CN105739523B - A kind of police vehicle-mounted unmanned aerial vehicle monitoring system and control method - Google Patents
A kind of police vehicle-mounted unmanned aerial vehicle monitoring system and control method Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The present invention discloses a kind of police vehicle-mounted unmanned aerial vehicle monitoring system and control method,Police vehicle position road ahead environment information is perceived by unmanned aerial vehicle onboard camera the characteristics of road is crowded or there are the visuals field high using unmanned plane in the case of intersection by being equipped with multi-rotor unmanned aerial vehicle on police vehicle,The obtained road environment information of perception is transferred to the police in police vehicle by wireless image transmission module,And then ensure that tracking target is always positioned at police within sweep of the eye,Simultaneously by being equipped with radar sensor in police vehicle roof,Angle information between real-time perception unmanned plane and police vehicle,The velocity information of range information and unmanned plane,Go out unmanned plane by the sliding formwork model- following control algorithm accurate calculation of proposition and yaws controlled quentity controlled variable and pitch control amount,And corresponding controlled quentity controlled variable is transferred to unmanned plane by module by radio communication,And then it accurately controls unmanned plane and keeps synchronous with police vehicle forward.
Description
Technical field
The present invention relates to Tracing Control technical fields, are suitable for road conditions investigation and police tracking, and in particular to a kind of police
Vehicle-mounted unmanned aerial vehicle monitors system and control method.
Background technology
In recent years, the attack of terrorism frequently occurs with incident of violence, and at the same time, traffic congestion is on the rise so that police
Vehicle cannot first time arrival event scene, or obstruction and intersection of the sight by front vehicles during chasing
Influence, cause track target loss.
At the same time, some areas people's police in police vehicle roof by being equipped with 360 degree rotation camera head monitor police vehicle
Ambient state information, but it can only monitor police vehicle ambient state information, in addition, when congestion occurs in road, it can only
It observes front short distance traffic, is unable to get road information farther out.
Multi-rotor unmanned aerial vehicle is since the advantages that its is easily operated, easy to maintain, is in cable inspection, fire monitoring, ecological protection
Etc. multiple fields be widely used.Traditional unmanned plane is in practical applications, most of to be flown using remote control control, right
Operator is more demanding.It is most of to be navigated using GPS positioning or loaded using unmanned plane further for the unmanned plane of self-navigation
Camera carries out vision guided navigation, can not work normally in the poor region of GPS signal using the unmanned plane of GPS navigation, and utilizes
The unmanned plane of camera vision guided navigation is affected by factors such as light, and positioning accuracy is relatively low.In addition, certainly for major part
The multi-rotor unmanned aerial vehicle of leading boat, environment sensing unit are mounted on multi-rotor unmanned aerial vehicle body, need through the micro- of body
The information that processor acquires environment sensing unit analyzes and determines that processing speed is slow, judges that precision is low.
Invention content
In order to solve the above problem, the present invention proposes a kind of police vehicle-mounted unmanned aerial vehicle monitoring system and control method, passes through
On police vehicle be equipped with multi-rotor unmanned aerial vehicle road it is crowded or there are in the case of intersection apply the high visual field of unmanned plane
The characteristics of by unmanned aerial vehicle onboard camera perceive police vehicle position road ahead environment information, pass through wireless image transmission
The road environment information that perception obtains is transferred to the police in police vehicle by module, and then ensures tracking target position always
Within sweep of the eye in police.
The police vehicle-mounted unmanned aerial vehicle of the present invention monitors system, including vehicle-mounted part and unmanned plane part；Vehicle-mounted part has vehicle
The unmanned plane landing machine level ground of installation, radar sensor at the top of the in-vehicle processor and police vehicle installed on body.Unmanned plane portion
It includes the flight control system holder and camera module carried on unmanned plane and unmanned plane to divide.
In the vehicle-mounted part, unmanned plane landing machine level ground is used for the stop of unmanned plane.Radar sensor is used for obtaining in real time
Unmanned plane location information includes height, unmanned plane during flying speed of distance, unmanned plane of the unmanned plane apart from police vehicle apart from ground
Degree and unmanned plane are projected in the laterally and longitudinally position angle between police vehicle in police vehicle plane.In-vehicle processor is used for
Unmanned plane is sent to flight control system to start and stop order；And data are obtained for receiving radar sensor, and handled, it obtains
To the laterally and longitudinally position offset of unmanned plane and police vehicle, pitching and the yaw controlled quentity controlled variable of unmanned plane are further obtained,
And pitching and yaw controlled quentity controlled variable are sent to the flight control system in unmanned plane part, Jin Eryou together together with unmanned plane location information
Flight control system in unmanned plane part realizes pitch control and the yaw control of unmanned plane, and unmanned plane is made to be always positioned at police vehicle
Front upper designated position.
In the unmanned plane part, camera module is installed on holder；Camera module includes that camera passes mould with figure
Block；Camera is used for obtaining the image information of road in real time during unmanned plane during flying, realizes the shooting to being tracked vehicle；
Figure transmission module is used for the road information that camera obtains being transferred to in-vehicle processor.
The present invention also proposes a kind of control method for above-mentioned police vehicle-mounted unmanned aerial vehicle monitoring system, passes through following step
It completes：
Step 1：During police vehicle travels, to vehicle into when line trace, by in-vehicle processor to unmanned plane
On flight control system send start order, start unmanned plane, meanwhile, in-vehicle processor also by the flying height information of setting send
Flight control system on to unmanned plane flies to the height of setting controlling unmanned plane by flight control system.
Step 2：Monitored in real time by radar sensor distance l (t) of the t moment unmanned plane apart from police vehicle, unmanned plane away from
Height h from the ground0, the real-time speed v of unmanned plane0(t) and unmanned plane is projected in police vehicle plane and is indulged with police vehicle
To position angle theta (t), and be all sent to in-vehicle processor, handled by in-vehicle processor, obtain t moment unmanned plane with
The longitudinal positional offset and transverse positional offset of police vehicle.
Step 3：The longitudinal positional offset and transverse positional offset of t moment unmanned plane and police vehicle are inputted respectively
Into pitch controller and yawer, the pitch control amount and yaw controlled quentity controlled variable of unmanned plane are obtained, and together with unmanned seat in the plane
Confidence breath is transferred to the flight control system on unmanned plane, and then carries out pitching and yaw control to unmanned plane by flight control system,
So that unmanned plane is remained at police vehicle front upper designated position, is shot to being tracked vehicle.
Step 4：Vehicle tracking finishes, and unmanned plane makes a return voyage to unmanned plane landing machine level ground, and descent is by radar sensor essence
Quasi- perception unmanned plane location information, is sent to in-vehicle processor, and be transferred to the flight control system on unmanned plane by in-vehicle processor,
It is precisely dropped on unmanned plane landing machine level ground by flight control system control unmanned plane.
Advantages of the present invention is：
1, the police vehicle-mounted unmanned aerial vehicle of the present invention monitors system, using multi-rotor unmanned aerial vehicle as carrier, by being uploaded in unmanned plane
With camera tracking during encounter the upcoming traffics situation such as fork in the road or traffic jam it is unknowable in the case of at the first time
Understand front vehicles and road information, realizes the all-the-way tracking to suspected vehicles；
2, the police vehicle-mounted unmanned aerial vehicle of the present invention monitors system, and sliding formwork following controller, control are designed using sliding mode control theory
Algorithm robustness processed is strong, in this outer controller only there are one it needs to be determined that parameter, it is simple in structure, it is easily operated；
3, the police vehicle-mounted unmanned aerial vehicle of the present invention monitors system, realizes that unmanned plane independently follows flight, compared to conventional remote controls
Device controls multi-rotor unmanned aerial vehicle, is not necessarily to the intervention of staff, greatly strengthens the stability of flight；
4, the police vehicle-mounted unmanned aerial vehicle of the present invention monitors system, by installing radar sensor in police vehicle roof, in real time
The horizontal and vertical position offset and unmanned plane velocity information for perceiving unmanned plane and police vehicle, pass through vehicle-mounted end processor
Obtain sensing results.Pass through in unmanned plane itself installation environment sensing module, processing speed compared to traditional independent navigation unmanned plane
Degree and stability are relatively reliable；
5, the police vehicle-mounted unmanned aerial vehicle of the present invention monitors system, and the bimodulus yawer of design is larger in transversal displacement
Shi Yingyong fuzzy controllers eliminate the influence of uncertain factor, and when transversal displacement is smaller, stable state is eliminated using PI controllers
Error realizes accurate tracking of the unmanned plane to police vehicle；
6, the police vehicle-mounted unmanned aerial vehicle of the present invention monitors system, and the unmanned plane of design fixes locking and charging unit, can be with
The auto lock after unmanned plane landing is realized unmanned plane charging, is operated without personnel, simple and stable.
Description of the drawings
Fig. 1 is that the police vehicle-mounted unmanned aerial vehicle of the present invention monitors system use state diagram；
Fig. 2 is that the police vehicle-mounted unmanned aerial vehicle of the present invention monitors system onboard part-structure schematic diagram；
Fig. 3 is the unmanned plane part-structure schematic diagram that the police vehicle-mounted unmanned aerial vehicle of the present invention monitors system；
Fig. 4 is that unmanned plane rests in unmanned plane fixation locking device in the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention
State diagram.
In figure：
The vehicle-mounted part 2- unmanned planes part 3- suspected vehicles of 1-
101- unmanned plane landing machines level ground 102- unmanned planes fix locking device 103- unmanned plane charging units
104- radar sensor 102a- leading screw 102b- push rods
102c- holder 201- holder 202- camera modules
203- flight control systems
Specific real-time mode
The present invention is described in further details below in conjunction with the accompanying drawings.
A kind of police vehicle-mounted unmanned aerial vehicle of the present invention monitors system, including vehicle-mounted part 1 and unmanned plane part 2.By nobody
Machine part 2 realize tracking during encounter the upcoming traffics situation such as fork in the road or traffic jam it is unknowable in the case of first when
Between understand front vehicles and road information, and then realize the all-the-way tracking to suspected vehicles 3, as shown in Figure 1.Above-mentioned vehicle-mounted part
1 includes the unmanned plane landing machine level ground 101 installed at the top of police vehicle, unmanned plane fixation locking device 102, unmanned plane charging unit
103, the in-vehicle processor and in-vehicle wireless communication module installed on radar sensor 104 and police vehicle car body, such as Fig. 2
It is shown.Unmanned plane part 2 includes holder 201, the camera module carried in multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle
202 with flight control system 203, as shown in Figure 3.Pass through in-vehicle wireless communication module and machine between vehicle-mounted part 1 and unmanned plane part 2
Carrier radio communication module is wirelessly communicated in real time.
In vehicle-mounted part 1, unmanned plane landing machine level ground 101 is mounted on police vehicle roof, is stopped for unmanned plane.Police
It is also equipped with unmanned plane in vehicle roof and fixes locking device 102 and unmanned plane charging unit 103.Wherein, unmanned plane fixing lock
After tight device 102 is stopped for unmanned plane on unmanned plane landing machine level ground 101, unmanned plane is fixed and is locked, prevents unmanned plane from existing
It is fallen in police vehicle driving process.It includes leading screw 102a and push rod 102b that unmanned plane, which fixes locking device 102,.Wherein, silk
Thick stick 102a is four, is two-by-two one group, axis is along police vehicle Chinese herbaceous peony rear direction.Wherein, one group of leading screw 102a is located at nobody
101 front of machine landing machine level ground is mounted on by bearing on the holder of 101 both sides of unmanned plane landing machine level ground design；Another group of leading screw
102a is located at 101 rear portion of unmanned plane landing machine level ground, and the branch of 101 both sides of unmanned plane landing machine level ground design is mounted on again by bearing
On frame.Push rod 102b is two, enables it for front push rod and rear portion push rod, and screw thread is socketed in two positioned at front and rear portion respectively
On group leading screw 102a；The leading screw 102a of front two is driven to rotate synchronously, it can be achieved that front push rod moves backward by servo motor；
Drive the screw synchronous rotation of two, rear portion, it can be achieved that rear portion push rod 102b is moved forward by servo motor；And then it can realize two
Root push rod is in the same direction or moves backward.Locking device 102 is fixed by above-mentioned unmanned plane, when unmanned plane drops to unmanned plane landing machine
When level ground 101, two push rod 102b relative motions are driven by servo motor, unmanned plane landing gear front and rear end is made to be clamped on two
Between push rod 102b and unmanned plane landing machine level ground 101, and then realize the fixed locking of unmanned plane, as shown in Figure 4.
Unmanned plane charging unit 103 is next for unmanned plane fixing lock on unmanned plane landing machine level ground 101, is filled for unmanned plane
Electricity；Unmanned plane is realized by cooperation between corresponding electrode is arranged on unmanned plane landing gear and unmanned plane landing machine level ground 101
Charging.Radar sensor 104 is used for obtaining unmanned plane location information in real time, including distance of the unmanned plane apart from police vehicle,
Height, unmanned plane during flying speed and unmanned plane of the unmanned plane apart from ground are projected in police vehicle plane between police vehicle
Laterally and longitudinally position offset.In-vehicle processor is used to send unmanned plane to flight control system to start and be ordered with stop；It is additionally operable to
It receives radar sensor 104 and obtains data, and handled, obtain pitching and the yaw controlled quentity controlled variable of unmanned plane and police vehicle,
And pitching and yaw controlled quentity controlled variable are sent to the flight control system 203 in unmanned plane part 2 together together with unmanned plane location information, into
And realize that the pitch control of unmanned plane and yaw control by flight control system 203.The pitching of above-mentioned unmanned plane and police vehicle
And yaw controlled quentity controlled variable is obtained by the pitch controller of the design in in-vehicle processor and yawer processing respectively, it is specific to design
It is as follows：
A, pitch control implement body designs：
Ideally, unmanned plane is always positioned above police vehicle, i.e. ideally unmanned plane and police vehicle
Longitudinal positional offset：
Δ X (t)=v0(t)*Δt
Wherein, v0(t) it is t moment unmanned plane during flying speed, the response time of Δ t expression pitch controllers.
According to the position vertical misalignment with police vehicle during the unmanned plane practical flight obtained by radar sensor 104
ξ (t) is measured, the difference of the practical longitudinal positional offset and theoretical longitudinal positional offset between unmanned plane and police vehicle is obtained
For：
σ (t)=ξ (t)-Δ X (t)=ξ (t)-v0(t)*Δt
Ideally, the practical longitudinal positional offset between unmanned plane and police vehicle is deviated with theoretical lengthwise position
The difference of amount is 0, and unmanned plane is located in front of police vehicle, according to sliding mode control theory, chooses sliding formwork switching function：
X=σ (t)=ξ (t)-Δ X (t)=ξ (t)-v0(t)*Δt
According to sliding mode control theory, sliding formwork control equation is establishedWhen sliding formwork control equation meets, sliding formwork
Switching function X → 0, i.e. σ (t) → 0.λ indicates sliding mode controller parameter, and the smaller expression velocity of approach of λ is slower, and λ is bigger, indicates
Nearly speed is faster, meanwhile, larger shake can be caused.λ chooses according to actual experiment situation in practical application.Sliding formwork is switched into letter
Number is substituted into sliding formwork control equation and is obtained：
Therefore following controller is designed as：
Wherein, u (t) indicates the output controlled quentity controlled variable of controller, and the pitch control of unmanned plane can be carried out using this controlled quentity controlled variable,
Make unmanned plane stabilization in turn follows police vehicle.
B, yawer specifically designs：
According to the transverse positional displacement with police vehicle during the unmanned plane practical flight obtained by radar sensor 104
ζ (t) is measured, design dual mode controller realizes the elimination to transverse positional offset, to ensure between unmanned plane and police vehicle
There is no deviation on lateral position.Transverse positional offset of the input of dual mode controller between unmanned plane and police vehicle,
Output is the yaw controlled quentity controlled variable of unmanned plane, can control each rotor on unmanned plane to drive servo motor according to this yaw controlled quentity controlled variable
Rotating speed and then the yaw for controlling unmanned plane.Above-mentioned dual mode controller is composed in parallel by fuzzy controller and PI controllers, in transverse direction
Position offset | ζ (t) |>ζ0When, the influence of uncertain factor is overcome using fuzzy controller, in transverse positional offset |
ζ(t)|<ζ0When, using PI controllers to eliminate steady-state error, ζ0For transverse positional offset critical coefficient.
In unmanned plane part 2, camera module 202 is installed on holder 201, ensures camera module 202 in unmanned plane
Stabilization in flight course, to ensure that the image information taken by camera module 202 during flying is clear steady
Fixed.Camera module 202 includes camera and figure transmission module；Camera is used for obtaining in real time during unmanned plane during flying
The image information on road realizes the shooting to being tracked vehicle；Figure transmission module is used for the road information that camera obtains being transferred to
Ground control station.Flight control system 203 is used for receiving the startup order control unmanned plane start and stop of in-vehicle processor transmission；It receives simultaneously
In-vehicle processor sends the longitudinal direction and transverse positional offset of unmanned plane location information and unmanned plane and police vehicle, and control is more
The different rotating speed of each rotor driving motor of rotor wing unmanned aerial vehicle, so realize to during unmanned plane during flying pitch control with partially
Boat control and height control, and ensure that unmanned plane remains flight on police vehicle front in police vehicle driving process
Square designated position.
For a kind of police vehicle-mounted unmanned aerial vehicle monitoring method of above-mentioned apparatus, it is as follows：
Step 1：During police vehicle travels, to vehicle into when line trace, by in-vehicle processor to unmanned plane
On flight control system 203 send start order, start unmanned plane, meanwhile, in-vehicle processor is also by the flying height information of setting
The flight control system 203 being sent on unmanned plane.After each parameter of unmanned plane is normal, unmanned plane is controlled by flight control system 203 and is taken off
To the height of setting.
Step 2：Monitor distance l (t), unmanned plane of the t moment unmanned plane apart from police vehicle in real time by radar sensor 104
Height h apart from ground0, the real-time speed v of unmanned plane0(t) and unmanned plane is projected in police vehicle plane and police vehicle
Lengthwise position angle theta (t), and all it is sent to in-vehicle processor；By above-mentioned data, can be obtained t moment unmanned plane with it is police
The longitudinal positional offset of vehicle is：
And the transverse positional offset of unmanned plane and police vehicle is：
Step 3：Due in police vehicle driving process, not constant-speed traveling, therefore unmanned plane is in the mistake of tracking police vehicle
In journey also corresponding variable-speed tracking.Therefore, by by the longitudinal positional offset and transverse direction of t moment unmanned plane and police vehicle
Position offset is separately input into pitch controller and is controlled with yaw with the pitch control amount in yawer, obtaining unmanned plane
Amount, and the flight control system 203 on unmanned plane is transferred to together with unmanned plane location information, so by flight control system to unmanned plane into
Row pitching and yaw control, so that unmanned plane is remained at police vehicle front upper designated position, to by suspected vehicles into
Row shooting.
Step 4：Vehicle tracking finishes, and unmanned plane makes a return voyage to unmanned plane landing machine level ground 101, and descent is by radar sensor
104 precisely perceive unmanned plane location information, are sent to in-vehicle processor, and be transferred on unmanned plane and flown by in-vehicle processor
Control system 203 controls unmanned plane by flight control system 203 and precisely drops on unmanned plane landing machine level ground 101.Control nobody at this time
Machine fixes locking device 102 and unmanned plane is fixed locking.
Claims (6)
1. a kind of police vehicle-mounted unmanned aerial vehicle monitors system, including vehicle-mounted part and unmanned plane part；Vehicle-mounted part has on car body
The in-vehicle processor of installation；Unmanned plane part includes the flight control system carried on unmanned plane and unmanned plane；It is characterized in that：It is vehicle-mounted
Part further includes the unmanned plane landing machine level ground installed at the top of police vehicle, radar sensor；Unmanned plane part further includes unmanned plane
Holder, the camera module of upper carrying；
In the vehicle-mounted part, unmanned plane landing machine level ground is used for the stop of unmanned plane；Radar sensor is used for obtaining nobody in real time
Machine location information, including height of distance, unmanned plane of the unmanned plane apart from police vehicle apart from ground, unmanned plane during flying speed with
Unmanned plane is projected in the laterally and longitudinally position angle between police vehicle in police vehicle plane；In-vehicle processor is used for winged
Control system sends unmanned plane and starts and stop order, and obtains data for receiving radar sensor, and is handled, and nothing is obtained
The man-machine laterally and longitudinally position offset with police vehicle further obtains pitching and the yaw controlled quentity controlled variable of unmanned plane, and will
Pitching and yaw controlled quentity controlled variable are sent to the flight control system in unmanned plane part together together with unmanned plane location information, and then by nobody
Flight control system in machine part realizes pitch control and the yaw control of unmanned plane, before so that unmanned plane is always positioned at police vehicle
Designated position above portion；
In the unmanned plane part, camera module is installed on holder；Camera module includes camera and figure transmission module；It takes the photograph
As head is used for obtaining the image information of road, shooting of the realization to tracked vehicle in real time during unmanned plane during flying；Figure passes
Module is used for the road information that camera obtains being transferred to in-vehicle processor；
Vehicle-mounted part further includes that unmanned plane fixes locking device, for realizing fixing lock of the unmanned plane on unmanned plane landing machine level ground
Tightly；
It includes leading screw and push rod that unmanned plane, which fixes locking device,；Wherein, leading screw is four, is two-by-two one group, axis is along police
Vehicle Chinese herbaceous peony rear direction；Wherein, one group of leading screw is located at unmanned plane landing machine level ground front, and unmanned plane landing machine is mounted on by bearing
On the holder of level ground both sides design；Another group of leading screw is located at unmanned plane landing machine level ground rear portion, and unmanned plane is mounted on again by bearing
On the holder of landing machine level ground both sides design；Push rod is two, enables it for front push rod and rear portion push rod, and screw thread is socketed in position respectively
On two groups of leading screws at front and rear portion；The screw synchronous rotation of front two is driven by servo motor, makes front push rod backward
It is mobile；The screw synchronous rotation of two, rear portion is driven by servo motor, rear portion push rod is made to move forward；When unmanned plane drops to nothing
When man-machine landing machine level ground, two push rod relative motions are driven by servo motor, unmanned plane landing gear front and rear end is made to be clamped on
Between two push rods and unmanned plane landing machine level ground, the fixed locking of unmanned plane is realized.
2. a kind of police vehicle-mounted unmanned aerial vehicle monitors system as described in claim 1, it is characterised in that：Vehicle-mounted part further includes for nobody
Machine charging unit is used for the charging of unmanned plane.
3. a kind of police vehicle-mounted unmanned aerial vehicle monitors system as claimed in claim 2, it is characterised in that：Charging unit is included in nobody
Corresponding electrode is set on machine landing gear and on unmanned plane landing machine level ground, filling for unmanned plane is realized by coordinating between electrode
Electricity.
4. a kind of police vehicle-mounted unmanned aerial vehicle monitors system as described in claim 1, it is characterised in that：The pitching and yaw of unmanned plane
Controlled quentity controlled variable is obtained by the pitch controller of the design in in-vehicle processor and yawer processing respectively, and specific design is as follows：
A, pitch controller is designed specifically to：
Wherein, u (t) indicates the output controlled quentity controlled variable of controller；v0(t) it is t moment unmanned plane during flying speed, Δ t expression pitch controls
The response time of device；ξ (t) is the position vertical misalignment amount of the t moment unmanned plane and police vehicle that are obtained by radar sensor；
B, yawer specifically designs：
According to the transverse positional offset ζ (t) with police vehicle during the unmanned plane practical flight obtained by radar sensor,
Design elimination of the dual mode controller realization to transverse positional offset；The input of dual mode controller be unmanned plane and police vehicle it
Between transverse positional offset, export the yaw controlled quentity controlled variable for unmanned plane, according to yaw controlled quentity controlled variable control unmanned plane on each rotation
The rotating speed of wing driving motor and then the yaw for controlling unmanned plane.
5. a kind of police vehicle-mounted unmanned aerial vehicle monitors system as claimed in claim 4, it is characterised in that：Dual mode controller is by Fuzzy Control
Device processed is composed in parallel with PI controllers, in transverse positional offset absolute value | ζ (t) |>ζ0When, overcome using fuzzy controller
The influence of uncertain factor, in transverse positional offset absolute value | ζ (t) |<ζ0When, using PI controllers to eliminate stable state mistake
Difference, ζ0For transverse positional offset critical coefficient.
6. for a kind of control method of police vehicle-mounted unmanned aerial vehicle monitoring system described in claim 1, it is characterised in that：Under
State step completion：
Step 1：During police vehicle travels, to vehicle into when line trace, by in-vehicle processor on unmanned plane
Flight control system, which is sent, starts order, starts unmanned plane, meanwhile, the flying height information of setting is also sent to nothing by in-vehicle processor
Flight control system on man-machine flies to the height of setting controlling unmanned plane by flight control system；
Step 2：Monitor distance l (t) of the t moment unmanned plane apart from police vehicle, unmanned plane distance ground in real time by radar sensor
The height h in face0, the real-time speed v of unmanned plane0(t) and unmanned plane is projected in police vehicle plane and police vehicle longitudinal direction position
Set angle theta (t), and be all sent to in-vehicle processor, handled by in-vehicle processor, obtain t moment unmanned plane with it is police
The longitudinal positional offset and transverse positional offset of vehicle；
Step 3：The longitudinal positional offset and transverse positional offset of t moment unmanned plane and police vehicle are separately input into and bowed
It faces upward controller and in yawer, obtains the pitch control amount and yaw controlled quentity controlled variable of unmanned plane, and believe together with unmanned plane position
Breath is transferred to the flight control system on unmanned plane, and then carries out pitching and yaw control to unmanned plane by flight control system, makes nothing
It is man-machine to remain at police vehicle front upper designated position, it is shot to being tracked vehicle；
Step 4：Vehicle tracking finishes, and unmanned plane makes a return voyage to unmanned plane landing machine level ground, and descent is precisely felt by radar sensor
Know unmanned plane location information, in-vehicle processor is sent to, and the flight control system on unmanned plane is transferred to by in-vehicle processor, by flying
Control system control unmanned plane precisely drops on unmanned plane landing machine level ground.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510888263 | 2015-12-07 | ||
| CN2015108882635 | 2015-12-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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