CN110941287A - Autonomous special situation handling method for small fixed-wing unmanned aerial vehicle cluster - Google Patents
Autonomous special situation handling method for small fixed-wing unmanned aerial vehicle cluster Download PDFInfo
- Publication number
- CN110941287A CN110941287A CN201911280739.1A CN201911280739A CN110941287A CN 110941287 A CN110941287 A CN 110941287A CN 201911280739 A CN201911280739 A CN 201911280739A CN 110941287 A CN110941287 A CN 110941287A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- flight
- processing
- special situation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000002159 abnormal effect Effects 0.000 claims abstract description 8
- 239000000446 fuel Substances 0.000 claims description 12
- 238000011084 recovery Methods 0.000 claims description 10
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000007812 deficiency Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an autonomous special handling method for a small fixed wing unmanned aerial vehicle cluster, which comprises the following steps: abnormal flight speed processing, unstable flight attitude processing, excessively low battery power, abnormal engine speed processing, load fault processing, fault processing of an airborne sensor and collision risk processing; the autonomous special situation handling method for the small-sized fixed-wing unmanned aerial vehicle cluster can automatically carry out special situation handling on the unmanned aerial vehicle cluster in flight, immediately gives an alarm to a ground station when the special situation occurs, and meanwhile interrupts a flight task according to the severity of the special situation, enters a special situation handling stage, and can effectively guarantee the flight safety of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of special conditions of unmanned aerial vehicle clusters, and particularly relates to an autonomous special condition handling method for a small fixed-wing unmanned aerial vehicle cluster.
Background
In the task execution process of the unmanned aerial vehicle, various unpredictable air special situations can occur along with the actual operation process of the remote shooting: the conditions of sudden loss of picture transmission, sudden loss of control and the like form a difficult road crossing on the road.
The invention provides an autonomous special condition handling method for a small fixed wing unmanned aerial vehicle cluster, which is characterized in that the safety of an airplane is generally guaranteed by means of manual remote control within a visible distance, the steps are single, and the safety of the airplane is difficult to guarantee effectively.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an autonomous special situation handling method for a small fixed-wing unmanned aerial vehicle cluster, which can automatically perform targeted handling on special situations in the flight of the unmanned aerial vehicle cluster, immediately give an alarm to a ground station when the special situations occur, interrupt a flight task according to the severity of the special situations, enter a special situation handling stage and effectively ensure the flight safety of the unmanned aerial vehicle.
In order to achieve the purpose, the invention is realized by the following technical scheme: a small-sized fixed-wing unmanned aerial vehicle cluster autonomous special situation handling method comprises the following steps:
the method comprises the following steps: processing the abnormal flying speed; when the flight speed of the unmanned aerial vehicle is too high or too low, the aircraft returns to the safe flight speed by adopting a forced deceleration and acceleration means, simultaneously alarms to a ground station, and continues to execute a set flight task;
step two: flight attitude instability processing; when the flight attitude is unstable, when the roll attitude and the pitch attitude of the unmanned aerial vehicle exceed the limits and the unmanned aerial vehicle cannot continuously fly, the flight control controls the unmanned aerial vehicle to execute deep stall landing action;
step three: the battery power is too low; when the battery electric quantity is too low, the airborne fuel reaches below the early warning yellow line, a fuel deficiency warning is sent to the ground station, the flight task is continuously executed, the fuel reaches below the early warning red line, the unmanned aerial vehicle enters a recovery stage in advance to fly to a target point, and the height is reduced and recovered;
step four: processing the abnormal rotation speed of the engine; when the engine speed is too low or the vehicle is parked, a warning is sent to the ground station, and the unmanned aerial vehicle is lifted, decelerated and recovered on site;
step five: processing load faults; when the load fault can not continuously provide the target information, the load of the unmanned aerial vehicle is closed, the unmanned aerial vehicle flies to a target point, and the unmanned aerial vehicle is lowered and recovered in a speed-reducing touchdown manner;
step six: processing faults of the airborne sensor; when the GPS is unlocked for a long time and other sensor faults occur and the flight mission cannot be continuously executed, the unmanned aerial vehicle enters a recovery stage in advance, flies to a target point, and is recovered by descending, decelerating and touching the ground;
step seven: collision risk processing; when the flight distance between unmanned aerial vehicle and other neighbours is too close, and there is the collision risk, the unmanned aerial vehicle that mobility ability is stronger or surplus fuel is more descends and adjusts and neighbour unmanned aerial vehicle's horizontal distance, and after the risk is relieved, the unmanned aerial vehicle that descends climbs to safe flying height.
In a preferred embodiment of the present invention, the flight control in the second step is a flight control system.
As a preferred embodiment of the present invention, in the second step, for the fixed wing drone cluster using deep stall as a recovery method, in a special situation, the safety of the drone cluster and ground facility personnel can be ensured, and the effect is significant.
In a preferred embodiment of the present invention, after the unmanned plane stalls, the deep stall in the step two is a stall state in which the attack angle is automatically increased until a certain attack angle far exceeding the critical attack angle is locked, the forward speed is sharply reduced, and the sinking speed is sharply increased.
The invention has the beneficial effects that:
the autonomous special situation handling method for the small-sized fixed-wing unmanned aerial vehicle cluster can automatically carry out special situation in the flight of the unmanned aerial vehicle cluster to be handled, when the special situation occurs, the unmanned aerial vehicle cluster immediately gives an alarm to a ground station, meanwhile, a flight task is interrupted according to the severity of the special situation, a special situation handling stage is entered, the flight safety of the unmanned aerial vehicle can be effectively guaranteed, the deep stall is taken as the fixed-wing unmanned aerial vehicle cluster of a recovery mode, the safety of the unmanned aerial vehicle cluster and ground facility personnel can be effectively guaranteed, and the effect is obvious.
Drawings
Fig. 1 is a schematic flow chart illustrating steps of an autonomous special handling method for a small fixed-wing drone cluster;
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1, the present invention provides a technical solution: a small-sized fixed-wing unmanned aerial vehicle cluster autonomous special situation handling method comprises the following steps:
the method comprises the following steps: processing the abnormal flying speed; when the flight speed of the unmanned aerial vehicle is too high or too low, the aircraft returns to the safe flight speed by adopting a forced deceleration and acceleration means, simultaneously alarms to a ground station, and continues to execute a set flight task;
step two: flight attitude instability processing; when the flight attitude is unstable, when the roll attitude and the pitch attitude of the unmanned aerial vehicle exceed the limits and the unmanned aerial vehicle cannot continuously fly, the flight control controls the unmanned aerial vehicle to execute deep stall landing action;
step three: the battery power is too low; when the battery electric quantity is too low, the airborne fuel reaches below the early warning yellow line, a fuel deficiency warning is sent to the ground station, the flight task is continuously executed, the fuel reaches below the early warning red line, the unmanned aerial vehicle enters a recovery stage in advance to fly to a target point, and the height is reduced and recovered;
step four: processing the abnormal rotation speed of the engine; when the engine speed is too low or the vehicle is parked, a warning is sent to the ground station, and the unmanned aerial vehicle is lifted, decelerated and recovered on site;
step five: processing load faults; when the load fault can not continuously provide the target information, the load of the unmanned aerial vehicle is closed, the unmanned aerial vehicle flies to a target point, and the unmanned aerial vehicle is lowered and recovered in a speed-reducing touchdown manner;
step six: processing faults of the airborne sensor; when the GPS is unlocked for a long time and other sensor faults occur and the flight mission cannot be continuously executed, the unmanned aerial vehicle enters a recovery stage in advance, flies to a target point, and is recovered by descending, decelerating and touching the ground;
step seven: collision risk processing; when the flight distance between unmanned aerial vehicle and other neighbours is too close, and there is the collision risk, the unmanned aerial vehicle that mobility ability is stronger or surplus fuel is more descends and adjusts and neighbour unmanned aerial vehicle's horizontal distance, and after the risk is relieved, the unmanned aerial vehicle that descends climbs to safe flying height.
In a preferred embodiment of the present invention, the flight control in the second step is a flight control system.
As a preferred embodiment of the present invention, in the second step, for the fixed wing drone cluster using deep stall as a recovery method, in a special situation, the safety of the drone cluster and ground facility personnel can be ensured, and the effect is significant.
In a preferred embodiment of the present invention, after the unmanned plane stalls, the deep stall in the step two is a stall state in which the attack angle is automatically increased until a certain attack angle far exceeding the critical attack angle is locked, the forward speed is sharply reduced, and the sinking speed is sharply increased.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. A small-sized fixed wing unmanned aerial vehicle cluster autonomous special situation handling method is characterized by comprising the following steps:
the method comprises the following steps: processing the abnormal flying speed; when the flight speed of the unmanned aerial vehicle is too high or too low, the aircraft returns to the safe flight speed by adopting a forced deceleration and acceleration means, simultaneously alarms to a ground station, and continues to execute a set flight task;
step two: flight attitude instability processing; when the flight attitude is unstable, when the roll attitude and the pitch attitude of the unmanned aerial vehicle exceed the limits and the unmanned aerial vehicle cannot continuously fly, the flight control controls the unmanned aerial vehicle to execute deep stall landing action;
step three: the battery power is too low; when the battery electric quantity is too low, the airborne fuel reaches below the early warning yellow line, a fuel deficiency warning is sent to the ground station, the flight task is continuously executed, the fuel reaches below the early warning red line, the unmanned aerial vehicle enters a recovery stage in advance to fly to a target point, and the height is reduced and recovered;
step four: processing the abnormal rotation speed of the engine; when the engine speed is too low or the vehicle is parked, a warning is sent to the ground station, and the unmanned aerial vehicle is lifted, decelerated and recovered on site;
step five: processing load faults; when the load fault can not continuously provide the target information, the load of the unmanned aerial vehicle is closed, the unmanned aerial vehicle flies to a target point, and the unmanned aerial vehicle is lowered and recovered in a speed-reducing touchdown manner;
step six: processing faults of the airborne sensor; when the GPS is unlocked for a long time and other sensor faults occur and the flight mission cannot be continuously executed, the unmanned aerial vehicle enters a recovery stage in advance, flies to a target point, and is recovered by descending, decelerating and touching the ground;
step seven: collision risk processing; when the flight distance between unmanned aerial vehicle and other neighbours is too close, and there is the collision risk, the unmanned aerial vehicle that mobility ability is stronger or surplus fuel is more descends and adjusts and neighbour unmanned aerial vehicle's horizontal distance, and after the risk is relieved, the unmanned aerial vehicle that descends climbs to safe flying height.
2. The autonomous special handling method for small clusters of fixed-wing drones according to claim 1, characterized in that: and the flight control in the second step is a flight control system.
3. The autonomous special handling method for small clusters of fixed-wing drones according to claim 1, characterized in that: in the second step, aiming at the fixed wing unmanned aerial vehicle cluster taking deep stall as a recovery mode, the safety of the unmanned aerial vehicle cluster and ground facility personnel can be ensured in special situation treatment, and the effect is obvious.
4. The autonomous special handling method for small clusters of fixed-wing drones according to claim 1, characterized in that: and the deep stall in the step two is a stall state that after the unmanned aerial vehicle stalls, the attack angle is automatically increased until a certain attack angle far exceeding the critical attack angle is locked, the advancing speed is sharply reduced, and the sinking speed is sharply increased.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911280739.1A CN110941287A (en) | 2019-12-13 | 2019-12-13 | Autonomous special situation handling method for small fixed-wing unmanned aerial vehicle cluster |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911280739.1A CN110941287A (en) | 2019-12-13 | 2019-12-13 | Autonomous special situation handling method for small fixed-wing unmanned aerial vehicle cluster |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110941287A true CN110941287A (en) | 2020-03-31 |
Family
ID=69910769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911280739.1A Pending CN110941287A (en) | 2019-12-13 | 2019-12-13 | Autonomous special situation handling method for small fixed-wing unmanned aerial vehicle cluster |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110941287A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111862550A (en) * | 2020-08-13 | 2020-10-30 | 深圳市高巨创新科技开发有限公司 | Formation unmanned aerial vehicle group departure alarm method and system |
| CN112698663A (en) * | 2020-12-04 | 2021-04-23 | 一飞(海南)科技有限公司 | Cluster performance fault processing method and system, unmanned aerial vehicle, ground station and terminal |
| CN113504787A (en) * | 2021-06-03 | 2021-10-15 | 北京万丰创动科技服务有限公司 | Unmanned device cluster command system |
| CN114779804A (en) * | 2022-03-28 | 2022-07-22 | 中国电子科技集团公司第五十四研究所 | Unmanned aerial vehicle special situation handling method based on state estimation rule |
| CN116176899A (en) * | 2023-04-27 | 2023-05-30 | 北京理工大学 | Ship-borne small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device |
| CN117369493A (en) * | 2023-10-13 | 2024-01-09 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109917767A (en) * | 2019-04-01 | 2019-06-21 | 中国电子科技集团公司信息科学研究院 | A kind of distribution unmanned plane cluster autonomous management system and control method |
-
2019
- 2019-12-13 CN CN201911280739.1A patent/CN110941287A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109917767A (en) * | 2019-04-01 | 2019-06-21 | 中国电子科技集团公司信息科学研究院 | A kind of distribution unmanned plane cluster autonomous management system and control method |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111862550A (en) * | 2020-08-13 | 2020-10-30 | 深圳市高巨创新科技开发有限公司 | Formation unmanned aerial vehicle group departure alarm method and system |
| CN111862550B (en) * | 2020-08-13 | 2021-11-30 | 深圳市高巨创新科技开发有限公司 | Formation unmanned aerial vehicle group departure alarm method and system |
| CN112698663A (en) * | 2020-12-04 | 2021-04-23 | 一飞(海南)科技有限公司 | Cluster performance fault processing method and system, unmanned aerial vehicle, ground station and terminal |
| CN112698663B (en) * | 2020-12-04 | 2023-05-09 | 一飞(海南)科技有限公司 | Cluster performance fault processing method and system, unmanned aerial vehicle, ground station and terminal |
| CN113504787A (en) * | 2021-06-03 | 2021-10-15 | 北京万丰创动科技服务有限公司 | Unmanned device cluster command system |
| CN114779804A (en) * | 2022-03-28 | 2022-07-22 | 中国电子科技集团公司第五十四研究所 | Unmanned aerial vehicle special situation handling method based on state estimation rule |
| CN116176899A (en) * | 2023-04-27 | 2023-05-30 | 北京理工大学 | Ship-borne small-sized vertical take-off and landing fixed wing unmanned aerial vehicle recovery device |
| CN117369493A (en) * | 2023-10-13 | 2024-01-09 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure |
| CN117369493B (en) * | 2023-10-13 | 2024-06-11 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110941287A (en) | Autonomous special situation handling method for small fixed-wing unmanned aerial vehicle cluster | |
| US10933996B2 (en) | Release and capture of a fixed-wing aircraft | |
| US9586683B1 (en) | Transitioning an unmanned aerial vehicle to horizontal flight | |
| US20170225779A1 (en) | Magnetic Orientation Detent | |
| CN105235895A (en) | Multi-rotor unmanned aerial vehicle with emergency braking device and emergency braking method thereof | |
| WO2011132291A1 (en) | Flight condition control device for flying object | |
| CN106043715B (en) | A kind of aerial method for controlling automatic ignition of unmanned vehicle engine | |
| US11851170B2 (en) | Drone rotor cage | |
| CN205256682U (en) | Control system is retrieved in unmanned aerial vehicle parachuting | |
| CN102520727A (en) | Reconnaissance system with unmanned plane | |
| CN113741520B (en) | Method for avoiding and bypassing non-flying area of fixed-wing unmanned aerial vehicle | |
| CN104536455B (en) | Flight control method of unmanned general aircraft with flight experience function | |
| CN108725773A (en) | A kind of unmanned transporter | |
| CN113655812A (en) | Landing method for flameout of aerial engine of large-scale freight unmanned aerial vehicle | |
| CN110329527A (en) | A kind of UAV system with parachute safety guard | |
| CN106379552A (en) | Small-sized unmanned plane withdrawing and releasing method based on tethered balloon | |
| CN105741613A (en) | Optimization method and system for reducing false alarm of minimum safety altitude warning | |
| CN205113687U (en) | Many rotors unmanned vehicles with emergency brake arrangement | |
| CN104890889A (en) | Control method of aircraft and aircraft | |
| CN112327924A (en) | Link failure emergency disposal method for flight of unmanned helicopter airline | |
| CN208683103U (en) | A kind of unmanned transporter | |
| WO2019005137A1 (en) | Systems and methods for controlling aircraft based on sensed air movement | |
| CN201030944Y (en) | Light seed-prohibiting drug-spading unmanned observation plane | |
| CN108216557A (en) | A kind of unmanned marine monitoring aircraft | |
| WO2021016871A1 (en) | Control method and control apparatus for unmanned aerial vehicle, and computer-readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200331 |
|
| RJ01 | Rejection of invention patent application after publication |