CN105700554A - Fixed-wing unmanned aerial vehicle landing method and fixed-wing unmanned aerial vehicle landing system - Google Patents
Fixed-wing unmanned aerial vehicle landing method and fixed-wing unmanned aerial vehicle landing system Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, and particularly to a fixed-wing unmanned aerial vehicle landing method for settling a technical problem of relatively long landing length which is required in an approaching period of an existing fixed-wing unmanned aerial vehicle. The fixed-wing unmanned aerial vehicle landing method comprises the steps of determining an anticipated speed and a threshold by the unmanned aerial vehicle when the unmanned aerial vehicles enters the approaching period; determining the actual flight speed of the unmanned aerial vehicle by the unmanned aerial vehicle; obtaining a difference between the anticipated speed and the actual flight speed by the unmanned aerial vehicle, and adjusting power system output of the unmanned aerial vehicle according to the absolute value of the difference and the threshold. According to the fixed-wing unmanned aerial vehicle landing method, through detecting the flight speed of the unmanned aerial vehicle and performing feedback to the unmanned aerial vehicle control system, unmanned aerial vehicle flight speed adjustment is finished through a deviation between the actual flight speed and the anticipated speed of the unmanned aerial vehicle, and fixed-wing unmanned aerial vehicle landing is realized through a speed closed-loop control method. The fixed-wing unmanned aerial vehicle landing method provided by the invention can shorten distance in the full landing process of the fixed-wing unmanned aerial vehicle.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of fixed-wing unmanned plane landing method and system。
Background technology
Fixed wing airplane is called for short fixed wing machine, refers to the thrust or the pulling force that are produced advance by power set, the fixing wing of fuselage produces lift, at the airborne vehicle overweighting air of endoatmosphere flight。
Sliding a kind of landing method that landing is existing fixed-wing unmanned plane, sliding landing mainly has two stages, enters nearly stage and landing period。Wherein entering the nearly stage refers to that unmanned plane is aloft close to level point the stage reducing height, and landing period refers to that unmanned plane arrives ground and decelerates to stage of shutdown。
Fixed-wing unmanned plane flight speed aloft is higher, and unmanned plane needs speed to reduce to enter the land stage in entering the nearly stage, and existing unmanned plane aloft slows down and slows down mainly by air drag。
Existing unmanned plane landing method has the disadvantage that one, air drag retardation efficiency is relatively low, and therefore fixed-wing unmanned plane needs relatively long distance entering the nearly stage, it is impossible to accomplish quick deceleration in short distance；Two, before UAV Landing, speed has bigger uncertainty, fixed-wing unmanned plane at the same speed with the wind relatively big with the air drag difference being subject to against the wind, and the front speed that can cause landing is uncertain。Therefore existing fixed-wing unmanned plane landing method needs bigger headroom and longer distance entering the nearly stage, limits the application scenario of fixed-wing unmanned plane。
Summary of the invention
The goal of the invention of the present invention is in that to provide a kind of fixed-wing unmanned plane landing method and system, the sinking speed of fixed-wing unmanned plane is controlled by technical scheme provided by the invention by the method for operating speed closed loop control, solves when landing is slided in the employing of existing fixed-wing unmanned plane and needs bigger headroom and the technical problem of longer distance。
In order to solve above-mentioned technical problem, the present invention provides a kind of fixed-wing unmanned plane landing method, goal pace when determining that described unmanned plane entered into the nearly stage including: unmanned plane and threshold value；Described unmanned plane determines the practical flight speed of described unmanned plane；Described unmanned plane, according to described goal pace and described practical flight speed, adjusts the dynamical system output of described unmanned plane, so that the deviation between practical flight speed and the described goal pace after described unmanned plane adjustment is not more than described threshold value。
Further, described unmanned plane is according to described goal pace and described practical flight speed, adjust the dynamical system output of described unmanned plane, so that the deviation between practical flight speed and described goal pace after described unmanned plane adjustment is not more than threshold value, including: when described practical flight speed is less than described goal pace, and the deviation between described practical flight speed and goal pace is when exceeding described threshold value, the dynamical system of described unmanned plane is opened and is just being pushed away to accelerate；When described practical flight speed is more than described goal pace, and when the deviation between described practical flight speed and goal pace exceedes described threshold value, the dynamical system of described unmanned plane opens counter pushing away with deceleration。
Further, the dynamical system of described unmanned plane includes propeller, and the dynamical system of described unmanned plane is opened and just pushed away to accelerate, including: described propeller rotates forward, to produce the power identical with described unmanned plane direction of advance；The dynamical system of described unmanned plane is opened counter pushing away and is included to slow down: described propeller reversely rotates, the power contrary to result from described unmanned plane direction of advance。
Further, described unmanned plane is according to described goal pace and described practical flight speed, adjust the dynamical system output of described unmanned plane, specifically include: described unmanned plane is according to described goal pace and described practical flight speed, the dynamical system output of unmanned plane described in period modulation。
Further, described unmanned plane determines goal pace when described unmanned plane entered into the nearly stage, including: the message that described unmanned plane sends according to ground control station, it is determined that goal pace when described unmanned plane entered into the nearly stage；Or described unmanned plane is according to pre-configured information, it is determined that goal pace when described unmanned plane entered into the nearly stage。
Further, described unmanned plane determines the practical flight speed of described unmanned plane, including: described unmanned plane is according to the airspeed sensor being arranged on described unmanned plane, it is determined that the practical flight speed of described unmanned plane；Or described unmanned plane is according to the inertial sensor being arranged on described unmanned plane, it is determined that the practical flight speed of described unmanned plane；Or described unmanned plane is according to the satellite navigation being arranged on described unmanned plane, it is determined that the practical flight speed of described unmanned plane。
It addition, the present invention also provides for a kind of fixed-wing unmanned plane landing system, including:
Initialization system, is used for determining goal pace when described unmanned plane entered into the nearly stage and threshold value；
Velocity-measuring system, for obtaining the practical flight speed of described unmanned plane；
Control system, for obtaining the difference of described goal pace and described practical flight speed, absolute value according to described difference and the dynamical system output of unmanned plane described in described adjusting thresholds, make the deviation between practical flight speed and described goal pace after adjusting be not more than described threshold value。
Further, described initialization system for determining goal pace when described unmanned plane entered into the nearly stage and threshold value, the radio receiver of goal pace when determining that described unmanned plane entered into the nearly stage including: the message sent by receiving ground control station；Or the storage device of goal pace when determining that described unmanned plane entered into the nearly stage by storing described unmanned plane preconfigured information。
Further, velocity-measuring system is used for obtaining the practical flight speed of described unmanned plane, including: it is arranged on the inertial sensor on described unmanned plane, it is determined that the practical flight speed of described unmanned plane；Or it is arranged on the satellite navigation on described unmanned plane, it is determined that the practical flight speed of described unmanned plane。
Further, described control system includes: for obtaining the difference of described goal pace and described practical flight speed, and obtain the data processing module of fiducial value between absolute value and the threshold value of described difference, with the instruction control module of the dynamical system output controlling described unmanned plane according to described fiducial value, the deviation between practical flight speed and described goal pace after order adjustment is not more than described threshold value。
Therefore, the technical scheme of the application embodiment of the present invention, have the advantages that:
The present invention is by detecting the flight speed of unmanned plane, and feed back to unmanned aerial vehicle control system, the adjustment to unmanned plane during flying speed is completed by the deviation between unmanned plane practical flight speed and goal pace, achieve the method for Negotiation speed closed loop control to be fixed the landing of wing unmanned plane, fixed-wing unmanned plane can be allowed to shorten the distance of landing overall process according to technical scheme provided by the invention。
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below the accompanying drawing used required in the description to the embodiment of the present invention or prior art is briefly described。It should be evident that the accompanying drawing in the following describes is only a part of embodiment of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings。
Fig. 1 is embodiment of the present invention unmanned plane descent schematic diagram；
Fig. 2 is the embodiment of the present invention 1 FB(flow block)；
Fig. 3 is the embodiment of the present invention 2 structured flowchart；
Fig. 4 is embodiment of the present invention closed loop control FB(flow block)。
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described。Obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiments。Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention。
Embodiment 1
As it is shown in figure 1, present embodiment discloses a kind of fixed-wing unmanned plane landing method, descent is divided into two stages, enter nearly stage 10 and landing period 20, compared with traditional method, be distinctive in that into the nearly stage 10, entering the nearly stage 10 uses the anti-method pushed away of dynamical system, reduces unmanned plane speed。This method is by detecting the flight speed of unmanned plane, and feed back to unmanned aerial vehicle control system, the adjustment to unmanned plane during flying speed is completed, it is achieved that the method for Negotiation speed closed loop control carries out shortening the distance of landing overall process by the deviation between unmanned plane practical flight speed and goal pace。
As in figure 2 it is shown, in the method, first S1 determines goal pace when described unmanned plane enters into nearly stage 10 and threshold value。
Determine that the mode of goal pace when described unmanned plane enters into nearly stage 10 has multiple。As ground control station calculates flight speed during unmanned plane entrance landing period according to the length gauge in landing place, dive angle during by landing that calculated flight speed and unmanned plane are pre-configured, then can calculate goal pace required when unmanned plane entered into the nearly stage, this goal pace is sent to the control system of unmanned plane by ground control station by wireless remote control mode, completes the determination of goal pace。Or described unmanned plane is directly according to pre-configured information, it is determined that goal pace when described unmanned plane entered into the nearly stage。
Also needing to determine threshold value, threshold value is for making comparisons with the difference of goal pace and flight speed, and then completes the unmanned plane closed loop control to speed simultaneously。Threshold value is more big, and flight speed is more big with the deviation of goal pace, and the degree of accuracy of closed loop control is more low；Threshold value is more little, and flight speed is then closer to goal pace, and the degree of accuracy of closed loop control is more big。But threshold value is more little, the requirement of unmanned aerial vehicle control system is then more high, controlling system needs to adopt high accuracy and highly sensitive components and parts, considerably increases the cost of manufacture of unmanned plane。Therefore threshold value can allow the length in UAV Landing stage to be determined according to landing place。
After completing the determination of goal pace and threshold value, unmanned plane described in S2 determines the practical flight speed of described unmanned plane。Described unmanned plane is according to the airspeed sensor being arranged on described unmanned plane, it is determined that the practical flight speed of described unmanned plane；Or described unmanned plane is according to the inertial sensor being arranged on described unmanned plane, it is determined that the practical flight speed of described unmanned plane；Or described unmanned plane is according to the satellite navigation being arranged on described unmanned plane, it is determined that the practical flight speed of described unmanned plane。Or, adopt in above-mentioned defining method one or more, it is ensured that the accuracy of unmanned plane practical flight speed。
After determining goal pace and practical flight speed, unmanned plane described in S3 is according to described goal pace and described practical flight speed, adjust the dynamical system output of described unmanned plane, so that the deviation between practical flight speed and the described goal pace after described unmanned plane adjustment is not more than described threshold value。
The method of unmanned plane motivation of adjustment system output includes: when described practical flight speed is less than described goal pace, and when the deviation between described practical flight speed and goal pace exceedes described threshold value, and the dynamical system of described unmanned plane is opened and just pushed away to accelerate；When described practical flight speed is more than described goal pace, and when the deviation between described practical flight speed and goal pace exceedes described threshold value, the dynamical system of described unmanned plane opens counter pushing away with deceleration。After unmanned plane during flying speed being adjusted by said method, the difference between flight speed and goal pace in zero to threshold range, and close to goal pace, and then can complete the closed loop control to practical flight speed。
The dynamical system of wherein said unmanned plane includes propeller, the dynamical system of described unmanned plane is opened when just pushing away to accelerate, described propeller rotates forward, propeller produces the air-flow in opposite direction with unmanned plane during flying, air-flow produces the reaction force acts contrary with airflow direction on propeller, namely propeller is produced the thrust identical with described unmanned plane direction of advance by air-flow, and then unmanned plane is accelerated；The dynamical system of described unmanned plane is opened anti-when pushing away to slow down, described propeller reversely rotates, propeller produces the air-flow identical with unmanned plane during flying direction, air-flow produces the reaction force acts contrary with airflow direction on propeller, namely propeller is produced the thrust contrary with described unmanned plane direction of advance by air-flow, and then unmanned plane is slowed down。
As shown in Figure 4, in the whole process that flight speed is adjusted, according to current flight speed as feedback quantity, by the flight speed detected is fed back to unmanned plane, the difference of flight speed with goal pace is compared with threshold value, is increased and decreased the controlled quentity controlled variable to dynamical system by comparison result in real time, and then reach to regulate the effect of flight speed by controlling dynamical system, constitute the closed-loop control system of speed, reach the control to goal pace。Whole feedback control procedure is continued for carrying out in whole descent, and the dynamical system output of unmanned plane described in period modulation, specifically can feed back by an interval present speed of acquisition in 0.1 second, and revises the controlled quentity controlled variable of dynamical system。
Embodiment 2
Present embodiment discloses a kind of fixed-wing unmanned plane landing system, descent is divided into two stages, enters nearly stage 10 and landing period 20, compared with traditional method, being distinctive in that into the nearly stage 10, entering the nearly stage 10 uses the anti-method pushed away of dynamical system, reduces unmanned plane speed。
As it is shown on figure 3, the initialization system 30 of goal pace when this landing system includes for determining that described unmanned plane entered into the nearly stage and threshold value, for obtaining the velocity-measuring system 40 of the practical flight speed of described unmanned plane and adjusting the control system 50 of dynamical system output of described unmanned plane according to goal pace and flight speed。
Concrete, this landing system first passes through initialization system 30 and determines goal pace when described unmanned plane enters into nearly stage 10 and threshold value。Initialization system 30 determines that the mode of goal pace when described unmanned plane enters into nearly stage 10 and threshold value has multiple, can be through receiving the radio receiver of the message that ground control station sends, ground control station calculates flight speed during unmanned plane entrance landing period 20 according to the length gauge in landing place, dive angle during by landing that calculated flight speed and unmanned plane are pre-configured, then can calculate goal pace required when unmanned plane enters into nearly stage 10, calculate, according to the requirement in place, the threshold value that flight speed allows to occur simultaneously, this goal pace and threshold value are sent to the radio receiver of unmanned plane by ground control station by wireless remote control mode, and then complete the determination of goal pace；Or can be through storing the storage device of described unmanned plane preconfigured information, described unmanned plane can directly according to pre-configured information, it is determined that goal pace when described unmanned plane entered into the nearly stage and threshold value。
After completing the determination of goal pace and threshold value, described unmanned plane determines the practical flight speed of described unmanned plane by velocity-measuring system 40。This velocity-measuring system 40 can be provided in the airspeed sensor on described unmanned plane；Or it is arranged on the inertial sensor on described unmanned plane；Or it is provided in the satellite navigation on described unmanned plane, it is determined that the practical flight speed of described unmanned plane。Or, adopt in above-mentioned defining method one or more, it is ensured that the accuracy of unmanned plane practical flight speed。
After determining goal pace and practical flight speed, control system 50 is according to described goal pace and described practical flight speed, the dynamical system 60 adjusting described unmanned plane exports, so that the deviation between practical flight speed and the described goal pace after described unmanned plane adjustment is not more than described threshold value。
In dynamical system 60 output intent adjusting unmanned plane, including: when described practical flight speed is less than described goal pace, and the deviation between described practical flight speed and goal pace is when exceeding described threshold value, control system 50 sends control instruction, and control dynamical system 60 is opened and just pushed away to accelerate flight speed；When described practical flight speed is more than described goal pace, and when the deviation between described practical flight speed and goal pace exceedes described threshold value, control system 50 sends control instruction, controls dynamical system 60 and opens counter pushing away with deceleration。After unmanned plane during flying speed being adjusted by said method, the difference between flight speed and goal pace in zero to threshold range, and close to goal pace, and then can complete the closed loop control to practical flight speed。
The dynamical system 60 of wherein said unmanned plane includes the Duct-Burning Turbofan with propeller, the dynamical system of described unmanned plane is opened when just pushing away to accelerate, described propeller rotates forward, propeller produces the air-flow in opposite direction with unmanned plane during flying, air-flow produces the reaction force acts contrary with airflow direction on propeller, namely propeller is produced the thrust identical with described unmanned plane direction of advance by air-flow, and then unmanned plane is accelerated；The dynamical system of described unmanned plane is opened anti-when pushing away to slow down, described propeller reversely rotates, propeller produces the air-flow identical with unmanned plane during flying direction, air-flow produces the reaction force acts contrary with airflow direction on propeller, namely propeller is produced the thrust contrary with described unmanned plane direction of advance by air-flow, and then unmanned plane is slowed down。Or, dynamical system can be jet engine, with Duct-Burning Turbofan the difference is that, jet engine is when unmanned plane needs to slow down, opens the air jet system towards heading, or adjust jet engine towards, so as to towards heading。
As shown in Figure 4, in the whole process that flight speed is adjusted, according to current flight speed as feedback quantity, by the flight speed detected is fed back to unmanned plane, the difference of flight speed with goal pace is compared with threshold value, is increased and decreased the controlled quentity controlled variable to dynamical system by comparison result in real time, and then reach to regulate the effect of flight speed by controlling dynamical system, constitute the closed-loop control system of speed, reach the control to goal pace。Whole feedback control procedure is continued for carrying out in whole descent, and the dynamical system output of unmanned plane described in period modulation, specifically can feed back by an interval present speed of acquisition in 0.1 second, and revises the controlled quentity controlled variable of dynamical system。
Embodiments described above, is not intended that the restriction to this technical scheme protection domain。The amendment made within any spirit at above-mentioned embodiment and principle, equivalent replacement and improvement etc., should be included within the protection domain of this technical scheme。
Claims (10)
1. a fixed-wing unmanned plane landing method, it is characterised in that including:
Described unmanned plane determines goal pace when described unmanned plane entered into the nearly stage and threshold value；
Described unmanned plane obtains the practical flight speed of described unmanned plane；
Described unmanned plane obtains the difference of described goal pace and described practical flight speed, absolute value according to described difference and the dynamical system output of unmanned plane described in described adjusting thresholds, make the deviation between practical flight speed and described goal pace after adjusting be not more than described threshold value。
2. fixed-wing unmanned plane landing method according to claim 1, it is characterized in that, described unmanned plane is according to described goal pace and described practical flight speed, adjust the dynamical system output of described unmanned plane, so that the deviation between practical flight speed and described goal pace after described unmanned plane adjustment is not more than described threshold value, including:
When described practical flight speed is less than described goal pace, and when the deviation between described practical flight speed and goal pace exceedes described threshold value, the dynamical system of described unmanned plane is opened and is just being pushed away to accelerate；
When described practical flight speed is more than described goal pace, and when the deviation between described practical flight speed and goal pace exceedes described threshold value, the dynamical system of described unmanned plane opens counter pushing away with deceleration。
3. fixed-wing unmanned plane landing method according to claim 2, it is characterised in that the dynamical system of described unmanned plane includes propeller,
The dynamical system of described unmanned plane is opened and is just being pushed away to accelerate, including: described propeller rotates forward, to produce the power identical with described unmanned plane direction of advance；
The dynamical system of described unmanned plane is opened counter pushing away and is included to slow down: described propeller reversely rotates, the power contrary to result from described unmanned plane direction of advance。
4. fixed-wing unmanned plane landing method according to any one of claim 1 to 3, it is characterised in that described unmanned plane, according to described goal pace and described practical flight speed, adjusts the dynamical system output of described unmanned plane, specifically includes:
Described unmanned plane is according to described goal pace and described practical flight speed, the dynamical system output of unmanned plane described in period modulation。
5. fixed-wing unmanned plane landing method according to claim 1, it is characterised in that described unmanned plane determines goal pace when described unmanned plane entered into the nearly stage, including:
The message that described unmanned plane sends according to ground control station, it is determined that goal pace when described unmanned plane entered into the nearly stage；Or
Described unmanned plane is according to pre-configured information, it is determined that goal pace when described unmanned plane entered into the nearly stage。
6. fixed-wing unmanned plane landing method according to claim 1, it is characterised in that described unmanned plane determines the practical flight speed of described unmanned plane, including:
Described unmanned plane is according to the airspeed sensor being arranged on described unmanned plane, it is determined that the practical flight speed of described unmanned plane；Or
Described unmanned plane is according to the inertial sensor being arranged on described unmanned plane, it is determined that the practical flight speed of described unmanned plane；Or
Described unmanned plane is according to the satellite navigation being arranged on described unmanned plane, it is determined that the practical flight speed of described unmanned plane。
7. a fixed-wing unmanned plane landing system, it is characterised in that including:
Initialization system, is used for determining goal pace when described unmanned plane entered into the nearly stage and threshold value；
Velocity-measuring system, for obtaining the practical flight speed of described unmanned plane；
Control system, for obtaining the difference of described goal pace and described practical flight speed, absolute value according to described difference and the dynamical system output of unmanned plane described in described adjusting thresholds, make the deviation between practical flight speed and described goal pace after adjusting be not more than described threshold value。
8. fixed-wing unmanned plane landing system according to claim 7, it is characterised in that described initialization system is used for determining goal pace when described unmanned plane entered into the nearly stage and threshold value, including:
The message sent by receiving ground control station determines the radio receiver of goal pace when described unmanned plane entered into the nearly stage；Or
The storage device of goal pace when determining that described unmanned plane entered into the nearly stage by storing described unmanned plane preconfigured information。
9. fixed-wing unmanned plane landing system according to claim 7, it is characterised in that velocity-measuring system is used for obtaining the practical flight speed of described unmanned plane, including:
It is arranged on the inertial sensor on described unmanned plane, it is determined that the practical flight speed of described unmanned plane；Or
It is arranged on the satellite navigation on described unmanned plane, it is determined that the practical flight speed of described unmanned plane。
10. fixed-wing unmanned plane landing system according to claim 7, it is characterised in that described control system includes:
For obtaining the difference of described goal pace and described practical flight speed, and obtain the data processing module of fiducial value between absolute value and the threshold value of described difference, and
Control the instruction control module of the dynamical system output of described unmanned plane according to described fiducial value, the deviation between practical flight speed and described goal pace after order adjustment is not more than described threshold value。
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| 白杰: "《运输类飞机适航要求解读：第4卷 动力装置》", 30 September 2013 * |
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| CN109074088A (en) * | 2017-04-11 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Condition detection method, equipment and the unmanned vehicle of unmanned vehicle |
| CN109074088B (en) * | 2017-04-11 | 2021-12-03 | 深圳市大疆创新科技有限公司 | State detection method and device for unmanned aerial vehicle and unmanned aerial vehicle |
| CN108459619A (en) * | 2018-03-21 | 2018-08-28 | 深圳臻迪信息技术有限公司 | Unmanned plane lands locking method, device, flight control system and remote controler |
| CN109407686A (en) * | 2018-11-23 | 2019-03-01 | 东莞市光点电子科技有限公司 | A kind of method that winged control protects unmanned plane in landing phases |
| CN112419417A (en) * | 2021-01-25 | 2021-02-26 | 成都翼比特自动化设备有限公司 | Unmanned aerial vehicle-based photographing point positioning method and related device |
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