CN110879616A - Non-satellite unmanned aerial vehicle landing method and system - Google Patents
Non-satellite unmanned aerial vehicle landing method and system Download PDFInfo
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- CN110879616A CN110879616A CN201911360554.1A CN201911360554A CN110879616A CN 110879616 A CN110879616 A CN 110879616A CN 201911360554 A CN201911360554 A CN 201911360554A CN 110879616 A CN110879616 A CN 110879616A
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Abstract
The application relates to a non-satellite unmanned aerial vehicle landing method, which comprises the following steps: continuously acquiring the position information of the unmanned aerial vehicle, judging whether the unmanned aerial vehicle enters the coverage area of a ground radar system or not according to the position information, and sending the position information of the unmanned aerial vehicle to the ground radar system when the unmanned aerial vehicle enters the coverage area of the ground radar system; and driving a radar antenna to continuously scan the position of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle, acquiring the relative vector relation between the ground radar system and the unmanned aerial vehicle, determining the absolute coordinate of the unmanned aerial vehicle according to the ground coordinate of the ground radar system, and guiding the unmanned aerial vehicle to land by using the absolute coordinate. The unmanned aerial vehicle landing method in the non-satellite mode can solve the problem that satellite navigation signals are extremely prone to interference and shielding and cannot be used when unmanned aerial vehicles with certain purposes are in hot spot conflict areas.
Description
Technical Field
The application belongs to the technical field of unmanned aerial vehicle navigation control, and particularly relates to a non-satellite unmanned aerial vehicle landing method and system.
Background
Because the satellite navigation system has wide coverage and high measurement precision, and the precision of the satellite navigation system is not reduced along with the increase of time, the current main navigation and precise landing means of the unmanned aerial vehicle is to provide high-precision navigation positioning information for the unmanned aerial vehicle by depending on the satellite navigation system.
However, the satellite navigation system is limited by its principle, and its satellite broadcast signal strength is weak, and is easily interfered, and the unmanned aerial vehicle landing stage has high requirements for the accuracy and stability of navigation parameters due to out-of-loop control, so a non-satellite unmanned aerial vehicle landing method is needed.
Disclosure of Invention
The application aims to provide a non-satellite unmanned aerial vehicle landing method and a non-satellite unmanned aerial vehicle landing system so as to solve or alleviate at least one problem in the background art.
In one aspect, the technical solution provided by the present application is: a non-satellite approach to drone landing method, the method comprising:
continuously acquiring the position information of the unmanned aerial vehicle, judging whether the unmanned aerial vehicle enters the coverage area of a ground radar system or not according to the position information, and sending the position information of the unmanned aerial vehicle to the ground radar system when the unmanned aerial vehicle enters the coverage area of the ground radar system;
and driving a radar antenna to continuously scan the position of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle, acquiring the relative vector relation between the ground radar system and the unmanned aerial vehicle, determining the absolute coordinate of the unmanned aerial vehicle according to the ground coordinate of the ground radar system, and guiding the unmanned aerial vehicle to land by using the absolute coordinate.
In a preferred embodiment of the present application, the radar wavelength emitted by the ground radar system is millimeter waves.
In a preferred embodiment of the present application, the relative vector relationship is determined according to a distance, a relative azimuth angle, and a pitch angle of the ground radar system and the drone.
In a preferred embodiment of the present application, the drone sends location information to the ground radar system for data transmission via a ground control system; and the ground radar system guides the unmanned aerial vehicle to land and transmit data through a communication link of the ground radar system.
On the other hand, the technical scheme provided by the application is as follows: a non-satellite drone landing system, the system comprising:
the airborne navigation system is used for continuously acquiring the position information of the unmanned aerial vehicle, judging whether the unmanned aerial vehicle enters the coverage area of the ground radar system or not according to the position information, and sending the position information of the unmanned aerial vehicle to the ground radar system when the unmanned aerial vehicle enters the coverage area of the ground radar system;
and the ground radar system is used for continuously scanning the position of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle, acquiring the relative vector relation between the ground radar system and the unmanned aerial vehicle, determining the absolute coordinate of the unmanned aerial vehicle according to the ground coordinate of the ground radar system, and guiding the unmanned aerial vehicle to land according to the absolute coordinate.
In a preferred embodiment of the present application, the radar wavelength of the ground radar system is millimeter waves.
In a preferred embodiment of the present application, the ground radar system obtains the relative vector relationship determined according to a distance, a relative azimuth angle, and a pitch angle of the ground radar system and the drone.
In a preferred embodiment of the present application, the system further comprises: and the ground control system is used for transmitting data in the process that the unmanned aerial vehicle sends the position information to the ground radar system.
In the preferred embodiment of this application, ground control system includes ground control station and take off and land guide station, ground control station receives unmanned aerial vehicle's positional information, take off and land guide station receives the information of ground control station transmission and transmits for ground radar system, in order to drive radar antenna is to the specified scope sweep.
The unmanned aerial vehicle landing method and the unmanned aerial vehicle landing system in the non-satellite mode can solve the problem that satellite navigation signals are extremely prone to interference and shielding and cannot be used when unmanned aerial vehicles with certain purposes are in hot spot conflict areas, and landing guidance is performed through radars, so that safety margin is increased, and flight safety is improved.
Drawings
In order to more clearly illustrate the technical solutions provided by the present application, the following briefly introduces the accompanying drawings. It is to be expressly understood that the drawings described below are only illustrative of some embodiments of the invention.
Fig. 1 is a schematic diagram of a non-satellite unmanned aerial vehicle landing method according to the present application.
Fig. 2 is a composition diagram of a non-satellite unmanned aerial vehicle landing system according to the present application.
Fig. 3 is a graph illustrating a comparison between the altitude of a satellite and the altitude of a millimeter wave during an approach landing phase according to an embodiment of the present disclosure.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application.
In order to solve the problem that an unmanned aerial vehicle usually adopts satellite guidance and has signal conflict in some areas in the prior art, the application provides an unmanned aerial vehicle landing method adopting a non-satellite mode, communication is established between a ground radar system and an airborne transponder, a transmitting signal of the airborne transponder is received, parameters such as a distance between the ground radar system and the unmanned aerial vehicle, a relative azimuth angle, a pitch angle and the like are measured and calculated, a relative vector relation between the ground radar and the unmanned aerial vehicle is calculated, an absolute coordinate value of the unmanned aerial vehicle is finally obtained through known ground radar coordinates, and the unmanned aerial vehicle is guided to land.
As shown in fig. 1, the non-satellite unmanned aerial vehicle landing method of the present application includes the following steps:
s1, in the process of returning the unmanned aerial vehicle to the ground, because the unmanned aerial vehicle does not enter the coverage area of the ground radar, the unmanned aerial vehicle guides the aircraft to enter the ground by using other navigation modes, and the other navigation modes can be satellite navigation modes, inertial navigation systems and the like.
In the process, the navigation mode continuously obtains the position information of the unmanned aerial vehicle, and whether the unmanned aerial vehicle enters the coverage area of the ground radar can be roughly judged according to the position information of the unmanned aerial vehicle and the relevant parameters of the ground radar. When the unmanned aerial vehicle enters the coverage range of the ground radar, the unmanned aerial vehicle transmits the position information of the unmanned aerial vehicle resolved by other navigation modes to the ground radar system.
S2, controlling a servo mechanism in the ground radar system to drive a radar antenna to quickly and continuously scan the appointed airspace range according to the position information of the unmanned aerial vehicle, and further capturing the unmanned aerial vehicle and establishing communication.
The ground radar system obtains the distance, the relative azimuth angle and the pitch angle value between the ground radar and the unmanned aerial vehicle by measuring and resolving the airborne transponder transmitting signal received by the radar, further calculates the relative vector relation between the ground radar and the unmanned aerial vehicle, finally obtains the absolute coordinate value of the unmanned aerial vehicle through the known ground radar coordinate, uploads the airplane through the communication link of the ground radar system, and the navigation and guidance function is realized.
In the preferred embodiment of the present application, the ground radar system employs a millimeter wave radar, that is, the radar wavelength emitted by the ground radar system is in millimeter level, so as to improve the anti-interference capability.
In an embodiment of the application, the position information sent by the unmanned aerial vehicle is downloaded to a ground control station of a ground control system through a ground-air data link, the ground control station retransmits the downloaded position information of the unmanned aerial vehicle to a take-off and landing guide station, and the take-off and landing guide station drives a servo system of a ground radar according to the downloaded position information of the unmanned aerial vehicle.
As shown in fig. 2, in the technical solution of the present application, there is also provided a non-satellite unmanned aerial vehicle landing system, which mainly includes: an airborne navigation system 10 and a ground radar system 20.
The airborne navigation system 10 is used for continuously acquiring the position information of the unmanned aerial vehicle during the return journey process of the unmanned aerial vehicle. The onboard navigation system 10 may be a satellite navigation system, or may also be an inertial navigation system, etc. Whether unmanned aerial vehicle has entered into the coverage of ground radar system can be judged through the unmanned aerial vehicle positional information who obtains, and in unmanned aerial vehicle entered into the coverage of ground radar system, send unmanned aerial vehicle's positional information to ground radar system.
Similarly, in the preferred embodiment of the unmanned aerial vehicle landing system of the present application, the ground radar system employs a millimeter-wave radar, that is, the radar wavelength emitted by the ground radar system is in the millimeter level.
In an embodiment of the unmanned aerial vehicle landing system of the present application, the unmanned aerial vehicle landing system further includes: and the ground control system 30 is used for transmitting and controlling data when the unmanned aerial vehicle sends the position information to the ground radar system.
In a specific embodiment, the ground control system 30 further includes a ground control station 31 and a take-off and landing guide station 32, the ground control station 31 is used for receiving the position information of the drone and transmitting the information to the take-off and landing guide station 32, and the take-off and landing guide station 32 receives the information transmitted by the ground control station 31 and further transmits the information to a servo mechanism in the ground radar system, and the servo mechanism can drive the radar antenna to scan the designated range.
Fig. 3 is a comparison curve of radar height values and satellite voting heights obtained after trial flight verification according to an embodiment of the present application. As can be seen from the figure, the millimeter wave radar can meet the high-precision landing requirement of the unmanned aerial vehicle.
The non-satellite unmanned aerial vehicle landing method and the non-satellite unmanned aerial vehicle landing system can solve the following two problems:
1. problem of radar fast tracking and locking airplane
Through establishing the communication between take-off and landing guide station and the ground control station at which the millimeter wave radar is located, the unmanned aerial vehicle passes real-time position information through the data link and descends to the take-off and landing control station, and the control station transmits unmanned aerial vehicle's position information for the take-off and landing guide station through the optical cable, and the millimeter wave radar lets ground radar catch fast (from 360 scans fixed small-angle sector scans that turn into, reduces scanning time) and lock the aircraft through the unmanned aerial vehicle position information drive servo mechanism who receives.
2. Ground clutter causes height jitter problems
When unmanned aerial vehicle is close ground, receive the clutter influence of ground refraction easily, and then lead to the high information shake that the millimeter wave was solved, through experimental trial flight, confirm that the clutter is regional easily refracted, lay clutter suppression material layer (for example artificial turf) in this region, solved ground clutter effect, finally solved the high shake problem.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A non-satellite unmanned aerial vehicle landing method is characterized by comprising
Continuously acquiring the position information of the unmanned aerial vehicle, judging whether the unmanned aerial vehicle enters the coverage area of a ground radar system or not according to the position information, and sending the position information of the unmanned aerial vehicle to the ground radar system when the unmanned aerial vehicle enters the coverage area of the ground radar system;
and driving a radar antenna to continuously scan the position of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle, acquiring the relative vector relation between the ground radar system and the unmanned aerial vehicle, determining the absolute coordinate of the unmanned aerial vehicle according to the ground coordinate of the ground radar system, and guiding the unmanned aerial vehicle to land by using the absolute coordinate.
2. The non-satellite approach to drone landing method of claim 1, wherein the radar wavelength emitted by the ground radar system is millimeter wave.
3. The non-satellite approach to drone landing method of claim 1, wherein the relative vector relationship is determined according to the distance, relative azimuth and pitch of the ground radar system from the drone.
4. The non-satellite unmanned aerial vehicle landing method of claim 1, wherein the unmanned aerial vehicle sends location information to the ground radar system for data transmission via a ground control system;
and the ground radar system guides the unmanned aerial vehicle to land and transmit data through a communication link of the ground radar system.
5. A non-satellite mode unmanned aerial vehicle landing system, characterized in that the system comprises
The airborne navigation system is used for continuously acquiring the position information of the unmanned aerial vehicle, judging whether the unmanned aerial vehicle enters the coverage area of the ground radar system or not according to the position information, and sending the position information of the unmanned aerial vehicle to the ground radar system when the unmanned aerial vehicle enters the coverage area of the ground radar system;
and the ground radar system is used for continuously scanning the position of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle, acquiring the relative vector relation between the ground radar system and the unmanned aerial vehicle, determining the absolute coordinate of the unmanned aerial vehicle according to the ground coordinate of the ground radar system, and guiding the unmanned aerial vehicle to land according to the absolute coordinate.
6. A non-satellite unmanned aerial vehicle landing system as claimed in claim 5, wherein the radar wavelength of the ground radar system is millimeter wave.
7. The non-satellite drone landing system of claim 5, wherein the ground radar system obtaining the relative vector relationship is determined according to a distance, a relative azimuth, and a pitch angle of the ground radar system from the drone.
8. The non-satellite unmanned aerial vehicle landing system of claim 5, wherein the system further comprises
And the ground control system is used for transmitting data in the process that the unmanned aerial vehicle sends the position information to the ground radar system.
9. The non-satellite drone landing system of claim 8, wherein the ground control system includes a ground control station that receives the drone location information and a take-off and landing guide station that receives information transmitted by the ground control station and transmits it to the ground radar system to drive the radar antenna to scan a designated area.
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| CN201911360554.1A CN110879616A (en) | 2019-12-25 | 2019-12-25 | Non-satellite unmanned aerial vehicle landing method and system |
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| CN201911360554.1A CN110879616A (en) | 2019-12-25 | 2019-12-25 | Non-satellite unmanned aerial vehicle landing method and system |
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| CN114815905A (en) * | 2022-06-29 | 2022-07-29 | 中国航空工业集团公司沈阳飞机设计研究所 | Multi-machine continuous landing guide control method and device |
| CN115016513A (en) * | 2022-06-08 | 2022-09-06 | 深圳市道通智能航空技术股份有限公司 | A kind of unmanned aerial vehicle control method, system, unmanned aerial vehicle and medium |
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