CN106530839A - Unmanned aerial vehicle assembly line type takeoff and landing method based on double ground stations - Google Patents

Abstract

The invention discloses an assembly line take-off and landing method for an unmanned aerial vehicle based on dual ground stations, and belongs to the technical field of unmanned aerial vehicle command automation. The specific steps are as follows: 1) Ground station A controls the first UAV to perform step d to step g during the take-off process; 2) When ground station A controls the first UAV to complete step g, ground station B controls the first UAV to complete step g. The two UAVs complete step e and are ready for take-off inspection; 3) Ground station A controls the first UAV to take off to a safe area, then executes and controls the third UAV to perform take-off; 4) Ground station B controls After the second UAV takes off to a safe area, execute and control the fourth UAV to take off; for subsequent UAVs to take off, repeat the above steps 1 to 4; complete the assembly line takeoff of multiple UAVs; Reduce the assembly waiting time, improve the real-time response of the formation to perform tasks and the range and flight time of the formation to perform tasks.

Description

A pipelined take-off and landing method for UAVs based on dual ground stations

technical field

The invention belongs to the technical field of unmanned aerial vehicle command automation, and in particular relates to an assembly line take-off and landing method for unmanned aerial vehicles based on dual ground stations.

Background technique

UAVs have the advantages of low cost-effectiveness, zero casualties, and flexible deployment. They can help or even replace humans in many scenarios. No matter in the civilian or military fields, UAVs have broad application and development prospects.

Due to the limited load of a single UAV, the unfavorable factors of dealing with a wide mission area and the failure of a single UAV to complete the task, this makes the use of cooperation among UAVs to perform more complex tasks. Trends in drone research. Multiple UAVs are formed to perform different or single tasks through mixed formation to ensure that one or more tasks can be completed.

At present, UAVs still need to be controlled by the ground station to perform tasks, especially during the take-off and landing phase, which requires real-time monitoring by the ground station. At present, when UAVs perform formation tasks, a single ground station is used to monitor aircraft takeoff and landing. Taking take-off as an example, the ground station monitors the previous aircraft from the apron until it flies to a safe area before monitoring the next aircraft to repeat the above process. The aircraft that took off previously need to wait in the assembly area. As the number of formation aircraft increases , the waiting time for assembly becomes longer, which affects the real-time response of the task; at the same time, the longer waiting time also shortens the flight range and flight time of the aircraft formation to perform the task. Moreover, if a single aircraft has a special situation during the formation take-off process, it will affect the dispatch of subsequent aircraft, and a single aircraft’s special situation during the landing process will also affect the landing of subsequent aircraft, and may even lead to disastrous consequences.

Contents of the invention

Purpose of the present invention: In order to solve the above-mentioned problems, the present invention proposes a method for take-off and landing of unmanned aerial vehicles with two ground stations. The waiting time for aircraft assembly is reduced, and the real-time response of the formation to perform tasks and the range and flight time of the formation to perform tasks are improved.

The technical solution of the present invention: an assembly line take-off and landing method for unmanned aerial vehicle based on dual ground stations, wherein the take-off process of the unmanned aerial vehicle includes the following steps:

a) Filling and hanging: time-consuming T1, occupying the machine shed;

b) Static inspection: time-consuming T2, occupying the hangar;

c) Motion detection: time-consuming T3, occupying the machine shed;

d) Slide from the hangar to the starting point of the taxiway: time-consuming T4, occupying the apron;

e) Taxiing from the starting point of the taxiway to the take-off line: time-consuming T5, occupying the taxiway;

f) Pre-take-off inspection: time-consuming T6, occupying the runway;

g) Rolling and taking off to a safe area: Time-consuming T7, occupying the airspace of the station;

Through the set ground station A and ground station B, respectively control multiple UAVs to complete take-off and landing in an assembly line;

The method for taking off and landing of the unmanned aerial vehicle based on two ground stations to control the unmanned aerial vehicle to take off comprises the following steps:

Step 1. The ground station A controls the first UAV to perform steps d to g in the take-off process;

Step 2. When the ground station A controls the second UAV to complete step g, the ground station B controls the UAV to complete step e and prepare for take-off inspection;

Step 3. After the ground station A controls the first UAV to take off to a safe area, it executes and controls the third UAV to take off;

Step 4. After the ground station B controls the second UAV to complete take-off to a safe area, it executes and controls the fourth UAV to perform take-off;

Step 5. For the subsequent UAV take-off, repeat the above steps 1 to 4; complete the pipelined take-off of multiple UAVs.

Preferably, in the step 2, the ground station B controls the dispatch of the second plane after the first plane of the ground station A is dispatched at a time ΔT. Similarly, in the step 3, the ground station A A controls the third aircraft to dispatch after the second aircraft of the ground station B dispatches ΔT time, ΔT=(T4+T5+T6+T7)-(T4+T5)=T6+T7.

Preferably, the step of controlling the landing of the UAV based on the pipelined take-off and landing method of the UAV based on the dual ground stations is opposite to the step of controlling the take-off of the UAV based on the pipelined take-off and landing method of the UAV based on the dual ground stations.

Beneficial effects of the technology of the present invention: the present invention adopts the scheme of dual ground stations to control the take-off and landing of the unmanned aerial vehicle assembly line, which can greatly reduce the waiting time for aircraft assembly and realize rapid deployment. The specific advantages are as follows:

1) Significantly shorten the waiting time for aircraft formation assembly and achieve rapid dispatch;

2) Improve the voyage and flight time of the task formation;

3) If a certain aircraft has a special situation during take-off, it will not affect the dispatch of other aircraft;

4) If a certain aircraft has a special situation during the landing process, it will not affect the landing of other aircraft, which improves the safety of the system.

Description of drawings

Fig. 1 is a schematic flow chart of a preferred embodiment of a pipelined take-off and landing method for unmanned aerial vehicles based on dual ground stations of the present invention to control a single take-off.

Fig. 2 is a schematic flow chart of a preferred embodiment of a pipelined take-off and landing method for unmanned aerial vehicles based on dual ground stations to control multi-aircraft take-off according to the present invention.

Fig. 3 is a schematic diagram of ground station A and ground station B respectively controlling unmanned aerial vehicles in a preferred embodiment of a pipelined takeoff and landing method for unmanned aerial vehicles based on dual ground stations to control multi-aircraft takeoff in the present invention.

detailed description

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

In describing the present invention, it is to be understood that the terms "central", "longitudinal", "transverse", "front", "rear", "left", "right", "vertical", "horizontal", The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the Means that a device or element must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of the invention.

Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, please refer to Figures 1 to 3;

A pipeline-type take-off and landing method for UAVs based on dual ground stations. The set-up ground station A and ground station B respectively control multiple UAVs to complete the take-off and landing in a pipeline; taking the UAV take-off process as an example, no one The flight process includes the following steps:

a) Filling and hanging: time-consuming T1, occupying the machine shed;

b) Static inspection: time-consuming T2, occupying the hangar;

c) Motion detection: time-consuming T3, occupying the machine shed;

d) Slide from the hangar to the starting point of the taxiway: time-consuming T4, occupying the apron;

e) Taxiing from the starting point of the taxiway to the take-off line: time-consuming T5, occupying the taxiway;

f) Pre-take-off inspection: time-consuming T6, occupying the runway;

g) Rolling takeoff to a safe area: Time-consuming T7, occupying the airspace of the station.

In the above process, the process of filling and hanging, static inspection, and dynamic inspection does not require the participation of the ground station; the follow-up process steps d to steps g all require ground station monitoring. After the UAV reaches the safe area, the UAV will be delivered to the task station to control empty, no longer within the control range of the ground station.

Therefore, the starting point of the application stage of the pipeline type take-off and landing method of the UAV based on the dual ground stations of the present invention is that the UAV begins to drive out from the hangar, and the end point is to fly to the height of the safe area.

Arrange two sets of ground stations A and B near the airport runway to control aircraft takeoff and landing, realize the assembly line scheduling of the runway, airspace and taxiway, and maximize the use of limited station resources. Taking a certain type of unmanned aerial vehicle as an example, the specific implementation steps are as follows:

Step 1. The ground station A controls the first UAV to perform steps d (sliding from the hangar to the starting point of the taxiway) to step g (sliding to a safe area) during the take-off process.

Step 2. When the ground station A controls the second drone, in order to fully utilize the runway resources, after the first plane flies to the safe area, the ground station B controls the drone to taxi to take-off Line, ready for take-off inspection; according to the time when the first UAV flies to the safe area, the second UAV dispatch time is deduced as △T=(T4+T5+T6+T7)-(T4+T5)= T6+T7, that is, the ground station B controls the second UAV to dispatch after the moment △T of the first aircraft dispatch.

Step 3. After the ground station A controls the first UAV to take off to the safe area, it turns to control the third aircraft. Similarly, use the time when the second aircraft flies to the safe area to reverse the dispatch time of the third aircraft , also the ground station A controls the dispatch of the third plane after the time △T of the dispatch of the second plane.

Step 4. After the ground station B controls the second aircraft to fly to the safe area, it turns to control the fourth aircraft and repeats the above process. The fourth aircraft is dispatched after the third aircraft dispatches at time △T.

Step 5. For subsequent UAV take-off, repeat the above process, and the dual ground stations will take turns to complete the assembly-line takeoff of multiple UAVs.

The step of controlling the landing of the UAV based on the pipelined take-off and landing method of the UAV based on the dual ground stations is opposite to the step of controlling the take-off of the UAV based on the pipelined take-off and landing method of the UAV based on the dual ground stations.

When dispatching N (N is an even number) UAVs, if a single ground station is used to control the UAVs to take off, it will take a total time Tsig=N·(T4+T5+T6+T7), if two ground stations are used to monitor It takes a total time Tdou=(T4+T5+T6+T7)+(N-1)·(T6+T7) for the UAV to take off, so the time saved when dispatching N UAVs is Tsur=(N- 1) (T4+T5);

During the pipelined take-off process of the above-mentioned drones, when the Nth drone is dispatched, the N-2th drone has flown to a safe area as a prerequisite, that is, T6+T7>T4+T5, that is, monitoring the N-th drone The ground stations of the 2 aircrafts are free and can be immediately transferred to control the Nth aircraft, but depending on the actual aircraft type, there may be a situation where T6+T7<T4+T5, at this time the N-2th aircraft flies to the safe area At this time, the Nth aircraft has not yet reached the take-off line. In this case, two ground stations are used to monitor the aircraft take-off, and it takes time Tdou=(T4+T5+T6+T7)+(N-1)*(T4+T5), at this time Time saving is Tsur=(N-1)*(T6+T7);

During the take-off process, if the aircraft that has already taken off has a special situation and needs to make an emergency landing, one of the ground stations will control the aircraft to make an emergency landing, and the other ground station can still monitor the take-off and landing of other aircraft, which will not cause the mission to fail; during the landing process, if it is landing If the aircraft needs a go-around due to special circumstances, another ground station can control the landing of the subsequent aircraft after the go-around, which can reduce the waiting time for the subsequent aircraft to land, and avoid possible catastrophic accidents caused by insufficient fuel. If there are other aircraft during the landing process When a special situation requires an emergency landing, another ground station can control the special situation of the aircraft to make an emergency landing on the emergency landing road, improving system security.

The invention is the first in China to take off and land the UAV assembly line based on dual ground stations, which can greatly reduce the waiting time for aircraft assembly, improve the real-time response of formation tasks, and improve the range and flight time of formation tasks.

Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: they can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features; and these The modification or replacement does not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (3)

1. a kind of unmanned plane pipeline system landing method based on double earth stations, wherein, unmanned plane take-off process includes following step Suddenly：

A) filling is carried additionally：Time-consuming T1, takes canopy；

B) quiet inspection：Time-consuming T2, takes canopy；

C) move inspection：Time-consuming T3, takes canopy；

D) taxiway starting point is slided to from canopy：Time-consuming T4, takes airplane parking area；

E) slide to take-off line from taxiway starting point：Time-consuming T5, takes taxiway；

F) pre-takeoff check：Time-consuming T6, takes runway；

G) rolling start is to safety zone：Time-consuming T7, takes station spatial domain；

Characterized in that, controlling multiple unmanned plane pipeline systems respectively by the earth station A, the earth station B that arrange completes landing；Institute State the control unmanned plane of the unmanned plane pipeline system landing method based on double earth stations to take off and comprise the following steps：

Step d in step one, the earth station A control first unmanned plane execution take-off process is to step g；

Step 2, when earth station A control first unmanned planes complete step g, it is complete that the earth station B controls the second frame unmanned plane Into step e, standby for takeoff inspection；

Step 3, the earth station A control first unmanned plane complete to take off to safety zone, go perform control the 3rd frame without Man-machine execution is taken off；

Step 4, the earth station B control the second frame unmanned plane complete to take off to safety zone, go perform control the 4th frame without Man-machine execution is taken off；

Step 5, follow-up unmanned plane take off, and repeat the above steps one are to step 4；The pipeline system for completing multiple unmanned planes rises Fly.

2. the unmanned plane pipeline system landing method based on double earth stations according to claim 1, it is characterised in that；It is described In step 2, the earth station B after first airplane of the earth station A sets out the △ T moment controls the second airplane and sets out, In the same manner, in the step 3, the earth station A controls the 3rd frame after second airplane of the earth station B sets out the △ T moment Aircraft is set out, △ T=(T4+T5+T6+T7)-(T4+T5)=T6+T7.

3. the unmanned plane pipeline system landing method based on double earth stations according to claim 1, it is characterised in that：It is described Unmanned plane pipeline system landing method control unmanned plane landing step and the nothing based on double earth stations based on double earth stations Man-machine pipeline system landing method control unmanned plane step of taking off is contrary.