CN115294807B - Control method for intelligent selection of exit of contact crossing for large unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a control method for intelligently selecting a contact crossing to drive out of a large unmanned aerial vehicle, which comprises the following specific steps of: secondly, the unmanned aerial vehicle drives according to a preloaded driving-out route, and if a lane changing driving-out instruction of a navigation management is not received, the unmanned aerial vehicle drives out of the airport according to the preloaded driving-out route; if the unmanned aerial vehicle receives a lane-changing exit instruction of the navigation tube, the unmanned aerial vehicle adjusts the speed and turns to exit by combining the position relation of the unmanned aerial vehicle and the lane-changing exit lane; by the control method, the defect of a control flow when the lane change is suddenly required during the integrated flight of the large unmanned aerial vehicle and the manned unmanned aerial vehicle is overcome, so that the large unmanned aerial vehicle can automatically generate corresponding turning points according to the requirement according to the control method, the large unmanned aerial vehicle can turn around nearby, the large unmanned aerial vehicle can be quickly and safely separated from an airport runway, the time length of the runway is shortened, and the air traffic jam of the airport is reduced.

Description

A control method for large-scale unmanned aerial vehicles to intelligently select and drive out of contact crossings

technical field

The invention relates to the technical field of large-scale unmanned control, in particular to a control method for large-scale unmanned aerial vehicles to intelligently select and drive out of a contact crossing.

Background technique

At present, most of the airports used by large-scale drones are general aviation airports or military airports, and the runway routes are basically pre-planned. In airports with low frequency of use of runways, the mobility of drones is not very prominent. However, with the advancement of science and technology, the integration of drones and civil aviation is the future development trend.

In the prior art, when large-scale UAVs drive off the runway, they usually use three methods:

The mainstream is to use fully automatic control, that is, the drone travels according to preset programs and routes.

Command control, within the predetermined safety range can be controlled by command.

Manual control, human beings respond to the problems encountered by the drone in time to control.

Since the distance away from the runway is usually not long, the width of the contact road is limited, and the speed of the UAV is relatively fast, the risk of manual control is relatively high due to link transmission delay and slow manual response. The first method is usually used. It is realized by fully automatic control.

The integrated flight of drones and manned aircraft will face a problem. When encountering a busy civil aviation airport, the runway is complex or the air traffic control is temporarily deployed. Traditional control methods cannot make UAVs maneuver well or require maintenance personnel to enter the runway for traction, which will lead to long runway occupation time, low use efficiency, and unnecessary air traffic jams or safety hazards. Civil aviation integration adds a higher barrier.

Contents of the invention

The purpose of the present invention is to: address the above problems, to provide a control method for large-scale unmanned aerial vehicles to intelligently select the contact crossing to drive out, and to solve the problem that large-scale unmanned aerial vehicles cannot autonomously make maneuvers when unmanned aerial vehicles and manned aircrafts are fused together It may be necessary for maintenance personnel to enter the runway for traction, resulting in long runway occupation time, low use efficiency, and unnecessary air traffic jams or potential safety hazards.

The present invention is achieved through the following scheme:

A control method for a large unmanned aerial vehicle to intelligently select and exit a contact crossing, the specific steps of which are as follows:

Step 1, loading the calibration information of all contact roads of the airport into the UAV system navigation software;

Step 2: The UAV drives according to the preloaded exit route. If the UAV does not receive an instruction to change lanes and exit from the air traffic control, the UAV drives out of the airport according to the preloaded exit route;

If the UAV receives an instruction to change lanes and exit from the traffic control system, the UAV will adjust its speed and turn to exit operations based on its own position and the positional relationship between the lane change and exit lane, or the UAV will combine its own position with the position relationship between the lane change and exit. According to the positional relationship of the exit, the speed adjustment, U-turn, steering and exit operations are carried out, and finally the intelligent selection of the connection exit is realized.

米（正航向为 正值，反之为负值），此时无人机对航管给出的联络道X进行查找，并结合自身所在位置进行 判断;无人机安全转向距离为S米; Based on the above-mentioned control method for large-scale UAVs to intelligently select and exit from crossings, in step 2, when the UAV receives the command to change lanes and exit from the traffic control, record the position of the UAV as P, and change the lane The exiting contact road is recorded as X, and the intersection point of the extension line of the center line of the contact road X and the runway is recorded as the target point M, and the distance between the UAV and the target point M is

meters (a positive heading is a positive value, and vice versa is a negative value), at this time, the UAV searches for the contact road X given by the air traffic control, and makes a judgment based on its own location; the safe turning distance of the UAV is S meters;

＜S，无人机自动在目标点M正航向前方D米处生成1个掉头点记为T，无 人机速度根据距掉头点的距离线性插值进行自适应速度调节，无人机在掉头点T掉头后无 人机继续向目标点M行驶，当

≤S，无人机将速度控制为最小滑行速度行驶，进行左转弯 跑道脱离，总的路线为：P→M→T→M→X； If when 0<

<S, the UAV automatically generates a U-turn point at a distance D meters ahead of the target point M, which is marked as T, and the speed of the UAV is adaptively adjusted according to the linear interpolation of the distance from the U-turn point. After T turns around, the UAV continues to drive to the target point M, when

≤S, the UAV controls the speed to the minimum taxiing speed, and makes a left turn to leave the runway. The total route is: P→M→T→M→X;

≥S，无人机速度根据距掉头点的距离线性插值进行自适应速度调节，在 转向时速度控制为最小滑行速度行驶，进行右转弯跑道脱离，总的路线为：P→M→X。 Ruo Dang

≥S, the speed of the UAV is adjusted according to the linear interpolation of the distance from the U-turn point. When turning, the speed is controlled to be the minimum taxiing speed, and the right-turn runway is left. The total route is: P→M→X.

＜0m，此时

为反航向距离，无人机自动在无人机位置P点正航向前方D米处生成1个掉头点T，无人机 的速度根据距掉头点的距离线性插值进行自适应速度调节，无人机掉头后无人机继续向目 标点M行驶，当

≤S，无人机将速度控制为最小滑行速度行驶，进行左转弯跑道脱离，总的 路线为：P→T→M→X。 Based on the above-mentioned control method for a large-scale unmanned aerial vehicle to intelligently select the exit of the contact crossing, if

<0m, at this time

For the reverse course distance, the UAV automatically generates a U-turn point T at the point D of the UAV position P and is heading forward. The speed of the UAV is adaptively adjusted according to the linear interpolation of the distance from the U-turn point. After the UAV turns around, the UAV continues to drive towards the target point M. When

≤S, the UAV controls the speed to the minimum taxiing speed, and makes a left turn to leave the runway. The total route is: P→T→M→X.

Based on the above-mentioned control method for large-scale UAVs to intelligently choose to exit from crossings, in step 2, when the UAV receives an instruction to change lanes and exit from the traffic control system, it is the first choice to determine whether the side deviation of the UAV is less than 5m. If the flight angle is less than 3°, then proceed to the next step; if not, the UAV stops running and waits for the tractor to enter the runway for traction.

Based on the above-mentioned control method for a large-scale unmanned aerial vehicle to intelligently select and exit the crossing, the speed command of the unmanned aerial vehicle is selected within the range of 12km/h to 50km/h.

Based on the above-mentioned control method for a large-scale unmanned aerial vehicle to intelligently select the contact crossing to drive out, the U-turn point T is at least 120 meters away from the target point M; The safe turning distance is 50 meters.

In summary, owing to adopting above-mentioned technical scheme, the beneficial effect of the present invention is:

1. Through this control method, it makes up for the control process defect when large-scale unmanned aerial vehicles and manned aircrafts are suddenly required to change lanes during fusion flight, so that large-scale unmanned aerial vehicles can automatically generate corresponding U-turn points according to the needs of this control method, and realize large-scale The UAV turns around nearby and leaves the airport runway quickly and safely, reducing the runway occupancy time and reducing air traffic congestion at the airport.

Description of drawings

Fig. 1 and Fig. 2 are the route schematic diagrams of embodiment 2 of the present invention;

Fig. 3 is a schematic diagram of the route of Embodiment 3 of the present invention.

detailed description

All features disclosed in this specification, or steps in all methods or processes disclosed, may be combined in any manner, except for mutually exclusive features and/or steps.

Any feature disclosed in this specification (including any appended claims, abstract), unless otherwise stated, may be replaced by alternative features that are equivalent or serve a similar purpose. That is, unless expressly stated otherwise, each feature is one example only of a series of equivalent or similar features.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right" etc. is based on the orientation or positional relationship shown in the drawings, and is only for It is convenient to describe the present invention and simplify the description, but not to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be interpreted as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of such feature.

In the existing large-scale UAV control method, the planned two-way autonomous driving route is successfully loaded into the UAV, and then the pre-set route of the only contact road leaving the runway is executed. If there are many connecting lanes, or when the civil aviation traffic management is temporarily deploying, it is not possible to intelligently choose a route that uses a certain connecting lane to quickly leave the runway; or it is necessary to re-plan the mission, confirm the new departure route, and then successfully load it to the UAV. To perform the corresponding exit action. If the current position of the UAV does not meet the exit conditions for leaving the corresponding contact lane, the maintenance needs to use a tractor to enter the runway for traction, which will eventually lead to long occupation time and low use efficiency of the runway, which will cause unnecessary air traffic jams or safety hazards.

Example 1

This embodiment provides a control method for a large-scale unmanned aerial vehicle to intelligently select a contact crossing to drive out. This control method is applied to airports with an airport runway width ≥ 40m; the specific steps are as follows:

Step 1, loading the calibration information of all contact roads of the airport into the UAV system navigation software;

Step 2: The UAV drives according to the preloaded exit route. If the UAV does not receive an instruction to change lanes and exit from the air traffic control, the UAV drives out of the airport according to the preloaded exit route;

米（正航向为正值，反之为负值），此时无人机对航管给出的联络道X进行查找，并结合自 身所在位置进行判断;首先判断是否无人机侧偏＜5m，偏航角＜3°，若是则进行下一步作 业；若否，则无人机停止运行等待牵引车进入跑道牵引； If the UAV receives the command to change lanes and exit from the air traffic control, record the position of the UAV as P, record the connecting road that changed lanes as X, and mark the intersection point of the extension line of the center line of the connecting road X and the runway is the target point M, the distance between the UAV and the target point M is

meters (a positive heading is a positive value, otherwise it is a negative value), at this time the UAV searches for the contact road X given by the air traffic control, and judges based on its own location; first judge whether the UAV is sideways < 5m, If the yaw angle is less than 3°, proceed to the next step; if not, the drone will stop running and wait for the tractor to enter the runway for traction;

Step 3: When it is judged that the side deviation of the drone is less than 5m and the yaw angle is less than 3°, perform the following control;

＜50，无人机自动在目标点M正航向前方D米处生成1个掉头点记为T， 掉头点T距离目标点M为D，其至少为120m，此时无人机选择在掉头点T进行自动掉头，无人机 的速度指令在12km/h～50km/h的范围内，根据距掉头点的距离线性插值进行自适应速度调 节，即当距离M点越远，无人机的速度越大，随着距离值减小，无人机的速度逐步减小； If when 0<

<50, the UAV automatically generates a U-turn point at D meters ahead of the target point M, which is marked as T. The distance from U-turn point T to target point M is D, which is at least 120m. At this time, the UAV chooses to be at the U-turn point T performs an automatic U-turn, and the speed command of the UAV is within the range of 12km/h to 50km/h, and the adaptive speed is adjusted according to the linear interpolation of the distance from the U-turn point. The larger the value, the speed of the UAV will gradually decrease as the distance value decreases;

≤50m，无人机将速度控制为最小 滑行速度5km/h行驶，进行左转弯跑道脱离，总的路线为：P→M→T→M→X（联络道）； After the UAV turns around, the UAV continues to drive towards the target point M, when

≤50m, the drone will control the speed to the minimum taxiing speed of 5km/h, and make a left turn to leave the runway. The general route is: P→M→T→M→X (connection road);

≥50m，此时无人机控制速度在12km/h～50km/h的范围内进行行驶，根据 距掉头点的距离线性插值进行自适应速度调节，即当距离M点越远，无人机的速度越大，随 着距离值减小，无人机的速度逐步减小，在转向时速度控制为最小滑行速度5km/h行驶，进 行右转弯跑道脱离，总的路线为：P→M→X（联络道）； Ruo Dang

≥50m, at this time, the UAV controls the speed to travel within the range of 12km/h to 50km/h, and performs adaptive speed adjustment according to the distance from the U-turn point. The higher the speed, the lower the speed of the UAV as the distance value decreases. When turning, the speed is controlled to the minimum taxiing speed of 5km/h, and the right-turn runway is left. The total route is: P→M→X (contact road);

＜0，此时

为反航向距离，无人机自动在无人机位置P点正航向前方D米 处生成1个掉头点T，掉头点T距离无人机位置P为D，其至少为120m，此时无人机选择在掉头 点T进行自动掉头，无人机的速度指令在12km/h～50km/h的范围内，根据距掉头点的距离线 性插值进行自适应速度调节，即当距离M点越远，无人机的速度越大，随着距离值减小，无人 机的速度逐步减小； Ruo Dang

<0, at this time

The reverse course distance, the UAV automatically generates a U-turn point T at the point D of the UAV position P, and the U-turn point T is D from the UAV position P, which is at least 120m. At this time, there is no one The drone chooses to perform an automatic U-turn at the U-turn point T. The speed command of the UAV is within the range of 12km/h to 50km/h, and the adaptive speed adjustment is performed according to the linear interpolation of the distance from the U-turn point. That is, when the distance from point M is farther, The greater the speed of the drone, the speed of the drone will gradually decrease as the distance value decreases;

≤50m，无人机将速度控制为最小 滑行速度5km/h行驶，进行左转弯跑道脱离，总的路线为：P→T→M→X。 After the UAV turns around, the UAV continues to drive towards the target point M, when

≤50m, the drone will control the speed to the minimum taxiing speed of 5km/h, and make a left turn to leave the runway. The total route is: P→T→M→X.

Through this control method, it makes up for the control process defect when large-scale unmanned aerial vehicles and manned aircrafts are suddenly required to change lanes during fused flight, so that large-scale unmanned aerial vehicles can automatically generate corresponding U-turn points according to requirements according to this control method, and realize large-scale unmanned The aircraft can turn around at the nearest airport and leave the airport runway quickly and safely, reducing the runway occupancy time and reducing air traffic congestion at the airport.

Example 2

As shown in Figure 1 and Figure 2, this embodiment is described with a specific example;

At this time, the UAV has stopped on the runway, and the pre-set loading exit route is 27 connecting road A; at this time, the position P of the UAV is between connecting roads B and C, and the lateral deviation of the UAV is < 5m, yaw angle <3°;

，此时

为正航向距离（航向27），为正值。 The emergency air traffic control requires to quickly leave the runway from the contact road B, the pilot issues the "27 contact road B" exit command, and the distance between the UAV and the turning target point M of the contact road is

,at this time

is the positive course distance (course 27), and is a positive value.

＜50，自动在目标点M正航向前方D米处生成1个掉头点T（Turn around Point），D为120米（此时无人机选择在掉头点T进行自动掉头），速度指令在12km/h～50km/h 的范围内，根据距掉头点的距离线性插值进行自适应速度调节；当无人机掉头后，

≤50， 最小滑行速度为5km/h，进行左转弯跑道脱离，总的路线为：P→M→T→M→B（联络道）。 when 0<

<50, a U-turn point T (Turn around Point) is automatically generated at D meters ahead of the target point M, and D is 120 meters (at this time, the drone chooses to perform an automatic U-turn at the U-turn point T), and the speed command is 12km In the range of /h～50km/h, the adaptive speed is adjusted according to the linear interpolation of the distance from the U-turn point; when the UAV turns around,

≤50, the minimum taxiing speed is 5km/h, make a left-turn runway departure, and the total route is: P→M→T→M→B (connecting road).

≥50m，无人机速度指令在12km/h～50km/h的范围内，根据距目标点M的距离 线性插值，最小滑行速度为5km/h，右转弯跑道脱离，总的路线为：P→M→B（联络道）。 when

≥50m, the UAV speed command is within the range of 12km/h～50km/h, according to the linear interpolation of the distance from the target point M, the minimum taxiing speed is 5km/h, and the right-turn runway leaves, the total route is: P→ M→B (communication road).

Example 3

As shown in Figure 3, this embodiment is described with a specific example:

At this time, the UAV has stopped on the runway, and the pre-set loading exit route is 27 connecting road A; at this time, the position P of the UAV is between connecting roads B and C, and the lateral deviation of the UAV is < 5m, yaw angle <3°;

，此时

为反航向距离（航向09），为 负值。 The air traffic control rush requires to quickly leave the runway from the contact road C (or D, E, etc.), the pilot issues the "09 contact road C" (or D, E) exit command, and the distance between the UAV and the turning target point of the contact road is M for

,at this time

It is the reverse course distance (course 09), and it is a negative value.

＜0，自动在无人机位置P点正航向前方D米处生成1个掉头点T（Turn around Point），D为120m（此时无人机选择在掉头点T进行自动掉头），速度指令在12km/h～ 50km/h的范围内，根据距掉头点的距离线性插值进行自适应速度调节；当无人机掉头后，

≤50，最小滑行速度为5km/h，进行左转弯跑道脱离，总的路线为：P→T→M→C（或D、E）联 络道。 at this time

<0, a U-turn point T (Turn around Point) is automatically generated at D meters ahead of the drone's position P, and D is 120m (at this time, the UAV chooses to perform an automatic U-turn at the U-turn point T), and the speed command In the range of 12km/h to 50km/h, the adaptive speed is adjusted according to the linear interpolation of the distance from the U-turn point; when the UAV turns around,

≤50, the minimum taxiing speed is 5km/h, make a left turn runway departure, the general route is: P→T→M→C (or D, E) contact road.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (4)

1. A control method for intelligently selecting a contact crossing to exit by a large unmanned aerial vehicle is characterized by comprising the following steps: the method comprises the following specific steps:

loading calibration information of all contact roads of an airport into unmanned aerial vehicle system navigation software;

secondly, the unmanned aerial vehicle drives according to a preloaded driving-out route, and if a lane-changing driving-out instruction of a navigation management is not received, the unmanned aerial vehicle drives out of an airport according to the preloaded driving-out route;

if the unmanned aerial vehicle receives a lane-changing exit instruction of the navigation management, the unmanned aerial vehicle performs speed regulation and steering exit operation by combining the position relation of the unmanned aerial vehicle and a lane-changing exit channel, or performs speed regulation, turning around and steering exit operation by combining the position relation of the unmanned aerial vehicle and the lane-changing exit channel, and finally realizes intelligent selection of exit at the contact level; in the second step, when the unmanned aerial vehicle receives the lane change exit instruction of the navigation management, the position of the unmanned aerial vehicle is recorded as P, the contact lane for exiting the lane change is recorded as X, the intersection point of the extension line of the central line of the contact lane X and the runway is recorded as a target point M, and the distance between the unmanned aerial vehicle and the target point M is set as

The unmanned aerial vehicle searches a communication channel X given by a navigation management and judges the position of the unmanned aerial vehicle according to the position of the unmanned aerial vehicle;

if 0 <

S, unmanned aerial vehicle is automatic at the eyeMarking a point M forward sailing to generate 1 turning point to the front D meter as T, carrying out self-adaptive speed adjustment on the speed of the unmanned aerial vehicle according to the linear interpolation of the distance from the turning point, enabling the unmanned aerial vehicle to continue to drive to the target point M after the unmanned aerial vehicle turns around at the turning point T, and when the unmanned aerial vehicle turns around at the turning point T, keeping the target point M as T

S is less than or equal to, unmanned aerial vehicle drives for minimum taxi speed with speed control, carries out left turn runway and breaks away from, and total route is: p → M → T → M → X;

if when it is used

The speed of the unmanned aerial vehicle is adjusted in a self-adaptive speed mode according to the linear interpolation of the distance from the turning point, the speed is controlled to be the minimum sliding speed when the unmanned aerial vehicle turns, the unmanned aerial vehicle turns right, and the runway is separated, wherein the total route is as follows: p → M → X; if when it is used

< 0 at this time

For the reverse course distance, the unmanned aerial vehicle automatically generates 1 turning point T at the P point forward navigation of the unmanned aerial vehicle to the D meter ahead, the speed of the unmanned aerial vehicle is adjusted according to the linear interpolation of the distance from the turning point, the unmanned aerial vehicle continues to run to a target point M after the unmanned aerial vehicle turns around, and when the unmanned aerial vehicle turns around, the unmanned aerial vehicle drives to the target point M

S is not more than S, and unmanned aerial vehicle drives for minimum taxi speed with speed control, and the runway that turns left breaks away from, and total route is: p → T → M → X.

2. The control method for the intelligent selection of the contact crossing exit of the large unmanned aerial vehicle according to claim 1, characterized in that: in the second step, when the unmanned aerial vehicle receives a lane-changing exit instruction of the navigation management, whether the unmanned aerial vehicle has a yaw of less than 5m and a yaw angle of less than 3 degrees is firstly judged, and if yes, the next step of operation is carried out; if not, the unmanned aerial vehicle stops running and waits for the tractor to enter the runway for traction.

3. The control method for the intelligent selection of the contact crossing exit of the large unmanned aerial vehicle according to claim 1 or 2, characterized in that: the speed command of the unmanned aerial vehicle is selected within the range of 12 km/h-50 km/h.

4. The control method for the intelligent selection of the contact crossing exit of the large unmanned aerial vehicle according to claim 1 or 2, characterized in that: the distance between the turning point T and the target point M is at least 120 meters; when the unmanned aerial vehicle turns, the speed is controlled to be 5km/h minimum sliding speed for driving; the safe steering distance of the unmanned aerial vehicle is 50 meters.

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