CN109557938A - A kind of system and method that large and medium-sized shipping fixed-wing unmanned plane strange land is landed - Google Patents
A kind of system and method that large and medium-sized shipping fixed-wing unmanned plane strange land is landed Download PDFInfo
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- CN109557938A CN109557938A CN201811599299.1A CN201811599299A CN109557938A CN 109557938 A CN109557938 A CN 109557938A CN 201811599299 A CN201811599299 A CN 201811599299A CN 109557938 A CN109557938 A CN 109557938A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention discloses a kind of system and methods that large and medium-sized shipping fixed-wing unmanned plane strange land is landed, including unmanned plane, further include multiple earth stations；The unmanned plane configures airborne data terminal, and the earth station configures ground data terminal, and the predicted operation track of unmanned plane is completely covered the signal coverage areas of multiple earth stations.The system that one of present invention lands in large and medium-sized shipping fixed-wing unmanned plane strange land, the integration and its realization of strange land landing technology, for unmanned plane, this long-range lands of taking off proposes a solution, thinking is provided to exclude current limitation shipping unmanned plane application difficult, has filled up the blank of domestic large and medium-sized logistics fixed-wing unmanned plane strange land landing technical solution；Realize the landing of unmanned plane strange land be shipping unmanned plane many crucial application scenarios realize must across technical barrier, commercial move towards to logistics unmanned plane and is popularized with great strategic significance.
Description
Technical field
It lands the present invention relates to air vehicle technique field more particularly to a kind of large and medium-sized shipping fixed-wing unmanned plane strange land
System and method.
Background technique
In recent years the large and medium-sized shipping unmanned plane heat formed in China, just because of China's branch line, remote districts, small freight volume goods
It transports scarce capacity and unmanned air vehicle technique develops increasingly mature concentrated reflection.Large and medium-sized shipping unmanned plane is heavy-duty, middle long distance
From branch line shipping unmanned plane, flight linear distance is generally in 10km-1000km or so, and load-carrying reaches 1 ton -2 tons, and cruise duration reaches
To a few hours, main application scenarios are between the Material Transportation on trans-regional shipping, frontier sentry and island etc., logistics hinge
Shipping allots, the plant protection work on ultra-large type mechanization farm etc..It all can greatly be related to unmanned plane in these scenes at this
The use demand that ground takes off, long-range strange land is landed, there are no the solutions about the demand in the prior art.
Summary of the invention
To solve in the prior art, to solve the technical issues of large and medium-sized shipping unmanned plane strange land is landed, skill of the invention
Art scheme is as follows:
The system that the large and medium-sized shipping fixed-wing unmanned plane strange land of one of present invention is landed, including it is unmanned plane, multiple
Face station；The unmanned plane configures airborne data terminal, and the earth station configures ground data terminal, the letter of multiple earth stations
The predicted operation track of unmanned plane is completely covered for number overlay area.
Further, the airborne data terminal be L-band airborne data terminal and U wave band airborne data terminal, describedly
Face data terminal is L-band ground data terminal and U wave band ground data terminal.
Further, the earth station is fixed earth station or mobile earth station, the shifting of the mobile earth station
Dynamic load body is vehicle.
Further, the unmanned plane also configures data acquisition module, and the data acquisition module includes atmosphere data sensing
Device, gyroscope, angular velocity gyro, accelerometer, differential GPS and Beidou GPS module are respectively used to atmosphere data monitoring, nobody
The three-axis attitude of machine, tri-axis angular rate, 3-axis acceleration, longitude and latitude and height data monitoring.
Further, the unmanned plane also configures ELT, for the emergency positioning after unmanned plane generation accident.
Further, the unmanned plane also configures data acquisition module, and the data acquisition module includes atmosphere data sensing
Device, gyroscope, angular velocity gyro, accelerometer, differential GPS and Beidou GPS module are respectively used to atmosphere data monitoring, nobody
The three-axis attitude of machine, tri-axis angular rate, 3-axis acceleration, longitude and latitude and height data monitoring.
Further, the unmanned plane also configures radio altimeter, for measuring the height of unmanned plane from the ground, provides
Depression of order section unmanned plane terrain clearance.Radio altimeter and Beidou GPS module have a different measurement accuracy in different height, and two
A device is applied in combination, and to adapt to the process of landing and flight, so aircraft flies to different height, different devices is determined
Its height is supplied to the accurate height of aircraft to guarantee that each device all works within the scope of its most suitable measurement accuracy
Information.
The present invention also provides a kind of methods that large and medium-sized shipping fixed-wing unmanned plane strange land is landed, comprising the following steps:
S1 sets up multiple earth stations according to the predicted operation track of unmanned plane, makes the signal coverage areas of earth station by nothing
Man-machine predicted operation track is completely covered；
S2, unmanned plane control unmanned plane by taking off earth station in field takeoff where takeoff point earth station；
S3 is the with the earth station that initially enters when unmanned plane enters the signal overlap region of two neighboring earth station
One earth station, unmanned plane and the normal communication of the first earth station, the second earth station receives unmanned plane with frequency evidence at this time；
S4, the second earth station propose adapter tube application, send same way handshake protocol to unmanned plane, and unmanned plane replys the after receiving
Two earth stations, and it is forwarded to the first earth station, the first earth station determines whether to agree to take over, if so, executing S5；If it is not, nobody
Machine continues flight to execution S3；
S5, the first earth station inform that adapter tube, the second earth station confirmation adapter tube are agreed to by the second earth station by unmanned plane；Nobody
Machine stops the flight directive of the first earth station of response, responds the flight directive of the second earth station, and by the adapter tube of the second earth station
Confirmation message informs that the first earth station, the first earth station stop data link communication；
S6, adapter tube are completed；
S7 repeats step S3-S6, until unmanned plane enters in the signal coverage areas of terminal earth station, by terminal ground
Control of standing is landed.
Further, further include following steps before the step S1:
S0, it is true to the landing point latitude and longitude information of unmanned plane, topography and geomorphology, the prior acquisition of runway situation and winged preceding update
Recognize.
Further, the course of work of the same way handshake protocol in the step S4 are as follows: the first ground station signals link of inquiry
Quality reports unmanned plane location information；The second ground station signals link-quality is inquired, unmanned plane location information is reported；Earth station
Unmanned plane location information is received, oneself location information is replied；Earth station guides L-band earth station according to unmanned plane location information
Directional aerial is oriented tracking；It is used when earth station interacts as link management.
The system that one of present invention lands in large and medium-sized shipping fixed-wing unmanned plane strange land, compared with prior art,
It has the beneficial effect that
The system that one of present invention lands in large and medium-sized shipping fixed-wing unmanned plane strange land, the integration of strange land landing technology
And its realize, for unmanned plane, this long-range lands of taking off proposes a solution, to exclude current limitation shipping unmanned plane
Application difficult provides thinking, has filled up the blank of domestic large and medium-sized logistics fixed-wing unmanned plane strange land landing technical solution；It realizes
The landing of unmanned plane strange land be shipping unmanned plane many crucial application scenarios realize must across technical barrier, to logistics without
It is man-machine to move towards commercialization and popularize that there is great strategic significance.
Detailed description of the invention
Fig. 1 is a kind of system schematic that large and medium-sized shipping fixed-wing unmanned plane strange land is landed in the present invention；
Fig. 2 is the method flow diagram of step S3-S6 in the present invention；
Fig. 3 is a kind of schematic diagram that large and medium-sized shipping fixed-wing unmanned plane strange land is landed in the present invention.
Specific embodiment
Below in conjunction with attached drawing of the invention, technical solution of the present invention is clearly and completely described.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
As shown in Figure 1, the system that the large and medium-sized shipping fixed-wing unmanned plane strange land of one of present invention is landed, including nobody
Machine 1, multiple earth stations 2；Unmanned plane 1 configures airborne data terminal, and airborne data terminal is L-band airborne data terminal 101 and U
Wave band airborne data terminal 102 is made of transmitting-receiving combination and antenna, and earth station 2 configures ground data terminal, ground data terminal
For L-band ground data terminal 203 and U wave band ground data terminal 204, L-band ground data terminal 203 by antenna combination,
The compositions such as antenna pedestal, transmitting-receiving tracking portfolio, duplexer composition, interchanger, link monitoring computer and other user equipmenies, U wave
Section ground data terminal 204 is made of transmitting-receiving combination and antenna.The signal coverage areas of multiple earth stations 2 is by the pre- of unmanned plane 1
Meter running track is completely covered, when unmanned plane 1 is flown into the control area of some earth station 2, by the earth station 2 progress unmanned plane
1 control.
1 data-link of unmanned plane uses two kinds of link devices of U wave band and L-band, can the remote control of simultaneous transmission unmanned plane 1, telemetering
Information, dual link Redundancy Design considerably increase the Task Reliability of link, and reliability MTBF >=150h meets anti-interference
Index, the transmission of low delay information, good man-machine interaction, ground staff accurately grasp aircraft state in real time.
Earth station 2 is fixed earth station 2 or mobile earth station 2, and the mobile vehicle of mobile earth station 2 is vehicle
?.Earth station 2 is the maincenter of 1 system of unmanned plane, its major function includes: task scheduling, flight controls, information processing is shown
Show, target detection and positioning, data record etc..Vehicle earth station 2 due to its mobility is good, convenient for rapid deployment, can arrive rapidly
Up near mission area.
Unmanned plane 1 also configures Big Dipper short message modular terminal 103；Big Dipper short message modular terminal 103 can be defended with Beidou
Star or Beidou ground support system carry out two-way information transmitting, and the information for unmanned plane 1 is calibrated.
Unmanned plane 1 also configures ELT 104, for the emergency positioning after 1 generation accident of unmanned plane.Emergency is fixed
Position transmitter 104 is the prior art, the model AK451 of selection.
Unmanned plane 1 also configures data acquisition module 105, and data acquisition module 105 includes air data sensor, gyro
Instrument, angular velocity gyro, accelerometer, differential GPS and Beidou GPS module are respectively used to atmosphere data and monitor, and the three of unmanned plane 1
Axis posture, tri-axis angular rate, 3-axis acceleration, longitude and latitude and height data monitoring.
Unmanned plane 1 also configures radio altimeter 106, for measuring the height of unmanned plane 1 from the ground, provides the landing stage
1 terrain clearance of unmanned plane.
As Figure 2-3, the present invention also provides a kind of method that large and medium-sized shipping fixed-wing unmanned plane strange land is landed, packets
Include following steps:
S1 sets up multiple earth stations 2 according to the predicted operation track of unmanned plane 1, makes the signal coverage areas of earth station 2 will
The predicted operation track of unmanned plane 1 is completely covered；
S2, unmanned plane 1 control unmanned plane 1 by taking off earth station 2 in the 2 place field takeoff of takeoff point earth station；
S3, when unmanned plane 1 enter two neighboring earth station 2 signal overlap region when, be with the earth station 2 initially entered
First earth station 201,201 normal communication of unmanned plane 1 and the first earth station, the second earth station 202 receives unmanned plane 1 with frequency at this time
Data；
S4, the second earth station 202 propose adapter tube application, same way handshake protocol are sent to unmanned plane 1, after unmanned plane 1 receives
The second earth station 202 is replied, and is forwarded to the first earth station 201, the first earth station 201 determines whether to agree to take over, if so, holding
Row S5；If it is not, unmanned plane 1 continues flight to execution S3；
S5, the first earth station 201 inform that adapter tube is agreed to by the second earth station 202 by unmanned plane 1, and the second earth station 202 is really
Recognize adapter tube；Unmanned plane 1 stops the flight directive of the first earth station 201 of response, responds the flight directive of the second earth station 202, and
The adapter tube confirmation message of second earth station 202 is informed that the first earth station 201, the first earth station 201 stop data link communication；
S6, adapter tube are completed；
S7 repeats step S3-S6, until unmanned plane 1 enters in the signal coverage areas of terminal earth station 2, by terminal
The control landing of face station 2.
Further include following steps before step S1:
S0, prior acquisition and winged preceding update to the landing point latitude and longitude information of unmanned plane 1, topography and geomorphology, runway situation
Confirmation.
The course of work of same way handshake protocol in step S4 are as follows: inquiry 201 signal link quality of the first earth station is reported
1 location information of unmanned plane；202 signal link quality of the second earth station is inquired, 1 location information of unmanned plane is reported；Earth station 2 receives
1 location information of unmanned plane, replys oneself location information；Earth station 2 guides L-band earth station 2 according to 1 location information of unmanned plane
Directional aerial is oriented tracking；It is used when earth station 2 interacts as link management.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of system that large and medium-sized shipping fixed-wing unmanned plane strange land is landed, including unmanned plane, which is characterized in that further include more
A earth station；The unmanned plane configures airborne data terminal, and the earth station configures ground data terminal, multiple earth stations
Signal coverage areas the predicted operation track of unmanned plane is completely covered.
2. the system that a kind of large and medium-sized shipping fixed-wing unmanned plane strange land according to claim 1 is landed, which is characterized in that
The airborne data terminal is L-band airborne data terminal and U wave band airborne data terminal, and the ground data terminal is L wave
Section ground data terminal and U wave band ground data terminal.
3. the system that a kind of large and medium-sized shipping fixed-wing unmanned plane strange land according to claim 1 is landed, which is characterized in that
The earth station is fixed earth station or mobile earth station, and the mobile vehicle of the mobile earth station is vehicle.
4. the system that a kind of large and medium-sized shipping fixed-wing unmanned plane strange land according to claim 1 is landed, which is characterized in that
The unmanned plane also configures Big Dipper short message modular terminal；The Big Dipper short message modular terminal can be with big-dipper satellite or Beidou
Ground support system carries out two-way information transmitting, and the information for unmanned plane is calibrated.
5. the system that a kind of large and medium-sized shipping fixed-wing unmanned plane strange land according to claim 1 is landed, which is characterized in that
The unmanned plane also configures ELT, for the emergency positioning after unmanned plane generation accident.
6. the system that a kind of large and medium-sized shipping fixed-wing unmanned plane strange land according to claim 1 is landed, which is characterized in that
The unmanned plane also configures data acquisition module, and the data acquisition module includes air data sensor, gyroscope, angular speed
Gyro, accelerometer, differential GPS and Beidou GPS module are respectively used to atmosphere data monitoring, the three-axis attitude of unmanned plane, three axis
Angular speed, 3-axis acceleration, longitude and latitude and height data monitoring.
7. the system that a kind of large and medium-sized shipping fixed-wing unmanned plane strange land according to claim 1 is landed, which is characterized in that
The unmanned plane also configures radio altimeter, for measuring the height of unmanned plane from the ground, provide landing stage unmanned plane from
Ground height.
8. a kind of method that large and medium-sized shipping fixed-wing unmanned plane strange land is landed, which comprises the following steps:
S1 sets up multiple earth stations according to the predicted operation track of unmanned plane, makes the signal coverage areas of earth station by unmanned plane
Predicted operation track be completely covered；
S2, unmanned plane control unmanned plane by taking off earth station in field takeoff where takeoff point earth station；
S3, when unmanned plane enters the signal overlap region of two neighboring earth station, with the earth station that initially enters for the first
Face station, unmanned plane and the normal communication of the first earth station, the second earth station receives unmanned plane with frequency evidence at this time；
S4, the second earth station propose adapter tube application, send same way handshake protocol to unmanned plane, unmanned plane replys the second ground after receiving
Face station, and it is forwarded to the first earth station, the first earth station determines whether to agree to take over, if so, executing S5；If it is not, unmanned plane after
Continuous flight extremely executes S3；
S5, the first earth station inform that adapter tube, the second earth station confirmation adapter tube are agreed to by the second earth station by unmanned plane；Unmanned plane stops
The flight directive of the first earth station is only responded, responds the flight directive of the second earth station, and the adapter tube of the second earth station is confirmed
Information informs that the first earth station, the first earth station stop data link communication；
S6, adapter tube are completed；
S7 repeats step S3-S6, until unmanned plane enters in the signal coverage areas of terminal earth station, by terminal, earth station is controlled
System landing.
9. the method that a kind of large and medium-sized shipping fixed-wing unmanned plane strange land according to claim 8 is landed, which is characterized in that
Further include following steps before the step S1:
S0 confirms the landing point latitude and longitude information of unmanned plane, topography and geomorphology, the prior acquisition of runway situation and winged preceding update.
10. the method that a kind of large and medium-sized shipping fixed-wing unmanned plane strange land according to claim 8 is landed, feature exist
In the work step of the same way handshake protocol in the step S4 are as follows: the first ground station signals link-quality of inquiry reports nobody
Machine location information；The second ground station signals link-quality is inquired, unmanned plane location information is reported；Ground station reception unmanned plane position
Information replys oneself location information；Earth station guides L-band directional aerial to be oriented tracking according to unmanned plane location information,
It is used when earth station interacts as link management.
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| CN112666966A (en) * | 2020-03-18 | 2021-04-16 | 鉴真防务技术(上海)有限公司 | Unmanned aerial vehicle pipe connecting device and working method thereof |
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Application publication date: 20190402 |