CN105242682A - Target characteristic measurement system for drone aircraft - Google Patents
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Abstract
The invention relates to a target characteristic measurement system for a drone aircraft. The system comprises an airborne flight control device, a flight parameter measurement device and a ground transceiving control platform, wherein the flight parameter measurement device is connected with the airborne flight control device, and the airborne flight control device is in communication connection with the ground transceiving control platform. Through the airborne flight control device, the flight parameter measurement device and the ground transceiving control platform, the target characteristic measurement system for the drone aircraft can be used for measuring real flight parameters of the drone aircraft in real time and correcting and adjusting the real flight parameters, thus accurately measuring such real flight parameters of the drone aircraft as azimuth, pitching angle, flight height and the like; and through the real flight parameters, the accurate position of the drone aircraft can be determined, and the flight attitude of the drone aircraft can be effectively monitored, so that the safety is improved for the flight of the drone aircraft.
Description
Technical field
The present invention relates to a kind of unmanned vehicle parameter measurement field, particularly a kind of target drone target signature measurement system.
Background technology
Current, along with improving constantly of scientific and technological level, the application of unmanned plane is more and more extensive.Unmanned plane relies on its good maneuverability and disguise becoming indispensable weapon in modern high technology war, be provided to army of various countries more and more, unmanned plane is carrying out military scouting, performing combat duty or can reduce labour intensity in communication, weather monitoring, disaster monitoring, geological mapping, reducing casualties, meanwhile, unmanned plane surveying and drawing, take photo by plane, the application of the civil area such as search also constantly expands.
The basic flight parameter of unmanned plane comprises attitude parameter, space position parameter etc., these parameters be unmanned plane automatically or the prerequisite that controls of independence and basis, it is the important indicator of research unmanned plane during flying state and performance, research unmanned plane even running and crash analysis are had very important significance, in addition, unmanned plane is in search or sue and labour in task, it is to environment residing for object, the accurate judgement of object particular location is also vital, environment residing for object, the information such as object particular location are the prerequisites of searching and suing and labouring, it is related to problems such as the accurate inputs of disaster relief supplies.Current, the flight parameter of existing unmanned plane obtains based on the method for GPS mostly, such as existing patent publication No. unmanned plane disclosed in CN104615145A, unmanned aerial vehicle control system and control method, it obtains aircraft parameters by GPS module and photographing module, GPS is the abbreviation of Global Positioning System (GPS), GPS method has round-the-clock, real-time is good, the features such as wide coverage, three-dimensional velocity can be provided, three-dimensional position and time 7 degree of freedom information altogether, its this feature is due to other navigational system, thus make it obtain a wide range of applications, but GPS or other satellite positioning system accuracies not high, therefore, it can not as the major way of unmanned vehicle parameter acquiring, especially target drone, the environment of its flight is comparatively severe, when GPS or similar signal cannot be obtained, such as wind field, duct, mountain valley, the high mountain of awful weather is first-class, the method of this testing flying vehicle parameter is completely inapplicable especially, even if can use, measuring error is also larger, flight path skew is serious, flight parameter cannot adjust in real time, thus cause target drone out of control, so existing location and measurement method of parameters all have limitation, practicality is not enough.
Summary of the invention
Usually use the system accuracy existed in GPS localization method acquisition target drone flight parameter not high to solve prior art, flight parameter measurement is inaccurate, therefore this localization method can not as the major way of unmanned vehicle parameter acquiring, in addition, the environment of target drone flight is comparatively severe, such as duct, mountain valley, the high mountain of awful weather is first-class, in these regions, GPS or similar signal cannot be obtained, so the method for this testing flying vehicle parameter is completely inapplicable especially, simultaneously, in the inaccurate situation of flight parameter measurement, the problems such as target drone flight attitude also cannot accurately control, the invention provides a kind of target drone target signature measurement system, this measuring system accurately can not only obtain the flight parameter of target drone in real time, and the flight attitude of target drone accurately can be controlled according to flight parameter, thus complete the aerial mission of ground-based server.
Concrete technical scheme of the present invention is as follows:
The invention provides a kind of target drone target signature measurement system, this system comprises airborne flying and controls device, flight parameter measurement device, ground transmitting-receiving parametric controller, described flight parameter measurement device airbornely flies to control device with described and is connected, describedly airbornely fly control device and described ground is received and dispatched parametric controller and communicated to connect, wherein
The described airborne control device that flies comprises autopilot controller, signal distributor, throttle steering wheel and rudder face steering wheel, and described signal distributor is connected with described autopilot controller, and described throttle steering wheel is all connected with described signal distributor with described rudder face steering wheel; Described signal distributor for the transfer that realizes described autopilot controller and transmit control signal and reallocation, and provides power supply for described throttle steering wheel and described rudder face steering wheel; Described throttle steering wheel obtains the control signal of described autopilot controller by described signal distributor, described throttle steering wheel is arranged on the engine oil path of target drone, and by controlling the control of described engine oil inlet amount realization to described engine speed, described rudder face steering wheel obtains the control signal of described autopilot controller by described signal distributor, and for controlling the flight attitude of aircraft;
Described flight parameter measurement device comprises processor, Digital Magnetic Compass, laser ranging system, inertial sensor, described Digital Magnetic Compass, described laser ranging system, described inertial sensor is all connected with described processor, described Digital Magnetic Compass, described laser ranging system, target drone position angle measured respectively by described inertial sensor, the angle of pitch, flying height also transfers to described processor, the position angle of measuring, the angle of pitch, flying height is the Live Flying parameter of target drone, Live Flying parameter is transferred to described autopilot controller by described processor respectively, described autopilot controller calculates the real-time coordinates of target drone according to the Live Flying parameter of target drone and transfers to described ground transmitting-receiving parametric controller,
Described ground transmitting-receiving parametric controller comprises data memory module, data processing module, setting flight module, course deviation checking module, parameter checking module and alarm module, and described data memory module, described setting flight module, described course deviation checking module, described parameter checking module are all connected with described data processing module with described alarm module; Described ground transmitting-receiving parametric controller sets Standard Flight track and the Standard Flight parameter of target drone by described setting flight module, described ground transmitting-receiving parametric controller receives Live Flying parameter and real-time coordinates that described autopilot controller sends and is stored in described data memory module, and the Live Flying parameter received and real-time coordinates process are formed Live Flying track and Live Flying parametric data table by described data processing module; Described course deviation checking module is for detecting the error of Live Flying track and Standard Flight track, error exceedes setting threshold value, then reported to the police by described alarm module, described parameter checking module is for detecting the error of Live Flying parameter and Standard Flight parameter, error exceedes setting threshold value, then reported to the police by described alarm module.
Further, described inertial sensor comprises accelerometer and gyroscope.
Further, described flight parameter measurement device also comprises subsidiary module, and described subsidiary module comprises GPS locating module, image taking module, ultrasonic height measuring unit and flying speed detecting unit; Described GPS locating module is used for providing navigation for target drone; Described image taking module is for taking the photo of environment residing for target drone; Described ultrasonic height measuring unit uses the height value of fixing frequency detecting target drone; Described flying speed detecting unit utilizes the flying speed of the velocity estimated target drone of optical flow field.
Further, this system also comprises vibration amplitude sensor, described vibration amplitude sensor is connected with described autopilot controller, and described vibration amplitude sensor shakes parameter for detecting target drone and will shake parameter transmission to described autopilot controller in flight course.
Further, this measuring system also comprises the Wind field measurement unit be arranged on target drone, described Wind field measurement unit comprises horizontal ground velocity measurement module, horizontal velocity measurement module, wind field radargrammetry module, signal amplification processing module and data computation module, described horizontal ground velocity measurement module, described horizontal velocity measurement module, the input end that the output terminal of described wind field radargrammetry module all amplifies processing module with described signal are connected, and the output terminal that described signal amplifies processing module is connected with the input end of described data computation module; Described data computation module calculates the wind speed of wind field according to the data that described horizontal ground velocity measurement module and described horizontal velocity measurement module are measured, and described data computation module calculates position and the size of wind field according to the data that described wind field radargrammetry module is measured; The wind field wind speed calculated, position and size are transferred to described autopilot controller by described data computation module, and described autopilot controller starts described throttle steering wheel and described rudder face steering wheel for controlling target drone when entering within the scope of wind field.
Further, described ground transmitting-receiving parametric controller also comprises task setting module, described task setting module is sent to described autopilot controller by after the Standard Flight track of described setting flight module setting and the instruction binding and layout of Standard Flight parameter, described autopilot controller is by after parameter instruction solution frame, the Standard Flight track that utilization receives and Standard Flight parameter upgrade the parameter in described autopilot controller, and described rudder face steering wheel is according to the parameter adjustment target drone flight attitude after renewal.
Further, this measuring system also comprises environmental parameter detection device, described environmental parameter detection device comprises meteorologic parameter detector and poisonous gas detecting instrument, described meteorologic parameter detector is for detecting the weather information of environment residing for target drone and this weather information being sent to described autopilot controller, described poisonous gas detecting instrument is for detecting the gas componant of environment described in target drone and content and detection data being sent to described autopilot controller, and described rudder face steering wheel is according to detection data point reuse target drone flight attitude.
Further, described meteorologic parameter detector comprises temperature sensor for detecting ambient temperature residing for target drone, for detecting the humidity sensor of external environment humidity residing for target drone and the pressure transducer for detecting pressure residing for target drone.
Preferably, poisonous gas detecting instrument comprises the gas detection sensor that can detect harmful gas and realizes the toxic air alarm device of warning function for the detection data that receive described gas detection sensor, and described harmful gas is CO, H
2s, SO
2, NO
2, NO, HCN, NH
3, O
3, HCN, Cl
2, one or more mixing in HBr.
Preferably, described ground transmitting-receiving parametric controller also comprises display screen, and described display screen is for showing target drone flight path figure and target drone real-time flight parameter.
Beneficial effect of the present invention is as follows: target drone target signature measurement system provided by the invention controls by airborne flying the Live Flying parameter that device, flight parameter measurement device and ground transmitting-receiving parametric controller not only can achieve measurement target drone in real time, and can proofread Live Flying parameter and adjust, achieve the Live Flying parameters such as the position angle of real―time precision measurment target drone, the angle of pitch and flying height, the accurate location of described target drone can be determined by Live Flying parameter, the flight attitude of effective monitoring target drone, improves the security of target drone flight.
Accompanying drawing explanation
Fig. 1 is the structural representation of the target drone target signature measurement system described in embodiment 1;
Fig. 2 is the airborne structured flowchart flying control device described in embodiment 1;
Fig. 3 is the structured flowchart of the flight parameter measurement device described in embodiment 1;
Fig. 4 is the structured flowchart of the ground transmitting-receiving parametric controller described in embodiment 1;
Fig. 5 is the structured flowchart of the flight parameter measurement device described in embodiment 2;
Fig. 6 is the structural representation of the target drone target signature measurement system described in embodiment 2;
Fig. 7 is the structured flowchart of the Wind field measurement unit described in embodiment 3;
Fig. 8 is the structured flowchart of the ground transmitting-receiving parametric controller described in embodiment 4;
Fig. 9 is the structured flowchart of the environmental parameter detection device described in embodiment 5.
Embodiment
Embodiment 1
As shown in Figure 1, a kind of target drone target signature measurement system that the embodiment of the present invention provides, this system comprises airborne flying and controls device, flight parameter measurement device, ground transmitting-receiving parametric controller, described flight parameter measurement device airbornely flies to control device with described and is connected respectively, this annexation can realize signal and data communication, describedly airbornely fly control device and described ground is received and dispatched parametric controller and communicated to connect, namely communication connection is connected by communication device, described communication device is mechanical communication equipment, it comprises wireless receiving and wireless transmission two structures, described airborne flying controls the task that device receives the transmission of ground transmitting-receiving parametric controller, the Live Flying parameter of target drone is wirelessly sent to ground transmitting-receiving parametric controller simultaneously, identical, ground communication facilities also has wireless receiving and wireless transmission two structures, ground transmitting-receiving parametric controller receives airborne flying and controls the target drone Live Flying parameter of device transmission and the real-time coordinates of target drone, the parametric controller of ground transmitting-receiving simultaneously controls to airborne flying the instruction that device sends task.
As in Figure 2-4, in the technical program, further define the described airborne architectural feature flying to control device, flight parameter measurement device and ground transmitting-receiving parametric controller, and describe the technical matters of effect that structure realizes and solution, specific as follows:
As shown in Figure 2, the described airborne control device that flies comprises autopilot controller, signal distributor, throttle steering wheel and rudder face steering wheel, described signal distributor is connected with described autopilot controller, and described throttle steering wheel is all connected with described signal distributor with described rudder face steering wheel; Autopilot controller is used for receiving and dispatching parametric controller signal with described ground and is connected, and it transmits for data for receiving instruction simultaneously; Described signal distributor for the transfer that realizes described autopilot controller and transmit control signal and reallocation, and provides power supply for described throttle steering wheel and described rudder face steering wheel; Described throttle steering wheel obtains the control signal of described autopilot controller by described signal distributor, described throttle steering wheel is arranged on the engine oil path of target drone, and by controlling the control of described engine oil inlet amount realization to described engine speed, described rudder face steering wheel obtains the control signal of described autopilot controller by described signal distributor, and for controlling the flight attitude of aircraft; This structural design effectively controls state of flight and the flight attitude of target drone, effectively improves the safety coefficient in target drone state of flight, improves the intellectualized operation effect of target drone, and use modular design, not only volume is little, and reliability is high, is convenient to manipulation.
As shown in Figure 3, described flight parameter measurement device comprises processor, Digital Magnetic Compass, laser ranging system, inertial sensor, described Digital Magnetic Compass, described laser ranging system, described inertial sensor is all connected with described processor, described Digital Magnetic Compass, described laser ranging system, target drone position angle measured respectively by described inertial sensor, the angle of pitch, flying height also transfers to described processor, the described target drone position angle of measuring, the angle of pitch, flying height is the Live Flying parameter of target drone, Live Flying parameter is transferred to described autopilot controller by described processor respectively, described autopilot controller calculates the real-time coordinates of target drone according to the Live Flying parameter of target drone and transfers to described ground transmitting-receiving parametric controller, this flight parameter measurement device not only can realize parameter measurement, and parameter measurement can be transferred to described autopilot controller, this measurement mechanism passes through Digital Magnetic Compass, laser ranging system, the position angle of target drone measured by inertial sensor, the angle of pitch, the Live Flying parameters such as flying height, this measurement mechanism is a kind of dead reckoning system, after the initial registration, can completely independently provide lasting, complete navigation information, due to Digital Magnetic Compass, laser ranging system, the independence of inertial sensor is strong, the support of any ambient systems can not be relied on, the navigational parameter provided is complete, data transfer rate is high, service condition is wide, can be round-the-clock, worldwide navigation, and can diamagnetic field, the interference of electric field and nuclear radiation, in addition this system bulk is little, lightweight, relatively be applicable to unpiloted target drone, this measurement mechanism use the system accuracy existed in GPS localization method acquisition target drone flight parameter not high so can effectively overcome in prior art, the problems such as flight parameter measurement is inaccurate, this measurement mechanism is effectively applicable to target drone, improve the accuracy measuring target drone flight parameter, there is important practical value.
As shown in Figure 4, described ground transmitting-receiving parametric controller comprises data memory module, data processing module, setting flight module, course deviation checking module, parameter checking module and alarm module, and described data memory module, described setting flight module, described course deviation checking module, described parameter checking module are all connected with described data processing module with alarm module; Described ground transmitting-receiving parametric controller sets Standard Flight track and the Standard Flight parameter of target drone by setting flight module, described ground transmitting-receiving parametric controller receives Live Flying parameter and real-time coordinates that described autopilot controller sends and is stored in data memory module, and the Live Flying parameter received and real-time coordinates process are formed Live Flying track and Live Flying parametric data table by described data processing module; Described course deviation checking module is for detecting the error of Live Flying track and Standard Flight track, error exceedes setting threshold value, then reported to the police by described alarm module, described parameter checking module is for detecting the error of Live Flying parameter and Standard Flight parameter, error exceedes setting threshold value, then reported to the police by described alarm module.The ground transmitting-receiving parametric controller provided in the technical program sets Standard Flight track and the Standard Flight parameter of target drone by the setting flight module of its inside, and Standard Flight track and Standard Flight parameter are kept in data memory module, when ground transmitting-receiving parametric controller receive described airborne fly control device send Live Flying parameter after, real flight parameter and real-time coordinates are carried out digitized processing by described data processing module, form Live Flying track and Live Flying parametric data table, now, Live Flying track and Standard Flight track are proofreaded by course deviation checking module, when error exceedes setting threshold value, then reported to the police by alarm module, thus remind ground transmit-receive platform now target drone there is serious course deviation, should adjust in real time, otherwise easily occur out of control, in like manner, when true flight parameter and described Standard Flight parameter exist comparatively big error time, report to the police equally, the design of this structure makes ground transmit-receive platform be that target drone provides omnibearing monitoring, effectively improve safety coefficient and the flight standard degree of target drone flight, practical.
The target drone target signature measurement system provided in the technical program operation when concrete use is as follows: target drone target signature measurement system controls by airborne flying the Live Flying parameter that device receives flight parameter measurement device, the Live Flying parameter received is carried out the real-time coordinates of process formation target drone and transfers to described ground transmitting-receiving parametric controller by the airborne control device that flies simultaneously, described ground transmitting-receiving parametric controller receives the real-time coordinates of Live Flying parameter and target drone, the Live Flying track that process forms target drone is carried out to the real-time coordinates of Live Flying parameter and target drone simultaneously, and this Live Flying track and described ground are received and dispatched the Standard Flight track that parametric controller sets and contrast, error in judgement, if error is comparatively large, report to the police, and send flight parameter adjustment instruction to the described airborne control device that flies, thus make the airborne control device that flies adjust state of flight and flight attitude, and then ensure that the normal traveling of target drone, measuring system provided by the invention is not only for measuring the real-time parameter of target drone, and effectively can adjust real-time parameter, improve the safety coefficient of target drone flight, improve practicality.
Embodiment 2
The present embodiment 2 provides a kind of target drone target signature measurement system, this embodiment 2 further defines described inertial sensor, described flight parameter measurement device and vibration amplitude sensor on the basis of embodiment 1, by the restriction to said structure, improve the accuracy of target drone target signature measurement.
It should be noted that, described inertial sensor comprises accelerometer and gyroscope.Described inertial sensor is MEMS inertial sensor.This inertial sensor is navigator fix, the vitals surveying the control of appearance, orientation and motion carrier, and inertial sensor mainly comprises gyroscope and accelerometer.Inertial sensor has that cost is low, reliability is high, volume is little, lightweight, shock resistance is strong, easy of integration, can produce in enormous quantities, the feature such as power consumption is little, the life-span is long, there is practicality.Inertial sensor utilizes angular velocity and the Angle Position of gyroscope survey target drone, utilize the linear acceleration of accelerometer measures target drone, the information such as flying height, flight displacement of aircraft is calculated by integrating meter, be a kind of dead reckoning system, can completely independently provide lasting, complete navigation information.
As shown in Figure 5, in order to improve the accuracy to target drone flight parameter measurement further, define described flight parameter measurement device in the technical program and also comprise subsidiary module, described subsidiary module comprises GPS locating module, image taking module, ultrasonic height measuring unit and flying speed detecting unit; Described GPS locating module is used for providing navigation for target drone; Described image taking module is for taking the photo of environment residing for target drone; Described ultrasonic height measuring unit uses the height value of fixing frequency detecting target drone; Described flying speed detecting unit utilizes the flying speed of the velocity estimated target drone of optical flow field.In addition, the present invention is in order to overcome the zero migration and the error that causes that only use inertial measurement system to exist, the present invention employs subsidiary module simultaneously, effectively improve test accuracy and the measuring accuracy of target drone flight parameter, it is not high that this measuring system overcomes in prior art the system accuracy only using GPS localization method acquisition aerocraft flying parameter to exist, can not as the major way of unmanned vehicle parameter acquiring, especially target drone, the environment of its flight is comparatively severe, when GPS or similar signal cannot be obtained, such as duct, mountain valley, the high mountain of awful weather is first-class, the method of this testing flying vehicle parameter is the defect such as completely inapplicable especially.
As shown in Figure 6, it is emphasized that, in target component measuring process, often there are the vibrations of target drone, when measuring target drone flight parameter in vibrations process, then all there is error, this error have the error that may affect between target drone Live Flying parameter and Standard Flight parameter, therefore in the technical program, further define this system and also comprise vibration amplitude sensor, described vibration amplitude sensor is connected with described autopilot controller, described vibration amplitude sensor shakes parameter for detecting target drone and will shake parameter transmission to described autopilot controller in flight course.Autopilot controller transmits it to ground transmitting-receiving parametric controller after receiving vibrations parameter, this vibrations parameter need be cast out thus reduce measuring error when measuring by ground transmitting-receiving parametric controller, improve the accuracy of parameter measurement, in case mistake adjustment target drone, improve safety coefficient.
Embodiment 3
The present embodiment 3 provides a kind of target drone target signature measurement system, this embodiment 3 further defines described measuring system on the basis of embodiment 1, this measuring system has introduced Wind field measurement unit further, by the restriction to Wind field measurement unit, ensure that target drone can safe flight when running into wind field awing.
As shown in Figure 7, in order to make target drone can safety traffic when running into wind field, further define this measuring system in the technical program and also comprise the Wind field measurement unit be arranged on target drone, described Wind field measurement unit comprises horizontal ground velocity measurement module, horizontal velocity measurement module, wind field radargrammetry module, signal amplifies processing module and data computation module, described horizontal ground velocity measurement module, described horizontal velocity measurement module, the input end that the output terminal of described wind field radargrammetry module all amplifies processing module with described signal is connected, the output terminal that described signal amplifies processing module is connected with the input end of described data computation module, above-mentioned annexation all can realize data transmission and instruction controls, described data computation module calculates the wind speed of wind field according to the data that described horizontal ground velocity measurement module and described horizontal velocity measurement module are measured, and described data computation module calculates position and the size of wind field according to the data that described wind field radargrammetry module is measured, the wind field wind speed calculated, position and size are transferred to described autopilot controller by described data computation module, and described autopilot controller starts described throttle steering wheel and described rudder face steering wheel for controlling target drone when entering within the scope of wind field.Horizontal ground velocity measurement module in Wind field measurement unit may be used for the horizontal ground velocity measuring target drone, described horizontal velocity measuring unit may be used for measuring the aerial speed of target drone, described data computation module is amplified the horizontal ground velocity of processing module reception and air speed by described signal and is calculated the wind speed of wind field, simultaneously, wind field radargrammetry module can measure accurate location and the size of wind field, the wind field wind speed that described data computation module will calculate, position and size transfer to described autopilot controller, described autopilot controller effectively controls the unlatching of described throttle steering wheel and described rudder face steering wheel according to wind field wind speed, and then achieve the oil inlet quantity of described autopilot controller to described engine and the control of flight attitude, thus the control realized described engine speed, ensure that target drone can adjust the flight attitude of target drone when running into wind field, improve the security of target drone flight.
Embodiment 4
The present embodiment 4 provides a kind of target drone target signature measurement system, this embodiment 4 further defines described ground transmitting-receiving parametric controller on the basis of embodiment 1, ground transmitting-receiving parametric controller has introduced task setting module further, the flight parameter adjusting target drone in real time can be realized by this design, thus the flight attitude of adjustment target drone, improve the flight safety of target drone.
As shown in Figure 8, in the technical program, in order to further adjust target drone flight parameter according to the impact of external environment, thus guarantee that target drone can fly in comparatively rugged environment, further define in the technical program, described ground transmitting-receiving parametric controller also comprises task setting module, described task setting module is sent to described autopilot controller by after the Standard Flight track of described setting flight module setting and the instruction binding and layout of Standard Flight parameter, described autopilot controller is by after parameter instruction solution frame, the Standard Flight track that utilization receives and Standard Flight parameter upgrade the parameter in described autopilot controller, described rudder face steering wheel is according to the parameter adjustment target drone flight attitude after renewal.Described task setting module can adjust the flight parameter of target drone in time, the flight path of adjustment target drone, thus make target drone adapt to extraneous flight environment of vehicle, ensure that the safe driving of target drone, this task setting module not only may be used for transmitting flight parameter, the assignment instructions of described ground transmitting-receiving parametric controller transmission can also be completed by adjustment target drone parameter, target drone is better finished the work, the parameter adjustment function provided in this this technical scheme is without the need to the frequent landing of target drone, tear machine and hardware modifications open, and can target drone flight parameter be adjusted in flight course, thus the flight attitude of adjustment target drone, this operation has conveniently, quick and safe advantage.When practical application, in order to strengthen antijamming capability, can also receive and dispatch parametric controller on ground and be encrypted binding and layout to adjustment flight parameter, autopilot controller is encrypted solution frame after receiving signal, thus avoids interference the appearance with maloperation.
In order to improve ground transmitting-receiving parametric controller to the real-time monitoring of target drone, preferably describe described ground transmitting-receiving parametric controller in the technical program and also comprise display screen, described display screen is for showing target drone flight path figure and target drone real-time flight parameter, by the flight path of observation target drone that display screen can be convenient, ensure that the safety traffic of target drone, practical.
Embodiment 5
The present embodiment 5 provides a kind of target drone target signature measurement system, this embodiment 5 further defines described measuring system on the basis of embodiment 1, this measuring system has introduced environmental parameter detection device further, the environment of target drone present position can be detected by this device, when external environment is comparatively severe, need flight parameter adjustment be carried out, ensure that the security that target drone flies.
As shown in Figure 9, comparatively severe external environment is adapted in order to make target drone, improve the security performance of target drone flight, further define this measuring system in the technical program and also comprise environmental parameter detection device, described environmental parameter detection device comprises meteorologic parameter detector and poisonous gas detecting instrument, described meteorologic parameter detector is for detecting the weather information of environment residing for target drone and this weather information being sent to described autopilot controller, described poisonous gas detecting instrument is for detecting the gas componant of environment described in target drone and content and detection data being sent to described autopilot controller, described rudder face steering wheel is according to detection data point reuse target drone flight attitude.Target drone is installed the meteorologic parameter that meteorologic parameter detector may be used for testing environment, be convenient to state of flight and flight attitude that ground transmitting-receiving parametric controller effectively can control target drone, simultaneously in order to adapt to external environment, the flight attitude of target drone can be adjusted in real time, ensure that the safety coefficient that target drone flies, in addition, the contingency tasks etc. of target drone can be made according to meteorologic parameter, prevent the flight of rugged surroundings to target drone from impacting, poisonous gas detecting instrument on target drone can be used for environment survey, the gas detect effectively accomplished, in this, target drone can be used for performing special duty, achieve the multifunctionality of target drone, be convenient to humidity and pressure state that the residing environment of target drone flight is controlled on ground simultaneously, this measuring system inner structure is reasonable in design, each device operation is not subject to the impact of external environment, for target drone flight provides safe flight environment of vehicle, be convenient to execute the task.
In order to improve accuracy and the monitoring velocity of environmental monitoring to external world, further defining described meteorologic parameter detector in the technical program and comprising temperature sensor for detecting ambient temperature residing for target drone, for detecting the humidity sensor of external environment humidity residing for target drone and the pressure transducer for detecting pressure residing for target drone.Preferably, poisonous gas detecting instrument comprises the gas detection sensor that can detect harmful gas and realizes the toxic air alarm device of warning function for the detection data that receive described gas detection sensor, and described harmful gas is CO, H
2s, SO
2, NO
2, NO, HCN, NH
3, O
3, HCN, Cl
2, one or more mixing in HBr.
The above embodiment is only that the preferred embodiment of the present invention is described; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; those of ordinary skill in the art, to the various distortion made of technical scheme of invention and improvement, all should fall in protection domain that claims of the present invention determine.
Claims (10)
1. a target drone target signature measurement system, it is characterized in that, this system comprises airborne flying and controls device, flight parameter measurement device, ground transmitting-receiving parametric controller, described flight parameter measurement device airbornely flies to control device with described and is connected, describedly airbornely fly control device and described ground is received and dispatched parametric controller and communicated to connect, wherein
The described airborne control device that flies comprises autopilot controller, signal distributor, throttle steering wheel and rudder face steering wheel, and described signal distributor is connected with described autopilot controller, and described throttle steering wheel is all connected with described signal distributor with described rudder face steering wheel; Described signal distributor for the transfer that realizes described autopilot controller and transmit control signal and reallocation, and provides power supply for described throttle steering wheel and described rudder face steering wheel; Described throttle steering wheel obtains the control signal of described autopilot controller by described signal distributor, described throttle steering wheel is arranged on the engine oil path of target drone, and by controlling the control of described engine oil inlet amount realization to described engine speed, described rudder face steering wheel obtains the control signal of described autopilot controller by described signal distributor, and for controlling the flight attitude of aircraft;
Described flight parameter measurement device comprises processor, Digital Magnetic Compass, laser ranging system, inertial sensor, described Digital Magnetic Compass, described laser ranging system, described inertial sensor is all connected with described processor, described Digital Magnetic Compass, described laser ranging system, target drone position angle measured respectively by described inertial sensor, the angle of pitch, flying height also transfers to described processor, the position angle of measuring, the angle of pitch, flying height is the Live Flying parameter of target drone, Live Flying parameter is transferred to described autopilot controller by described processor respectively, described autopilot controller calculates the real-time coordinates of target drone according to the Live Flying parameter of target drone and transfers to described ground transmitting-receiving parametric controller,
Described ground transmitting-receiving parametric controller comprises data memory module, data processing module, setting flight module, course deviation checking module, parameter checking module and alarm module, and described data memory module, described setting flight module, described course deviation checking module, described parameter checking module are all connected with described data processing module with described alarm module; Described ground transmitting-receiving parametric controller sets Standard Flight track and the Standard Flight parameter of target drone by described setting flight module, described ground transmitting-receiving parametric controller receives Live Flying parameter and real-time coordinates that described autopilot controller sends and is stored in described data memory module, and the Live Flying parameter received and real-time coordinates process are formed Live Flying track and Live Flying parametric data table by described data processing module; Described course deviation checking module is for detecting the error of Live Flying track and Standard Flight track, error exceedes setting threshold value, then reported to the police by described alarm module, described parameter checking module is for detecting the error of Live Flying parameter and Standard Flight parameter, error exceedes setting threshold value, then reported to the police by described alarm module.
2. target drone target signature measurement system as claimed in claim 1, it is characterized in that, described inertial sensor comprises accelerometer and gyroscope.
3. target drone target signature measurement system as claimed in claim 1 or 2, it is characterized in that, described flight parameter measurement device also comprises subsidiary module, and described subsidiary module comprises GPS locating module, image taking module, ultrasonic height measuring unit and flying speed detecting unit; Described GPS locating module is used for providing navigation for target drone; Described image taking module is for taking the photo of environment residing for target drone; Described ultrasonic height measuring unit uses the height value of fixing frequency detecting target drone; Described flying speed detecting unit utilizes the flying speed of the velocity estimated target drone of optical flow field.
4. target drone target signature measurement system as claimed in claim 1, it is characterized in that, this system also comprises vibration amplitude sensor, described vibration amplitude sensor is connected with described autopilot controller, and described vibration amplitude sensor shakes parameter for detecting target drone and will shake parameter transmission to described autopilot controller in flight course.
5. target drone target signature measurement system as claimed in claim 1, it is characterized in that, this measuring system also comprises the Wind field measurement unit be arranged on target drone, described Wind field measurement unit comprises horizontal ground velocity measurement module, horizontal velocity measurement module, wind field radargrammetry module, signal amplifies processing module and data computation module, described horizontal ground velocity measurement module, described horizontal velocity measurement module, the input end that the output terminal of described wind field radargrammetry module all amplifies processing module with described signal is connected, the output terminal that described signal amplifies processing module is connected with the input end of described data computation module, described data computation module calculates the wind speed of wind field according to the data that described horizontal ground velocity measurement module and described horizontal velocity measurement module are measured, and described data computation module calculates position and the size of wind field according to the data that described wind field radargrammetry module is measured, the wind field wind speed calculated, position and size are transferred to described autopilot controller by described data computation module, and described autopilot controller starts described throttle steering wheel and described rudder face steering wheel for controlling target drone when entering within the scope of wind field.
6. target drone target signature measurement system as claimed in claim 1, it is characterized in that, described ground transmitting-receiving parametric controller also comprises task setting module, described task setting module is sent to described autopilot controller by after the Standard Flight track of described setting flight module setting and the instruction binding and layout of Standard Flight parameter, described autopilot controller is by after parameter instruction solution frame, the Standard Flight track that utilization receives and Standard Flight parameter upgrade the parameter in described autopilot controller, and described rudder face steering wheel is according to the parameter adjustment target drone flight attitude after renewal.
7. target drone target signature measurement system as claimed in claim 1, it is characterized in that, this measuring system also comprises environmental parameter detection device, described environmental parameter detection device comprises meteorologic parameter detector and poisonous gas detecting instrument, described meteorologic parameter detector is for detecting the weather information of environment residing for target drone and this weather information being sent to described autopilot controller, described poisonous gas detecting instrument is for detecting the gas componant of environment described in target drone and content and detection data being sent to described autopilot controller, described rudder face steering wheel is according to detection data point reuse target drone flight attitude.
8. target drone target signature measurement system as claimed in claim 7, it is characterized in that, described meteorologic parameter detector comprises temperature sensor for detecting ambient temperature residing for target drone, for detecting the humidity sensor of external environment humidity residing for target drone and the pressure transducer for detecting pressure residing for target drone.
9. target drone target signature measurement system as claimed in claim 7, it is characterized in that, poisonous gas detecting instrument comprises the gas detection sensor that can detect harmful gas and realizes the toxic air alarm device of warning function for the detection data that receive described gas detection sensor, and described harmful gas is CO, H
2s, SO
2, NO
2, NO, HCN, NH
3, O
3, HCN, Cl
2, one or more mixing in HBr.
10. target drone target signature measurement system as claimed in claim 1, is characterized in that, described ground transmitting-receiving parametric controller also comprises display screen, and described display screen is for showing target drone flight path figure and target drone real-time flight parameter.
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| CN108061481A (en) * | 2017-12-13 | 2018-05-22 | 江苏星睿航空科技有限公司 | A kind of target drone control system and its method of work |
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| CN111857177B (en) * | 2020-07-20 | 2022-11-01 | 西安科为实业发展有限责任公司 | Method, device, equipment and medium for generating remote control target instruction |
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| CN112859929A (en) * | 2021-03-04 | 2021-05-28 | 闽南科技学院 | Remote control system for air-to-air missile target towing |
| CN114296476A (en) * | 2021-12-16 | 2022-04-08 | 航天神舟飞行器有限公司 | A high-speed target drone flight control system and control method |
| CN115840466A (en) * | 2022-12-23 | 2023-03-24 | 中国人民解放军92419部队 | Method for accurately controlling large diving flight path of target drone |
| CN115840466B (en) * | 2022-12-23 | 2025-07-01 | 中国人民解放军92419部队 | A method for precise control of target drone's large dive trajectory |
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