CN114527780B - Intelligent landing guiding control method and system for carrier-based helicopter - Google Patents
Intelligent landing guiding control method and system for carrier-based helicopter Download PDFInfo
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Abstract
The invention relates to the technical field of carrier-based helicopters, in particular to an intelligent carrier landing guiding control method and system for a carrier-based helicopter. Searching a ship target in real time, entering a machine vision guiding mode if the ship target is captured, carrying out video tracking and locking on a cooperation mark in the landing process of the ship, extracting the characteristic points of the cooperation mark in the obtained image, calculating the relative position relation from a ship-based aircraft landing coordinate system to a machine body coordinate system, planning a target landing track, displaying and outputting, and carrying out landing auxiliary control on the ship-based helicopter according to the target landing track. Related data are not required to be sent to the helicopter through an empty data chain, and target track planning and tracking can be realized, so that auxiliary control of the helicopter is realized, the operating burden of a pilot is reduced, and the landing precision is improved.
Description
Technical Field
The invention relates to the technical field of carrier-based helicopters, in particular to an intelligent carrier landing guiding control method and system for a carrier-based helicopter.
Background
The carrier-based helicopter is small in carrier-based platform and has four-degree-of-freedom motion, is influenced by offshore wind shear, larger crosswind and the like when carrying, and has more accidents when carrying. Particularly under the condition of high sea conditions, the active carrier-borne helicopter in China cannot meet the capacity of taking off and landing on the ship. The method is particularly necessary for improving the use efficiency of the carrier-based helicopter, providing a safe carrier-based helicopter landing strategy, improving the carrier-based helicopter landing capacity and researching the precise carrier landing guiding control method of the carrier-based helicopter in a high sea condition environment.
In order to realize accurate landing of the carrier-based helicopter, photoelectric guiding is taken as the most important means for guiding the aircraft to land in the final stage. The method has ultrahigh precision in laser tracking, infrared imaging or high-resolution television guiding modes, can accurately obtain the aircraft and ship pose deviation information, is used for precise control of the final moment of landing and the moment with the highest accident rate, and can eliminate deviation to realize perfect landing. Taking laser guiding as an example, the laser guiding device mainly comprises a pointer (comprising a laser measuring component), an auxiliary pointer, a servo mechanism and the like, the basic working process is that the laser is used for irradiating the unmanned aerial vehicle, the laser is reflected back by a preset mark on the unmanned aerial vehicle, the relative motion information is measured through the return time, and the landing guiding precision is high. The photoelectric guiding mode also has the advantages of all weather, strong electromagnetic interference resistance, radio silence and the like.
However, in the existing method for carrying out carrier landing based on photoelectric guidance, after the motion data measured by the carrier landing system is processed, the motion data needs to be sent to a helicopter through an empty data chain, and no special data chain is arranged in China for carrier landing, for example, other data chain resources can be occupied by other chains. In addition, the photoelectric guided ship is not used for planning a target track and carrying out auxiliary control on the helicopter, the helicopter completely depends on manual operation of a pilot in the approaching and landing stages, and the pilot has large control burden and is easy to make mistakes.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the intelligent carrier landing guiding control method and system for the carrier-based helicopter, which realize machine vision guiding through the built-in function of the aircraft, do not need to send related data to the helicopter through an empty data chain, and can realize target track planning and tracking, thereby realizing auxiliary control of the helicopter, reducing the operating burden of pilots and improving carrier landing precision.
The invention provides an intelligent carrier landing guiding control method of a carrier-based helicopter, which comprises the following steps:
Searching a ship target in real time, and entering a machine vision guiding mode if the ship target is captured;
In the machine vision guiding mode, in the process of landing by the carrier-based helicopter in a downward sliding manner, tracking and locking the landing cooperation mark of the ship to obtain the relative position parameter of the landing cooperation mark and the landing point and the relative position parameter of the landing cooperation mark and the carrier-based helicopter;
according to the relative position parameters of the ship-borne cooperation mark and the landing point and the relative position parameters of the ship-borne cooperation mark and the ship-borne helicopter, calculating the relative position relation between the ship-borne aircraft landing coordinate system and the engine body coordinate system, generating a target sliding track in real time according to the relative position relation, and displaying and outputting the target sliding track;
And carrying out landing auxiliary control on the carrier-based helicopter according to the target sliding track until the hovering height of the carrier-based helicopter reaches a specified height, and exiting the machine vision guiding mode.
Preferably, the landing auxiliary control comprises height control, attitude control and speed control, and the speed control comprises that when the carrier-based helicopter slides downwards to the position right above the landing point, the relative speed between the carrier-based helicopter and the ship is 0.
Preferably, in the sliding process, if the carrier-based helicopter exceeds a preset boundary, the carrier-based helicopter is automatically controlled to return to the preset boundary.
More preferably, after the relative speed of the carrier-based helicopter and the ship is 0, the method further comprises:
the carrier-based helicopter vertically approaches downwards until reaching a specified height;
Monitoring sea waves, and landing if the sea waves are in a calm period; and if the ship-borne helicopter is in the tide period, the ship-borne helicopter is controlled to hover at the designated height, and landing is carried out until the sea wave is calm.
Preferably, the landing auxiliary control at least comprises two stages of control in the process of the carrier-based helicopter sliding down;
the first stage is to capture a ship target until the relative speed between the carrier-based helicopter and the ship is 0;
the second stage is that the relative speed of the carrier-based helicopter and the ship is 0 until the hovering height of the carrier-based helicopter reaches the designated height.
Preferably, in the machine vision guidance mode, the method further includes:
The method comprises the steps of acquiring relative position parameters of a landing cooperation mark and a landing point and relative position parameters of the landing cooperation mark and a carrier-based helicopter in a first stage, calculating the relative position relation between a carrier-based aircraft landing coordinate system and a machine body coordinate system, generating a first target descending track in real time according to the relative position relation, and controlling the height and the speed of the carrier-based helicopter by landing auxiliary control according to the first target descending track;
And in the second stage, the relative position parameters and the relative pose parameters of the ship-borne cooperation mark and the landing point, the relative position parameters and the relative pose parameters of the ship-borne cooperation mark and the ship-borne helicopter are obtained, the relative position relation and the relative pose relation between the ship-borne aircraft landing coordinate system and the engine body coordinate system are calculated, a second target lower slide track is generated in real time according to the relative position relation, and the ship-borne auxiliary control controls the height and the speed of the ship-borne helicopter according to the second target lower slide track and controls the pose of the ship-borne helicopter according to the relative pose relation.
Preferably, generating the target slide track in real time according to the relative positional relationship includes:
Obtaining the shortest track of the carrier-based helicopter and the ship according to the relative position relation from the carrier-based helicopter to the body coordinate system, and taking the shortest track as a target lower track at the current moment;
The target sliding track is updated in real time along with the sliding process of the carrier-based helicopter.
The invention also provides an intelligent carrier landing guiding control system of the carrier-based helicopter, which comprises the following steps:
The airborne photoelectric turret is used for searching for a ship target in real time, and entering a machine vision guiding mode if the ship target is captured; in the machine vision guiding mode, in the process of landing by the carrier-based helicopter in a downward sliding manner, tracking and locking the landing cooperation mark of the ship to obtain the relative position parameter of the landing cooperation mark and the landing point and the relative position parameter of the landing cooperation mark and the carrier-based helicopter; according to the relative position parameters of the ship-borne cooperation mark and the landing point and the relative position parameters of the ship-borne cooperation mark and the ship-borne helicopter, calculating the relative position relation between the ship-borne aircraft landing coordinate system and the engine body coordinate system, generating a target sliding track in real time according to the relative position relation, and displaying and outputting the target sliding track;
and the airborne flight control system is used for carrying out landing auxiliary control on the carrier-based helicopter according to the target sliding track until the hovering height of the carrier-based helicopter reaches a specified height, and exiting the machine vision guiding mode.
Preferably, the on-board flight control system comprises:
The helicopter downslide stage track tracking control subsystem is used for controlling the ship helicopter to fly in a target downslide track when the relative speed between the ship-borne helicopter and the ship is 0 after capturing the ship target;
The radio altitude maintaining subsystem is used for controlling the carrier-based helicopter to hover at a designated altitude after the relative speed of the carrier-based helicopter and the ship is 0;
and the position tracking control subsystem is used for controlling the carrier-based helicopter to vertically and downwards approach after the relative speed of the carrier-based helicopter and the ship is 0.
Preferably, the airborne photoelectric turret is further used for monitoring sea waves when the carrier-based helicopter vertically and downwards approaches to a designated height, and feeding back a signal of a sea wave calm period/a sea wave tide period to the airborne flight control system;
If the airborne flight control system receives the wave calm period signal, the carrier-based helicopter is controlled to carry out carrier landing;
and if the airborne flight control system receives the wave tide period signal, the carrier-based helicopter is controlled to hover at the designated height, and then landing is carried out until the sea wave is calm.
The beneficial effects of the invention are as follows:
1. the machine vision function is integrated in the carrier-based helicopter, the relevant data required by landing the ship is acquired through the carrier-based helicopter, and the relevant data are not required to be sent to the helicopter through a special empty data chain. Meanwhile, the machine vision guide is in a passive guide mode, is not interfered by the outside, and is not deceptively deceived by attacked parties. The integrated airborne photoelectric turret in the carrier-based helicopter works at optical frequency, has high measurement accuracy, strong electromagnetic interference resistance, high resolution imaging capability, small volume, light weight and good suitability, can rapidly calculate the relative positions of the ship and the helicopter, does not need to independently calibrate the installation relation between the device and the helicopter, and can simultaneously carry out target track planning and tracking according to the relative position relation, thereby realizing the auxiliary control of the helicopter, reducing the operation burden of pilots, reducing human errors in the carrier-entering and landing process and improving the landing precision.
2. Aiming at larger changes of external environment (such as large fluctuation of a deck or strong wind interference), if the carrier-based helicopter exceeds a preset boundary in the sliding process, the carrier-based helicopter is automatically controlled to return to the preset boundary, so that the landing risk is reduced.
3. Monitoring sea waves by adopting a resting-period intelligent recognition technology, and landing if the sea waves are in a resting period of the sea waves; if the ship-borne helicopter is in the tide period, the ship-borne helicopter is controlled to hover at the designated height, and then landing is carried out until the sea wave is calm, so that the landing risk caused by the influence of the sea wave can be effectively avoided.
Drawings
FIG. 1 is a schematic flow chart of a control method of the present invention;
FIG. 2 is a schematic diagram of the internal process flow of the control method of the present invention;
FIG. 3 is a schematic diagram of the coordinate systems in the control method of the present invention;
FIG. 4 is a schematic diagram of a first stage target trajectory planning according to the present invention;
FIG. 5 is a schematic diagram of a second stage target trajectory planning according to the present invention;
FIG. 6 is a flow chart of the system for implementing the control method of the present invention;
Fig. 7 is a schematic diagram of the simulation analysis of the accuracy of each distance stage of the carrier-based helicopter.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The control flow of the scheme is briefly described as follows:
The carrier-based helicopter starts a carrier landing process, and the carrier-based photoelectric turret searches a carrier target in a large range through a built-in television/infrared sensor. The pilot refers to the photoelectric video, controls the helicopter to fly towards the ship direction and descends to the height. The ship target can be captured about 500 meters away from the ship, namely, the ship target enters a visual guiding ship landing window of the ship-based helicopter at the moment, and a machine visual guiding mode is started to be started. The photoelectric turret starts a built-in landing-assisting measuring and processing device, and the turret scans and searches the ship position cooperation mark pattern through a servo control system. After the target is detected, stable tracking is carried out on the working mark, pose measurement data are output in real time, and an airborne flight control and avionic system is introduced to realize optimal glide slope calculation and avionic interface display. And if the landing parameter exceeds the boundary, the aircraft-mounted avionic interface alarms and prompts, and the flight control system automatically adjusts the flight to the normal track. When the relative flight speed with the ship is 0 and the hovering height is 3 meters, the optical auxiliary ship landing of the ship-based helicopter is finished, a manual ship landing process is started, at the moment, a pilot can judge information such as ship landing height, descending rate, ship sinking and floating motion condition, engine power limit and the like of the helicopter through visual data prompt provided by an intelligent ship landing system, and the ship landing prompt is provided by an intelligent method, so that the pilot is guided to estimate deck motion through a machine vision measuring system, and can bear a deck motion model of the ship without danger through combining with the helicopter, and the rest period condition is judged.
Example 1
For illustrating the control method of the present solution, fig. 1 shows a flow chart of a method for intelligent landing guiding control of a carrier-based helicopter according to a preferred embodiment of the present application (fig. 1 shows a first embodiment of the present application), and only the parts related to the present embodiment are shown below, which is described in detail below:
Searching ship targets in real time, and entering a machine vision guiding mode if the ship targets enter a vision guiding ship landing window;
In the machine vision guiding mode, in the process of landing by the carrier-based helicopter in a downward sliding manner, tracking and locking the landing cooperation mark of the ship to obtain the relative position parameter of the landing cooperation mark and the landing point and the relative position parameter of the landing cooperation mark and the carrier-based helicopter;
according to the relative position parameters of the ship-borne cooperation mark and the landing point and the relative position parameters of the ship-borne cooperation mark and the ship-borne helicopter, calculating the relative position relation between the ship-borne aircraft landing coordinate system and the engine body coordinate system, generating a target sliding track in real time according to the relative position relation, and displaying and outputting the target sliding track;
Carrying out landing auxiliary control on the carrier-based helicopter according to the target sliding track until the hovering height of the carrier-based helicopter reaches the designated height, exiting the machine vision guiding mode, entering the artificial landing flow, judging information such as the ship-leaving height, the descending rate, the ship sinking and floating movement condition, the engine power limit and the like of the helicopter by visual data prompt given by an intelligent landing system, giving landing prompt by an intelligent method, guiding the pilot to estimate deck movement by a machine vision measuring system, combining a ship movement model which can bear deck movement without danger by the helicopter, and judging rest period conditions.
As shown in fig. 2, in the machine vision guiding mode, the carrier-based helicopter performs image signal processing through an internally integrated photoelectric imaging unit, and specifically includes performing target automatic tracking, target identification, target feature extraction, relative pose calculation, coordinate transfer pose calculation and the like on the carrier-based cooperative mark.
Preferably, generating the target slide track in real time according to the relative positional relationship includes: and obtaining the shortest track of the carrier-based helicopter and the ship according to the relative position relation from the carrier-based helicopter to the body coordinate system, taking the shortest track as the target sliding track at the current moment, and updating the target sliding track in real time along with the sliding process of the carrier-based helicopter.
The generation of the target sliding track can also predict the landing point of the helicopter by utilizing the relative position of the helicopter and the aircraft carrier to generate a longitudinal track route and a transverse track route with high precision, and the specific method comprises the following steps: and processing the dimension when the decoupling matrix is designed, and quantitatively analyzing the performance of the designed model tracking system through a system performance criterion after the internal loop of the helicopter display model tracking flight control system with the complete control matrix decoupled is designed. The design of the outer loop system is simplified because the multi-input multi-output inner loop already has decoupling characteristics.
The three-dimensional track gauge for landing on the ship is mainly divided into two stages, wherein one stage is a track planning stage for stabilizing the track down (namely, the first stage is a stage of leading a ship target to enter a ship landing window to enable the relative speed of a ship-based helicopter and a ship to be 0) and keeping the track hovering relatively (namely, the second stage is a stage of enabling the relative speed of the ship-based helicopter and the ship to be 0 and enabling the hovering height of the ship-based helicopter to reach a designated height). The method mainly carries out flight path planning according to the current position and the return strategy, generates each route point reaching the landing point, and carries out smoothing treatment on the flight track by utilizing an interpolation function. For the two stages, the target downlink trajectory planning flow is shown in fig. 2.
For convenience of description, fig. 3 illustrates each coordinate system, specifically as follows:
The navigation coordinate system O n-XnYnZn of the carrier-based helicopter has the same origin O n as O a in the machine body coordinate system O a-XaYaZa, and X n、Yn、Zn points to northeast days respectively.
The machine body coordinate system O a-XaYaZa and the origin O a are the positions of the machine heads of the carrier-based helicopters, the Y a axis is parallel to the axes of the machine bodies of the carrier-based helicopters and points to the machine head direction, the X a axis points to the right side of the carrier-based helicopters, and the Z a axis is determined according to the right hand rule.
The inertial measurement unit navigates the coordinate system O n′-Xn′Yn′Zn ', the origin O n ' is the center of gravity of the airborne photoelectric turret, X n′、Yn′、Zn ' points to northeast days respectively, and the directions of the axes of the inertial measurement unit and the coordinate system O n-XnYnZn are consistent, and the origin of the coordinates is different. To clearly show the coordinate relationship in the drawing, this coordinate system is not drawn in the drawing.
The on-board photoelectric turret coordinate system O e-XeYeZe, an origin O e is the center of the turret structure, the Z e axis coincides with the optical axis of the imaging device and faces downwards, the Y e axis points to the tail direction, and the X e axis is determined according to the right-hand rule.
The origin O t of the collaborative sign coordinate system O t-XtYtZt is the same as O d of the carrier-borne aircraft in the carrier-borne coordinate system O d-XdYdZd, the collaborative sign coordinate system O is rotated 180 degrees around the X d axis, the Y t axis is opposite to the Y d axis, and the Z t axis is opposite to the Z d axis.
The ship-based aircraft is on a ship-based coordinate system O d-XdYdZd, an origin O d is on a ship-based identification center, a Y d axis is in a cooperative identification ray direction, the ship bow is pointed, an X d axis is pointed at the starboard of the ship, and a Z d axis is determined according to a right-hand rule.
As shown in fig. 4, in the first stage, the relative position parameter of the landing position cooperation mark and the landing point and the relative position parameter of the landing position cooperation mark and the carrier-based helicopter (that is, the cooperation mark is the relative position parameter) are obtained, the relative position relation between the carrier-based aircraft landing position coordinate system and the engine body coordinate system is calculated, a first target sliding track is generated in real time according to the relative position relation, the first target sliding track is also displayed and output through the carrier-based avionics so as to be convenient for a driver to refer to, and meanwhile, the landing auxiliary control controls the height and the speed of the carrier-based helicopter according to the first target sliding track.
When the helicopter hovers from 500 meters to 3 meters, the relative position parameters of the ship-borne cooperation mark and the ship-borne point and the relative position parameters of the ship-borne cooperation mark and the ship-borne helicopter are required to be obtained, and the relative position relation between the ship-borne coordinate system of the ship-borne helicopter and the machine body coordinate system is calculated according to the relative relation between three coordinate systems (cooperation mark coordinate systems, ship-borne point coordinate systems and helicopter coordinate systems). At the height of 3 meters to the final landing, not only the relative position relationship but also the relative posture relationship need to be considered.
As shown in fig. 5, in the second stage, the relative position parameter and the relative pose parameter of the landing cooperation mark and the landing point, the relative position parameter (i.e. the cooperation mark is the relative position parameter) and the relative pose parameter (i.e. the cooperation mark is the relative pose parameter) of the landing cooperation mark and the carrier-based helicopter are obtained, the relative position relation and the relative pose relation between the carrier-based helicopter landing coordinate system and the machine body coordinate system are calculated, a second target sliding track is generated in real time according to the relative position relation, the second target sliding track is also displayed and output through the carrier-based avionics so as to be convenient for a driver to reference, and meanwhile, the landing auxiliary control controls the height and the speed of the carrier-based helicopter according to the second target sliding track, and controls the pose of the carrier-based helicopter according to the relative pose relation.
Preferably, the landing auxiliary control comprises height control, attitude control (including transverse attitude control and longitudinal attitude control) and speed control, and the speed control comprises that when the carrier-based helicopter slides downwards to the position right above the landing point, the relative speed between the carrier-based helicopter and the ship is ensured to be 0.
Preferably, in the sliding process, if the carrier-based helicopter exceeds a preset boundary, the carrier-based helicopter is automatically controlled to return to the preset boundary.
More preferably, after the relative speed of the carrier-based helicopter and the ship is 0, the method further comprises:
the carrier-based helicopter vertically approaches downwards until reaching a specified height;
Monitoring sea waves, and landing if the sea waves are in a calm period; and if the ship-borne helicopter is in the tide period, the ship-borne helicopter is controlled to hover at the designated height, and landing is carried out until the sea wave is calm.
Example two
The embodiment also provides a specific machine vision guiding ship landing method, which comprises the following steps:
Firstly, calibrating an airborne landing-assisting measuring and processing device of the carrier-based helicopter. Then, when the carrier-based helicopter takes off and carries out the mission and finishes homing, inputting an instruction on an avionic system interface, starting an auxiliary landing process, starting an airborne landing measurement and processing device, controlling a turret to turn to the carrier direction by a servo system, internally arranging the airborne landing measurement and processing device to image the carrier, removing noise, dividing the image and identifying each frame of acquired image. The specific cooperative sign recognition algorithm adopts a color histogram as a basic feature of a large circle part of the auxiliary landing sign, and in the recognition process, the auxiliary landing sign is recognized by calculating the similarity between the color histogram of each color block in the image and the reference color histogram. Since the carrier and the helicopter are in a motion state, the relative positions are always changed, and in order to quickly and effectively provide guiding information in the period of time when the carrier-based helicopter flies above the landing point, the cooperation mark must be tracked in real time. The coincidence tracking algorithm realization of the fusion particle filtering and the Camshift algorithm is adopted. And at the colleagues stably tracking the cooperative marks, the attitude angle, azimuth angle and displacement vector of the airborne landing assistant measuring and processing device coordinate system of the carrier-based helicopter relative to the cooperative mark coordinate system are calculated with high precision. And (3) calculating the attitude, azimuth and displacement vector information of the carrier-based helicopter coordinate system relative to the stand coordinate system by combining the early calibration results.
Finally, the output parameters are updated to the aircraft landing parameter data to be used as aircraft landing parameter data, so that not only can the pilot be assisted in judging the relative relation of aircraft, but also the optimal glide slope can be estimated, a glide line is drawn to the boundary control position of the Hangzhou electric display control interface, if the carrier helicopter exceeds the maximum boundary formed by the common group of the deck and the hangar, the display control interface immediately alarms and outputs an alarm signal to the flight control system, and the flight control system automatically controls the helicopter to be within a safety range. When the carrier-based helicopter descends to 3 meters from the carrier-based height, the relative state of the carrier-based ship can only be predicted, after the calm state of sea waves or the state suitable for carrier landing is captured, the pilot is immediately reported, and after the pilot is comprehensively judged by combining other information, the pilot lowers the collective pitch, so that the safe carrier landing is realized.
Example III
The embodiment also provides a boundary prediction implementation method, which specifically comprises the following steps:
In the flight process of the helicopter, the ground guide mark deviates from the field of view of the solar blind ultraviolet imaging module possibly due to the gesture and the azimuth, the deviation of the ground guide mark is recognized by the image processing module and fed back to the servo mechanism of the aerial cradle head, the cradle head rapidly adjusts the azimuth angle of the optical axis of the solar blind ultraviolet imaging module, and the ground guide mark is maintained in the center of the field of view of the solar blind ultraviolet imaging module in the guide process. The solar blind ultraviolet imaging technology is applied to helicopter landing guidance, and is characterized by a high-performance target state recognition mechanism and algorithm. At present, a certain foundation is provided for a helicopter landing guidance algorithm based on computer vision at home and abroad, for example, an F-shaped beacon is used, so that patterns obtained by shooting all azimuth angles in the air are different, and 360-degree dead angle free is realized. Because the patterns detected by the ultraviolet imaging system at different positions in space are different, the azimuth information of the helicopter relative to the beacon (namely the ship) can be obtained by back-pushing according to the imaging characteristics.
In addition to the boundary prediction method provided in this embodiment, any boundary prediction method that can achieve the same function may be used instead of this method.
Example IV
The embodiment also provides an intelligent recognition method in a resting period, which is used for recognizing the sea wave state to ensure safe landing, and the recognition method specifically comprises the following steps:
the ship is inevitably swung along with the wind wave under the influence of the wind wave. In the final stage of landing, the unmanned helicopter is an 3-dimensional moving point, and the single-point landing and the sliding in the landing process are all absolutely unsafe, so that the unmanned helicopter must find a relatively gentle 'rest period', which is 3-5 seconds short and 10 seconds long, and the unmanned helicopter is safe to land only in the period.
"Rest phase": the stage is the final key stage of helicopter landing, after receiving the rapid descending instruction, the helicopter descends to the safe height, deck movement estimation is started at the moment, and the rest period is captured. The method defines a resting period, provides deck motion estimation and compensation technology based on a limited memory method, and carries out online real-time recursive estimation on ship motion. The DMC design based on the phase lead and compensation network ensures good tracking performance of the unmanned helicopter when the unmanned helicopter needs to follow the floating and sinking movement of the deck, and the control strategy based on dynamic decoupling PID is adopted for quick control in order to embody the rapidity at the stage.
In addition to the resting-period intelligent identification method provided by the embodiment, any method capable of realizing sea wave state monitoring can be used for replacing the method.
Through the four embodiments, the method is suitable for all three approach modes (3 o ' clock, 6 o ' clock and 9 o ' clock), and the method ensures that a driver does not need to carry out complex operation, is beneficial to reducing the burden of pilots, reduces human errors in the landing process of the ship, completes accurate landing under complex meteorological conditions, avoids the danger of traditional visual landing, and further improves landing efficiency and safety coefficient.
Meanwhile, the visual guidance is a passive guidance mode, is not interfered by the outside, is not deceived by attacked, and in order to ensure the safety and the intellectualization of the carrier-borne helicopter in the severe sea condition, the carrier landing guidance instruction needs to be calculated in real time according to the planned flight path, the airplane performance and other constraints, and can be displayed on a main flight display as suggestion information for the pilot to refer to. The method adopts a machine vision guiding mode, on-board equipment mainly comprises a ship surface irradiation lamp and a ship position cooperation mark, the on-board equipment mainly comprises an improved on-board photoelectric turret, the novel guiding and intelligent auxiliary ship landing method works at an optical frequency, the measuring precision is high, the electromagnetic interference resistance is strong, the imaging capability of high resolution is achieved, the volume is small, the weight is light, the suitability is good, the landing assisting measuring and processing device can utilize the data of an internal inertial measuring unit, and the relative posture relation between a ship-borne helicopter and a ship is rapidly resolved through a posture matrix transmission mode without the need of separately calibrating the installation relation between the device and the helicopter.
In addition, the guiding deviation result is accessed into the flying control, and a helicopter landing robust control technology, a landing boundary prediction and control technology, a resting-period intelligent recognition technology and other control technologies which face the combined disturbance are introduced in the landing control process, so that a novel landing guiding control system with multiple guiding means matched with each other and complementarily coexisted is formed. The deck operation dynamic and static period prompt can be estimated to the pilot through the machine vision sensor of the patent, boundary parameters for giving the landing safety are calculated, and an alarm and prompt can be sent to the pilot, so that the landing risk can be greatly reduced.
Example five
The invention also provides an intelligent carrier landing guiding control system of the carrier-based helicopter, which mainly comprises carrier equipment and on-board equipment. The on-board equipment mainly comprises a ship surface irradiation lamp, a ship position cooperation mark, an improved on-board photoelectric turret, a recording flight control system and the like.
The ship surface illumination lamp is used for landing a ship by a ship-borne helicopter at night and providing cooperative sign illumination light supplement under a low-illumination condition.
The ship position cooperation mark is drawn around the ship point in a concentric circular shape with high precision, and the geometric shape of the ship position cooperation mark can be calibrated with high precision for machine vision capture. (the cooperative sign should define the positive direction, the optimal stand direction, and the relative pose relation calculation should be based on this)
The airborne photoelectric turret (built-in landing-assisting measuring and processing device) is used for collecting optical images of ship landing reference marks, resolving real-time pose data measurement information of the high-precision carrier-based helicopter, and introducing the real-time pose data measurement information into an airborne flight control system.
And the airborne flight control system is used for carrying out landing auxiliary control on the carrier-based helicopter according to the target sliding track.
As shown in fig. 5, the system searches for a ship target in real time, and if the ship target enters a visual guiding landing window, the system enters a machine visual guiding mode; in the machine vision guiding mode, in the process of landing by the carrier-based helicopter in a downward sliding manner, tracking and locking the landing cooperation mark of the ship to obtain the relative position parameter of the landing cooperation mark and the landing point and the relative position parameter of the landing cooperation mark and the carrier-based helicopter; according to the relative position parameters of the landing cooperation mark and the landing point and the relative position parameters of the landing cooperation mark and the carrier-based helicopter, the relative position relation between a carrier-based aircraft landing coordinate system and an engine body coordinate system is calculated, a target sliding track is generated in real time according to the relative position relation and is displayed and output to an airborne flight control system, and the airborne flight control system carries out carrier landing auxiliary control on the carrier-based helicopter according to the target sliding track until the hovering height of the carrier-based helicopter reaches a designated height, and the machine vision guiding mode is exited.
Wherein, the airborne flight control system includes:
The helicopter downslide stage track tracking control subsystem is used for controlling the ship helicopter to fly in a target downslide track when a ship target enters a visual guiding landing window until the relative speed of the ship-borne helicopter and the ship is 0;
The radio altitude maintaining subsystem is used for controlling the carrier-based helicopter to hover at a designated altitude after the relative speed of the carrier-based helicopter and the ship is 0;
and the position tracking control subsystem is used for controlling the carrier-based helicopter to vertically and downwards approach after the relative speed of the carrier-based helicopter and the ship is 0.
Preferably, the airborne photoelectric turret is further used for monitoring sea waves when the carrier-based helicopter vertically and downwards approaches to a designated height, and feeding back a signal of a sea wave calm period/a sea wave tide period to the airborne flight control system;
if the airborne flight control system receives the wave calm period signal, namely when the wave height is not more than 1/3 of the maximum wave height, the carrier-borne helicopter is controlled to carry out carrier landing;
and if the airborne flight control system receives the wave tide period signal, the carrier-based helicopter is controlled to hover at the designated height, and then landing is carried out until the sea wave is calm.
According to the landing task flow division, including three stages of landing, hovering and vertical approaching, pilot operating burden is great, not only needs to pay attention to the ship surface environment information in real time and ensure that the machine body is in a stable and controllable state in real time, but also needs to input great energy for four-axis operation due to the coupling of helicopter operation and the accuracy of position control: the longitudinal and transverse directions need to have good holding and following capabilities for holding the gesture/speed so as to meet the requirement of accurate control of the relative position of the aircraft carrier; the course maintenance is required to be realized in the course direction so as to ensure the correct pointing direction of the machine head in the approach process; accurate hovering and stable landing are required in the vertical direction, and high requirements are imposed on the vertical speed and the height control precision. The complexity and coupling of the helicopter itself maneuvers further exacerbates the pilot's maneuvering burden.
In view of this, full-state four-axis decoupling control is required. In the landing auxiliary control, the four-axis decoupling control is realized on the control level by introducing an intelligent driving function and a reasonable control response mode, so that a pilot only needs to pay attention to the control of a few axes at different stages when performing a landing task, and the aim of reducing the control burden is fulfilled. In the sliding stage, the coordination control of the altitude, the course and the gesture is realized by an intelligent driving technology, so that the manipulation burden of a pilot is reduced; in the hovering and vertical approach stage, through the low-speed auxiliary control function, the accurate maintenance and following of the relative position of the aircraft carrier are realized, and the pilot only needs to pay attention to main energy and capture and vertical accurate control of the deck resting period, so that the aircraft carrier landing task is completed safely.
Meanwhile, the robust control method is adopted to improve the anti-interference performance of the landing ship. Because of uncertainty of wind field and vortex and deck movement and change of deck ground effect during ship-machine coupling interference, the core needs to strengthen anti-interference performance (anti-interference capability of gesture control) of a gesture stabilization feedback loop, so that machine body speed/gesture maintenance and fine adjustment under strong disturbance are realized, influence of complex interference on machine body gesture is reduced to the greatest extent, and good stability and maneuverability of machine body gesture in a hovering follow-up process are ensured.
In addition, in order to further ensure landing precision and landing safety, the landing boundary prediction and control are also carried out by the method. When the helicopter hovers relatively above the small deck, a physical boundary early warning technology in a disturbance state and when the speeds of the warship are inconsistent is researched, so that the pilot flight control time is reserved by the manual auxiliary control system. In addition, a helicopter height safety protection strategy is added, and the functions of automatically pulling up the helicopter at a low height and protecting the helicopter at a vertical speed in a non-high/hovering state are designed, so that abnormal disturbance and manipulation risks of a height shaft are prevented. Because of the complexity of the landing task environment and the danger of the tasks, the pilot is highly concentrated, and not only needs to pay attention to the dynamic change of the deck environment, but also needs to pay attention to the task management information of the multifunctional display of the cockpit, so that the safety distance between the longitudinal direction and the vertical direction is paid attention to and kept in real time, and a large burden is provided. In addition, for larger changes of external environment (such as large fluctuation of deck or strong wind interference), the change of dangerous boundary is detected and early warning is carried out in advance. In order to avoid potential special situation risks, external environment elements need to be comprehensively evaluated, the safety boundary of a forward hangar is monitored in real time, and an alarm is given to a pilot in time. On the basis of improving the accuracy, stability and reliability of height measurement, the machine body is required to be in a safe hovering height in real time in the vertical direction, and the automatic emergency pulling function with low height is provided.
In addition, the landing environment of the helicopter under high sea conditions is very bad. Under the influence of sea waves, ships have movements such as pitching, swaying, rolling, sinking and floating, swaying and pitching. Wherein pitching and sinking and floating mainly cause vertical height change of the deck, and deflection and rolling of the ship mainly cause transverse distance change of the deck, so that the deck is always in unstable random motion. The large-scale ship is less influenced by the sea stormy waves due to the heavier weight, and the amplitude of the deck movement is also smaller, but for the small-and medium-sized ships, the influence of the sea stormy waves is not neglected, and the deck movement has larger amplitude and faster frequency. When the ship sails on the sea, six degrees of freedom of the ship body caused by sea waves can change the deck landing point into a point which continuously and randomly moves in a three-dimensional space, and the positioning of the ship-based helicopter landing point can be influenced, so that the influence of the deck movement on the ship landing must be considered.
The system performs the judgment of the rest period condition by estimating the deck movement and combining with a ship movement model which can bear the deck movement without danger by the helicopter. When the carrier-based helicopter descends to 3 meters from the carrier-based height, the state of the carrier-based ship is intelligently predicted, and after the state of calm sea waves or suitable carrier landing is captured, the pilot is immediately reported to descend the collective pitch for carrier landing.
Example six
The embodiment utilizes the method to carry out the precision simulation analysis of each distance stage of the carrier-based helicopter in the carrier landing process, and is particularly shown in fig. 7.
In the embodiment, the cooperation mark is arranged on the cabin door, and the camera is provided with three-gear zooming. And the third is the A state respectively: the horizontal distance from 2.5km to 500m is the first grade, the angle of view is 0.5 degrees multiplied by 0.28 degrees, and the resolution is 1920 multiplied by 1080; and B state: the horizontal distance from 500m to 150m is the first grade, the angle of view is 1.5 degrees multiplied by 0.84 degrees, and the resolution is 1920 multiplied by 1080;
C state: the horizontal distance from 150m to 0m is the first order, the angle of view is 43 degrees multiplied by 24.2 degrees, and the resolution is 1920 multiplied by 1080.
The stepped zooming of the invention effectively improves the precision.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (7)
1. The intelligent carrier landing guiding control method for the carrier-based helicopter is characterized by comprising the following steps of:
Searching a ship target in real time, and entering a machine vision guiding mode if the ship target is captured;
In the machine vision guiding mode, in the process of landing by the carrier-based helicopter in a downward sliding manner, tracking and locking the landing cooperation mark of the ship to obtain the relative position parameter of the landing cooperation mark and the landing point and the relative position parameter of the landing cooperation mark and the carrier-based helicopter;
according to the relative position parameters of the ship-borne cooperation mark and the landing point and the relative position parameters of the ship-borne cooperation mark and the ship-borne helicopter, calculating the relative position relation between the ship-borne aircraft landing coordinate system and the engine body coordinate system, generating a target sliding track in real time according to the relative position relation, and displaying and outputting the target sliding track;
carrying out landing auxiliary control on the carrier-based helicopter according to the target sliding track until the hovering height of the carrier-based helicopter reaches a specified height, and exiting the machine vision guiding mode;
the landing auxiliary control comprises height control, attitude control and speed control, wherein the speed control comprises enabling the relative speed of the carrier-based helicopter and a ship to be 0 when the carrier-based helicopter slides downwards to be right above the landing point;
The landing auxiliary control at least comprises two stages of control in the process of sliding down the carrier-based helicopter;
the first stage is to capture a ship target until the relative speed between the carrier-based helicopter and the ship is 0;
the second stage is that the relative speed of the carrier-based helicopter and the ship is 0 until the hovering height of the carrier-based helicopter reaches a specified height;
In the machine vision guidance mode, further comprising:
The method comprises the steps of acquiring relative position parameters of a landing cooperation mark and a landing point and relative position parameters of the landing cooperation mark and a carrier-based helicopter in a first stage, calculating the relative position relation between a carrier-based aircraft landing coordinate system and a machine body coordinate system, generating a first target descending track in real time according to the relative position relation, and controlling the height and the speed of the carrier-based helicopter by landing auxiliary control according to the first target descending track;
And in the second stage, the relative position parameters and the relative pose parameters of the ship-borne cooperation mark and the landing point, the relative position parameters and the relative pose parameters of the ship-borne cooperation mark and the ship-borne helicopter are obtained, the relative position relation and the relative pose relation between the ship-borne aircraft landing coordinate system and the engine body coordinate system are calculated, a second target lower slide track is generated in real time according to the relative position relation, and the ship-borne auxiliary control controls the height and the speed of the ship-borne helicopter according to the second target lower slide track and controls the pose of the ship-borne helicopter according to the relative pose relation.
2. The intelligent carrier landing guiding control method of the carrier-based helicopter according to claim 1, wherein the intelligent carrier landing guiding control method is characterized by comprising the following steps of: in the sliding process, if the carrier-based helicopter exceeds a preset boundary, automatically controlling the carrier-based helicopter to return to the preset boundary.
3. The intelligent landing guiding control method of the carrier-based helicopter according to claim 1, wherein after the relative speed of the carrier-based helicopter and the ship is 0, the intelligent landing guiding control method further comprises:
the carrier-based helicopter vertically approaches downwards until reaching a specified height;
Monitoring sea waves, and landing if the sea waves are in a calm period; and if the ship-borne helicopter is in the tide period, the ship-borne helicopter is controlled to hover at the designated height, and landing is carried out until the sea wave is calm.
4. The intelligent landing guidance control method of the carrier-based helicopter according to claim 1, wherein generating the target lower track in real time according to the relative positional relationship comprises:
Obtaining the shortest track of the carrier-based helicopter and the ship according to the relative position relation from the carrier-based helicopter to the body coordinate system, and taking the shortest track as a target lower track at the current moment;
The target sliding track is updated in real time along with the sliding process of the carrier-based helicopter.
5. The intelligent carrier landing guiding control system of the carrier-based helicopter is characterized by comprising
The airborne photoelectric turret is used for searching for a ship target in real time, and entering a machine vision guiding mode if the ship target is captured; in the machine vision guiding mode, in the process of landing by the carrier-based helicopter in a downward sliding manner, tracking and locking the landing cooperation mark of the ship to obtain the relative position parameter of the landing cooperation mark and the landing point and the relative position parameter of the landing cooperation mark and the carrier-based helicopter; according to the relative position parameters of the ship-borne cooperation mark and the landing point and the relative position parameters of the ship-borne cooperation mark and the ship-borne helicopter, calculating the relative position relation between the ship-borne aircraft landing coordinate system and the engine body coordinate system, generating a target sliding track in real time according to the relative position relation, and displaying and outputting the target sliding track;
the airborne flight control system is used for carrying out landing auxiliary control on the carrier-based helicopter according to the target sliding track until the hovering height of the carrier-based helicopter reaches a specified height, and exiting the machine vision guiding mode;
the landing auxiliary control comprises height control, attitude control and speed control, wherein the speed control comprises enabling the relative speed of the carrier-based helicopter and a ship to be 0 when the carrier-based helicopter slides downwards to be right above the landing point;
The landing auxiliary control at least comprises two stages of control in the process of sliding down the carrier-based helicopter;
the first stage is to capture a ship target until the relative speed between the carrier-based helicopter and the ship is 0;
the second stage is that the relative speed of the carrier-based helicopter and the ship is 0 until the hovering height of the carrier-based helicopter reaches a specified height;
In the machine vision guidance mode, further comprising:
The method comprises the steps of acquiring relative position parameters of a landing cooperation mark and a landing point and relative position parameters of the landing cooperation mark and a carrier-based helicopter in a first stage, calculating the relative position relation between a carrier-based aircraft landing coordinate system and a machine body coordinate system, generating a first target descending track in real time according to the relative position relation, and controlling the height and the speed of the carrier-based helicopter by landing auxiliary control according to the first target descending track;
And in the second stage, the relative position parameters and the relative pose parameters of the ship-borne cooperation mark and the landing point, the relative position parameters and the relative pose parameters of the ship-borne cooperation mark and the ship-borne helicopter are obtained, the relative position relation and the relative pose relation between the ship-borne aircraft landing coordinate system and the engine body coordinate system are calculated, a second target lower slide track is generated in real time according to the relative position relation, and the ship-borne auxiliary control controls the height and the speed of the ship-borne helicopter according to the second target lower slide track and controls the pose of the ship-borne helicopter according to the relative pose relation.
6. The intelligent landing guidance control system of a carrier-based helicopter of claim 5, wherein the on-board flight control system comprises:
The helicopter downslide stage track tracking control subsystem is used for controlling the ship helicopter to fly in a target downslide track when the relative speed between the ship-borne helicopter and the ship is 0 after capturing the ship target;
The radio altitude maintaining subsystem is used for controlling the carrier-based helicopter to hover at a designated altitude after the relative speed of the carrier-based helicopter and the ship is 0;
and the position tracking control subsystem is used for controlling the carrier-based helicopter to vertically and downwards approach after the relative speed of the carrier-based helicopter and the ship is 0.
7. The intelligent landing guidance control system of the carrier-based helicopter according to claim 5, wherein the onboard photoelectric turret is further used for monitoring sea waves when the carrier-based helicopter vertically advances downwards to a specified height, and feeding back a sea wave calm period/wave tide period signal to the onboard flight control system;
If the airborne flight control system receives the wave calm period signal, the carrier-based helicopter is controlled to carry out carrier landing;
and if the airborne flight control system receives the wave tide period signal, the carrier-based helicopter is controlled to hover at the designated height, and then landing is carried out until the sea wave is calm.
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| CN105302126A (en) * | 2015-10-27 | 2016-02-03 | 南京航空航天大学 | Control method of autonomously descending and landing on warship of unmanned shipboard helicopter |
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| CN105302126A (en) * | 2015-10-27 | 2016-02-03 | 南京航空航天大学 | Control method of autonomously descending and landing on warship of unmanned shipboard helicopter |
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