CN110764521B - Ground station task flight integrated monitoring system and method for multiple unmanned aerial vehicles - Google Patents
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Abstract
The invention belongs to the technical field of intelligent monitoring of unmanned aerial vehicles, and discloses a ground station task and flight integrated monitoring system and method for multiple unmanned aerial vehicles.
Description
Technical Field
The invention belongs to the technical field of intelligent monitoring of unmanned aerial vehicles, and particularly relates to a multi-unmanned aerial vehicle-oriented ground station task flight integrated monitoring system and method.
Background
Due to the increasing urgency of interoperability for command and Control of drones and the demand for Multi-drone cooperative combat, the united states air force developed a research for Multi-drone ground station Supervisory Control Technology (mucid) earlier than the early 21 st century.
In 9 months 2005, U.S. general atomic energy corporation has verified one-station Multi-Aircraft Capability (Multi-Aircraft Control Capability) for predator drones. In 9 months of the year, the panelists tested the general atomic energy company's MAC ground station, with 1 pilot simultaneously controlling 4 predator drones flying over south nevada. The system allows 1 pilot to directly control 1 predator, 3 others to be in formation for flight in their vicinity, and 4 load operators to control the load of four predators, respectively.
Although the MAC ground station realizes monitoring control on four unmanned aerial vehicles, due to the fact that flight and load are controlled separately, at least 1 flight operator and 4 load operators are needed for controlling the four unmanned aerial vehicles. And because the ground station flight control area is relatively isolated from the load control area, the load operator is less concerned about controlling the aircraft, and the flight operator is less concerned about controlling the mission load (the mission load refers to equipment which is arranged on the unmanned aerial vehicle and is used for completing missions, including equipment required for executing missions such as electronic warfare, reconnaissance and weapon transportation, such as signal transmitters, sensors and the like, but not including flight control equipment, data links, fuel oil and the like). However, since the functions of flight control and load control are widely affected by each other, the two operators must act in concert to achieve the desired effect of the mission. The ground stations of the unmanned aerial vehicles of the shadow, the predator, the dead and the warrior adopt the adjacent layout mode of the flight operation seat and the load operation seat, and are more favorable for coordination of tasks and flight to guide flight by the tasks.
Disclosure of Invention
The invention aims to provide a ground station task flight integrated monitoring system and method for multiple unmanned aerial vehicles, and aims to solve the problems that the existing ground station operation personnel of the unmanned aerial vehicles are too heavy in configuration, low in human-computer interaction intelligent level and insufficient in multi-machine cooperative control capability.
In order to achieve the purpose, the invention provides the following technical scheme:
the first technical scheme is as follows:
a ground station mission-flight integrated monitoring system for multiple unmanned aerial vehicles, the monitoring system comprising: the system comprises a ground monitor and a plurality of unmanned aerial vehicles;
and the ground monitor controls the flight and the task load of the multiple unmanned aerial vehicles in a mode of simultaneous monitoring and time-sharing control.
The first technical scheme of the invention has the characteristics and further improvements that:
(1) each unmanned aerial vehicle comprises in the whole mission flight phase: taking off, going out, penetration, attack, return and landing;
in the take-off process, the ground monitor is used for controlling the take-off of the multiple unmanned aerial vehicles; the interface of the ground monitor displays the takeoff state information of the multiple unmanned aerial vehicles;
in the process of sailing, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to fly and controlling the corresponding unmanned aerial vehicles to reach a mission area; the interface of the ground monitor mainly displays the flight state of each unmanned aerial vehicle and assists in displaying the task information of each unmanned aerial vehicle;
in the process of fire fighting, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to carry out fire fighting; the interface of the ground monitor simultaneously displays the flight state and task information of each unmanned aerial vehicle;
in the attack process, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to attack; the interface of the ground monitor mainly displays the task information of each unmanned aerial vehicle and assists in displaying the flight state of each unmanned aerial vehicle;
in the process of returning, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to evacuate from the task area; the interface of the ground monitor mainly displays the flight state of each unmanned aerial vehicle and assists in displaying the task information of each unmanned aerial vehicle;
in the landing process, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to land; and the interface of the ground monitor displays the landing state information of the multiple unmanned aerial vehicles.
(2) The interface of the ground monitor at least comprises: the unmanned aerial vehicle type selection area, the unmanned aerial vehicle key information display area, the unmanned aerial vehicle control display area and the map situation display area.
(3) Recording an unmanned aerial vehicle which is mainly controlled currently in the plurality of unmanned aerial vehicles as a master control unmanned aerial vehicle;
the unmanned aerial vehicle model selection area is used for displaying the flight states or task states of a plurality of unmanned aerial vehicles;
the unmanned aerial vehicle key information display area is used for displaying flight state information of the master control unmanned aerial vehicle;
the unmanned aerial vehicle control display area is used for displaying a head-up display picture of a master control unmanned aerial vehicle and carrying out instruction control on the master control unmanned aerial vehicle;
the map situation display area is used for displaying task routes, flight tracks and situation information of a plurality of unmanned aerial vehicles.
The second technical scheme is as follows:
a multi-unmanned aerial vehicle-oriented ground station task flight integrated monitoring method is applied to a monitoring system according to the first technical scheme, and comprises the following steps:
one ground monitor controls the flight and the task load of a plurality of unmanned aerial vehicles in a mode of simultaneous monitoring and time-sharing control; each unmanned aerial vehicle comprises in the whole mission flight phase: taking off, going out, penetration, attack, return and landing;
in the take-off process, the ground monitor controls a plurality of unmanned aerial vehicles to take off;
in the process of sailing, the ground monitor controls a plurality of unmanned aerial vehicles to fly and controls the corresponding unmanned aerial vehicles to reach a mission area;
in the process of fire fighting, the ground monitor controls a plurality of unmanned aerial vehicles to carry out fire fighting;
in the attack process, the ground monitor controls a plurality of unmanned aerial vehicles to attack;
in the process of returning, the ground monitor controls a plurality of unmanned aerial vehicles to evacuate from the task area;
and in the landing process, the ground monitor controls a plurality of unmanned aerial vehicles to land.
The second technical scheme of the invention has the characteristics and further improvements that:
(1) the interface of the ground monitor at least comprises: the system comprises an unmanned aerial vehicle model selection area, an unmanned aerial vehicle key information display area, an unmanned aerial vehicle control display area and a map situation display area;
recording an unmanned aerial vehicle which is mainly controlled currently in the plurality of unmanned aerial vehicles as a master control unmanned aerial vehicle;
the unmanned aerial vehicle model selection area displays the flight states or task states of a plurality of unmanned aerial vehicles;
the unmanned aerial vehicle key information display area displays the flight state information of the master control unmanned aerial vehicle;
the unmanned aerial vehicle control display area displays a head-up display picture of the master control unmanned aerial vehicle and performs instruction control on the master control unmanned aerial vehicle;
and the map situation display area displays the task air routes, flight tracks and situation information of a plurality of unmanned aerial vehicles.
(2) Displaying selectable operations of the drone control display area through a task and context based intent prediction model and an operator specific intent prediction model.
(3) The task and context based intent prediction model uses the task related parameters and the context related parameters to derive a set of operator intents for a given task and context; the task-related parameters include at least: the task stage and the issued task instruction, the parameters related to the context at least comprise: climate conditions and flight status of the aircraft.
(4) The operator-specific intent-based prediction model derives an operator's operational intent using operator-related parameters; the operator-related parameters include at least: eye movement patterns and operating habit parameters.
(5) The eye movement mode is obtained by adopting an eye movement instrument, and the operation habit parameters are obtained according to past operation records of an operator.
Compared with the prior art, the invention has the beneficial effects that:
(1) the task/flight integrated monitoring strategy of the multi-unmanned aerial vehicle is provided, the multiplexing degree of the control seats on the flight and the task can be effectively improved, and the coordination degree of the task and the flight is obviously improved; and the proportion of operators can be further reduced, the area range of control station deployment is narrowed, the life cycle cost is saved, and the battlefield viability and the overall operational efficiency of the unmanned system are further improved.
(2) The utility model provides a dynamic intelligent demonstration control interface can promote unmanned aerial vehicle operator's task completion efficiency, reduce work load, makes unmanned aerial vehicle operator realize more effectively keeping watch on and controlling many unmanned aerial vehicles under the limited demonstration control resource configuration condition.
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Fig. 1 is a schematic view illustrating integrated control of flight/mission of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an interface layout of a single monitor and multiple monitors according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an operator intention prediction process according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention provides a multi-unmanned aerial vehicle-oriented ground station task flight integrated monitoring method. The method is used for analyzing the use characteristics of integrated control of mission/flight of the unmanned aerial vehicle control station and one-seat control of multiple machines aiming at the use scene of coordinated operation of formation of multiple unmanned aerial vehicles, provides a set of simple and efficient intelligent integrated monitoring system for mission and flight of multiple unmanned aerial vehicles, meets the systematic development requirement of unmanned clustering/formation, and comprehensively improves the intelligent level and the overall operation efficiency of an unmanned operation system.
The technical scheme of the invention has the following three main technical points.
(1) And (3) an unmanned aerial vehicle task/flight integrated monitoring strategy. According to the invention, the task/flight integrated monitoring strategy of the unmanned aerial vehicle is researched by analyzing the workload of the ground station flight monitoring seat and the task monitoring seat in the whole task stage of the unmanned aerial vehicle. And (4) dynamically adjusting the display content of the human-computer interface according to different task stages of the unmanned aerial vehicle by combining the optimal distribution principle of flight and tasks.
(2) And (4) a single-seat multi-unmanned aerial vehicle monitoring strategy. The invention realizes the monitoring of a plurality of unmanned aerial vehicles on a single seat by a mode of simultaneously monitoring and time-sharing control of a plurality of machines, so as to realize the coordination and unification of flight control, task control and command decision, and lead the single unmanned aerial vehicle control seat to form a combat system with unified fighting capacity and coordination capacity.
(3) An intelligent man-machine interaction method facing multi-unmanned aerial vehicle monitoring. The invention improves the work performance of the operator by constructing the dynamic intelligent display control interface, and realizes the dynamic intelligent presentation and push of the relevant information of the display control interface by identifying the intention of the operator under different tasks and situations in real time.
The automatic flight control ability of current unmanned aerial vehicle has possessed basically, and flight operator only need keep watch on unmanned aerial vehicle's flight state and carry out special circumstances when the trouble takes place at normal flight in-process. Along with the improvement of unmanned aerial vehicle autonomous performance, unmanned aerial vehicle operator's responsibility is partial to task management and control, consequently gradually requires that unmanned aerial vehicle operator possesses the ability of carrying out flight control and task control simultaneously.
And analyzing and summarizing the information which needs to be concerned by the control station in the full-mission stage of the unmanned aerial vehicle, as shown in figure 1. As can be seen from fig. 1, in the takeoff and landing stage and the exit/return stage of the unmanned aerial vehicle, the control station monitors the unmanned aerial vehicle in a flight state, and does not need to pay much attention to load information; in the process of penetration and attack, the workload of the unmanned aerial vehicle flight monitoring is reduced, the workload of the load monitoring is increased, and the flight and the load monitoring need to be closely matched.
Therefore, an unmanned aerial vehicle task/flight integrated control strategy is formulated, namely, the distribution principle of flight and task monitoring is formulated by decomposing time slices of the whole task stage of the unmanned aerial vehicle and combing the information required to be concerned by each time slice control station, and the display content of the human-computer interface of the monitoring agent is dynamically adjusted according to different task stages of the unmanned aerial vehicle.
At present, a ground station basically has the control capability of one station for multiple machines, but at least two operators and two control seats are needed for controlling one airplane, so that the development and the application of the cooperative combat of multiple unmanned aerial vehicles are seriously limited. When multiple machines are required to form a team to cooperatively execute tasks, the requirement of one machine for multiple machines is more obvious. Taking four-plane formation as an example, research is carried out on a ground station multi-unmanned aerial vehicle monitoring system. The invention provides a method for monitoring multiple unmanned aerial vehicles by a single monitoring seat of a ground station. The method realizes the monitoring control of a plurality of unmanned aerial vehicles by a single operator and a single control seat in a mode of 'simultaneous monitoring and time-sharing control' so as to realize the coordination and unification of flight control, task control and command decision, and the single unmanned aerial vehicle control seat forms a combat system with unified fighting capacity and coordination capacity. The invention provides a software interface layout diagram for one-machine multi-machine monitoring, which is shown in figure 2.
As can be seen from FIG. 2, the present invention divides the one-machine multi-machine monitoring software interface into four functional domains.
(1) Unmanned aerial vehicle model selection district.
The area displays the main states of all the currently monitored unmanned aerial vehicles and gives an alarm, the unmanned aerial vehicle identifier in the area is clicked, the currently master controlled unmanned aerial vehicle can be selected, and the main states and the alarm are displayed on the interface in a distinguishing mode.
(2) Unmanned aerial vehicle key information display district.
The area displays key parameter information of the current master control unmanned aerial vehicle, including key information of the position, height, speed, course, flight attitude, power, electromechanics, hydraulic pressure and the like of the unmanned aerial vehicle.
(3) Unmanned aerial vehicle control zone.
The area displays the head-up display picture of the unmanned aerial vehicle which is currently monitored and controlled, and an operator in the area can manage and command and control the task activity of the unmanned aerial vehicle which is currently controlled.
(4) And a map situation display area.
The area comprehensively displays task planning air routes, flight tracks and situation information of all unmanned aerial vehicles currently monitored and controlled.
In order to realize that an operator of the unmanned aerial vehicle can more effectively monitor and control a plurality of unmanned aerial vehicles under the condition of limited display and control resource configuration, the invention provides the method for improving the work performance of the operator by constructing a dynamic intelligent display control interface, realizing the dynamic intelligent presentation and push of the relevant information of the display control interface by identifying the intention of the operator under different tasks and situations in real time, improving the situation awareness of the operator, reducing the work load and finally realizing the improvement of the performance. The operator intent prediction process based on the cognitive architecture model is illustrated in fig. 3.
The first partial model is a task and context based intent prediction model that identifies a subset of operator intentions from bottom to top. The model uses task-related system parameters (such as the stage of the task at hand, the task instructions that have been issued, etc.) and context-related system parameters (such as climate conditions, aircraft platform status, etc.) as inputs and outputs a set of operator intents for the given task and context conditions. The system parameters are automatically acquired according to the system sensors and further processed by the system (for example, the stage of the system in the task flow is obtained through information such as the space position and the speed of the airplane).
The second partial model is an operator-specific intent prediction model that identifies operator-specific intent from top to bottom; the model outputs a specific operator intent at a specific time using operator-related parameters (e.g., eye movement patterns, operating habits, etc.) as inputs. The parameters of the eye movement mode of the operator are acquired by the eye movement instrument, and the parameters of the operation habit are acquired by past operation records of the operator.
An intention prediction model based on tasks and situations drives intelligent dynamic switching of a human-computer interface: and intelligently switching flight control, route loading and load control pages according to different task stages, or automatically switching a health monitoring interface according to the state of an airplane platform, and the like. The operator-specific intent prediction model is based on driving the presentation and push of dynamic information: and pushing specific information concerned by the operator according to the sight line information of the operator, and pushing different prompt and decision-making assisting information according to the proficiency and operation habits of the operator.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (2)
1. The utility model provides a towards many unmanned aerial vehicle's ground station mission flight integration monitored control system which characterized in that, monitored control system includes: the system comprises a ground monitor and a plurality of unmanned aerial vehicles;
the ground monitor controls the flight and the task load of a plurality of unmanned aerial vehicles in a mode of simultaneous monitoring and time-sharing control;
each unmanned aerial vehicle comprises in the whole mission flight phase: taking off, going out, penetration, attack, return and landing;
in the take-off process, the ground monitor is used for controlling the take-off of the multiple unmanned aerial vehicles; the interface of the ground monitor displays the takeoff state information of the multiple unmanned aerial vehicles;
in the process of sailing, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to fly and controlling the corresponding unmanned aerial vehicles to reach a mission area; the interface of the ground monitor mainly displays the flight state of each unmanned aerial vehicle and assists in displaying the task information of each unmanned aerial vehicle;
in the process of fire fighting, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to carry out fire fighting; the interface of the ground monitor simultaneously displays the flight state and task information of each unmanned aerial vehicle;
in the attack process, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to attack; the interface of the ground monitor mainly displays the task information of each unmanned aerial vehicle and assists in displaying the flight state of each unmanned aerial vehicle;
in the process of returning, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to evacuate from the task area; the interface of the ground monitor mainly displays the flight state of each unmanned aerial vehicle and assists in displaying the task information of each unmanned aerial vehicle;
in the landing process, the ground monitor is used for controlling a plurality of unmanned aerial vehicles to land; the interface of the ground monitor displays landing state information of a plurality of unmanned aerial vehicles;
the interface of the ground monitor at least comprises: the system comprises an unmanned aerial vehicle model selection area, an unmanned aerial vehicle key information display area, an unmanned aerial vehicle control display area and a map situation display area;
recording an unmanned aerial vehicle which is mainly controlled currently in the plurality of unmanned aerial vehicles as a master control unmanned aerial vehicle;
the unmanned aerial vehicle model selection area is used for displaying the flight states or task states of a plurality of unmanned aerial vehicles;
the unmanned aerial vehicle key information display area is used for displaying flight state information of the master control unmanned aerial vehicle;
the unmanned aerial vehicle control display area is used for displaying a head-up display picture of a master control unmanned aerial vehicle and carrying out instruction control on the master control unmanned aerial vehicle;
the map situation display area is used for displaying task routes, flight tracks and situation information of a plurality of unmanned aerial vehicles;
displaying selectable operations of the drone control display area through a task and context based intent prediction model and an operator specific intent prediction model;
the task and context based intent prediction model uses the task related parameters and the context related parameters to derive a set of operator intents for a given task and context; the task-related parameters include at least: the task stage and the issued task instruction, the parameters related to the context at least comprise: climate conditions and flight status of the aircraft;
the operator-specific intent-based prediction model derives an operator's operational intent using operator-related parameters; the operator-related parameters include at least: eye movement patterns and operating habit parameters; the eye movement mode is obtained by adopting an eye movement instrument, and the operation habit parameters are obtained according to past operation records of an operator.
2. A multi-unmanned aerial vehicle-oriented ground station mission-flight integrated monitoring method is applied to the monitoring system according to claim 1, and is characterized in that the monitoring method comprises the following steps:
one ground monitor controls the flight and the task load of a plurality of unmanned aerial vehicles in a mode of simultaneous monitoring and time-sharing control; each unmanned aerial vehicle comprises in the whole mission flight phase: taking off, going out, penetration, attack, return and landing;
in the take-off process, the ground monitor controls a plurality of unmanned aerial vehicles to take off;
in the process of sailing, the ground monitor controls a plurality of unmanned aerial vehicles to fly and controls the corresponding unmanned aerial vehicles to reach a mission area;
in the process of fire fighting, the ground monitor controls a plurality of unmanned aerial vehicles to carry out fire fighting;
in the attack process, the ground monitor controls a plurality of unmanned aerial vehicles to attack;
in the process of returning, the ground monitor controls a plurality of unmanned aerial vehicles to evacuate from the task area;
in the landing process, the ground monitor controls a plurality of unmanned aerial vehicles to land;
the interface of the ground monitor at least comprises: the system comprises an unmanned aerial vehicle model selection area, an unmanned aerial vehicle key information display area, an unmanned aerial vehicle control display area and a map situation display area;
recording an unmanned aerial vehicle which is mainly controlled currently in the plurality of unmanned aerial vehicles as a master control unmanned aerial vehicle;
the unmanned aerial vehicle model selection area displays the flight states or task states of a plurality of unmanned aerial vehicles;
the unmanned aerial vehicle key information display area displays the flight state information of the master control unmanned aerial vehicle;
the unmanned aerial vehicle control display area displays a head-up display picture of the master control unmanned aerial vehicle and performs instruction control on the master control unmanned aerial vehicle;
and the map situation display area displays the task air routes, flight tracks and situation information of a plurality of unmanned aerial vehicles.
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| CN110764521A (en) | 2020-02-07 |
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