CN108762297A - A kind of no-manned plane three-dimensional avoidance control loop and drive manner - Google Patents
A kind of no-manned plane three-dimensional avoidance control loop and drive manner Download PDFInfo
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Abstract
This application discloses a kind of no-manned plane three-dimensional avoidance control loop and drive manners, are related to air vehicle technique field, solve the technical issues of high existing manipulation work pattern skill set requirements, avoidance safe differential.The no-manned plane three-dimensional avoidance control loop of the application includes：Flight control system provides unmanned plane manual manipulation movable information for monitoring system for obstacle, receives and execute the safety command that obstacle monitoring system is sent；Obstacle monitors system, and the movable information for receiving unmanned plane manual manipulation or flight course planning carries out the detection of barrier flight collision and analysis according to space three-dimensional data, and sends corresponding safety command to flight control system or earth station according to analysis result；Earth station, for the communication between flight course planning and flight control system and obstacle monitoring system.The application is mainly used for unmanned.
Description
Technical field
This application involves air vehicle technique fields, and in particular to a kind of no-manned plane three-dimensional avoidance control loop and driving side
Method.
Background technology
With the rapid development of unmanned plane sector application scale and depth, skill set requirements and the avoidance risk for flying control hand are also big
Width increases, and the work pattern of existing visual observation and manual manipulation becomes the restraining factors to become increasingly conspicuous, automatic obstacle avoiding technology
It is upgraded to the innovation focus of industry concern and research.
Unmanned plane automatic obstacle avoiding technology mainstream technology scheme is monitored in real time based on airborne radar and video sensor at present
Random environment obstacle, to control safe spacing and flight attitude.Program sensor special and system also need promoted cost performance and
Reliability, there is no can scale commercialization product.
Invention content
The application's is designed to provide a kind of no-manned plane three-dimensional avoidance control loop and drive manner, for solving nobody
The technical issues of automatic safe avoidance during machine operation.
In order to achieve the above objectives, the no-manned plane three-dimensional avoidance control loop of the application, including：Flight control system is used for
The movable information that system provides unmanned plane manual manipulation is monitored for obstacle, receives and the safety for executing obstacle monitoring system transmission refers to
It enables；Obstacle monitors system, the movable information for receiving unmanned plane manual manipulation or earth station's flight course planning, according to space three-dimensional
Data and default obstacle safe spacing carry out flight collision detection and analysis, and according to analysis result to flight control system or ground
Face station sends corresponding safety command；Earth station, between flight course planning and flight control system and obstacle monitoring system
Communication.
Preferably, obstacle monitoring system includes：Movable information module, for obtaining unmanned plane manual manipulation or earth station's boat
The movable information that line gauge is drawn；Collision detection module, for being pacified according to unmanned plane movable information, space three-dimensional data and default obstacle
Full spacing carries out flight collision detection and analysis, obtains flight collision point and scene；Safety command module, for according to flight
The point that conflicts and scene and safety control strategy, send corresponding manual manipulation or flight course planning safety command, and flight is avoided to rush
It is prominent.
Preferably, the collision detection module includes obstacle envelope module, based on barrier contour structures, size structure barrier
Hinder object enveloping solid, builds barrier multilayer envelope net further according to default safe spacing, the envelope net includes four layers, outside in
It is safety zone successively, forced deceleration area, forces hovering area and exclusion area.
On the one hand the no-manned plane three-dimensional avoidance control loop of the application ensure that unmanned plane manual manipulation and planning course line fly
On the other hand capable safety improves the efficiency of UAV Intelligent control and operation flight.
The application also proposes the drive manner of no-manned plane three-dimensional avoidance control loop, including：Obtain unmanned plane manual manipulation
Or the movable information of earth station's flight course planning；According to unmanned plane movable information and space three-dimensional data, default obstacle safe spacing
Flight collision detection and analysis are carried out, flight collision point and scene are obtained；It is controlled with safety according to flight collision point and scene
System strategy, sends corresponding manual manipulation or flight course planning safety command, avoids flight collision.
Preferably, it carries out flight collision detection and the method for analysis is：Establish obstacle Monitoring System Model；Obtain flight punching
Prominent analysis scene；The flight collision carried out between unmanned plane and barrier detects；Obtain the flight between unmanned plane and barrier
Conflict analysis result.
Preferably, the method for establishing obstacle Monitoring System Model is:The three dimensions number of acquisition flight operating area in advance
According to and establish three-dimensional space model；Its contour structures is based on to the barrier in three-dimensional space model, size carries out at enveloping solid
Reason builds multilayer envelope net further according to default safe spacing；The geographic coordinate system of three-dimensional space model is converted to unmanned plane to fly
The local coordinate of control system.
Preferably, carrying out the method that the flight collision between unmanned plane and barrier is analyzed is：First carry out z-axis direction without
The man-machine position relationship with each barrier envelope net judges；The barrier for having flight collision risk in z-axis direction is filtered out again；It is right
There is the flight collision confirmation judgement that the barrier of flight collision risk carries out x-axis with y-axis direction again in z-axis direction.
Preferably, the method for avoiding flight collision includes：Safe avoidance obstacle strategy in manual manipulation flight is being advised
Plot a course safe avoidance obstacle strategy in-flight and a kind of or more in the safe avoidance obstacle strategy in-flight etc. that makes a return voyage automatically
Kind；Manual manipulation offline mode：After unmanned plane takes off, flight control system, which pushes real-time flight movable information and monitored to obstacle, is
System carries out flight collision monitoring analysis, when aircraft is in safety zone, can continue to execute manual manipulation instruction；When aircraft enters pressure
Deceleration area, only carries out the direction instruction of manual manipulation, and speed of a ship or plane instruction limits prescribed limits；Hovering area is forced when aircraft enters, from
Dynamic hovering, and the return forced deceleration area direction instruction of subsequent manual manipulation is only carried out, speed of a ship or plane instruction limits prescribed limits；When winged
Machine enters exclusion area, and automatic original course, which returns, forces hovering area, and hovers, and waits for the return forced deceleration area of subsequent manual manipulation
Direction instructs；Plan airline operation pattern：Plan that operation destination, push obstacle monitoring system are flown before flight in earth station
Row conflict monitoring is analyzed, and there are the destination of flight collision, automatic or manual is changed to whole destinations for prompt in visualization interface
There is no flight collision.After the planning course line of monitoring revision uploads unmanned plane, flight control system can be realized according to the destination of planning
Safe avoidance flight；The automatic offline mode that makes a return voyage：The configurable automatic flight function of making a return voyage of manual manipulation offline mode, earth station with
Obstacle monitors system and plans course back, Ke Yi automatically in real time according to specified cruise-in altitude and family's point in advance in flight course
Earth station starts makes a return voyage instruction automatically, and control unmanned plane plans that course line is maked a return voyage landing by automatic make a return voyage.
Preferably, flight control system can configure power battery monitoring function, according to the course line of the real-time and history of acquisition
The electricity that prediction current location is maked a return voyage automatically needed for planning course line is calculated according to curve fitting algorithm in real time with electricity data
Qrtl.The automatic strategy that makes a return voyage can be set, that is, worked as：Qr≤Qrtl+ △, wherein △ is power secure threshold value, and Qr is current electricity in real time
Amount, flight control system can start automatic instruction of making a return voyage, unmanned plane made to make a return voyage automatically automatically.
Preferably, the drive manner of the no-manned plane three-dimensional avoidance control loop of the application drives with no-manned plane three-dimensional avoidance is
The technique effect of system is consistent, does not just repeat one by one herein.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Section Example described in application can also be obtained according to these attached drawings other for those of ordinary skill in the art
Attached drawing.
Fig. 1 is the structural schematic diagram of the no-manned plane three-dimensional avoidance control loop of the application；
Fig. 2 is the structural schematic diagram of the obstacle monitoring system of the application；
Fig. 3 is the schematic diagram of the conflict analysis x coordinate of the application；
Fig. 4 is the structural schematic diagram of the barrier envelope net of the application；
Fig. 5 is using airport as the structural schematic diagram of the envelope net of representative；
Fig. 6 is using city as the structural schematic diagram of the envelope net of representative；
Fig. 7 is using mountain area as the structural schematic diagram of the enveloping solid of representative；
Fig. 8 is the flow chart of the drive manner of the no-manned plane three-dimensional avoidance control loop of the application；
Fig. 9 is the collision detection of carry out unmanned plane during flying and analysis of the application, the method for obtaining flight collision analysis result
Flow chart；
Figure 10 is conspectus when unmanned plane makes a return voyage；
Figure 11 is another conspectus when unmanned plane makes a return voyage.
Specific implementation mode
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiment is the section Example of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, the every other embodiment that those skilled in the art are obtained without making creative work, all
Belong to the scope of protection of the invention.
Embodiment one
Fig. 1 is the structural schematic diagram of the no-manned plane three-dimensional avoidance control loop of the application.As shown in Figure 1, the nothing of the application
It is man-machine three-dimensional avoidance control loop include：Flight control system 1, obstacle monitoring system 2 and earth station 3, wherein flight control system
System 1 receives for monitoring the movable information that system 2 provides unmanned plane manual manipulation for obstacle and executes obstacle monitoring system 2 and send out
The safety command sent；Obstacle monitoring system 2, the movable information for receiving unmanned plane manual manipulation or earth station's flight course planning,
Safe spacing is preset according to space three-dimensional data and obstacle and carries out flight collision detection and analysis, and according to analysis result to flight
Control system 1 sends corresponding manual manipulation or flight course planning safety command；Earth station 3 controls for flight course planning and flight
Communication between system and obstacle monitoring system.
Specifically, the communication protocol between earth station 3 and flight control system 1 can be MAVlink agreements (Micro
Air Vehicle Link, miniature airborne aircraft link communication agreement), the communication between earth station 3 and obstacle monitoring system 2
Agreement can be wifi agreements.
Preferably, flight control system 1 further includes intelligent battery monitoring modular, is able to record and predicts that unmanned plane is made every time
Total flight time/airline distance of industry and a certain moment unmanned plane are completed and remaining flight time/airline distance, cooperation boat
Shi Guanli systems realize function of making a return voyage automatically.
Fig. 2 is the structural schematic diagram of the obstacle monitoring system of the application.As shown in Fig. 2, obstacle monitoring system includes：Movement
Information module 21, the movable information of manual manipulation or planning course line for obtaining unmanned plane；Collision detection module 22 is used for root
Safe spacing is preset according to unmanned plane movable information, space three-dimensional data and obstacle and carries out flight collision detection and analysis, is flown
Row conflict point and scene；Safety command module 23, for according to flight collision point and scene and safety control strategy, sending
Corresponding manual manipulation or flight course planning safety command, avoid flight collision.
Optionally, the unmanned plane manual manipulation of the acquisition of movable information module 21 or the movable information of flight course planning include：Nothing
Man-machine residing longitude, latitude, height, speed, acceleration and course etc..Obstacle monitors system 2 and is sent to flight control system 1
Safety command include：Maximum speed limitation instruction, peak acceleration limit instruction and voluntarily one kind in decision instruction or more
Kind.Wherein, voluntarily decision instruction includes：One kind or more of automatic suspension stop instruction, automatic instruction of making a return voyage, automatic landing instruction etc.
Kind.
Specifically, collision detection module 22 further includes the barrier preprocessing module in three-dimensional space model, based on outside it
Shape structure and size carry out enveloping solid processing to barrier；The multilayer envelope net of barrier is built further according to default safe spacing.Packet
Network diagram includes four layers, is safety zone successively outside in, forced deceleration area, forces hovering area and exclusion area.Collision detection module
22 carry out unmanned plane during flying collision detection and analysis, and the method for obtaining flight collision analysis result is：Establish obstacle monitoring system
Model；Obtain flight collision analysis scene；The flight collision carried out between unmanned plane and barrier detects；Obtain unmanned plane and barrier
Hinder the flight collision analysis result between object.
Flight collision analysis will carry out in the local coordinate of system for flight control computer.
It should be noted that taking human as regulation model in a certain place be origin (o points), front-right is x-axis, just before
Side is y-axis, establishes three dimensions local coordinate vertically upward for z-axis, local coordinate is a kind of Descartes's rectangular coordinate system.
Preferably, the method for establishing obstacle Monitoring System Model is：
The three-dimensional space data of flight operating area is acquired in advance and establishes three-dimensional space model；To in three-dimensional space model
Barrier be based on its contour structures, size carry out enveloping solid processing, and according to default safe spacing build barrier multilayer
Envelope net, then three-dimensional space model geographic coordinate system is mapped to local coordinate using o points as origin, in this way by unmanned plane position
Information is with space three-dimensional Unified Model in local coordinate.
It is converted into local in the geography information (longitude, latitude, height) of unmanned plane real-time flight and the destination of flight course planning
Co-ordinate system location information (x, y, z).Obstacle monitoring system 2 will automatically analyze (the detection models of detection_rang around unmanned plane
Enclose) in barrier envelope net each layer and unmanned plane spatial relationship.
Fig. 3 is the schematic diagram of the flight collision analysis x coordinate of the application.As shown in figure 3, all barriers in detection range
Hinder each each floor of envelope net of object (hovering area and exclusion area, are forced at forced deceleration area in safety zone) in the apex coordinate and unmanned plane of x-axis
Real-time destination or planning destination x coordinate compare, and unmanned plane x coordinate and each layer range of each barrier envelope net are compared,
Judge the position relationship in each barrier envelope net in the directions x each layer and unmanned plane, the flight collision between unmanned plane and barrier
Analysis result includes：Unmanned plane destination is in barrier safety zone, in forced deceleration area or pressure hovering area and in exclusion area
It is one or more.There are two types of situations then to need further to make a decision analysis to unmanned plane and the barrier：Unmanned plane destination is hindering
Ai Wu forced decelerations area forces in hovering area and in exclusion area.
The characteristics of according to unmanned plane during flying and environmental concerns, has more present high-altitude field relative to ground object unmanned plane,
So the obstacle monitoring system 2 of the application will judge the flight collision risk in z-axis direction in advance, again when finding to have collision risk
Make x-axis and y-axis direction Accurate Analysis, with substantially compressibility calculation amount.
It is to be understood that in simulated environment if directly to the solid of two subjects carry out crash tests and
When solid is more complicated, system resources in computation is consumed excessive, it is difficult to ensure the real-time of simulated program.In order to reduce meter
The cost of calculation and provide certain surplus for flight safety, the application carries out various forms of enveloping solids for different objects object
Technical finesse builds various forms of multilayer envelope nets to different barriers.
After enveloping solid processing, multilayer envelope net is formed around each barrier.It includes object pair that envelope net, which is one,
As and volume minimum cuboid or the polyhedrons such as sphere.
Illustratively, the unmanned plane of the application be multi-rotor aerocraft, due to multi-rotor aerocraft can 6DOF flight,
Flight course is more flexible, protects section model to ensure flight safety so this system establishes multilayer to barrier.
Fig. 4 is the structural schematic diagram of the barrier multilayer envelope net of the application.Envelope net is followed successively by safety zone outside in
41, forced deceleration area 42, pressure hovering area 43 and exclusion area 44.
Plant characteristic is directed to for other stationary bodies to be also required to do different envelope net processing.According to the application of unmanned plane
Stationary body is divided into three categories by scene and plant characteristic：
(1) using airport as the no-fly zone of representative
Landing area, danger zone around airport control zone type common when being low-latitude flying.This kind of flight is empty
Domain is usually expressed as the three dimensions of a piece of solid.Fig. 5 is using airport as the structural schematic diagram of the envelope net of representative.Such as Fig. 5 institutes
Show, usually gengon, fan-shaped cylinder, Elliptic Cylinder (cylinder is the special case of Elliptic Cylinder) are added and risen and low Gao Laibiao
Show.
(2) using city as the complex area of representative
Modern city is more complicated for the disturbing factor of flight, high building, tower crane, communication base station, television tower, thermoelectricity cigarette
The towering building such as chimney, electric power pylon can all threaten to flight safety.
Due to the state distribution that barrier multicomponent dissipates formula, random, size shape is different in urban area.Fig. 6 is
Using city as the structural schematic diagram of the envelope net of representative.As shown in fig. 6, according to static object in modern city low-latitude flying scene
The more feature of body has selected relatively easy, the general envelope net of compactness, according between building outer profile and default safety
Away from selecting a variety of cubes such as multi-party cylinder, Elliptic Cylinder and combinations thereof, ensure that the speed of collision detection, and the envelope
There are setting remainings for net, it is ensured that flight safety.
(3) using mountain area as the large area target area of representative
It is various that Chinese terrain is complex, and most commonly seen one kind flies during mountain area area is vast and low altitude airspace flying scene
The threat of row safety.
Fig. 7 is using mountain area as the structural schematic diagram of the enveloping solid of representative.As shown in fig. 7, according to mountain area feature, by mountain area into
Complete landforms are quantified as the rectangle of similar square wave by the processing of row mosaic partitioning algorithm, if in three dimensions, entire landform
Description is just countless cuboid prisms by integral quantization.
There are three kinds of spatial relationships for aircraft and obstacle envelope net, first, aircraft in safety zone, can continue to execute planning
Course line task or manual manipulation instruction；Second is that aircraft enters forced deceleration area, planning course line or the direction of manual manipulation are only carried out
Instruction, speed of a ship or plane instruction limit prescribed limits；Third, aircraft enters pressure hovering area, it is automatic to hover, and only carry out subsequent manual behaviour
The return forced deceleration area direction of control instructs, and speed of a ship or plane instruction limits prescribed limits；Fourth, aircraft enters exclusion area, it is automatic by former boat
Line, which returns, forces hovering area, and hovers, and waits for the return forced deceleration area direction instruction of subsequent manual manipulation.
Embodiment two
The application also proposes a kind of drive manner of no-manned plane three-dimensional avoidance control loop, is suitable for as described in embodiment one
No-manned plane three-dimensional avoidance control loop.
Fig. 8 is the flow chart of the drive manner of the no-manned plane three-dimensional avoidance control loop of the application, as shown in figure 8, driving
Method includes：It obtains the manual manipulation of unmanned plane or plans the movable information (810) in course line；According to unmanned plane movable information and sky
Between three-dimensional data, obstacle preset safe spacing and carry out flight collision detection and analysis, obtain flight collision point and scene
(820)；According to flight collision point and scene and safety control strategy, sends corresponding manual manipulation or flight course planning refers to safely
It enables, avoids flight collision (830).
Real time kinematics information includes initial motion information and sporting flying information, movable information include unmanned plane longitude,
The information such as latitude, height, speed, acceleration and course.
Specifically, the initial motion information of unmanned plane is obtained from the flight control system of unmanned plane 1, is the initial of unmanned plane
Position, including unmanned plane initial residing longitude, latitude, height, speed, acceleration and course etc..Flight control system 1 and barrier
Hinder and is communicated by earth station 3 between monitoring system 2.
Fig. 9 is the collision detection of carry out unmanned plane during flying and analysis of the application, the method for obtaining flight collision analysis result
Flow chart.As shown in figure 9, method includes：Establish obstacle Monitoring System Model (910)；Obtain flight collision analysis scene
(920)；Carry out the flight collision analysis (930) between unmanned plane and barrier；Obtain the flight between unmanned plane and barrier
Conflict analysis result (940).
Wherein, in step 910, the method for establishing obstacle Monitoring System Model is：The three of acquisition flight operating area in advance
Dimension space data simultaneously establish three-dimensional space model；Its contour structures is based on to the barrier in three-dimensional space model, size carries out
Enveloping solid processing, barrier multilayer envelope net is established further according to default safe spacing；By the geographic coordinate system of three-dimensional space model
It is converted into the local coordinate of UAV Flight Control System.The foundation of local coordinate is referring to the local coordinate system in embodiment one
The method for building up of system.Unmanned plane current geographic information is transformed into local coordinate, you can obtain flight collision analysis scene
(920)。
It should be pointed out that in step 930, the method for carrying out the analysis of the flight collision between unmanned plane and barrier is：
Z-axis direction unmanned plane is carried out first and the position relationship of each barrier envelope net judges；Filter out again has flight to rush in z-axis direction
The barrier of prominent risk；The flight collision confirmation for having the barrier of flight collision risk to carry out x-axis and y-axis again in z-axis direction is sentenced
It is disconnected.Flight collision analysis result between obtained unmanned plane and barrier includes：Unmanned plane pinpoint outside barrier envelope net,
Unmanned plane fixed point is in barrier envelope net and unmanned plane z coordinate is one or more in barrier envelope net.For nobody
Machine fixed point is in barrier envelope net and unmanned plane z coordinate needs further to make a decision analysis in barrier envelope net, avoids
Flight collision.
In step 830, the method for avoiding flight collision includes：Safe avoidance obstacle strategy in manual manipulation flight,
Safe avoidance obstacle strategy in planning airline operation and a kind of in the safe avoidance obstacle strategy in-flight etc. that makes a return voyage automatically
Or it is a variety of.
Manual manipulation offline mode：After unmanned plane takes off, flight control system 1 pushes real-time flight movable information to obstacle
Monitoring system 2 carries out flight collision monitoring analysis, when aircraft is in safety zone 41, can continue to execute manual manipulation instruction；When winged
Machine enters forced deceleration area 42, only carries out the direction instruction of manual manipulation, and speed of a ship or plane instruction limits prescribed limits；When aircraft enters by force
System hovering area 43, it is automatic to hover, and the return forced deceleration area direction instruction of subsequent manual manipulation is only carried out, speed of a ship or plane instruction limits
Prescribed limits；When aircraft enters exclusion area 44, automatic original course, which returns, forces hovering area, and hovers, and waits for subsequent manual manipulation
Return forced deceleration area direction instruction.
Plan airline operation pattern：Plan that operation destination, push obstacle monitoring system 2 carry out before flight in earth station 3
Flight collision monitoring analysis, there are the destination of flight collision, automatic or manual is changed to whole boats for prompt in visualization interface
The no flight collision of point.After the planning course line of monitoring revision uploads unmanned plane, flight control system 1 can be real according to the destination of planning
Now safe avoidance flight.
The automatic offline mode that makes a return voyage：Manual manipulation offline mode configurable automatic make a return voyage flight function, earth station 3 and obstacle
Monitoring system 2 plans course back automatically in real time in flight course according to specified cruise-in altitude and family's point in advance, can be on ground
Face station 3 starts automatic instruction of making a return voyage, and control unmanned plane plans that course line is maked a return voyage landing by automatic make a return voyage.
Automatically the method for course back planning is：The cruise-in altitude based on family's point position is manually set, startup is maked a return voyage automatically
After instruction, unmanned plane will be flown automatically to the height, be maked a return voyage automatically by height execution.Figure 10 is circuit when unmanned plane makes a return voyage
Schematic diagram.As shown in Figure 10, unmanned plane flies to setting height, and family's point position is back to along arrow.
It should be noted that the wind that conflicts that may lead to unmanned plane with barrier in the cruise-in altitude set in the process that makes a return voyage
Danger, obstacle monitor system 2 by Real Time Monitoring, and revise the automatic planning course line of making a return voyage of safe avoidance automatically.Figure 11 is nothing
Man-machine another conspectus when making a return voyage.As shown in figure 11, unmanned plane flies to cruise-in altitude, and a point is back to along arrow
It sets.
In addition, flight control system 1 can configure power battery monitoring function, according to the course line of the real-time and history of acquisition with
Electricity data calculates the electricity Qrtl that prediction current location is maked a return voyage automatically needed for planning course line in real time according to curve fitting algorithm.
The automatic strategy that makes a return voyage can be set, that is, worked as：
Qr≤Qrtl+ △ formula (1)
Wherein, △ is power secure threshold value, and Qr is current real time electrical quantity
Flight control system 1 can start instruction of making a return voyage automatically automatically, and unmanned plane is made to make a return voyage automatically.
The skill of the drive manner and no-manned plane three-dimensional avoidance control loop of the no-manned plane three-dimensional avoidance control loop of the application
Art effect is consistent, does not just repeat one by one herein.
Although the preferred embodiment of the application has been described, created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.Obviously, those skilled in the art can be to the application
Various modification and variations are carried out without departing from spirit and scope.If in this way, these modifications and variations of the application
Belong within the scope of the application claim and its equivalent technologies, then the application is also intended to exist comprising these modification and variations
It is interior.
Claims (9)
1. a kind of no-manned plane three-dimensional avoidance control loop, which is characterized in that including：
Flight control system receives for monitoring the movable information that system provides unmanned plane manual manipulation for obstacle and executes barrier
The safety command for hindering monitoring system to send；Obstacle monitors system, for receiving unmanned plane manual manipulation or earth station's flight course planning
Movable information, flight collision detection and analysis are carried out according to space three-dimensional data and default obstacle safe spacing, and according to point
It analyses result and sends corresponding safety command to flight control system or earth station；Earth station controls for flight course planning and flight
Communication between system and obstacle monitoring system.
2. control loop as described in claim 1, which is characterized in that obstacle monitors system and includes：
Movable information module, the movable information for obtaining unmanned plane manual manipulation or earth station's flight course planning；
Collision detection module, for being flown according to unmanned plane movable information, space three-dimensional data and default obstacle safe spacing
Row collision detection and analysis, obtain flight collision point and scene；
Safety command module, for according to flight collision point and scene and safety control strategy, sending corresponding manual manipulation
Or flight course planning safety command, avoid flight collision.
3. control loop as claimed in claim 2, which is characterized in that the collision detection module includes obstacle envelope module,
Barrier enveloping solid is built based on barrier contour structures, size, barrier multilayer envelope is built further according to default safe spacing
Net, the envelope net include four layers, are safety zone successively outside in, forced deceleration area, force hovering area and exclusion area.
4. a kind of drive manner of no-manned plane three-dimensional avoidance control loop, which is characterized in that including：
Obtain the movable information of unmanned plane manual manipulation or earth station's flight course planning；
Flight collision detection and analysis are carried out according to unmanned plane movable information and space three-dimensional data, default obstacle safe spacing,
Obtain flight collision point and scene；
According to flight collision point and scene and safety control strategy, sends corresponding manual manipulation or flight course planning refers to safely
It enables, avoids flight collision.
5. drive manner as claimed in claim 4, which is characterized in that carry out flight collision detection and the method for analysis is：
Establish obstacle Monitoring System Model；
Obtain flight collision analysis scene；
The flight collision carried out between unmanned plane and barrier detects；
Obtain the flight collision analysis result between unmanned plane and barrier.
6. drive manner as claimed in claim 5, which is characterized in that the method for establishing obstacle Monitoring System Model is:
The three-dimensional space data of flight operating area is acquired in advance and establishes three-dimensional space model；
Its contour structures, size progress enveloping solid processing are based on to the barrier in three-dimensional space model, further according to default safety
Spacing builds multilayer envelope net；
Convert the geographic coordinate system of three-dimensional space model to the local coordinate of system for flight control computer.
7. drive manner as claimed in claim 5, which is characterized in that carry out the flight collision point between unmanned plane and barrier
The method of analysis is：
Z-axis direction unmanned plane is carried out first and the position relationship of each barrier envelope net judges；
The barrier for having flight collision risk in z-axis direction is filtered out again；
To having in z-axis direction, the barrier of flight collision risk carries out x-axis again and the flight collision in y-axis direction confirms judgement.
8. drive manner as claimed in claim 4, which is characterized in that the method for avoiding flight collision includes：In manual manipulation
It safe avoidance obstacle strategy when flight, the safe avoidance obstacle strategy in planning airline operation and makes a return voyage in-flight automatically
Safe avoidance obstacle strategy etc. it is one or more；
Manual manipulation offline mode：After unmanned plane takes off, flight control system pushes real-time flight movable information and is monitored to obstacle
System carries out flight collision monitoring analysis, when aircraft is in safety zone, can continue to execute manual manipulation instruction；When aircraft enters by force
Deceleration area processed, only carries out the direction instruction of manual manipulation, and speed of a ship or plane instruction limits prescribed limits；Hovering area is forced when aircraft enters,
Automatic hovering, and the return forced deceleration area direction instruction of subsequent manual manipulation is only carried out, speed of a ship or plane instruction limits prescribed limits；When
Aircraft enters exclusion area, and automatic original course, which returns, forces hovering area, and hovers, and waits for the return forced deceleration of subsequent manual manipulation
Area direction instructs；
Plan airline operation pattern：Plan that operation destination, push obstacle monitoring system carry out flight punching before flight in earth station
Prominent monitoring analysis, there are the destination of flight collision, automatic or manual, which is changed to whole destinations, not to be had for prompt in visualization interface
Flight collision；After the planning course line of monitoring revision uploads unmanned plane, flight control system can realize safety according to the destination of planning
Avoidance is flown；
The automatic offline mode that makes a return voyage：The configurable automatic flight function of making a return voyage of manual manipulation offline mode, earth station monitor with obstacle
System plans course back automatically in real time in flight course according to specified cruise-in altitude and family's point in advance, can be opened in earth station
Dynamic automatic instruction of making a return voyage, control unmanned plane plan that course line is maked a return voyage landing by automatic make a return voyage.
9. drive manner as claimed in claim 4, which is characterized in that flight control system can configure power battery and monitor work(
Can, according to the course line of the real-time and history of acquisition and electricity data, according to curve fitting algorithm, prediction current location is calculated in real time
The automatic electricity Q to make a return voyage needed for planning course linertl；The automatic strategy that makes a return voyage can be set, that is, worked as：Qr≤Qrtl+ △, wherein △ is electricity
Measure secure threshold, QrFor current real time electrical quantity, flight control system can start automatic instruction of making a return voyage, unmanned plane is made to return automatically automatically
Boat.
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