio indication track; The tracking telemetry and command station antenna has the diaxon servo-drive system, measure the level of antenna and position angle and the angle of pitch that luffing angle changes and then obtain unmanned plane by the direction sensor of servo-drive system, provide the deviation of the current flight path of unmanned plane and preset flight path, just can provide the position of unmanned plane with respect to ground control station by the radio signal distance measuring equipment simultaneously, more just can complete coarse localization to unmanned plane according to the ground control station GPS positional information that gathers in advance of ground control station.At last, through wireless digital broadcasting station, these information are sent to flight control system, unmanned aerial vehicle flight path is revised, form closed-loop control system and control aircraft.Unmanned plane just can be completed without the independent navigation in the GPS situation by calculating positional information and the elevation information that provides of oneself height sensor out, flies to the appointed area.
Certainly, this process also can be carried out manual guidance by the unmanned plane latitude and longitude information that manually transfers to ground control station according to unmanned plane, formulates the zone until fly to.
(3) unmanned plane is according to the radio guiding of ground control station, and Ding Gaoping flies along runway heading;
In remote-wireless electricity bootup process, unmanned plane need to fly with level altitude, and voyage is 5～7km approximately, and in this process, before aircraft arrived the laser aiming window, aircraft will fly in the sector region of laser scanning light beam.Just need to open at remote-wireless electricity vectoring phase Laser Scanning Equipment the line scanning of going forward side by side.
Two, closely laser aiming
Closely laser aiming is from the laser aiming window to landing period.The equipment that closely needs in laser aiming to utilize comprises the magnetic heading that carries on unmanned plane.The runway course that basis has been demarcated on runway is in advance revised the deviation of magnetic heading, is used as unmanned plane during flying and emergency landing course control and sliding the race and controls.
Concrete steps are as follows:
(4) enter the laser aiming window, namely unmanned plane during flying to the position apart from 8 to 10 kilometers of runway proximal heads, judges whether laser pickoff receives the laser intelligence that laser scanner sends, if do not receive, turns step (5), otherwise turns step (6);
(5) unmanned plane is kept former state of flight (direction and height), and judge unmanned plane apart from the distance of runway proximal head whether lower than 5 kilometers, if lower than 5 kilometers, control unmanned plane and go around and give an encore, restart from step (4);
(6) data processor is determined direction that unmanned plane is current and the distance between unmanned plane and laser scanner according to the laser intelligence that receives, UAV Flight Control System direction current according to unmanned plane adjusted unmanned plane with the direction flight over against the runway center, and controls unmanned plane safe landing on runway according to the distance between unmanned plane and laser scanner.
Here laser scanner is with the outside emission pulse laser bundle of a certain fixed frequency, and the paired pulses laser beam has been carried out coding work, the laser pulse information that is different scanning angles places is different, can determine thus the entrained azimuth information of laser beam that laser pickoff receives.β in Fig. 4
1And β
2Be exactly two laser pickoffs (A1, A2) and laser scanner line and runway center line marking angulation, suppose unmanned plane and and vertical runway center line vertical line L angulation this moment
Flight,
The angle can be provided by the magnetic heading on aircraft, so just can obtain the θ shown in figure according to geometric relationship
1And θ
2The angle, the mounting distance D of two laser pickoffs is known quantities, just can obtain the R shown in figure by triangle relation again, also just can calculate generating laser to unmanned plane apart from S, here the elevation information of unmanned plane is provided by radio altimeter, can calculate the elevation angle of unmanned plane according to Pythagorean theorem.The side drift angle of unmanned plane is by β
1And β
2Determine (
), elevation angle is obtained by S and radio altimeter, can determine that thus the directional information (elevation angle, side drift angle) of unmanned plane and positional information are (apart from S, the longitudes and latitudes of unmanned plane etc.), wherein the side drift angle of gained is the required important references information of unmanned plane emergency landing.UAV Flight Control System side drift angle current according to unmanned plane adjusted unmanned plane with the direction flight over against the runway center, current elevation angle and predefined elevation angle (4 degree are general) are compared, adjust the flying height of unmanned plane, control difference in height, make it follow the tracks of predefined landing underscore, and control unmanned plane safe landing on runway according to the distance between unmanned plane and laser scanner.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (1)
1. unmanned plane emergency landing method based on radio and laser aiming is characterized in that: the equipment that method is relied on comprises laser scanner, laser pickoff and data processor; Laser scanner is arranged on the end of runway one end, scanning center's line up with runway center line, send the sheet laser beam with positive and negative 5 degree to the sweep limit of positive and negative 10 degree, two laser pickoffs are arranged on two ends of unmanned plane wing, be connected with data processor by cable, data processor is arranged in the equipment compartment of unmanned plane; When the flight control system of unmanned plane judged that the gps data that receives breaks down, the emergency landing method step was as follows:
(1) mask gps data, change the radio bootmode over to, ground control station is sent to unmanned plane the flight control system of unmanned plane to the GPS latitude and longitude information of distance, position angle, the angle of pitch and the ground control station of ground control station by radio;
(2) flight control system of unmanned plane is according to the GPS latitude and longitude information of the unmanned plane that receives to distance, position angle, the angle of pitch and the ground control station of ground control station, extrapolate roughly the latitude and longitude information of unmanned plane, UAV Flight Control System is carried out independent navigation according to the latitude and longitude information of extrapolating, until fly into the window of marching into the arena;
(3) unmanned plane is according to the radio guiding of ground control station, and Ding Gaoping flies along the runway center line marking direction;
(4) enter the laser aiming window, namely unmanned plane during flying to the position apart from 8 to 10 kilometers of runway proximal heads, judges whether laser pickoff receives the laser intelligence that laser scanner sends, if do not receive, turns step (5), otherwise turns step (6);
(5) unmanned plane is kept former state of flight, continue to judge whether laser pickoff receives the laser intelligence that laser scanner sends in this process, meanwhile flight control system judge unmanned plane apart from the distance of runway proximal head whether lower than 5 kilometers, if lower than 5 kilometers, control unmanned plane and go around and give an encore, restart from step (4);
(6) data processor is determined direction that unmanned plane is current and the distance between unmanned plane and laser scanner according to the laser intelligence that receives, UAV Flight Control System direction current according to unmanned plane adjusted unmanned plane with the direction flight over against the runway center, and controls unmanned plane safe landing on runway according to the distance between unmanned plane and laser scanner.
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