CN111596687A - Landing guide device and method for mobile platform of vertical take-off and landing unmanned aerial vehicle - Google Patents
Landing guide device and method for mobile platform of vertical take-off and landing unmanned aerial vehicle Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention discloses a landing guiding device and a landing guiding method for a mobile platform of a vertical take-off and landing unmanned aerial vehicle, and belongs to the field of carrier-based unmanned aerial vehicle landing navigation. The device comprises a stable platform carried on a deck of a ship; the stabilizing platform comprises a target, an upper platform, a lower platform, an electric cylinder and three supporting rods, wherein the electric cylinder controls the three supporting rods to move in three degrees of freedom, so that attitude motion in three directions of deck pitching, rolling and yawing is compensated; when the vertical take-off and landing unmanned aerial vehicle is to land on the deck, the unmanned aerial vehicle automatically moves along the deck and gradually approaches a landing point until the unmanned aerial vehicle reaches the position above a target; then the unmanned aerial vehicle gradually reduces the height to be close to a landing point through a dynamic differential relative positioning technology until a deck reaches the position close to a visual capture point of the unmanned aerial vehicle, and the unmanned aerial vehicle introduces visual navigation; meanwhile, the inclination angle of the deck is automatically adjusted, deck attitude motion is offset, and the unmanned aerial vehicle is guaranteed to land stably. The unmanned aerial vehicle full-autonomous deck landing guide device is simple in structure, achieves full-autonomous deck landing of the unmanned aerial vehicle, and improves the landing guide precision.
Description
Technical Field
The invention belongs to the field of carrier-based unmanned aerial vehicle landing navigation, and particularly relates to a landing guiding device and a landing guiding method for a mobile platform of a vertical take-off and landing unmanned aerial vehicle.
Background
The unmanned aerial vehicle industry develops rapidly in recent years, and the unmanned aerial vehicle is combined with various fields more and more widely. When the ship-based unmanned aerial vehicle executes tasks such as offshore exploration, aerial reconnaissance or remote striking, compared with the traditional manned ship-based aircraft, the ship-based unmanned aerial vehicle is smaller in size and stronger in autonomy, has flexible combat capability and good stealth performance, can work in severe environments such as high altitude oxygen deficiency all weather regardless of the human body limit, has the advantage of zero casualties, and plays a vital role in modern sea and military.
China is a big ocean country, has large territory of coast, and China navy bears the major task of defending territory of territory and resources. The shipborne unmanned aerial vehicle can greatly increase the range and strength of offshore air-raid defense in China, and is one of the key development directions of the navy in China.
However, the shipborne landing of the unmanned aerial vehicle has a plurality of difficulties, and a ship can be influenced by sea waves when sailing on the sea, so that the swinging is generated, the guiding precision is influenced, and the shipborne landing difficulty of the unmanned aerial vehicle is increased. Compared with marine shipborne landing and land-based landing, the unmanned aerial vehicle is difficult to land due to the fact that no landmark is available during marine landing. Meanwhile, the space of the ship deck for landing of the carrier-based aircraft is limited, and the requirement on the accuracy of the landing of the carrier-based unmanned aerial vehicle is high.
Limited by the length of a ship deck, the unmanned aerial vehicle is difficult to run and take off and land on a common ship, even if the unmanned aerial vehicle can run and land on an aircraft carrier, once the carrier-based aircraft fails to land on the aircraft carrier, serious interlinked collision accidents are caused no matter the carrier-based aircraft fails to land on the sea or rushes into a shutdown area of the aircraft carrier deck, and huge economic and resource losses are caused.
The unmanned aerial vehicle with the vertical take-off and landing performance has relatively small required space when landing, has relatively small landing speed, and is more suitable for ship-borne landing, so that the vertical take-off and landing performance is an important direction for the development of future ship-borne aircraft, but the landing of a mobile platform has a plurality of difficulties. Because both basic station and unmanned aerial vehicle are the motion, only rely on traditional GPS single point location precision not enough, difference GPS location can bring great error because of the motion of basic station, and inertial navigation has accumulative error, and radar navigation is easily by the investigation interference. Therefore, how to guide the carrier-based unmanned aerial vehicle to realize accurate landing according to the set route is an important problem to be solved urgently for the carrier-based landing of the unmanned aerial vehicle.
At present, net collision recovery, carrier blocking, aerial recovery and automatic carrier landing are several common carrier-based unmanned aerial vehicle carrier landing modes. However, with the development of science and technology and the increasing requirements for unmanned aerial vehicle landing, the demand of each country for accurate and stable automatic carrier landing technology is higher and higher. The unmanned aerial vehicle can independently land with high precision according to a preset track, and the method is one of important research directions for developing the carrier-based unmanned aerial vehicle in all countries at present. In order to achieve autonomous landing in a harsh offshore environment, the navigation system must have good immunity to interference and can achieve high accuracy and fast real-time guidance.
Disclosure of Invention
The invention provides a landing guide device and a landing guide method for a mobile platform of a vertical take-off and landing unmanned aerial vehicle, aiming at the defect of the landing precision of the mobile platform of the existing unmanned aerial vehicle.
The landing guide device of the vertical take-off and landing unmanned aerial vehicle mobile platform comprises a ship deck and a three-degree-of-freedom parallel type stable platform; the ship deck is used as a stable carrying platform on the mobile platform; the stabilization platform includes: target, upper mounting plate, go up hooke's hinge, lower platform, electronic jar and three spinal branch vaulting poles.
The target is carried at the central position of the upper platform, the infrared lamp array forms nested patterns, and on one hand, the requirement that small infrared lamp array patterns are easy to identify when the unmanned aerial vehicle quickly falls onto the moving platform due to the change of the visual angle of the camera in the landing process of the unmanned aerial vehicle can be met; on the other hand unmanned aerial vehicle flies when descending at night, can solve out the relative position gesture that unmanned aerial vehicle apart from image central point to put according to infrared lamp array pattern, realizes accurate descending, can be used for unmanned aerial vehicle's moving platform to descend in all weather.
The upper platform and the lower platform are concentric circles, and the radius of the lower platform is larger than that of the upper platform. The upper platform is used for bearing the landing of the unmanned aerial vehicle, and the lower platform is fixed on the moving platform; the upper platform and the lower platform are connected through three support rods, the three support rods are evenly distributed on the edge between the upper platform and the lower platform in the circumferential direction, each support rod is formed by nesting an electric cylinder and a rod piece, the electric cylinder provides driving force for the support rods, and each support rod can be extended or shortened so as to compensate attitude motion of the mobile platform in three directions of pitching, rolling and yawing.
The upper platform is connected with the supporting rod through an upper hook hinge, and the lower platform is connected with the supporting rod through a lower hook hinge.
And further, a reference station is placed at an open position which does not influence the GPS signal on the mobile platform, the GPS speed information of the reference station and the course information of the GPS are used as the speed and the course of the mobile platform, the GPS speed information and the course information of the GPS are transmitted to the unmanned aerial vehicle through a link to be used as the expected speed and the course information of the unmanned aerial vehicle, and the unmanned aerial vehicle flies along with the mobile platform according to the expected speed and the course.
An integrated chip is further placed on the lower platform and is respectively connected with the three electric cylinders, the integrated chip comprises an acquisition sensor, and when the ship swings, the acquisition sensor acquires the swinging motion data of the ship; the support rods are driven by the electric cylinders to extend or shorten according to the stretching amount, the upper platform is always kept horizontal and stable, the influence of the swinging posture of the ship on the stable platform is eliminated, the upper platform is controlled not to swing along with the ship, and the vertical take-off and landing unmanned aerial vehicle can stably land on the stable platform.
The landing guiding method for the vertical take-off and landing unmanned aerial vehicle mobile platform comprises the following specific steps:
firstly, when the vertical take-off and landing unmanned aerial vehicle is to land on a deck of a ship, the unmanned aerial vehicle autonomously follows a mobile platform to move and gradually approaches a landing point until the unmanned aerial vehicle reaches the position above a target;
the method specifically comprises the following steps:
when the vertical take-off and landing unmanned aerial vehicle is at a long distance, the vertical take-off and landing unmanned aerial vehicle is fast close to a mobile platform, GPS speed information of a reference station and course information of a GPS are used as the speed and the course of the mobile platform, the GPS speed information and the course information are transmitted to the unmanned aerial vehicle through a link, the GPS speed information and the course information are used as the input of the expected speed of the unmanned aerial vehicle and the course information of the unmanned aerial vehicle, the unmanned aerial vehicle is gradually close to the mobile platform according to the expected speed and the course, the unmanned aerial vehicle decelerates in a short distance, the rear.
And step two, when the vertical take-off and landing unmanned aerial vehicle reaches the position above the moving platform target, the vertical take-off and landing unmanned aerial vehicle gradually reduces the height and is close to a landing point through a dynamic pair dynamic differential relative positioning technology.
The specific process is as follows:
firstly, the vertical take-off and landing unmanned aerial vehicle respectively carries out relative positioning on the unmanned aerial vehicle and a reference station on a mobile platform by utilizing a mounted differential module and an inertial navigation module through a dynamic pair differential relative positioning technology of an INS/GPS integrated navigation system, so that the unmanned aerial vehicle obtains the relative position of the relative mobile platform;
the relative distance calculation formula of the mobile platform and the unmanned aerial vehicle is as follows:
wherein: d represents the relative distance of the mobile platform and the drone; r is the radius of the earth; phi is a1Indicates the latitude, phi, of the mobile platform2Representing the latitude of the vertical take-off and landing unmanned aerial vehicle; Δ λ represents a difference in longitude of two points.
The speed of the unmanned aerial vehicle is adjusted to be consistent with the speed of the mobile platform, the unmanned aerial vehicle is kept above a landing point all the time, and the height is reduced.
And step three, in the descending process of the vertical take-off and landing unmanned aerial vehicle, when the mobile platform reaches the position near the visual capture point of the vertical take-off and landing unmanned aerial vehicle, the vertical take-off and landing unmanned aerial vehicle introduces visual navigation to guide the unmanned aerial vehicle to descend.
The visual navigation is realized through a camera mounted on the vertical take-off and landing unmanned aerial vehicle, and the specific process is as follows:
when the mobile platform reaches the vicinity of a visual capture point of the vertical take-off and landing unmanned aerial vehicle, a camera of the unmanned aerial vehicle acquires images in real time, feature extraction is carried out on the acquired images by using an image processing technology, attitude information of the unmanned aerial vehicle relative to the mobile platform is calculated, and then the attitude information of the unmanned aerial vehicle is output to the unmanned aerial vehicle flight control;
the unmanned aerial vehicle flight control system integrates the position and attitude information of the INS/GPS integrated navigation system and the visual navigation system, so that the unmanned aerial vehicle can land on the mobile platform with higher precision.
And step four, in the process of landing the vertical take-off and landing unmanned aerial vehicle, the stable platform automatically adjusts the inclination angle, counteracts the attitude motion of the mobile platform and ensures the stable landing of the unmanned aerial vehicle.
The stable platform automatically adjusts the inclination angle according to the posture of the mobile platform, and specifically comprises the following steps: acquiring attitude change data of the mobile platform in real time by an acquisition sensor; and then the attitude of the aircraft is amplified by a signal amplifier and transmitted to an industrial personal computer, the industrial personal computer performs pose inverse solution and outputs the stretching amount of each electric cylinder to be fed back to each electric cylinder, each electric cylinder drives the corresponding support rod to extend or shorten according to the stretching amount to perform reverse compensation, the maximum 15-degree attitude angle is compensated, the multi-degree-of-freedom motion of the mobile platform is compensated, the upper platform is kept horizontal, and the attitude of the aircraft is kept horizontal and stably descends when the aircraft is grounded.
The invention has the advantages that:
(1) the invention relates to a landing guiding method for a mobile platform of a vertical take-off and landing unmanned aerial vehicle, which realizes that the unmanned aerial vehicle fully autonomously carries out the landing of the mobile platform, and improves the landing guiding precision of the unmanned aerial vehicle by adopting a combined navigation mode, and the precision can reach centimeter level through testing.
(2) A landing guide method for a mobile platform of a vertical take-off and landing unmanned aerial vehicle is characterized in that the size of equipment required by the unmanned aerial vehicle is small, and the mass of the equipment is less than 2 kg.
(3) The utility model provides a VTOL unmanned aerial vehicle moving platform descending guide method, can transmit reference station speed information and the course information of reference station to unmanned aerial vehicle as unmanned aerial vehicle's speed and course control through the link when carrying out the difference navigation for unmanned aerial vehicle moving platform descending control has faster control response time, owing to use moving platform's course information as unmanned aerial vehicle's course, makes with flying phase more accurate.
(4) The utility model provides a VTOL unmanned aerial vehicle moving platform descending guiding device, the stable platform that moving platform carried on is three degree of freedom parallel, and its simple structure, load are big, no accumulative error, easily realize multiaxis linkage, light in weight, inertia are little, rigidity is big, the response is quick and the precision is high, can also partially compensate moving platform's the motion of swaying when carrying out compensation rotational motion through flexible three bracing piece.
(5) The utility model provides a VTOL unmanned aerial vehicle moving platform descending guiding device, owing to install infrared lamp battle array on the descending guiding device, can realize all-weather unmanned aerial vehicle and descend.
Drawings
Fig. 1 is a landing guidance schematic diagram of the method for guiding the landing of the mobile platform of the vertical take-off and landing unmanned aerial vehicle;
FIG. 2 is a flow chart of a method for guiding the landing of a mobile platform of a vertical take-off and landing UAV according to the present invention;
fig. 3 is a schematic structural diagram of a stable platform in the landing guide device of the mobile platform of the vertical take-off and landing unmanned aerial vehicle of the invention;
FIG. 4 is a schematic structural diagram of an upper hook joint (left) and a lower hook joint (right) in the three-degree-of-freedom parallel type stabilization platform of the present invention;
fig. 5 is a working schematic diagram of the three-degree-of-freedom parallel type stable platform of the invention.
In the figure:
1-a target; 2-an upper platform; 3-adding a hook hinge; 4-lower hook joint; 5-a lower platform; 6-electric cylinder; 7-a support bar; 8-upper seat; 9-intermediate sleeve; 10-a base; 11-a shaft sleeve; 12-a bearing; 13-screw.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
The invention researches the precise Landing technology of a vehicle-mounted or ship-mounted Vertical Take-Off and Landing (VTOL) unmanned aerial vehicle, designs a Landing guide scheme of the VTOL unmanned aerial vehicle, reduces the accumulated error of inertial navigation by a satellite navigation/inertial navigation combined navigation mode, and simultaneously introduces a dynamic differential relative positioning technology to realize the high-precision relative positioning between two moving objects as shown in figure 1; and an image guide mode is introduced during terminal guidance to assist in improving the landing precision. Particularly, the invention designs the mobile platform aiming at the carrier-borne vertical take-off and landing unmanned aerial vehicle, and the platform is designed to be capable of automatically adjusting the inclination angle according to the carrier attitude so as to compensate the multi-degree-of-freedom movement of the mobile platforms such as ship decks and the like, improve the landing accuracy and simultaneously ensure that the attitude of the aircraft is relatively flat when the aircraft is grounded.
The landing guide device of the mobile platform of the vertical take-off and landing unmanned aerial vehicle comprises a ship deck as a mobile platform and a three-degree-of-freedom parallel type stable platform as shown in figure 1; a stable platform is carried on the mobile platform and serves as a landing point;
the structure of the stabilization platform is shown in fig. 3, and comprises: target 1, upper mounting plate 2, go up hooke joint 3, lower hooke joint 4, lower mounting plate 5, electronic jar 6 and three spinal branch vaulting poles 7.
The target 1 is used for image recognition and is carried at the center of the upper platform 2; the nested patterns are formed by the infrared lamp arrays, so that on one hand, the requirement that the smaller infrared lamp array patterns are easy to identify when the unmanned aerial vehicle rapidly falls onto the mobile platform 2 due to the change of the visual angle of the camera in the landing process of the unmanned aerial vehicle can be met; on the other hand unmanned aerial vehicle flies when descending at night, can solve out the relative position gesture that unmanned aerial vehicle apart from image central point to put according to infrared lamp array pattern, realizes accurate descending, can be used for unmanned aerial vehicle's moving platform to descend in all weather.
The upper platform and the lower platform are concentric circles, and the radius of the lower platform 5 is larger than that of the upper platform 2. The upper platform 2 is used for bearing the unmanned aerial vehicle to land, an ideal landing point of the unmanned aerial vehicle is the circle center, and the lower platform 5 is fixed on the moving platform; the upper platform and the lower platform are connected through three support rods 7, the three support rods 7 are evenly distributed on the edge between the upper platform and the lower platform in the circumferential direction, each support rod 7 is formed by nesting an electric cylinder 6 and a rod piece, the electric cylinder 6 provides driving force for the support rods 7, and each support rod can be extended or shortened so as to compensate attitude motion of the mobile platform in three directions of pitching, rolling and yawing.
The three support rods 7 are circumferentially and symmetrically arranged as the three driving shafts, the pose state of the mobile platform is compensated in each direction, and the stress condition of the three driving shafts is good, so that the stable platform becomes a three-degree-of-freedom parallel type stable platform.
The working principle of the stabilized platform is shown in fig. 5, which specifically comprises:
an integrated chip is placed on a lower platform 5 of the mobile platform and is respectively connected with three electric cylinders 6, the integrated chip comprises an acquisition sensor, and when the vertical take-off and landing unmanned aerial vehicle is close to the mobile platform and is ready to land, the acquisition sensor acquires and outputs the swinging motion data of the ship aiming at the swinging of the ship; and then the electric signals are amplified by a signal amplifier and transmitted to an industrial personal computer, the industrial personal computer performs pose inverse solution, an output result is subjected to a control algorithm to obtain a telescopic quantity electric control signal of each electric cylinder, the electric control signals are fed back to each electric cylinder 6 through a servo amplifier, each electric cylinder 6 drives a corresponding support rod 7 to extend or shorten according to the telescopic quantity, the upper platform 2 is always kept horizontal and stable, the influence of the swinging posture of a ship on a stable platform is eliminated, the upper platform 2 is controlled not to swing along with the ship, and the unmanned aerial vehicle can stably land on the stable platform.
The upper platform 2 is connected with the support rod 7 through an upper hook joint 3, and the lower platform 5 is connected with the support rod 7 through a lower hook joint 4.
A reference station is placed at an open position on the mobile platform, which does not affect the GPS signal, and the reference station is used for differentiating the GPS information; the GPS speed information of the reference station and the GPS course information are used as the speed and the course of the mobile platform, the GPS speed information and the GPS course information are transmitted to the unmanned aerial vehicle through a link to be used as the expected speed and the course information of the unmanned aerial vehicle, and the unmanned aerial vehicle flies along with the mobile platform according to the expected speed and the course.
The upper hook joint 3 and the lower hook joint 4 have the same structure, and as shown in fig. 4, both include an upper seat 8, a shaft sleeve 11, a bearing 12, a screw 13, a middle sleeve 9 and a base 10, the shaft sleeve 11, the bearing 12 and the screw 13 form a connection structure, and the upper seat 8, the middle sleeve 9 and the base 10 are connected through the connection structure to perform two-degree-of-freedom rotation.
In this embodiment, for the landing guidance of the ship-based vertical take-off and landing unmanned aerial vehicle, the moving platform is a ship moving on the water surface or in the sea, the attitude influence on the ship body needs to be considered, the ship mainly comes from the swinging motion in the three directions of pitching, rolling and yawing, the attitude swinging of the ship can be compensated through the stabilizing platform, and the landing position of the unmanned aerial vehicle is always horizontal.
The functions of image transmission, data transmission and remote control instruction transmission of an airborne end and a ground end are realized between the vertical take-off and landing unmanned aerial vehicle and the stable platform in a radio communication mode, and the transmission distance of the vertical take-off and landing unmanned aerial vehicle can cover the inspection operation radius.
In this embodiment, as shown in fig. 2, the method for guiding the landing of the mobile platform of the vertical take-off and landing unmanned aerial vehicle includes the following specific steps:
firstly, when a vertical take-off and landing unmanned aerial vehicle is to land on a deck of a ship, the unmanned aerial vehicle autonomously follows a mobile platform to move and gradually approaches a landing point until the unmanned aerial vehicle reaches the position above the landing point;
in this embodiment, VTOL unmanned aerial vehicle is VTOL fixed wing unmanned aerial vehicle, both possesses the function of many rotors VTOL, possesses the characteristics that the range scope of fixed wing is wide, duration is long again, and the required space of VTOL is little.
The vertical take-off and landing unmanned aerial vehicle is close to a mobile platform rapidly through a fixed wing mode at a long distance, GPS speed information of a reference station and course information of a GPS are used as the speed and the course of the mobile platform, the GPS speed information and the course information are transmitted to the unmanned aerial vehicle through a link, the GPS speed information and the course information are used as the control of the expected speed of the unmanned aerial vehicle and the input of the course information of the unmanned aerial vehicle, the unmanned aerial vehicle is close to the mobile platform gradually according to the expected speed and the course, the unmanned aerial vehicle decelerates in a short distance, the unmanned aerial vehicle is close to the.
And step two, when the vertical take-off and landing unmanned aerial vehicle reaches the position above the moving platform target, the vertical take-off and landing unmanned aerial vehicle gradually reduces the height and is close to a landing point through a dynamic pair dynamic differential relative positioning technology.
The method specifically comprises the following steps: the unmanned aerial vehicle vertical take-off and landing mounting differential module and the inertial navigation module respectively carry out relative positioning on the unmanned aerial vehicle and a reference station on a mobile platform through a dynamic pair dynamic differential relative positioning technology of an INS/GPS integrated navigation system (inertial navigation/GPS integrated navigation system), so that the unmanned aerial vehicle vertical take-off and landing obtains a relative position with the mobile platform;
further calculate the relative speed of the two through relative position and time, estimate moving platform's speed, then adjust unmanned aerial vehicle speed and moving platform speed unanimous, keep unmanned aerial vehicle to be located the landing point top all the time after, begin to reduce the height.
The relative position can be obtained by calculating the longitude and latitude of the mobile platform and the VTOL unmanned aerial vehicle, and the calculation process is as follows by taking the mobile platform as an NEU coordinate system of a coordinate origin:
firstly, calculating the relative distance between the mobile platform and the vertical take-off and landing unmanned aerial vehicle:
wherein:
r is the radius of the earth; the average value can be 6371 km; phi is a1Indicates the latitude, phi, of the mobile platform2Representing the latitude of the vertical take-off and landing unmanned aerial vehicle; Δ λ represents the difference in longitude of the mobile platform and the VTOL drone. d represents the relative distance of the mobile platform and the VTOL UAV.
Then, the relative distance between the mobile platform and the VTOL UAV is obtained through the above formula, and the direction information between the mobile platform and the VTOL UAV is combined, so that the relative positions of the VTOL UAV and the VTOL UAV under the NEU coordinate system with the mobile platform as the origin of coordinates are obtained.
The relative position of the dynamic differential output is a Northeast (NEU) coordinate system which takes the reference station as the origin of coordinates, the heading theta of the mobile platform is known, the northeast coordinates x, y and z of the mobile station relative to the reference station are output, and the current position of the unmanned aerial vehicle is currpos.x, currpos.y and currpos.z. The unmanned aerial vehicle is expected to follow at a relay _ distance right behind the mobile platform, and the target position point of the unmanned aerial vehicle is pos.
And step three, in the descending process, when the mobile platform reaches the position near the visual capture point of the vertical take-off and landing unmanned aerial vehicle, the vertical take-off and landing unmanned aerial vehicle introduces visual navigation to guide the unmanned aerial vehicle to descend.
The visual navigation is realized through the camera of VTOL unmanned aerial vehicle mount, obtains VTOL unmanned aerial vehicle for moving platform's accurate position and gesture information, guides unmanned aerial vehicle to descend. The visual navigation only assists the INS/GPS combined navigation at the height of the near landing zone (5-10m) of the unmanned aerial vehicle to perform auxiliary guidance so as to improve the landing accuracy. And the airborne equipment of visual navigation only has the camera that is used for image acquisition, has low-power consumption, low weight, small volume, the characteristics of strong power of calculating.
The visual navigation specifically comprises the following steps:
when the mobile platform reaches the vicinity of a visual capture point of the VTOL unmanned aerial vehicle, an image guidance system is introduced while an INS/GPS integrated navigation system (inertial navigation/GPS integrated navigation system) is adopted. The image guidance system based on vision collects images in real time, feature extraction and calculation are carried out on the collected images by utilizing an image processing technology, attitude information of the unmanned aerial vehicle relative to the mobile platform is calculated, then the attitude information of the unmanned aerial vehicle is output to the unmanned aerial vehicle flight control system, and the unmanned aerial vehicle flight control synthesizes pose information of the INS/GPS integrated navigation system and the vision navigation system, so that the unmanned aerial vehicle can land on the mobile platform with higher precision.
The collected image is a target on a stable platform, when the image is subjected to feature extraction, an opencv ArUco code is adopted, a specific coding mode is a hamming code, and the device has the capabilities of error detection and error correction and is strong in anti-interference capability. The marker is identified by identifying the information of the four corner points of ArUco, and the two-dimensional code in the middle of the marker contains marker information. Coordinates of the four corner points are processed, pose calculation is carried out through a PNP algorithm to obtain a translation matrix and a rotation matrix, and the navigation coordinates required by the unmanned aerial vehicle are obtained through coordinate conversion.
The image identification method can adapt to non-uniform illumination, can carry out error detection and correction on the implemented binary code, integrates the existing markers, has better compatibility, can also identify a plurality of markers such as AprilTag or ARTag, and the like, can write a language of C + +, has higher operation speed than other libraries, and has higher operation speed than other libraries.
And step four, in the process of landing the vertical take-off and landing unmanned aerial vehicle, the stable platform automatically adjusts the inclination angle, counteracts the attitude motion of the mobile platform and ensures the stable landing of the unmanned aerial vehicle.
The three-degree-of-freedom parallel type stable platform automatically adjusts the inclination angle according to the posture of the mobile platform, and specifically comprises the following steps: acquiring attitude change data of the mobile platform in real time by an acquisition sensor; and then the attitude of the aircraft is amplified by a signal amplifier and transmitted to an industrial personal computer, the industrial personal computer performs pose inverse solution and outputs the stretching amount of each electric cylinder to be fed back to each electric cylinder, each electric cylinder drives the corresponding support rod to extend or shorten according to the stretching amount to perform reverse compensation, the maximum 15-degree attitude angle is compensated, the multi-degree-of-freedom motion of the mobile platform is compensated, the upper platform is kept horizontal, and the attitude of the aircraft is kept horizontal and stably descends when the aircraft is grounded.
The automatic inclination angle adjustment is realized by detecting the attitude change of the mobile platform and performing reverse compensation on the three-degree-of-freedom parallel type stable platform so as to keep the stable state all the time.
Claims (7)
1. A landing guide device for a mobile platform of a vertical take-off and landing unmanned aerial vehicle is characterized by comprising a ship deck and a three-degree-of-freedom parallel stable platform; the ship deck is used as a stable carrying platform on the mobile platform; the stabilization platform includes: the device comprises a target, an upper platform, an upper Hooke joint, a lower platform, an electric cylinder and three supporting rods;
the target is carried at the central position of the upper platform; the upper platform and the lower platform are concentric circles, and the radius of the lower platform is larger than that of the upper platform; the upper platform is used for bearing the landing of the unmanned aerial vehicle, and the lower platform is fixed on the moving platform; the upper platform and the lower platform are connected through three support rods, the three support rods are evenly distributed on the edge between the upper platform and the lower platform in the circumferential direction, each support rod is formed by nesting an electric cylinder and a rod piece, the electric cylinder provides driving force for the support rods, and each support rod can be extended or shortened, so that attitude motion of the mobile platform in three directions of pitching, rolling and yawing is compensated;
the upper platform is connected with the supporting rod through an upper hook hinge, and the lower platform is connected with the supporting rod through a lower hook hinge.
2. The landing guide device of the mobile platform of the VTOL UAV of claim 1, wherein the target comprises a nested pattern of infrared lamp arrays, which on one hand can satisfy the requirement that the smaller infrared lamp array pattern is easy to identify when the UAV rapidly lands on the mobile platform due to the change of the visual angle of the camera in the landing process; on the other hand unmanned aerial vehicle flies when descending at night, can solve out the relative position gesture that unmanned aerial vehicle apart from image central point to put according to infrared lamp array pattern, realizes accurate descending, can be used for unmanned aerial vehicle's moving platform to descend in all weather.
3. The landing guide device of claim 1, wherein a reference station is placed at an open position that does not affect the GPS signal on the mobile platform, the GPS speed information of the reference station and the GPS heading information are used as the speed and heading of the mobile platform, and the GPS speed information and the GPS heading information are transmitted to the drone through a link as the desired speed and heading information of the drone, and the drone flies along with the mobile platform according to the desired speed and heading.
4. The landing guide device of the VTOL UAV moving platform of claim 1, wherein the lower platform is placed with an integrated chip connected with three electric cylinders, the integrated chip comprises an acquisition sensor, when the ship sways, the acquisition sensor acquires the swaying motion data of the ship; the support rods are driven by the electric cylinders to extend or shorten according to the stretching amount, the upper platform is always kept horizontal and stable, the influence of the swinging posture of the ship on the stable platform is eliminated, the upper platform is controlled not to swing along with the ship, and the vertical take-off and landing unmanned aerial vehicle can stably land on the stable platform.
5. The landing guidance method of the landing guidance device for the mobile platform of the VTOL UAV of claim 1, comprising the following steps:
firstly, when the vertical take-off and landing unmanned aerial vehicle is to land on a deck of a ship, the unmanned aerial vehicle autonomously follows a mobile platform to move and gradually approaches a landing point until the unmanned aerial vehicle reaches the position above a target;
the method specifically comprises the following steps:
when the vertical take-off and landing unmanned aerial vehicle is in a long distance, the vertical take-off and landing unmanned aerial vehicle quickly approaches a mobile platform, GPS speed information of a reference station and GPS course information are used as the speed and course of the mobile platform and are transmitted to the unmanned aerial vehicle through a link to be used as control of the expected speed of the unmanned aerial vehicle and input of the course information of the unmanned aerial vehicle, the unmanned aerial vehicle gradually approaches the mobile platform according to the expected speed and the course, the unmanned aerial vehicle decelerates when in a short distance and gradually approaches a target from the rear of the mobile platform, and the unmanned aerial vehicle reduces lateral deviation distance through navigation;
step two, when the vertical take-off and landing unmanned aerial vehicle reaches the position above the moving platform target, the vertical take-off and landing unmanned aerial vehicle gradually reduces the height to be close to a landing point through a dynamic pair dynamic differential relative positioning technology;
the specific process is as follows:
firstly, the vertical take-off and landing unmanned aerial vehicle respectively carries out relative positioning on the unmanned aerial vehicle and a reference station on a mobile platform by utilizing a mounted differential module and an inertial navigation module through a dynamic pair differential relative positioning technology of an INS/GPS integrated navigation system, so that the unmanned aerial vehicle obtains the relative position of the relative mobile platform;
the relative distance calculation formula of the mobile platform and the unmanned aerial vehicle is as follows:
wherein: d represents the relative distance of the mobile platform and the drone; r is the radius of the earth; phi is a1Indicates the latitude, phi, of the mobile platform2Representing the latitude of the vertical take-off and landing unmanned aerial vehicle; Δ λ represents a difference in longitude of two points;
adjusting the speed of the unmanned aerial vehicle to be consistent with that of the mobile platform, keeping the unmanned aerial vehicle above a landing point all the time, and starting to reduce the height;
step three, in the descending process of the vertical take-off and landing unmanned aerial vehicle, when the mobile platform reaches the position near the visual capture point of the vertical take-off and landing unmanned aerial vehicle, the vertical take-off and landing unmanned aerial vehicle introduces visual navigation to guide the unmanned aerial vehicle to land;
and step four, in the process of landing the vertical take-off and landing unmanned aerial vehicle, the stable platform automatically adjusts the inclination angle, counteracts the attitude motion of the mobile platform and ensures the stable landing of the unmanned aerial vehicle.
6. A landing guidance method for a landing guidance device of a VTOL UAV (unmanned aerial vehicle) mobile platform according to claim 5, wherein the visual navigation in step three is realized by a camera mounted on the VTOL UAV, and the specific process is as follows:
when the mobile platform reaches the vicinity of a visual capture point of the vertical take-off and landing unmanned aerial vehicle, a camera of the unmanned aerial vehicle acquires images in real time, feature extraction is carried out on the acquired images by using an image processing technology, attitude information of the unmanned aerial vehicle relative to the mobile platform is calculated, and then the attitude information of the unmanned aerial vehicle is output to the unmanned aerial vehicle flight control;
the unmanned aerial vehicle flight control system integrates the position and attitude information of the INS/GPS integrated navigation system and the visual navigation system, so that the unmanned aerial vehicle can land on the mobile platform with higher precision.
7. The landing guidance method of the landing guidance device for the mobile platform of the vtol unmanned aerial vehicle as claimed in claim 5, wherein the stabilizing platform automatically adjusts the inclination angle according to the posture of the mobile platform in step four, specifically:
acquiring attitude change data of the mobile platform in real time by an acquisition sensor; and then the attitude of the aircraft is amplified by a signal amplifier and transmitted to an industrial personal computer, the industrial personal computer performs pose inverse solution and outputs the stretching amount of each electric cylinder to be fed back to each electric cylinder, each electric cylinder drives the corresponding support rod to extend or shorten according to the stretching amount to perform reverse compensation, the maximum 15-degree attitude angle is compensated, the multi-degree-of-freedom motion of the mobile platform is compensated, the upper platform is kept horizontal, and the attitude of the aircraft is kept horizontal and stably descends when the aircraft is grounded.
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