CN108415027B - Aircraft active navigation and positioning device and navigation and positioning method - Google Patents
Aircraft active navigation and positioning device and navigation and positioning method Download PDFInfo
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Abstract
一种基于激光测距通信的飞行器主动导航定位装置和导航定位方法，该装置包括安装在飞行器上的激光测距通信扫描装置和在机场跑道或着陆区域布设多个基准位置的导航应答装置。本发明的特点是飞行器作为激光主动发射端发射编码激光，导航应答器采用被动应答方式对飞行器提供参考坐标，被动应答器只在需要且符合身份信息的时候才提供导航参考坐标，具有极低的功耗和较好的隐蔽性，可以应用于具有较高隐蔽性要求、无人值守、无GPS信号等环境的飞行器着陆场。
An active navigation and positioning device and a navigation and positioning method for an aircraft based on laser ranging communication. The device includes a laser ranging communication scanning device installed on the aircraft and a navigation response device with multiple reference positions arranged on an airport runway or landing area. The feature of the invention is that the aircraft acts as the active laser transmitter to emit coded lasers, the navigation transponder provides reference coordinates to the aircraft in a passive response mode, and the passive transponder provides navigation reference coordinates only when it is required and conforms to the identity information, and has extremely low Power consumption and good concealment can be applied to aircraft landing sites with high concealment requirements, unattended, no GPS signals and other environments.
Description
Technical Field
The invention relates to laser active navigation positioning, in particular to an aircraft active navigation positioning device and a navigation positioning method based on laser ranging communication.
Background
The autonomous landing of an aircraft mainly adopts two means, one means is autonomous navigation through GNSS, but the real-time precision and reliability of the GNSS are not high and are only used as reference. The other method is that the ground is used for actively guiding, and the ground is used for actively transmitting a radio signal and a runway marker light to help a pilot to determine the relative positions of the aircraft and the runway, so that the safe landing of the aircraft is realized. For example, with the rapid development of the application fields of unmanned aerial vehicles and the like, unmanned autonomous landing is an urgent need, and the complex ground active guidance technology adopted in the current airport cannot meet the requirement of autonomous landing of large-scale unmanned aerial vehicles, and for some places with poor GNSS signals, areas subjected to radio frequency interference or places with high requirements on concealment, the emission of signals and the requirement of personnel need to be reduced due to resource and safety considerations.
At present, the high-precision aircraft navigation positioning technology independent of GNSS mainly has two kinds: one adopts an image matching technology and the other adopts a laser navigation positioning technology.
The image matching technology is that an aircraft (such as an unmanned aerial vehicle) acquires an image of a landing area, and the image is matched with a pre-existing image library, so that the self positioning and navigation are realized. And marking points can be distributed in the landing area, and the self positioning and navigation of the aircraft can be realized through the matching of the image marking points. The technology has lower power consumption and lower resource requirements, but the mark points or mark images of the landing area need to be prestored on the aircraft to realize real-time comparison, and the images need to be acquired under the condition of better lighting conditions, so that certain safety risks and time limitation exist.
The high-precision laser-assisted navigation and positioning technology is similar to the GNSS technology, the system comprises a reference station and a navigation unit, the reference station emits laser with positioning information, and the navigation unit positions the laser with positioning information after receiving the laser. Although the technology solves the problems of poor GNSS signals and interference, the reference station needs to emit laser signals in a large range, the aircraft identification function is not available, the problems of concealment and low safety exist, the base station needs to emit laser all the time, and the power consumption is high.
From the current navigation technology, the active navigation and positioning requirements of the aircraft which is increased at a high speed in the future cannot be met, and particularly, a high-precision aircraft navigation and positioning technology which can meet the requirements of all-time, low power consumption, high concealment and strong electromagnetic interference resistance is lacked.
Disclosure of Invention
The invention aims to solve the problems of high cost, high complexity, low concealment and low anti-interference performance of the existing landing navigation of aircrafts such as unmanned aerial vehicles and the like, and provides an aircraft active navigation positioning device and a navigation positioning method based on laser ranging communication.
The technical solution of the invention is as follows:
the utility model provides an aircraft initiative navigation positioner based on laser rangefinder communication which characterized in that: the device is divided into a laser ranging communication scanning device installed on an aircraft and a reference response device installed in a landing area:
the optical ranging communication scanning device comprises a transmitting pulse encoder, a laser, a scanner, an echo detector, a shaper, a related range finder, an echo decoder and a positioning navigator, wherein the connection relationship of the components is as follows:
the output end of the emission pulse encoder is connected with the modulation input end of the laser, the output end of the laser is connected with the input end of the scanner, the first output end of the scanner is connected with the input end of the echo detector, the second output end of the scanner is connected with the first input end of the positioning navigator, the output end of the echo detector is connected with the input end of the shaper, the first output end of the shaper is connected with the input end of the relevant range finder, the output end of the relevant range finder is connected with the second input end of the positioning navigator, the second output end of the shaper is connected with the input end of the echo decoder, and the output end of the echo decoder is connected with the third input end of the positioning navigator.
A plurality of reference points are arranged in a landing area, each reference point is provided with a reference response device which comprises a reflectivity modulator consisting of a total reflector, a quick angle-changing reflector and an angle modulator, a passive response detector, a pulse decoder, an identifier and a reference coordinate information encoder, wherein the first output end of the quick angle-changing reflector is connected with the input end of the total reflector, the output end of the total reflector is connected with the first input end of the quick angle-changing reflector, the second output end of the quick angle-changing reflector is connected with the input end of the passive response detector, the output end of the passive response detector is connected with the input end of the pulse decoder, the output end of the pulse decoder is connected with the input end of the identifier, the output end of the identifier is connected with the input end of the reference coordinate information encoder, and the output end of the reference coordinate information encoder is connected with the input end of the angle modulator, the output end of the angle modulator is connected with the second input end of the quick angle-changing reflector.
The transmitting pulse encoder is an optical communication encoding chip and outputs GHz binary codes.
The laser is a semiconductor laser with the wavelength of 1550nm and outputs coded laser pulses.
The scanner is a two-dimensional scanning reflector and performs two-dimensional scanning on the laser beam in the orthogonal direction;
the echo detector and the passive response detector are APD photoelectric detectors, and the response spectrum range is 1100 nm-1700 nm.
The inner core of the shaper is a voltage comparator, a voltage threshold value comparison method is adopted, and when the amplitude of an input signal pulse exceeds a set threshold value voltage, the comparator outputs a rectangular pulse with a fixed width.
The related distance measuring device is a digital related arithmetic device, and carries out related arithmetic on the echo distance measuring code and the original distance measuring code, and calculates the target distance according to the position of the related peak value.
The echo decoder is a digital decoder and encodes and resolves the reference coordinate information into coordinate information.
The reflectivity modulator changes the angle of the reflector, so that the reflector reflects or does not reflect incident light to the total reflector, and the reflectivity is modulated.
The pulse decoder comprises high-speed voltage comparison and digital quantity acquisition functions and can change an electric pulse sequence into a binary digital code sequence.
The recognizer compares the received identification code with an internally stored valid code in a digital comparison mode to determine the validity of the received identification code.
The reference coordinate information encoder generates a binary coding sequence from the reference coordinates and provides the binary coding sequence to the angle modulator for reflectivity modulation.
The positioning navigator is a coordinate transformation calculator and is used for calculating relative coordinates of the aircraft relative to a coordinate system formed by a plurality of reference coordinates on the ground.
The method for positioning and navigating by using the aircraft active navigation positioning device based on laser ranging communication comprises the following steps:
firstly, the on-board transmitting pulse encoder generates information sequentially provided with an identification code, a ranging code and a response code carrier and inputs the information into the laser, the laser outputs laser pulses with the same code, the laser pulse signals are subjected to two-dimensional scanning on each reference response device of a landing area through the scanner, and laser pulses containing the identification code, the ranging code and the response code carrier are sequentially transmitted;
secondly, the rapid angle-changing reflector reflects the first part of the laser pulse which arrives at first in the received laser pulse sequence and contains the identification code to the passive response detector, the passive response detector converts the identification code in the laser pulse signal into an electric signal and inputs the electric signal into the pulse decoder for decoding, and the decoded identification code is sent to the identifier;
the recognizer distinguishes the identification code and inputs the identification code into the reference coordinate information encoder;
when the identification code does not meet the requirement, the reference coordinate information encoder controls the angle modulator to adjust the angle of the quick angle-changing reflector, the angle of the quick angle-changing reflector is kept unchanged (the reflectivity is 0), the subsequent laser pulse can only reach the channel of the passive response detector, and no laser pulse echo can return to the scanner of the aircraft through the reflection modulator;
when the identification code meets the requirement, in the first stage, the reference coordinate information encoder controls the angle modulator to adjust the angle of the quick angle-changing reflector to a total reflection position, the laser pulse with the ranging code in the second part of the laser pulse sequence is reflected to the total reflection mirror, the laser pulse is reflected by the total reflection mirror to return to the quick angle-changing reflector, and the quick angle-changing reflector reflects the laser pulse sequence with the ranging code out of the reference response device to form a laser echo capable of returning to the scanner of the aircraft;
the second stage, the reference coordinate information encoder generates a reference coordinate information code, the angle modulator is controlled to modulate the angle of the quick variable angle reflector according to the information code, the laser pulse sequence is reflected or not reflected to the holophote, the reflected laser pulse is reflected by the holophote to return to the quick variable angle reflector, the quick variable angle reflector reflects the laser pulse sequence containing the ranging code out of the reference response device to form a laser echo which can return to the scanner of the aircraft, and the response code carrier wave is encoded according to the coordinate information according to the coordinate code, so that the response code laser echo is realized;
sixthly, the scanner receives the laser echo returned by the quick angle-changing reflector and obtains a plurality of groups of distances, scanning angles and reference coordinate information of each reference response device on a plurality of grounds and inputs the information into the echo detector in the two-dimensional scanning process, one part of the laser echo received by the echo detector is a laser pulse containing a ranging code and is input into the relevant range finder, the other part of the laser echo is a laser pulse containing a reference coordinate information code and is input into the echo decoder, the relevant range finder performs relevant operation on the ranging code to realize distance measurement and inputs the distance into the positioning navigator, and the echo decoder decodes the reference coordinate information code to obtain the reference coordinate information and inputs the reference coordinate information into the positioning navigator; the scanner inputs the output scanning angle information into the positioning navigator;
and the positioning navigator calculates the relative coordinates of the aircraft relative to a coordinate system formed by the reference coordinates of the plurality of reference response devices on the ground, and realizes positioning and attitude determination of the aircraft, so that the positioning and attitude determination of the aircraft are realized, and safe and stable positioning navigation is realized.
The working principle of the invention is as follows:
a high-speed laser scanning device is arranged on an aircraft, and a plurality of navigation response devices with fixed positions are arranged on an airport runway or a landing area to serve as a reference. And the laser scanning device on the aircraft scans and transmits coded and modulated laser, receives laser echo and decodes the echo. The navigation response device can receive and decode the laser signal, and can realize the modulation of the laser reflectivity through the electrically controlled angle-adjustable reflector.
The laser pulse of the laser scanning device is divided into three parts in terms of time, wherein the first part is an identification code of the aircraft, the second part is a ranging code, and the third part is a reserved filling area for a response code carrier. After the response device receives the laser, firstly, the laser code is decoded, after the validity of the identification code of the aircraft is confirmed, the response device modulates the reflectivity to 1 (total reflection) by adopting a reflectivity modulation method, the second part of the ranging code is reflected to the aircraft, and then the response device modulates the self coordinate information as the response code to a response code carrier reserved filling area of the third part by adopting the reflectivity modulation method to form the response code which is reflected to the aircraft. The aircraft decodes the laser echo information, the second part of the decoded ranging codes is used for measuring the distance from the aircraft to the response device, and the third part of the decoded response codes is used for acquiring the coordinates of the response device. The aircraft can actively position, fix the attitude and navigate by resolving the coordinates, distances and angles of the plurality of response devices.
The ground reference with huge number required by the technology is no active transmitting device, can identify and judge the information transmitted by the aircraft, and has extremely low power consumption and extremely high concealment. The reflectivity modulation ensures the intensity of the laser echo signal, can greatly reduce the power of laser emission, and realizes low power consumption and miniaturization of the laser scanning device.
Fig. 2 is a schematic diagram of the principle of the active navigation positioning technology of the aircraft based on laser ranging communication, and the specific working principle is as shown in fig. 2, taking a single laser scanning device and a reference response device as an example:
first action the coded laser pulse emitted by the scanner (3), which pulse consists of three parts in the emission sequence: identification code, ranging code and response code carrier. The identification code is used for marking identification information of the aircraft, the ranging code is used for realizing distance measurement through correlation operation, the response code carrier is a section of continuous light, and the reference response device is used for modulating and loading reference coordinate information to form the response code.
The second behavior reference response device processes three stages: and receiving the identification code for identification, reflecting the laser pulse containing the ranging code, and modulating the reference coordinate information on the response code carrier to form the response code.
And thirdly, the third step is the reflectivity of the reflectivity modulator (8), in the receiving and identifying step, the reflectivity of the reflectivity modulator (8) is 0, and all the laser pulses containing the identification codes are received for identification. And in the reflection stage, the reflectivity of the reflectivity modulator (8) is 1, and all laser pulses containing the ranging codes are reflected for ranging. And in the modulation stage, the reflectivity of the reflectivity modulator (8) changes along with the encoding of the reference coordinate information, and the reference coordinate information is encoded and modulated onto the response code carrier to form the response code.
And the fourth row is an information code shaped by the shaper (5) and output by the echo detector (4), and the partial code comprises a ranging code and a reference coordinate information response code.
Fifthly, the aircraft processes the received codes, firstly performs correlation operation on the ranging codes, and then decodes the reference coordinate information response codes.
Sixthly, the result after processing is obtained, the time sequence correlation waveform of the echo can be obtained after correlation operation, and the reference coordinate binary code can be obtained after decoding.
The seventh line is information obtained after processing, the target distance is calculated by the amount of movement of the peak point position in the relevant waveform, and the reference coordinate is obtained by calculating the reference coordinate binary code.
And the eighth row is that the positioning navigator (13) calculates the relative coordinates of the aircraft relative to a coordinate system formed by a plurality of reference coordinates on the ground through coordinate transformation according to a plurality of groups of distances, scanner scanning angles and reference coordinate information acquired in the scanning process, realizes positioning and attitude determination of the aircraft, and provides navigation information relative to the ground reference point.
The invention has the advantages that:
1. the active transmitting and receiving of the invention are completed by the aircraft, the landing area only needs to be provided with the response reflecting device, no active signal is transmitted, and the invention has the characteristics of low cost, low power consumption and safety;
2. the response device of the landing zone can also modulate the response code carrier wave of the third part of the emitted laser pulse, so that the aircraft can be simply transmitted with greater function expansibility;
3. the response device of the landing zone reflects the last two parts of the laser back only after the identification code of the aircraft is decoded to be effective, so that the response device has strong identification performance and ensures the safety of the landing zone;
4. the aircraft adopts laser to measure distance and angle, has higher precision, can position and fix the posture of the aircraft simultaneously, and has stronger anti-electromagnetic interference capability than radio communication and navigation.
5. Because the landing zone response device realizes reflection modulation, the power of the laser emitted by the aircraft can be greatly reduced, and the low power consumption and miniaturization of the laser scanning device are realized.
Drawings
FIG. 1 is a schematic structural diagram of an active navigation positioning technology for an aircraft based on laser ranging communication according to the present invention.
FIG. 2 is a schematic diagram of the active navigation positioning technology of the aircraft based on laser ranging communication according to the present invention.
Detailed Description
The invention is further illustrated with reference to the following examples and figures, without thereby limiting the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an active navigation positioning device of an aircraft based on laser ranging communication according to the present invention, and it can be seen from the figure that the active navigation positioning device of an aircraft based on laser ranging communication according to the present invention is divided into a laser ranging communication scanning device installed on the aircraft and a reference response device installed in a landing area:
the optical ranging communication scanning device comprises a transmitting pulse encoder 1, a laser 2, a scanner 3, an echo detector 4, a shaper 5, a related range finder 6, an echo decoder 7 and a positioning navigator 13, wherein the connection relationship of the components is as follows:
the output end of the emission pulse encoder 1 is connected with the modulation input end of the laser 2, the output end of the laser 2 is connected with the input end of the scanner 3, the first output end of the scanner 3 is connected with the input end of the echo detector 4, the second output end is connected with the first input end of the positioning navigator 13, the output end of the echo detector 4 is connected with the input end of the shaper 5, a first output of the shaper 5 is connected to an input of said associated range finder 6, an output of the associated range finder 6 is connected to a second input of said positioning navigator 13, a second output of said shaper 5 is connected to an input of said echo decoder 7, the output of the echo decoder 7 is connected to a third input of the positioning navigator 13.
A plurality of reference points are set in a landing area, each reference point is provided with a reference response device which comprises a reflectivity modulator 8 consisting of a holophote 8-1, a quick angle-changing reflector 8-2 and an angle modulator 8-3, a passive response detector 9, a pulse decoder 10, an identifier 11 and a reference coordinate information encoder 12, wherein a first output end of the quick angle-changing reflector 8-2 is connected with an input end of the holophote 8-1, an output end of the holophote 8-1 is connected with a first input end of the quick angle-changing reflector 8-2, a second output end of the quick angle-changing reflector 8-2 is connected with an input end of the passive response detector 9, an output end of the passive response detector 9 is connected with an input end of the pulse decoder 10, and an output end of the pulse decoder 10 is connected with an input end of the identifier 11, the output end of the identifier 11 is connected with the input end of the reference coordinate information encoder 12, the output end of the reference coordinate information encoder 12 is connected with the input end of the angle modulator 8-3, and the output end of the angle modulator 8-3 is connected with the second input end of the quick angle change reflector 8-2.
The working principle of the invention is as follows:
a high-speed laser scanning device is arranged on an aircraft, and a plurality of navigation response devices with fixed positions are arranged on an airport runway or a landing area to serve as a reference. And the laser scanning device on the aircraft scans and transmits coded and modulated laser, receives laser echo and decodes the echo. The navigation response device can receive and decode the laser signal, and can realize the modulation of the laser reflectivity through the electrically controlled angle-adjustable reflector.
The laser pulse of the laser scanning device is divided into three parts in terms of time, wherein the first part is an identification code of the aircraft, the second part is a ranging code, and the third part is a reserved filling area for a response code carrier. After the response device receives the laser, firstly, the laser code is decoded, after the validity of the identification code of the aircraft is confirmed, the response device modulates the reflectivity to 1 (total reflection) by adopting a reflectivity modulation method, the second part of the ranging code is reflected to the aircraft, and then the response device modulates the self coordinate information as the response code to a response code carrier reserved filling area of the third part by adopting the reflectivity modulation method to form the response code which is reflected to the aircraft. The aircraft decodes the laser echo information, the second part of the decoded ranging codes is used for measuring the distance from the aircraft to the response device, and the third part of the decoded response codes is used for acquiring the coordinates of the response device. The aircraft can actively position, fix the attitude and navigate by resolving the coordinates, distances and angles of the plurality of response devices.
The ground reference with huge number required by the technology is no active transmitting device, can identify and judge the information transmitted by the aircraft, and has extremely low power consumption and extremely high concealment. The reflectivity modulation ensures the intensity of the laser echo signal, can greatly reduce the power of laser emission, and realizes low power consumption and miniaturization of the laser scanning device.
Fig. 2 is a schematic diagram of the principle of the active navigation positioning technology of the aircraft based on laser ranging communication, and the specific working principle is as shown in fig. 2, taking a single laser scanning device and a reference response device as an example:
first action the coded laser pulse emitted by the scanner 3, which pulse consists of three parts in the order of emission: identification code, ranging code and response code carrier. The identification code is used for marking identification information of the aircraft, the ranging code is used for realizing distance measurement through correlation operation, the response code carrier is a section of continuous light, and the reference response device is used for modulating and loading reference coordinate information to form the response code.
The second behavior reference response device processes three stages: and receiving the identification code for identification, reflecting the laser pulse containing the ranging code, and modulating the reference coordinate information on the response code carrier to form the response code.
And thirdly, the third step is the reflectivity of the reflectivity modulator 8, and in the receiving and identifying step, the reflectivity of the reflectivity modulator 8 is 0, and all the laser pulses containing the identification codes are received for identification. And a reflection stage, wherein the reflectivity of the reflectivity modulator 8 is 1, and all laser pulses containing the ranging codes are reflected for ranging. And in the modulation stage, the reflectivity of the reflectivity modulator 8 changes along with the encoding of the reference coordinate information, and the reference coordinate information is encoded and modulated onto the response code carrier to form the response code.
And the fourth row is an information code which is output by the echo detector 4 and shaped by the shaper 5, and the partial code comprises a ranging code and a reference coordinate information response code.
Fifthly, the aircraft processes the received codes, firstly performs correlation operation on the ranging codes, and then decodes the reference coordinate information response codes.
Sixthly, the result after processing is obtained, the time sequence correlation waveform of the echo can be obtained after correlation operation, and the reference coordinate binary code can be obtained after decoding.
The seventh line is information obtained after processing, the target distance is calculated by the amount of movement of the peak point position in the relevant waveform, and the reference coordinate is obtained by calculating the reference coordinate binary code.
And the eighth row is that the positioning navigator 13 calculates the relative coordinates of the aircraft relative to a coordinate system formed by a plurality of reference coordinates on the ground through coordinate transformation according to a plurality of groups of distances, scanner scanning angles and reference coordinate information acquired in the scanning process, so as to realize positioning and attitude determination of the aircraft and provide navigation information relative to the ground reference point.
The embodiment adopts the following main devices:
the transmitting pulse encoder 1 is an optical communication encoding chip and outputs GHz binary codes;
the laser 2 is a semiconductor laser with the wavelength of 1550nm and outputs coded laser pulses;
the scanner 3 is a two-dimensional scanning reflector, and performs two-dimensional scanning on the laser beam in the orthogonal direction;
the echo detector 4 and the passive response detector 9 are APD photoelectric detectors, and the response spectrum range is 1100 nm-1700 nm;
the inner core of the shaper 5 is a voltage comparator, a fixed voltage threshold value comparison method is adopted, and when the amplitude of an input signal pulse exceeds a set threshold value voltage, the comparator outputs a rectangular pulse with a fixed width;
the correlation distance measuring device 6 is a digital correlation arithmetic device, which carries out correlation operation on the echo distance measuring code and the original distance measuring code and calculates the target distance according to the position of a correlation peak value;
the echo decoder 7 is a digital decoder, and encodes and resolves the reference coordinate information into coordinate information.
The reflectivity modulator 8 consists of a total reflector 8-1, a quick angle-changing reflector 8-2 and an angle modulator 8-3, and the angle of the reflector is changed to enable the reflector to reflect or not reflect incident light to the total reflector so as to realize the modulation of the reflectivity;
the pulse decoder 10 comprises high-speed voltage comparison and digital quantity acquisition functions, and can change an electric pulse sequence into a binary digital code sequence;
the recognizer 11 compares the received identification code with an effective code stored in the recognizer by a digital comparison mode to determine the effectiveness of the received identification code;
the reference coordinate information encoder 12 generates a binary code sequence of the reference coordinates, and provides the binary code sequence to the angle modulator 8-3 for reflectivity modulation.
The positioning navigator 13 is a coordinate transformation calculator, and can calculate the relative coordinates of the aircraft itself with respect to a coordinate system formed by a plurality of reference coordinates on the ground through coordinate transformation.
The method for positioning and navigating by using the aircraft active navigation positioning device based on laser ranging communication comprises the following steps:
firstly, the on-board transmitting pulse encoder 1 generates information sequentially provided with an identification code, a ranging code and a response code carrier and inputs the information into the laser 2, the laser outputs laser pulses with the same code, the laser pulse signals are subjected to two-dimensional scanning on each reference response device of a landing area through the scanner 3, and laser pulses containing the identification code, the ranging code and the response code carrier are sequentially transmitted;
the fast angle-changing reflector 8-2 reflects the first part of the laser pulse which arrives at first in the received laser pulse sequence and contains the identification code to the passive response detector 9, the passive response detector 9 converts the identification code in the laser pulse signal into an electric signal and inputs the electric signal into the pulse decoder 10 for decoding, and the decoded identification code is sent to the recognizer 11; the identification code is judged, and the modulation signal to the reflection modulator 8 is determined according to the judgment of the identifier 11 on the correctness of the identification code;
the recognizer 11 distinguishes the recognition code and inputs the reference coordinate information encoder 12;
when the identification code does not meet the requirement, the reference coordinate information encoder 12 controls the angle modulator 8-3 to adjust the angle of the quick angle-changing reflector 8-2, the angle of the quick angle-changing reflector 8-2 is kept unchanged (the reflectivity is 0), the subsequent laser pulse can only reach the channel of the passive response detector 9, and no laser pulse echo can return to the scanner 3 of the aircraft through the reflection modulator 8;
when the identification code meets the requirement, in the first stage, the reference coordinate information encoder 12 controls the angle modulator 8-3 to adjust the angle of the quick angle change reflector 8-2 to a full-reverse position, the laser pulse with the ranging code in the second part of the laser pulse sequence is reflected to the total reflector 8-1, the laser pulse is reflected by the total reflector 8-1 to return to the quick angle change reflector 8-2, and the quick angle change reflector 8-2 reflects the laser pulse sequence with the ranging code out of the reference response device to form a laser echo which can return to the scanner 3 of the aircraft;
in the second stage, the reference coordinate information encoder 12 encodes the generated reference coordinate information, controls the angle modulator 8-3 to modulate the angle of the quick angle-changing reflector 8-2 according to the information code, reflects or does not reflect the laser pulse sequence to the total reflector 8-1, reflects the reflected laser pulse to the quick angle-changing reflector 8-2 by the total reflector 8-1, reflects the laser pulse sequence containing the ranging code out of the reference response device by the quick angle-changing reflector 8-2 to form a laser echo which can return to the scanner 3 of the aircraft, and encodes a response code carrier according to the coordinate information according to the coordinate code, thereby realizing the response code laser echo;
sixthly, the scanner 3 receives the laser echo returned by the quick angle-changing reflector 8-2 and obtains a plurality of groups of distance, scanning angle and reference coordinate information of each reference response device on a plurality of grounds and inputs the laser echo into the echo detector 4 in the two-dimensional scanning process, one part of the laser echo received by the echo detector 4 is input into the relevant range finder 6 as a laser pulse containing a ranging code, the other part of the laser echo is input into the echo decoder 7 as a laser pulse containing a reference coordinate information code, the relevant range finder 6 carries out correlation operation on the ranging code to realize distance measurement and inputs the distance into the positioning navigator 13, and the echo decoder 7 decodes the reference coordinate information code to obtain the reference coordinate information and inputs the reference coordinate information into the positioning navigator 13; the scanner 3 inputs the output scanning angle information into the positioning navigator 13;
the positioning navigator 13 calculates the relative coordinates of the aircraft relative to a coordinate system formed by the reference coordinates of the plurality of reference response devices on the ground, and realizes positioning and attitude determination of the aircraft, so that the positioning and attitude determination of the aircraft are realized, and safe and stable positioning navigation is achieved.
Experiments show that the invention has the following advantages:
1. the active transmitting and receiving of the invention are completed by the aircraft, the landing area only needs to be provided with the response reflecting device, no active signal is transmitted, and the invention has the characteristics of low cost, low power consumption and safety;
2. the response device of the landing zone can also modulate the response code carrier wave of the third part of the emitted laser pulse, so that the aircraft can be simply transmitted with greater function expansibility;
3. the response device of the landing zone reflects the last two parts of the laser back only after the identification code of the aircraft is decoded to be effective, so that the response device has strong identification performance and ensures the safety of the landing zone;
4. the aircraft adopts laser to measure distance and angle, has higher precision, can position and fix the posture of the aircraft simultaneously, and has stronger anti-electromagnetic interference capability than radio communication and navigation.
5. Because the landing zone response device realizes reflection modulation, the power of the laser emitted by the aircraft can be greatly reduced, and the low power consumption and miniaturization of the laser scanning device are realized.
6. The passive transponder provides a navigation reference coordinate only when needed and accords with identity information, has extremely low power consumption and good concealment, and can be applied to aircraft landing fields with high concealment requirements, unattended environments, GPS-free signals and other environments.
Claims (14)
1. The utility model provides an aircraft initiative navigation positioner based on laser rangefinder communication which characterized in that: the device is divided into a laser ranging communication scanning device installed on an aircraft and a reference response device installed in a landing area:
the optical ranging communication scanning device comprises a transmitting pulse encoder (1), a laser (2), a scanner (3), an echo detector (4), a shaper (5), a related range finder (6), an echo decoder (7) and a positioning navigator (13), and the connection relation of the components is as follows:
the output of said encoder (1) is connected to the modulation input of said laser (2), the output of said laser (2) is connected to the input of said scanner (3), the first output of said scanner (3) is connected to the input of said echo detector (4), the second output of said scanner (3) is connected to the first input of said navigator (13), the output of said echo detector (4) is connected to the input of said shaper (5), the first output of said shaper (5) is connected to the input of said associated range finder (6), the output of said associated range finder (6) is connected to the second input of said navigator (13), the second output of said shaper (5) is connected to the input of said echo decoder (7), the output end of the echo decoder (7) is connected with the third input end of the positioning navigator (13);
a plurality of reference points are set in a landing area, each reference point is provided with a reference response device and comprises a reflectivity modulator (8) consisting of a total reflector (8-1), a quick angle-changing reflector (8-2) and an angle modulator (8-3), a passive response detector (9), a pulse decoder (10), an identifier (11) and a reference coordinate information encoder (12), wherein the first output end of the quick angle-changing reflector (8-2) is connected with the input end of the total reflector (8-1), the output end of the total reflector (8-1) is connected with the first input end of the quick angle-changing reflector (8-2), the second output end of the quick angle-changing reflector (8-2) is connected with the input end of the passive response detector (9), and the output end of the passive response detector (9) is connected with the input end of the pulse decoder (10), the output end of the pulse decoder (10) is connected with the input end of the identifier (11), the output end of the identifier (11) is connected with the input end of the reference coordinate information encoder (12), the output end of the reference coordinate information encoder (12) is connected with the input end of the angle modulator (8-3), and the output end of the angle modulator (8-3) is connected with the second input end of the quick angle-changing reflecting mirror (8-2).
2. The active navigation and positioning device of aircraft based on laser ranging communication of claim 1, wherein the transmitting pulse encoder (1) is an optical communication encoding chip and outputs GHz binary codes.
3. The active navigation and positioning device of aircraft based on laser ranging communication of claim 1, characterized in that the laser (2) is a semiconductor laser with wavelength of 1550nm, outputting coded laser pulses.
4. The active navigation and positioning device of aircraft based on laser ranging communication as claimed in claim 1, characterized in that the scanner (3) is a two-dimensional scanning mirror, which scans the laser beam in two dimensions in orthogonal directions.
5. The active navigation and positioning device of aircraft based on laser ranging communication of claim 1, wherein the echo detector (4) and the passive response detector (9) are APD photodetectors and have a response spectrum range of 1100nm to 1700 nm.
6. The active navigation and positioning device of aircraft based on laser ranging communication of claim 1, characterized in that the inner core of the shaper (5) is a voltage comparator, which adopts a voltage threshold comparison method, and when the amplitude of the input signal pulse exceeds a set threshold voltage, the comparator outputs a rectangular pulse with a fixed width.
7. The active navigation and positioning device of aircraft based on laser ranging communication as claimed in claim 1, wherein the correlation distance meter (6) is a digital correlation operator, which correlates the echo ranging code with the original ranging code and calculates the target distance according to the position of the correlation peak.
8. The active navigation and positioning device of aircraft based on laser ranging communication as claimed in claim 1, characterized in that the echo decoder (7) is a digital decoder encoding and resolving the reference coordinate information into coordinate information.
9. The active navigation and positioning device for aircraft based on laser ranging communication of claim 1, characterized in that the reflectivity modulator (8) modulates the reflectivity by changing the angle of the reflector so that the reflector reflects or does not reflect the incident light to the total reflector.
10. The active navigation and positioning device for aircraft based on laser ranging communication as claimed in claim 1, characterized in that said pulse decoder (10) comprises high speed voltage comparison and digital quantity acquisition functions, which can change the electric pulse sequence into binary digital code sequence.
11. The active navigation and positioning device for aircraft based on laser ranging communication as claimed in claim 1, characterized in that said identifier (11) compares the received identification code with an internally stored valid code by means of digital comparison to determine the validity thereof.
12. The active navigation and positioning device for aircraft based on laser ranging communication as claimed in claim 1, wherein said reference coordinate information encoder (12) generates a reference coordinate into a binary code sequence to be provided to the angle modulator (8-3) for reflectivity modulation.
13. The active navigation and positioning device of aircraft based on laser ranging communication as claimed in claim 1, characterized in that said positioning navigator (13) is a coordinate transformation calculator for calculating the relative coordinates of the aircraft itself with respect to a coordinate system formed by a plurality of reference coordinates on the ground.
14. Method for positioning and navigation with an active navigation positioning device of an aircraft based on laser ranging communication according to any of the claims 1 to 13, characterized in that it comprises the following steps:
firstly, the on-board transmitting pulse encoder (1) generates information sequentially provided with an identification code, a ranging code and a response code carrier and inputs the information into the laser (2), the laser outputs laser pulses with the same code, the laser pulse signals are subjected to two-dimensional scanning on each reference response device of a landing area through the scanner (3), and laser pulses containing the identification code, the ranging code and the response code carrier are sequentially transmitted;
secondly, the rapid angle-changing reflector (8-2) reflects the first part of the laser pulse which arrives at first in the received laser pulse sequence and contains the identification code to the passive response detector (9), the passive response detector (9) converts the identification code in the laser pulse signal into an electric signal and inputs the electric signal into the pulse decoder (10) for decoding, and the decoded identification code is sent to the identifier (11); the identification code is distinguished, and a modulation signal to the reflection modulator (8) is determined according to the judgment of the identifier (11) on the correctness of the identification code;
the recognizer (11) distinguishes the identification code and inputs the identification code into the reference coordinate information encoder (12);
when the identification code does not meet the requirement, the reference coordinate information encoder (12) controls the angle modulator (8-3) to adjust the angle of the quick angle-changing reflector (8-2), the angle of the quick angle-changing reflector (8-2) is kept unchanged (the reflectivity is 0), the subsequent laser pulse can only reach the channel of the passive response detector (9), and no laser pulse echo can return to the scanner (3) of the aircraft through the reflection modulator (8);
when the identification code meets the requirement, in the first stage, the reference coordinate information encoder (12) controls the angle modulator (8-3) to adjust the angle of the quick angle-changing reflector (8-2) to a full-inversion position, the laser pulse with the ranging code in the second part of the laser pulse sequence is reflected to the total reflector (8-1), the laser pulse is reflected to the quick angle-changing reflector (8-2) by the total reflector (8-1), the quick angle-changing reflector (8-2) reflects the laser pulse sequence with the ranging code out of a reference response device, and a laser echo capable of returning to the scanner (3) of the aircraft is formed;
in the second stage, the reference coordinate information encoder (12) encodes the generated reference coordinate information, the angle modulator (8-3) is controlled according to the information code to modulate the angle of the quick angle-changing reflector (8-2), the laser pulse sequence is reflected or not reflected to the total reflector (8-1), the reflected laser pulse is reflected by the total reflector (8-1) back to the quick angle-changing reflector (8-2), the quick angle-changing reflector (8-2) reflects the laser pulse sequence containing the ranging code out of the reference response device to form a laser echo which can return to the scanner (3) of the aircraft, and the response code carrier is encoded according to the coordinate information according to the coordinate code, so that the response code laser echo is realized;
sixthly, the scanner (3) receives the laser echo returned by the quick angle-changing reflector (8-2) in the two-dimensional scanning process, acquires a plurality of groups of distance, scanning angles and reference coordinate information of each reference response device on a plurality of grounds and inputs the information into the echo detector (4), the echo detector (4) receives laser echo, one part of which is laser pulse containing ranging code and is input into the relevant range finder (6), the other part of which is laser pulse containing reference coordinate information code and is input into the echo decoder (7), the related distance meter (6) carries out related operation on the ranging code to realize distance measurement, the distance is input into the positioning navigator (13), the echo decoder (7) decodes the reference coordinate information code to obtain reference coordinate information, and the reference coordinate information is input into the positioning navigator (13); the scanner (3) inputs the output scanning angle information into the positioning navigator (13);
and the positioning navigator (13) calculates the relative coordinates of the aircraft relative to a coordinate system formed by the reference coordinates of the plurality of reference response devices on the ground, so that the aircraft is positioned and oriented, and safe and stable positioning and navigation are achieved.
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| CN113702989A (en) * | 2021-09-03 | 2021-11-26 | 四川九洲电器集团有限责任公司 | Laser ranging and querying integrated target identification method and device |
| CN114690191B (en) * | 2022-02-14 | 2024-08-06 | 西安工业大学 | Moving target relative position measurement system based on space optical communication |
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