CN204341410U - A kind of flight control system of Shipborne UAV autonomous landing on the ship - Google Patents
A kind of flight control system of Shipborne UAV autonomous landing on the ship Download PDFInfo
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- CN204341410U CN204341410U CN201420751757.XU CN201420751757U CN204341410U CN 204341410 U CN204341410 U CN 204341410U CN 201420751757 U CN201420751757 U CN 201420751757U CN 204341410 U CN204341410 U CN 204341410U
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Abstract
The utility model discloses a kind of flight control system of Shipborne UAV autonomous landing on the ship, the precise height that can obtain unmanned plane is merged by laser elevation sensor and air pressure altimeter data, the relative position of unmanned plane and hip-based platform can be obtained by differential GPS, onboard flight control system can calculate the size of aileron, elevating rudder, throttle and yaw rudder according to the flight path that above information and unmanned plane are expected, control unmanned plane is pressed desired trajectory and warship.This control program employing laser elevation sensor and air pressure altimeter data merge acquisition unmanned plane height, and the height measured relative to traditional barometric altimeter is more quick, accurate; Flight Control Law adopts band pitch angle degenerative gross energy control system relative to traditional single-input single-output controller, highly, speeds control is more accurate, be can control unmanned plane to glide, warship attitude relative to the advantage without the degenerative gross energy control system of pitch angle, ensure that the flight safety of unmanned plane.
Description
Technical field
The utility model relates to flight control method, particularly relates to a kind of flight control system of Shipborne UAV autonomous landing on the ship.
Background technology
Unmanned plane successfully lands on aircraft carrier, is a very complicated control task.Wherein, height and the control of speed be successfully the key of warship.Because aircraft carrier is travelling forward always, and speed is not fixed, and also just causes the glide paths of unmanned plane changing always.In addition, different from roadbed aircraft, carrier-borne aircraft keeps maximum in downslide stage and tactile warship moment throttle, and flying speed is very fast, and height fall off rate is also comparatively large, and therefore, the Altitude control of unmanned plane must fast, precisely.In addition, for ensureing that main landing gear first touches warship, Shipborne UAV need keep pitch angle to be greater than zero in the downslide stage.
Altitude control in Shipborne UAV autonomous landing on the ship process has become one of core technology of carrier-borne aircraft independent flight control system.In the existing document that can consult, some employing Altitude control elevating rudders, air speed controls throttle, some employing Altitude control throttles, air speed controls elevating rudder, some introducing visual spatial attention, but these data all do not consider height, air speed and aircraft pitch attitude, can not must control Shipborne UAV autonomous landing on the ship very well.
Utility model content
Technical problem to be solved in the utility model is for the defect involved by background technology, provides a kind of flight control system of Shipborne UAV autonomous landing on the ship.
The utility model is for solving the problems of the technologies described above by the following technical solutions:
A flight control system for Shipborne UAV autonomous landing on the ship, comprises onboard control module and bootstrap module, wherein:
Described bootstrap module is arranged on warship, comprises differential GPS base station and carrier-borne wireless data sending;
Described differential GPS base station is for sending carrier phase information and base station coordinate information sends to differential GPS movement station;
Described onboard control module is arranged on unmanned plane, comprises laser elevation sensor, differential GPS movement station, autopilot and airborne wireless number and passes;
Described differential GPS movement station for receiving the carrier phase of gps satellite and carrying out the information of self-differential GPS base station, and forms time-differenced phase observation value and processes in real time, is supplied to the gps coordinate on autopilot unmanned plane and naval vessel;
Described laser elevation sensor is for measuring the height of unmanned plane;
Described autopilot is used for gliding flight by presetting warship track according to the Altitude control unmanned plane of differential GPS location information and unmanned plane;
Described carrier-borne wireless data sending and airborne wireless number pass based on radio communication.
As the further prioritization scheme of flight control system of a kind of Shipborne UAV of the utility model autonomous landing on the ship, described autopilot comprises track ring controller and attitude ring controller, and described track ring controller is for calculating expectation throttle, expectation pitch angle, the roll angle of unmanned plane; Described attitude ring controller is for calculating aileron, the elevating rudder size of unmanned plane.
As the further prioritization scheme of flight control system of a kind of Shipborne UAV of the utility model autonomous landing on the ship, described differential GPS base station and differential GPS movement station all adopt the high-precision difference GPS supporting technique of dispersion assign.
As the further prioritization scheme of flight control system of a kind of Shipborne UAV of the utility model autonomous landing on the ship, described carrier-borne wireless data sending and airborne wireless number pass the one adopted in 3G number biography, 433MHz radio station, 900MHz radio station.
As the further prioritization scheme of flight control system of a kind of Shipborne UAV of the utility model autonomous landing on the ship, described laser elevation sensor be arranged on immediately below unmanned plane center of gravity on steady The Cloud Terrace.
The utility model adopts above technical scheme compared with prior art, has following technique effect:
1., owing to employing laser elevation sensor and the fusion of air pressure altimeter data in the controls, relative to being used alone, barometric altimeter precision is higher, and data output rate is faster;
2. owing to have employed the degenerative gross energy control algorithm of band pitch angle, make Shipborne UAV at downslide level interval and velocity interpolation uneoupled control, and in warship process, remain fixing pitch angle, do not need finally to even up process, touch warship point positional precision higher, touch warship attitude and also ensure that unmanned plane safety;
3. in the utility model, the method for calculating of Shipborne UAV height can increase height control accuracy, guarantees that Shipborne UAV touches warship moment main landing gear and first touches warship, is conducive to Shipborne UAV machine and warship safety.
Utility model method disclosed herein is good through flight test proving effect.Situation of taking a flight test is as follows: unmanned aerial vehicle platform is pull-type conventional airplane before selecting the screw propeller of span 3m, take-off weight 10kg.The required sensor such as airborne barometric altimeter, laser rangefinder, Pitot meter and autopilot.Ground has a rope to move with fixed speed, the horizontal motion on simulation deck.The longitudinal direction control of autopilot adopts in this paper based on the degenerative gross energy control system of pitch angle.Through repeatedly flight test, this SUAV (small unmanned aerial vehicle) can precisely be landed, and the moment main landing gear of landing first contacts to earth, and pitch angle is greater than zero, and head screw propeller does not wipe ground.
Accompanying drawing explanation
Fig. 1 is the structural representation of Shipborne UAV autonomous landing on the ship flight control system;
Fig. 2 is Control System Software structural representation;
Fig. 3 is original gross energy Control system architecture schematic diagram;
Fig. 4 is band pitch angle degenerative gross energy Control system architecture schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the technical solution of the utility model is described in further detail:
As shown in Figure 1, the utility model discloses a kind of flight control system of Shipborne UAV autonomous landing on the ship, comprise onboard control module and bootstrap module, wherein:
Described bootstrap module is arranged on warship, comprises differential GPS base station and carrier-borne wireless data sending;
Described differential GPS base station is for sending carrier phase information and base station coordinate information sends to differential GPS movement station;
Described onboard control module is arranged on unmanned plane, comprises laser elevation sensor, differential GPS movement station, autopilot and airborne wireless number and passes;
Described differential GPS movement station for receiving the carrier phase of gps satellite and carrying out the information of self-differential GPS base station, and forms time-differenced phase observation value and processes in real time, is supplied to the gps coordinate on autopilot unmanned plane and naval vessel;
Described laser elevation sensor is for measuring the height of unmanned plane;
Described autopilot is used for gliding flight by presetting warship track according to the Altitude control unmanned plane of differential GPS location information and unmanned plane;
Described carrier-borne wireless data sending and airborne wireless number pass based on radio communication.
Described autopilot comprises track ring controller and attitude ring controller, and described track ring controller is for calculating expectation throttle, expectation pitch angle, the roll angle of unmanned plane; Described attitude ring controller is for calculating aileron, the elevating rudder size of unmanned plane.
Described differential GPS base station and differential GPS movement station all adopt the high-precision difference GPS supporting technique of dispersion assign.
Described carrier-borne wireless data sending and airborne wireless number pass the one adopted in 3G number biography, 433MHz radio station, 900MHz radio station.
Described laser elevation sensor be arranged on immediately below unmanned plane center of gravity on steady The Cloud Terrace.
On warship, bootstrap module comprises differential GPS base station, carrier-borne wireless data sending two parts.The accurate GPS information of differential GPS base station sends to onboard control module by carrier-borne wireless data sending.
Differential GPS is the differential GPS standard station that first-selection utilizes known accurate three-dimensional coordinate, try to achieve pseudorange correction amount or position correction amount, again this correction is sent to movement station in real time or afterwards, the take off data of differential GPS movement station is revised, to improve GPS positioning precision.Differential GPS divides three classes: differential position, pseudo range difference and carrier phase difference.Wherein carrier phase difference precision is Centimeter Level, and real-time is best, the position measurement of the most applicable mobile object.As long as therefore support that the high-precision difference GPS of technique of dispersion assign all can be used for the utility model.
The speed in the three-dimensional coordinate measured and three directions is sent to onboard control module by wireless data sending by differential GPS base station, to guide Shipborne UAV auto landing on deck.
Wireless data sending is exactly a kind of data are sent to another vicinal equipment by wireless form.Comprise 3G number biography, 433MHz radio station, 900MHz radio station etc.
The hardware of onboard control module comprises autopilot, laser elevation sensor, differential GPS movement station, airborne wireless number biography.
Autopilot is arranged on Shipborne UAV, gathers various sensing data and differential GPS location information, by calculating rudder amount size and the throttle size that can obtain unmanned plane during flying, to control unmanned plane by presetting warship track downslide flight.
The software configuration of autopilot divides track ring controller and attitude ring controller two large divisions; the effect of track ring controller is glide paths according to unmanned plane current location, speed and pitch attitude and expectation, speed is compared with pitch attitude, by calculate unmanned plane expectation throttle, expect pitch angle, roll angle.The effect of attitude ring controller is compared with the expectation pitch angle, the roll angle that calculate according to the previous step pitch angle current with unmanned plane, roll angle, by calculating aileron, the elevating rudder size of unmanned plane.
The principle of laser elevation sensor and ultrasonic distance-measuring sensor is similar, launches an optical signal, then accept the optical signal that target reflects by laser to measured target, coming and going elapsed time, calculating the distance of target by measuring optical signal.Because optical maser wavelength is single, propagation speed is exceedingly fast, and survey precision is high, and laser rangefinder compact structure, mounting and adjusting is convenient, therefore laser elevation sensor is the optimal instrument of current precision distance measurement.
Coordinate information is sent to onboard control module by wireless data sending by differential GPS base station information.Laser elevation sensor be arranged on immediately below unmanned plane center of gravity on steady The Cloud Terrace, ensure that laser elevation sensor is all the time towards the earth's core from steady The Cloud Terrace, and do not affect by aspect.
The principle of laser elevation sensor and ultrasonic distance-measuring sensor is similar, launches an optical signal, then accept the optical signal that target reflects by laser to measured target, coming and going elapsed time, calculating the distance of target by measuring optical signal.Because optical maser wavelength is single, propagation speed is exceedingly fast, and survey precision is high.But laser elevation sensor measurement is distance between light source and reflecting surface, when being applied on Shipborne UAV, sea acutely fluctuating can cause the numerical value of laser elevation sensor measurement to have larger fluctuation, in addition, when above Shipborne UAV flies to naval vessel, owing to there is larger diff-H between hip-based platform and sea, measurement numerical value also can be caused to have and to beat more greatly.And barometric altimeter measurement is sensor external air pressure, just the sea level elevation of barometric altimeter can be obtained according to the relation of barometric pressure and sea level elevation, the fluctuating on sea can not cause barometric altimeter to change, but the easy temperature influence of barometric altimeter, when sensor external temperature traverse, the sea level elevation of measurement has relatively large deviation.Maintenance data integration technology, just can the advantage of integrated use laser elevation sensor and barometric altimeter, obtains the altitude information that precision is higher.
The flight control method of Shipborne UAV autonomous landing on the ship comprises following steps:
Steps A), obtain unmanned plane and the relative position on naval vessel and the kinematic velocity on naval vessel by differential GPS;
Step B), calculate the height of unmanned plane;
Step C), calculating a track angle according to the altimeter of unmanned plane and the relative position on naval vessel, the kinematic velocity on naval vessel and unmanned plane is-3.5 glide paths spent;
Step D), then control unmanned plane and to glide warship by the glide paths calculated.
Described step B) concrete steps as follows:
Step is B.1), adopt laser elevation sensor to record the laser elevation of unmanned plane;
Step is B.2), adopt barometric altimeter to record the barometric height of unmanned plane;
Step is B.3), when laser elevation is greater than 50m, adopt barometric height as the height of unmanned plane;
Step is B.4), when laser elevation is less than or equal to 50m:
Step is B.4.1), to laser height filtering process;
Step is B.4.2), calculate the numerical value change rate of laser elevation; If this rate of change is less than or equal to the maximum downslide speed of unmanned plane, then using this laser elevation gathered as the height of unmanned plane; If this rate of change is greater than the maximum downslide speed of unmanned plane, then abandon the laser elevation that this gathers, the barometric height that the barometric height of collection and a upper cycle gather was made difference and obtains diff-H, then this diff-H with the height of a upper cycle unmanned plane is added after as the height of unmanned plane.
When laser elevation is more than or equal to 50m, altitude information adopts barometric height to count completely;
When laser elevation is less than 50m, to laser height filtering process, as mean filter, alpha-beta filtering etc., and calculate laser elevation numerical value change rate, if rate of change exceeds the maximum downslide speed of unmanned plane, then think that altitude information equals the height of last cycle unmanned plane and the barometric height difference sum in front and back two cycle.Because although barometric altimeter long period can produce elegant, the rate of change in altitude measured in minor cycle still more accurately.Therefore this fusion method combines laser elevation sensor and can measure data failure-free advantage in the advantage of relative height and pressure-altitude sensor minor cycle, for unmanned plane auto landing on deck provides failure-free altitude information.
The software configuration of control system as shown in Figure 2, comprise track ring controller and attitude ring controller, the wherein glide paths being input as expectation of track ring controller, export roll angle, pitch angle, the throttle for expecting, feedback information comprises current unmanned plane gps coordinate and hip-based platform gps coordinate, and laser elevation, air speed that unmanned plane measures; The input of attitude ring controller expect roll angle, pitch angle and course, export the size into aileron, elevating rudder and yaw rudder, feedback information comprises the current roll angle of unmanned plane, pitch angle and course.
The longitudinally height of track ring controller, method for control speed are the degenerative gross energy control system of band pitch angle.Constructional drawing as shown in Figure 4.
Gross energy control system (TECS) is a kind of by coordinating airplane throttle and expecting that pitch angle controls the control theory of aircraft altitude and speed.According to theoretical mechanics, the total mechanical energy expression formula of aircraft is:
E
T = GV
2/2g + Gh
E in formula
tfor the total mechanical quantity of aircraft, it is made up of the kinetic energy of aircraft and potential energy two parts.For aircraft weight, g is acceleration due to gravity, and V is air speed, and h is flying height, GV
2/ 2g and Gh represents kinetic energy and the gravitional force of aircraft respectively.The kinetic energy of aircraft is directly related with the speed of aircraft, and gravitional force is directly related with the height of aircraft, therefore speed and height Zuo Lianggebu commensurate physical quantity can be converted to kinetic energy and the potential energy of system unit.TECS, using aircraft Desired Height and actual height, desired speed and actual speed as input, calculates kinetic energy that aircraft expects, the kinetic energy of potential energy and gross energy and aircraft reality, potential energy and gross energy according to these four gauge.Then expect that the deviometer of gross energy and actual total energy calculates the size expecting throttle according to aircraft, thus complete the control of aircraft gross energy; According to expectation kinetic energy and the actual kinetic energy of aircraft, and aircraft expects potential energy and actual potential energy, calculates the size expecting pitch angle, thus completes the distribution of aircraft kinetic energy and potential energy.The constructional drawing of gross energy control system as shown in Figure 3.
Namely in the gross energy control system of standard, introduce warship optimum pitch angle with the degenerative gross energy control system of pitch angle, object is to ensure that aircraft warship with specific pitch angle.This is very crucial in Shipborne UAV autonomous landing on the ship, because Shipborne UAV touches warship, spot speed is very fast, the strength that alighting gear bears is huge, main landing gear is only had first to touch the safety of warship guarantee unmanned plane, in addition, if nose-gear first touch warship can cause aspect mal, very easily have an accident, therefore must ensure unmanned plane keep in whole downslide process pitch angle be on the occasion of.
Introduce pitch angle degenerative gross energy Control system architecture figure as shown in Figure 4.The current pitch angle of aircraft calculates with the deviation of best warship pitch angle the increment obtaining desired speed through PID controller, be added the input as gross energy control system with initial desired speed.Suppose that the current pitch angle of unmanned plane is less than best warship pitch angle, PID controller exports as negative value, and the desired speed of gross energy control system is reduced, and the expectation throttle calculated reduces, expect that pitch angle increases, finally cause the reduction of unmanned plane cruising speed, angle of attack increase.When the current pitch angle of unmanned plane equals best warship pitch angle, the desired speed of gross energy control system is constant, now reaches a stabilized conditions, and unmanned plane just glides with current pose and speed, final safety warship.
Claims (5)
1. a flight control system for Shipborne UAV autonomous landing on the ship, is characterized in that, comprises onboard control module and bootstrap module, wherein:
Described bootstrap module is arranged on warship, comprises differential GPS base station and carrier-borne wireless data sending;
Described differential GPS base station is for sending carrier phase information and base station coordinate information sends to differential GPS movement station;
Described onboard control module is arranged on unmanned plane, comprises laser elevation sensor, differential GPS movement station, autopilot and airborne wireless number and passes;
Described differential GPS movement station for receiving the carrier phase of gps satellite and carrying out the information of self-differential GPS base station, and forms time-differenced phase observation value and processes in real time, is supplied to the gps coordinate on autopilot unmanned plane and naval vessel;
Described laser elevation sensor is for measuring the height of unmanned plane;
Described autopilot is used for gliding flight by presetting warship track according to the Altitude control unmanned plane of differential GPS location information and unmanned plane;
Described carrier-borne wireless data sending and airborne wireless number pass based on radio communication.
2. the flight control system of Shipborne UAV autonomous landing on the ship according to claim 1, it is characterized in that, described autopilot comprises track ring controller and attitude ring controller, and described track ring controller is for calculating expectation throttle, expectation pitch angle, the roll angle of unmanned plane; Described attitude ring controller is for calculating aileron, the elevating rudder size of unmanned plane.
3. the flight control system of Shipborne UAV autonomous landing on the ship according to claim 1, is characterized in that, described differential GPS base station and differential GPS movement station all adopt the high-precision difference GPS supporting technique of dispersion assign.
4. the flight control system of Shipborne UAV autonomous landing on the ship according to claim 1, is characterized in that, described carrier-borne wireless data sending and airborne wireless number pass the one adopted in 3G number biography, 433MHz radio station, 900MHz radio station.
5. the flight control system of Shipborne UAV autonomous landing on the ship according to claim 1, is characterized in that, described laser elevation sensor be arranged on immediately below unmanned plane center of gravity on steady The Cloud Terrace.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590576A (en) * | 2014-12-04 | 2015-05-06 | 南京航空航天大学 | Flight control system and method for ship-borne unmanned aerial vehicle autonomous landing |
| CN105259908A (en) * | 2015-11-05 | 2016-01-20 | 南京航空航天大学 | Radar guide unmanned plane automatic carrier landing guide and control system, and control method therefor |
| CN105302126A (en) * | 2015-10-27 | 2016-02-03 | 南京航空航天大学 | Control method of autonomously descending and landing on warship of unmanned shipboard helicopter |
| CN105589467A (en) * | 2016-02-29 | 2016-05-18 | 南京航空航天大学 | Low-cost expansion flight attitude sensor module |
| CN106292294A (en) * | 2016-10-20 | 2017-01-04 | 南京航空航天大学 | Shipborne UAV auto landing on deck based on model reference self-adapting control controls device |
| CN106323332A (en) * | 2016-08-09 | 2017-01-11 | 安庆建金智能科技有限公司 | Airplane-descending auxiliary device with laser detection device |
| CN106828846A (en) * | 2017-01-13 | 2017-06-13 | 南京航空航天大学 | A kind of active flow control system and its method in stern flight-deck flow field |
| CN108255184A (en) * | 2016-12-29 | 2018-07-06 | 北京卓翼智能科技有限公司 | Unmanned plane and vehicular platform following control system and its follow-up control method |
| CN109186637A (en) * | 2018-09-13 | 2019-01-11 | 中国舰船研究设计中心 | A kind of warship machine time/inertial navigation is wireless Initial Alignment Systems and alignment methods |
| CN109444927A (en) * | 2018-11-29 | 2019-03-08 | 南京航空航天大学 | GPS location differential corrections system based on 1090MHz extension text |
| CN111413717A (en) * | 2019-12-18 | 2020-07-14 | 中国地质大学（武汉） | Aircraft digital carrier landing system based on satellite navigation |
| CN111506099A (en) * | 2020-05-28 | 2020-08-07 | 西北工业大学 | Intelligent control system and method for height of unmanned aerial vehicle |
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| CN104590576A (en) * | 2014-12-04 | 2015-05-06 | 南京航空航天大学 | Flight control system and method for ship-borne unmanned aerial vehicle autonomous landing |
| CN105302126A (en) * | 2015-10-27 | 2016-02-03 | 南京航空航天大学 | Control method of autonomously descending and landing on warship of unmanned shipboard helicopter |
| CN105259908B (en) * | 2015-11-05 | 2018-10-16 | 南京航空航天大学 | A kind of radar vectoring unmanned plane auto landing on deck guidance and control system and its control method |
| CN105259908A (en) * | 2015-11-05 | 2016-01-20 | 南京航空航天大学 | Radar guide unmanned plane automatic carrier landing guide and control system, and control method therefor |
| CN105589467A (en) * | 2016-02-29 | 2016-05-18 | 南京航空航天大学 | Low-cost expansion flight attitude sensor module |
| CN106323332A (en) * | 2016-08-09 | 2017-01-11 | 安庆建金智能科技有限公司 | Airplane-descending auxiliary device with laser detection device |
| CN106292294A (en) * | 2016-10-20 | 2017-01-04 | 南京航空航天大学 | Shipborne UAV auto landing on deck based on model reference self-adapting control controls device |
| CN106292294B (en) * | 2016-10-20 | 2018-11-20 | 南京航空航天大学 | Shipborne UAV auto landing on deck control device based on model reference self-adapting control |
| CN108255184A (en) * | 2016-12-29 | 2018-07-06 | 北京卓翼智能科技有限公司 | Unmanned plane and vehicular platform following control system and its follow-up control method |
| CN106828846A (en) * | 2017-01-13 | 2017-06-13 | 南京航空航天大学 | A kind of active flow control system and its method in stern flight-deck flow field |
| CN109186637A (en) * | 2018-09-13 | 2019-01-11 | 中国舰船研究设计中心 | A kind of warship machine time/inertial navigation is wireless Initial Alignment Systems and alignment methods |
| CN109186637B (en) * | 2018-09-13 | 2022-04-01 | 中国舰船研究设计中心 | Wireless initial alignment system and method for time/inertial navigation of ship and aircraft |
| CN109444927A (en) * | 2018-11-29 | 2019-03-08 | 南京航空航天大学 | GPS location differential corrections system based on 1090MHz extension text |
| CN111413717A (en) * | 2019-12-18 | 2020-07-14 | 中国地质大学（武汉） | Aircraft digital carrier landing system based on satellite navigation |
| CN111413717B (en) * | 2019-12-18 | 2023-08-11 | 中国地质大学（武汉） | Satellite navigation-based digital aircraft landing system |
| CN111506099A (en) * | 2020-05-28 | 2020-08-07 | 西北工业大学 | Intelligent control system and method for height of unmanned aerial vehicle |
| CN111506099B (en) * | 2020-05-28 | 2023-03-14 | 西北工业大学 | Intelligent control system and method for height of unmanned aerial vehicle |
| CN113064653A (en) * | 2021-04-07 | 2021-07-02 | 乐琦（北京）科技有限公司 | Method and device for guiding carried object, storage medium and server |
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