CN104932529B - A kind of high in the clouds control system of unmanned plane autonomous flight - Google Patents
A kind of high in the clouds control system of unmanned plane autonomous flight Download PDFInfo
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Abstract
A kind of high in the clouds control system of unmanned plane autonomous flight, including ground control station, cloud server, unmanned machine equipment, equipment of taking photo by plane.The real-time autonomous flight of unmanned plane is to establish the flight course planning control analysis module based on real time information, ground control station carries out the preliminary automatic planning in course line using flight coordinate range information, realized during low-latitude flying using equipment of taking photo by plane and data acquisition of taking photo by plane is carried out to landform spatial information, 4G network transmissions are utilized into cloud server by ground control station, using cloud treatment technology take photo by plane the three-dimensional real-time visual spatial modelings of data, real-time course line amendment is carried out to the preliminary course line of unmanned plane operation flight with reference to DEM and spatial topotaxy, and flight control signal is returned in autopilot, realize the autonomous flight of unmanned plane.
Description
Technical field
The present invention relates to a kind of high in the clouds control system of unmanned plane autonomous flight, and in particular to UAV Flight Control is led
Domain.
Background technology
The independence of system for flight control computer refers to that unmanned plane instructs independent of operating personnel, and the monitoring for only relying on itself is set
The ability of the task of defined is completed in the standby and support of control device.The control mode of unmanned plane is mainly simply remotely controlled with operator
Based on the process control that prelists, while unmanned plane autonomous control level has been carried out the intellectuality of partial function.As unmanned plane flies
The raising of system intelligent level of hardware is controlled, the system for flight control computer with autonomous control ability will realize the situation sense of scene
Know with vague memory learning ability, while the compatible interactive controlling between hardware will gradually be in leading position, will be gradually real
The work compound of existing unmanned plane hardware system.In the case where communication keeps unimpeded, unmanned plane autonomous control is realized, can also be mitigated
The live load of operator, intelligent independent control is realized, so as to improve operational efficiency.
At present, the accuracy of identification of the actual scene for facing flight of unmanned plane autonomous flight is poor, the sky in flight course planning
Between relation application consider to be short of, but the breakthrough of the rapid modeling of high performance sensor, three-dimensional scenic and cloud treatment technology
Possibility is provided for the autonomous control of unmanned plane.Autonomous flight control, autonomous flight course planning of the unmanned plane in flight course are determined
Plan, perception can be by building unmanned plane high in the clouds intelligent independent control system with avoiding treatment mechanism and work transformation matrix control etc.
Form solution.
The content of the invention
A kind of high in the clouds control system of unmanned plane autonomous flight proposes a kind of new to the autonomous flight field of unmanned plane
Resolving ideas, using the mature technology in terms of GIS space topologicals, oblique photograph three-dimensional modeling, cloud computing, it is incorporated into flying for PID
In row control model, the autonomous Design of flight decision-making level has been carried out, has extended the application of relevant art.
A kind of high in the clouds control system of unmanned plane autonomous flight be it is a kind of based on cloud service nobody fly control sum factually when
The distributed high performance control structure of processing.The structure that stepwise is passed in high in the clouds control according to distribution is divided into three layers：Information Perception
Layer, data organized layer, flight update step.
In information Perception layer, UAS possesses comprehensive environment sensing ability, be included in height confrontation environment and
Under the conditions of terrible weather (such as thunderstorm, wind shear, turbulent flow), system passes through tri-axis angular rate gyro, three axis accelerometer, three axle magnetic
Power meter, double mouth airspeed sensors, barometertic altimeter, 5HzGPS receivers, temperature sensor, high-precision range sensor etc. are to ring
Border is perceived and information processing, flight attitude, course line skew, course, height and Mach number to unmanned plane are monitored in real time.
In data organized layer, high in the clouds control system determines the flight space scope of unmanned plane according to aerial mission, according to
The flight range and height adjust the image capturing angle of 3-D view aerial device, and combine DEM and generate preliminary course line
Planning, unmanned plane perform task of taking photo by plane using 3-D view aerial device after take off, are collected using ground site server handle
Aerophotograph real-time data transmission into the winged control cloud computing end on backstage, at cloud computing end, utilize high performance cloud data to calculate energy
Power carries out three-dimensional rapid modeling, generates Three-dimensional Terrain Visualization image data in real time；Visualized according to the three-dimensional rendering of generation
Landform image data, utilize the extraction of three-dimensional environment feature, the identification of target and identification.
In flight update step, topology is carried out to the state parameter of unmanned plane and the default line of flight according to threedimensional model
The spatial analysis of relation；The real-time task planning strategy blended based on real time information, layer and section subregion multi-method, and root
According to the current positional information of unmanned plane and flight status parameter, the assessment of flight posture is carried out, determines the posture of the unmanned plane
With course line adjustment information.The adjustment information is sent into the unmanned aerial vehicle site server, earth station's server by utilizing communication
Link is transferred to signal the autopilot of unmanned plane, and autopilot adjusts current course and speed with complete according to the adjustment information
Into the flight path of the task.
Preferably, the collection for data of taking photo by plane will use the oblique photograph technology of unmanned plane, by same flight of taking photo by plane
Carry more sensors on platform, while from five different angle acquisition images such as vertical, four inclinations, it is determined that described
The spatial information that unmanned plane is currently located, while tilt image and can realize individual image measurement, improve three-dimensional environment feature
Extraction efficiency.
Further, to ensure unmanned plane autonomous flight control, system establishes real-time centered on online Situation Awareness
Make decisions on one's own module, the topological transitiveness being specifically incorporated in GIS, to unmanned plane flight course planning, takeoff and landing position
The spatial relationship of landform carried out spatial relation analysis, determine the adjustment information of the unmanned plane, and utilize Information Level
Various sensors result of calculation is analyzed and verified, the reasonability in course line and landing position is provided plan again according to
According to.
Further, the flight course planning storehouse of unmanned plane is established in the high in the clouds control system of unmanned plane, unmanned plane landing is preset
Simulated reservoir, cloud computing ability sufficiently is utilized, flight model is carried out according to the real-time attitude information and spatial relationship of unmanned plane
Dynamic adjusts, and realizes the dynamic analog flying demonstration that follow-up work is carried out according to the current flight state of unmanned plane, improves
The autonomous intelligence monitoring capacity of unmanned plane.
Further, UAS has been formulated there occurs the modes of warning during event of non-prediction, in each way point
Preset the conversion of emergent course line, including alignment spiral, pinpoint spiral, former road is maked a return voyage.Such as emergency, system utilizes special
The stand-by power supply that makes a return voyage is altered in the contingency mode pre-established, realizes the emergency response mechanism of unmanned plane.
Preferably, described high-resolution camera is using Kazakhstan Soviet Union H4D-60 cameras；
Preferably, the real-time Transmission of data make use of 4G networks；
Beneficial effects of the present invention：
The Autonomy that system is met in uncertain simple environment and complicated determination environment, which flies, to be required, is realized
The autonomous flight control pattern of unmanned plane unit single task, it is entering to the autonomous flight control technique scheme of current civilian unmanned plane
One step promotes.
System is established according to the basic structure of intelligent distributed hierarchical control, is realized under with DEM terrain datas
Autonomous control is flown, it is not necessary to artificial intervention.Particularly, the three-dimensional scenic in flight range is introduced in flying scene
Rapid modeling, the introducing of cloud computing technology improves the efficiency of three dimensional ground model, and realizes the amount in flying scene
Survey, especially amendment of the extraction of three-dimensional environment feature to the line of flight of unmanned plane plays a positive role.
The Distributed Design thinking based on cloud service of system, the mobile job requirements of unmanned plane are met, after all
The computing of platform task all realizes that the performance design requirement to ground control station more simplifies in Cloud Server.
Brief description of the drawings
Fig. 1 is the Structure and Process schematic diagram of the high in the clouds control system of the present invention.
Fig. 2 is the distributed hierarchical control design hierarchical diagram of the high in the clouds control system of the present invention.
Embodiment
Below in conjunction with accompanying drawing oppose the present invention embodiment be described in further detail.
In Fig. 1, a kind of high in the clouds control system of unmanned plane autonomous flight, including ground control station, a cloud service
Device, unmanned machine equipment, equipment of taking photo by plane.The ground control station includes 4G data transmission devices, unmanned plane communication link device, flown
Row state display device, unmanned plane emergency monitoring device, data server.
The 4G data transmission devices are taken photo by plane data for transmission, and ground control is transferred to from equipment of taking photo by plane data are taken photo by plane
System station, control station are transferred to cloud server end again.Unmanned plane communication link device is used for information transfer and the commander of unmanned plane；Fly
Row state display device is used for the status information for showing the unmanned plane, and receives the data mode bag and monitoring letter of autopilot
Breath；Unmanned plane emergency monitoring device stands ready, and when being in an emergency, emergency monitoring device sends emergency processing and referred to automatically
Order.Cloud server is used for the backstage computing of three-dimensional modeling and the analysis and assessment of unmanned plane during flying situation；
The unmanned machine equipment includes unmanned plane during flying device, autopilot, reserve battery, sensor etc..
The equipment of taking photo by plane includes oblique photograph device, camera, maintained equipment etc..
When a kind of handling process of the high in the clouds control system of unmanned plane autonomous flight is implemented, ground control station, which utilizes, to fly
Row coordinate range information carries out the preliminary automatic planning in course line, is realized using equipment of taking photo by plane to landform spatial information during low-latitude flying
Data acquisition of taking photo by plane is carried out, utilizes 4G network transmissions to enter into cloud server using cloud treatment technology by ground control station
The three-dimensional real-time visual spatial modeling of capable data of taking photo by plane, it is preliminary to unmanned plane operation flight with reference to DEM and spatial topotaxy
Course line carries out real-time course line amendment, and flight control signal is returned in autopilot, realizes the autonomous flight of unmanned plane.
In fig. 2, high in the clouds control is divided into 3 layers according to the distributed structure for passing stepwise：Information Perception layer, data organized layer,
Flight update step.
In information Perception layer, the data of the related flight environment of vehicle sense of high in the clouds control system monitoring, including height, three shaft angles speed
Rate, 3-axis acceleration, three axle magnetic force, air pressure, 5HzGPS information, temperature, high-precision range sensor etc. are to environment sensing and letter
Breath processing, the monitoring of the flight condition of flight attitude, course line skew, course and carrying equipment to unmanned plane.
In data organized layer, high in the clouds control system determines the flight space scope of unmanned plane, preliminary with reference to DEM generations
Flight course planning；Three-dimensional modeling is carried out to data of taking photo by plane by the big data disposal ability at cloud computing end, generation in real time is dimensionally
Shape visualizes image data, and is independently spliced into the regional panorama sketch of width flight, while realizes the extraction of three-dimensional environment feature, mesh
Target recognizes and identification.
In flight update step, using the state parameter and the default line of flight of unmanned plane in Three-dimensional Terrain Visualization
Spatial analysis to carrying out topological relation；The real-time task rule blended based on real time information, layer and section subregion multi-method
Plan summary, carry out the assessment of flight posture, determine the posture and course line adjustment information of the unmanned plane, and by the adjustment information
The unmanned aerial vehicle site server is sent, earth station's server by utilizing communication link is transferred to signal the self-driving of unmanned plane
Instrument.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore the present invention protects
Shield scope includes being not limited to embodiment described in embodiment, it is every by those skilled in the art according to the present invention's
The other embodiment that technical scheme is drawn, also belongs to the scope of protection of the invention.
Claims (6)
1. a kind of high in the clouds control system of unmanned plane autonomous flight, it is characterised in that the high in the clouds control system is that one kind is based on
Nobody of cloud service flies the distributed high performance control structure of control and generating date, including unmanned machine equipment, taking photo by plane sets
Standby, ground control station and cloud server,
The unmanned machine equipment includes unmanned plane during flying device, autopilot, reserve battery, sensor and emergency set；
The equipment of taking photo by plane is arranged on the unmanned machine equipment, including oblique photograph device, camera and maintained equipment；
The ground control station include 4G data transmission devices, unmanned plane communication link device, state of flight display device, nobody
Machine emergency monitoring device, data server；The 4G data transmission devices are taken photo by plane data for transmission, data of taking photo by plane from described
Ground control station is transferred in equipment of taking photo by plane, control station is transferred to the cloud server again；
The unmanned plane communication link device is used to realize the information transfer to the unmanned machine equipment and commander；The flight shape
State display device is used for the status information for showing the unmanned machine equipment, and receives data mode bag and the monitoring of the autopilot
Information；The unmanned plane emergency monitoring device and the emergency set wireless connection, for occurring tightly when the unmanned machine equipment
Automatically emergency processing instruction is sent during anxious situation；
The cloud server is used for the backstage computing of three-dimensional modeling and the analysis and assessment of unmanned plane during flying situation；It is included in real time
Make decisions on one's own module, the topological transitiveness being introduced into GIS, in the landform to unmanned plane flight course planning, takeoff and landing position
Spatial relationship carried out spatial relation analysis, determine the posture and course line adjustment information of the unmanned machine equipment, then profit
Result of calculation is analyzed and verified with the sensor, realizes planning again to course line and landing position, and described in utilizing
Flight adjustment information is transferred to the autopilot by unmanned plane communication link device.
2. the high in the clouds control system of unmanned plane autonomous flight according to claim 1, it is characterised in that the unmanned plane is set
It is standby that tri-axis angular rate gyro, three axis accelerometer, three axle magnetometer, double mouth airspeed sensors, pressure altitude are utilized in flight
Meter, 5HzGPS receivers, temperature sensor, high-precision range sensor equipment are to environmental monitoring and information processing, to unmanned plane
Flight attitude, course line skew, the speed of a ship or plane, height monitored in real time.
3. the high in the clouds control system of unmanned plane autonomous flight according to claim 1, it is characterised in that the cloud service
Device is used for the backstage computing of three-dimensional modeling and the analysis and assessment of unmanned plane during flying situation, and using taking photo by plane, data generate three-dimensional in real time
Terrain visualization figure, and realize the extraction of three-dimensional environment feature.
4. the high in the clouds control system of unmanned plane autonomous flight according to claim 1, it is characterised in that the high in the clouds control
Flight course planning storehouse, the unmanned plane landing predetermined analog storehouse of unmanned plane are established in system, and is realized according to the current of unmanned plane
State of flight carries out the dynamic analog flying demonstration of follow-up work.
5. the high in the clouds control system of unmanned plane autonomous flight according to claim 1, it is characterised in that the oblique photograph
Device on same flying platform of taking photo by plane by carrying more sensors, while from vertical, four inclined five differences
Angle acquisition image, while tilt image and realize image measurement.
6. the high in the clouds control system of unmanned plane autonomous flight according to claim 1, it is characterised in that also including early warning mould
Block, the high in the clouds control system are altered in the contingency mode pre-established using the special stand-by power supply that makes a return voyage, and realize nobody
The emergency response mechanism response of machine.
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| CN104133485A (en) * | 2014-08-06 | 2014-11-05 | 江苏恒创软件有限公司 | Electronic map detail perfection control system based on unmanned aerial vehicles |
| CN104503460A (en) * | 2014-12-05 | 2015-04-08 | 电子科技大学 | Ground station control system for universal unmanned aerial vehicle |
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2015
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