CN106155079A - A kind of unmanned aerial vehicle station system - Google Patents
A kind of unmanned aerial vehicle station system Download PDFInfo
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- CN106155079A CN106155079A CN201510171930.8A CN201510171930A CN106155079A CN 106155079 A CN106155079 A CN 106155079A CN 201510171930 A CN201510171930 A CN 201510171930A CN 106155079 A CN106155079 A CN 106155079A
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Abstract
Disclose a kind of unmanned aerial vehicle station system, including data communication module, remote control module, DBM and virtual instrument module, characterized by further comprising 3D GIS navigation module, and terrain elevation data and satellite photo by DBM carry out the renders three-dimensional earth, flight information in conjunction with the mobile system received, monitor state of flight and the flight track of unmanned plane, and unmanned plane is carried out trajectory planning.
Description
Technical field
The present invention relates to a kind of fire detecting system based on unmanned aerial vehicle platform, particularly relate to, specifically,
Relate to a kind of unmanned aerial vehicle station system including 3D GIS navigation module.
Background technology
Along with the fast development of depopulated helicopter, more and more should by numerous areas such as civilian and national defence
With.Earth station is also constantly updating and development as the key link of whole unmanned helicopter system.Embedding
Entering GIS-Geographic Information System (geographical information system GIS), to earth station, utilizes GIS strong
Large space data process and three-dimensional visualization technique, improve the level of IT application of earth station, strengthen visualization
Advantage, becomes the target of depopulated helicopter crew station design.
GIS is a kind of DSS locus and attribute data combined, be by
The large-scale integrated system of one that geoscience combines with attribute data.It has the various spies of information system
Point, as obtaining, process, manage and analyze the important tool of geographical spatial data, obtains wide in recent years
General pays close attention to and swift and violent development.It is simultaneously based on 3D GIS technology and have also been obtained development at full speed, own warp
It is widely used in all many-sides such as three-dimensional digital city, resource management, environmental evaluation, regional planning.
Helicopter is during practical flight, and earth station demonstrates substantial amounts of flying quality, terrestrial operation people in real time
Member quickly judges by calculating function and makes a response, and participating in the control of unmanned plane in time, this is for nothing
Man-machine flight control safety is most important.Depopulated helicopter earth station system based on 3D GIS is at meter
Calculation machine visualization side and advantage, achieve well depopulated helicopter monitoring navigation, autonomous landing,
Routeing, Target track displaying, flight path with the function such as putting, formed one in real time, quickly, ground intuitively
Monitoring system.
Summary of the invention
One of the technical problem to be solved is to provide a kind of depopulated helicopter based on 3D GIS
Earth station system.
A kind of unmanned aerial vehicle station system, including data communication module, remote control module, data base's mould
Block and virtual instrument module, also include 3D GIS navigation module, and by the landform of DBM
Altitude data and satellite photo carry out the renders three-dimensional earth, in conjunction with the flight information of the mobile system received,
Monitor state of flight and the flight track of unmanned plane, and unmanned plane is carried out trajectory planning.
A kind of unmanned aerial vehicle station system, uses the altitude data of bil form to tie mutually with DDS raster data
The form closed, carrys out renders three-dimensional earth model by the altitude data of DDS raster data Combining with terrain.
A kind of unmanned aerial vehicle station system, real-time flight path realizes by the unmanned aerial vehicle station airborne system of real-time reception
The flight orientation information of system, stores these azimuth informations in a list, and it is right that each orientation loads institute
Answer label to show at track following layer, realize the real-time of track finally by Update function
Update.
A kind of unmanned aerial vehicle station system, trajectory planning is by directly moving by mouse on three-dimensional map
Obtaining the latitude and longitude information of point, azimuth information flight course planning obtained after terminating course plotting preserves
It is sent to the mobile system of unmanned plane.
A kind of unmanned aerial vehicle station system, it is provided that the access of multi-layer image and control, Track In Track layer and its
As its layer, it is the most all independent, can independently show.
A kind of unmanned aerial vehicle station system, geography information and observing and controlling unpack are stored by DBM,
To realize the off-line data of the management of 3D GIS data and earth station system with putting.
A kind of unmanned aerial vehicle station system, when MANUAL CONTROL mode, unmanned plane is directly led to by operator
Crossing remote control equipment and send control command, remote control equipment launches letter using radio station as telecommunication media to unmanned plane
Number, unmanned plane machine make a response and pass through mobile system wireless network various real-time flying qualities with
And image, the data such as video are sent to earth station.
A kind of unmanned aerial vehicle station system, when being switched to automatic control mode, earth station sets flight
Parameter, control parameter is sent to mobile system by wireless network, and aircraft completes flight according to parameter command and appoints
Business, the control station to ground the most real-time in flight course feeds back various state of flight information, earth station
The amendment of control command is made in time according to real-time flight state.
Other advantages, target and the feature of the present invention will be carried out to a certain extent in the following description
Illustrate, and to a certain extent, to those skilled in the art will based on to investigating hereafter
It is apparent from, or can be instructed from the practice of the present invention.The target of the present invention and other
Advantage can pass through description below, and structure specifically noted in claims, and accompanying drawing is come
Realize and obtain.
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, with this
Inventive embodiment is provided commonly for explaining the present invention, is not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is unmanned helicopter system overall framework figure；
Fig. 2 is earth station system software frame figure；
Fig. 3 is UDP message communication mode schematic diagram；
Fig. 4 is World Wind Java software frame diagram；
Fig. 5 is that WorldWindJava SDK data process and render frame diagram.
Detailed description of the invention
Embodiments of the present invention are described in detail, whereby to the present invention below with reference to drawings and Examples
How application technology means solve technical problem, and the process that realizes reaching technique effect can fully understand
And implement according to this.As long as it should be noted that do not constitute conflict, each embodiment in the present invention and
Each feature in each embodiment can be combined with each other, and the technical scheme formed is all in the protection of the present invention
Within the scope of.
Depopulated helicopter overall system architecture
The general frame of depopulated helicopter control system is made up of mobile system and earth station system two parts.
Mobile system includes that flight-control computer, sensor-based system, GPS receiver module form；Earth station system
Including remote control equipment and portable PC.
The overall framework of system is as shown in Figure 1.
Depopulated helicopter is when carrying out automatic navigation control, in order to reduce danger when automatically controlling out of control
Property, has two kinds of control models: MANUAL CONTROL mode and automatic control mode.When MANUAL CONTROL mode,
Depopulated helicopter is directly sent control command by professional by remote control equipment, and remote control equipment is made with radio station
Launching signal for telecommunication media to depopulated helicopter, depopulated helicopter machine is made a response and passes through mobile system
With wireless network, various real-time flying qualities and image, the data such as video are sent to earth station:
Being switched under automatic control mode, earth station sets flight parameter, and wireless network will control parameter and send
To mobile system, aircraft completes aerial mission according to parameter command, simultaneously in flight course real-time to
Ground control station feeds back various state of flight information, and earth station makes control in time according to real-time flight state
The amendment of order.
The design of earth station system and realization
Whole earth station system runs on the portable computer of base station, uses Java as program
Exploitation language, carry out and in object module programming, software implemented structure clear and rational, it is easy to dimension
Protect upgrading.Java language height is the language of a kind of crossover-platform simultaneously, and cross-platform ability is strong, and earth station can
To be transplanted to easily on the small portable computer of other system platform.Earth station's software frame such as figure
Shown in 2.
System use figure circle and, it is provided that a good and convenient to operate user interface.System passes through thing
Part or message-driven, realize man-machine interaction, can be configured easily and operate.Whole
Ground station control comprises data communication, remotely control, data base, virtual instrument and 3D GIS navigation 5
Big module.
Data communication module
Data communication module is mainly responsible for the data receiver between earth station and unmanned helicopter-mounted system
And transmission, the transmitting-receiving of data uses udp protocol, functionally ensures real-time, but udp protocol
It cannot be guaranteed that do not lose information in Chuan Shu, need the data message sent every time plus prefix and suffix
Verification.Flight speed that earth station's each sensor of primary recipient mobile system obtains, course, longitude and latitude,
Image/video (after the encoded compression) data that attitude and remote sensing equipment obtain；It is responsible for remotely controlling simultaneously
Module is sent to the control command supplemental characteristic of mobile system.The communication mode of data communication module such as Fig. 3
Shown in.
Remote control module
Remote control module is mainly responsible for passing through the control command parameter of depopulated helicopter machine autonomous flight
It is sent to unmanned aerial vehicle onboard system by udp protocol after certain data compression, needs during sending
Want check code to verify, after only mobile system obtains only should indeed answering, be only possible to perform autonomous flight order.
DBM
DBM plays in ground monitoring station supports very important role, and local monitor station uses
Java language height is write, and achieves multithreading very easily, uses individually in data storage procedure
Thread, is possible not only to improve the efficiency at ground monitoring station, and can ensure that the number that earth station system receives
According to information completely.DBM data base selects the MySQL database increased income, by geography information and
Observing and controlling unpack stores, and to realize, the off-line data of the management of 3D GIS data and ground monitoring station is same to be put,
For experimenter, experimental result above is carried out deeper analysis.
Virtual instrument module
Virtual instrument module realizes the instrumentation of various flying quality, uses instrument to express data the most straight
See, enhance the ability of man-machine interaction, preferably can feed back the flight number of aircraft for the operator of earth station
According to, the controlled quentity controlled variable etc. of each control passage of such as attitude instrument, drift meter, altimeter and depopulated helicopter.
When depopulated helicopter occurs that various faults occur in various mechanical breakdowns or mobile system, there is instrument instruction report
Alert function, feeds back to operator in time, takes emergency measures.
3D GIS navigation module
3D GIS navigation module employs to be developed by US Airways NASA (NASA) Aems research center
World Wind Java source software kit.The whole software frame of World Wind Java such as Fig. 4 institute
Show.Three-dimensional earth application program can be set up easily and flexibly by World Wind Java SDK, with
The form of a kind of plug-in card program, provides the landform ground of the three-dimensional earth for depopulated helicopter earth station application program
Looks are observed, and the altitude data of type truly and satellite photo by the MySQL database on ground render three
The dimension earth.By the flight information of the mobile system that observation window combined ground station receives, can be in three-dimensional
Monitor state of flight and the flight track of depopulated helicopter in landform, also be able to depopulated helicopter is entered simultaneously
Row trajectory planning.
3D GIS realizes
Data prepare
The position of GIS data not only expression of space entity (true body or pseudo-entity) and physical dimension,
Also have recorded the relative priority of spatial entities, so GIS data source comprises spatial data and attribute number simultaneously
According to two parts.Graph data can be divided into again raster data and vector data two class.Relatively common GIS
Data form have Mapinfo (* .tab) data form, AutoCAD (* .DWG, * .DXF) data form,
Shape (* .shp) data form etc..The altitude data of the * .bil that native system uses and I*.DDS grid
The form that data combine, renders whole three by the altitude data of DDS raster data Combining with terrain
Dimension earth model.The acquisition of data can obtain from each network magnanimity server, it is also possible to by obtain
Data store in data base, storage manager unification be managed various data, World
Data are processed and render block diagram as shown in Figure 5 by WindJava SDK.
The access of figure layer and control
In navigation module, the World Wind Java SDK AWT assembly by a heavyweight
WorldWindowGLCanvas shows World Wind model (the three-dimensional earth and each figure layer), should
Assembly is freestanding, can provide rendering of the three-dimensional earth and figure layer for application program, and it contains base
The figure layer of wood: base image layer (BasicTiledImageLayer), compass layer (CompassLayer), scale
Layer (ScalebarLayer), world map layer (WorldMapLayer) and dyed layer (RenderableLayer).
Can also add during GPS track and localization to be carried out according to the increase in demand figure layer of oneself simultaneously
Enter flight path mark layer (TrackMarkLayer), Map Service of Network device to be added (Web Map Server),
WMS layer can be increased the mass data of Map Service of Network device is conducted interviews and renders.For window
Mouse and keyboard can be used after setting audiomonitor to control the scaling of the three-dimensional earth, rotate, roaming etc..
The expression of layer can pass through layer name and index, inserts new figure layer by both modes, also may be used simultaneously
To access control figure layer by layer name and index.
The real-time Target track displaying of depopulated helicopter
The Real-time and Dynamic flight path of depopulated helicopter is an important function of system, WorldWind Java
SDK has two packaged classes TrackMarkerLayer and TrackPipesLayer to depopulated helicopter
Real time position be marked, the difference of the two class is exactly that the former can use self-defining label
(round dot, square etc.), the latter uses entity lines to carry out labelling flight path.Track In Track layer as other layer,
It is the most all independent, can independently show.Flight path realizes real-time by depopulated helicopter earth station in real time
The flight orientation information of receiver loading system, stores these azimuth informations in a list, Mei Gefang
Position loads corresponding label and shows at track following layer, realizes finally by Update function
The real-time update of track.
Depopulated helicopter trajectory planning
The planning of track points is the part that ground station control station is the most key, depopulated helicopter trajectory planning
Being the flight path meeting constraints according to task object planning, the purpose of planning is at reasonable time
Inside calculate the flight path of optimum.It is mainly used in the aerial mission of depopulated helicopter, including the line of flight,
Highly, speed, tasks carrying region etc..Owing to the three-dimensional earth just has status bar message in setting up model,
By directly being moved the latitude and longitude information obtaining point on three-dimensional map by mouse, the most significantly carry
The high operability of system.The planning of track points can be divided into the most several function: draw destination course line,
Amendment course line, end course plotting.Often draw a point during drawing track points and can obtain longitude and latitude from figure layer
Degree information, is added as needed on elevation information, the distance between 2 o'clock is shown simultaneously.Amendment boat
Line carries out, primarily with respect to the track points that maloperation is planned, operations such as deleting, move.Will after terminating course plotting
The azimuth information that flight course planning obtains saves the mobile system being sent to depopulated helicopter.
Although the embodiment that disclosed herein is as above, but described content is only to facilitate understand this
The embodiment invented and use, is not limited to the present invention.In any the technical field of the invention
Technical staff, on the premise of without departing from the spirit and scope that disclosed herein, can implement
And make any amendment and change in details in form, but the scope of patent protection of the present invention, still must be with institute
Attached claims are defined in the range of standard.
Claims (8)
1. a unmanned aerial vehicle station system, including data communication module, remote control module, data
Library module and virtual instrument module, it is characterised in that also include 3D GIS navigation module, and
Terrain elevation data and satellite photo by DBM carry out the renders three-dimensional earth, in conjunction with
The flight information of the mobile system received, monitors state of flight and the flight boat of unmanned plane
Mark, and unmanned plane is carried out trajectory planning.
2. unmanned aerial vehicle station as claimed in claim 1 system, it is characterised in that use bil form
The form that altitude data and DDS raster data combine, is combined by DDS raster data
The altitude data of landform carrys out renders three-dimensional earth model.
3. unmanned aerial vehicle station as claimed in claim 1 system, it is characterised in that flight path realizes in real time
By the flight orientation information of unmanned aerial vehicle station real-time reception mobile system, these orientation are believed
In a list, each orientation loads corresponding label and shows at track following layer in breath storage
Illustrate, realize the real-time update of track finally by Update function.
4. unmanned aerial vehicle station as claimed in claim 1 system, it is characterised in that trajectory planning passes through
Three-dimensional map is directly moved by mouse the latitude and longitude information obtaining point, terminates picture
Behind course line, the azimuth information that flight course planning obtains is saved the airborne system being sent to unmanned plane
System.
5. unmanned aerial vehicle station as claimed in claim 1 system, it is characterised in that provide multi-layer image
Access and control, Track In Track layer, as other layer, is the most all independent,
Can independently show.
6. unmanned aerial vehicle station as claimed in claim 1 system, it is characterised in that DBM will
Geography information and observing and controlling unpack storage, to realize the management of 3D GIS data and system of earth station
The off-line data of system is with putting.
7. unmanned aerial vehicle station as claimed in claim 1 system, it is characterised in that at Non-follow control mould
During formula, unmanned plane is directly sent control command by operator by remote control equipment, and remote control sets
For launching signal using radio station as telecommunication media to unmanned plane, unmanned plane machine is made a response and leads to
Cross mobile system wireless network numbers such as various real-time flying qualities and image, videos
According to being sent to earth station.
8. unmanned aerial vehicle station as claimed in claim 1 system, it is characterised in that be switched to automatically
During control model, earth station sets flight parameter, and control parameter is sent to by wireless network
Mobile system, aircraft completes aerial mission according to parameter command, simultaneously real in flight course
Time the control station to ground feed back various state of flight information, earth station is according to real-time flight shape
State makes the amendment of control command in time.
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| CN201510171930.8A CN106155079A (en) | 2015-04-13 | 2015-04-13 | A kind of unmanned aerial vehicle station system |
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| CN201510171930.8A CN106155079A (en) | 2015-04-13 | 2015-04-13 | A kind of unmanned aerial vehicle station system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530896A (en) * | 2016-11-30 | 2017-03-22 | 中国直升机设计研究所 | Virtual system for unmanned aerial vehicle flight demonstration |
| CN106842984A (en) * | 2017-01-22 | 2017-06-13 | 北京航空航天大学 | A kind of dynamic electron instrument simulation method that real-time textures are rendered |
| CN107356940A (en) * | 2017-08-11 | 2017-11-17 | 四川联丰云网科技有限公司 | Low-altitude surveillance system based on Beidou satellite communication |
| CN107426289A (en) * | 2017-05-26 | 2017-12-01 | 中国人民解放***箭军工程大学 | One kind patrols winged unmanned plane tracking Object selection sychronisation and method |
| CN107748568A (en) * | 2017-12-07 | 2018-03-02 | 智灵飞（北京）科技有限公司 | A kind of unmanned aerial vehicle manipulation control system and control method |
| CN108286965A (en) * | 2018-01-09 | 2018-07-17 | 深圳飞马机器人科技有限公司 | Unmanned plane based on subtle three-dimensional landform gets higher course line method, terminal and system |
| CN108762300A (en) * | 2018-05-31 | 2018-11-06 | 智飞智能装备科技东台有限公司 | A kind of ground for the flight of unmanned unit controls programing system |
| CN112731968A (en) * | 2020-12-29 | 2021-04-30 | 长威信息科技发展股份有限公司 | Sky-ground integrated communication fusion cooperative scheduling system |
| WO2021163881A1 (en) * | 2020-02-18 | 2021-08-26 | 深圳市大疆创新科技有限公司 | Data processing method and system, device, and readable storage medium |
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2015
- 2015-04-13 CN CN201510171930.8A patent/CN106155079A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106530896A (en) * | 2016-11-30 | 2017-03-22 | 中国直升机设计研究所 | Virtual system for unmanned aerial vehicle flight demonstration |
| CN106842984A (en) * | 2017-01-22 | 2017-06-13 | 北京航空航天大学 | A kind of dynamic electron instrument simulation method that real-time textures are rendered |
| CN107426289A (en) * | 2017-05-26 | 2017-12-01 | 中国人民解放***箭军工程大学 | One kind patrols winged unmanned plane tracking Object selection sychronisation and method |
| CN107356940A (en) * | 2017-08-11 | 2017-11-17 | 四川联丰云网科技有限公司 | Low-altitude surveillance system based on Beidou satellite communication |
| CN107748568A (en) * | 2017-12-07 | 2018-03-02 | 智灵飞（北京）科技有限公司 | A kind of unmanned aerial vehicle manipulation control system and control method |
| CN108286965A (en) * | 2018-01-09 | 2018-07-17 | 深圳飞马机器人科技有限公司 | Unmanned plane based on subtle three-dimensional landform gets higher course line method, terminal and system |
| CN108762300A (en) * | 2018-05-31 | 2018-11-06 | 智飞智能装备科技东台有限公司 | A kind of ground for the flight of unmanned unit controls programing system |
| WO2021163881A1 (en) * | 2020-02-18 | 2021-08-26 | 深圳市大疆创新科技有限公司 | Data processing method and system, device, and readable storage medium |
| CN112731968A (en) * | 2020-12-29 | 2021-04-30 | 长威信息科技发展股份有限公司 | Sky-ground integrated communication fusion cooperative scheduling system |
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Application publication date: 20161123 |