CN110530374A - A kind of unmanned plane skyhook recovery stage course-line deviation display methods - Google Patents

Abstract

The invention provides a method for displaying track deviation during the recovery phase of the UAV skyhook, which obtains the position information of the UAV in real time, obtains the latitude and longitude and the height of the relative recovery site, and calculates the UAV in real time when the aircraft enters the window point of the recovery route. Horizontal track deviation and altitude deviation. When the drone enters the recovery route at 2 o'clock, the field height and track deviation curves are drawn in real time, and the field height and track deviation are displayed in text at the same time until the drone hits the line and is recovered. The present invention utilizes the planned recovery route and the actual flight trajectory of the UAV in the actual recovery stage to calculate the lateral and vertical deviations, and displays them in graphics and text respectively, so that the flight operator can intuitively see the flight path of the UAV in the recovery stage Deviation, in the case of a large deviation, make a timely judgment, go around again or modify the recovery route in time, improve the accuracy of the skyhook recovery, and guide the safe recovery of the drone.

Description

A method for displaying track deviation during skyhook recovery phase of unmanned aerial vehicle

technical field

The invention relates to the field of unmanned aerial vehicle recovery, in particular to a method suitable for displaying track deviation.

Background technique

In UAV-related technologies, take-off and recovery are two important links in the application of UAV technology. Compared with taking off, UAV recovery is a more complicated and prone to failure stage. Whether it can land safely has become an important indicator for evaluating the performance of UAVs. Recycling technology has become the key to the development of UAVs sexual technology.

Among the many recovery methods, skyhook recovery is widely used in land-based and sea-based UAV recovery systems because of its small footprint and high reliability, and it can achieve precise point recovery. In the UAV skyhook recovery stage, in order to reduce the risk of recovery, improve recovery accuracy, and strengthen the auxiliary role of people in the loop, it is necessary to display the vertical and horizontal deviations between the actual flight track of the UAV and the recovery route. At present, there is no relevant method for displaying track deviation during the recovery phase of the UAV skyhook.

Contents of the invention

In order to overcome the deficiencies of the prior art, the present invention provides a method for displaying track deviation during the recovery phase of the skyhook of the UAV. Calculate the lateral and vertical deviations according to the planned recovery route and the actual flight trajectory of the UAV during the actual recovery phase, and display them in graphics and text respectively, so that the flight operator can intuitively see the deviation of the UAV’s trajectory during the skyhook recovery phase , in the case of a large deviation, cancel the recovery command in time, go around again or modify the recovery route in time, improve the accuracy of the skyhook recovery, and guide the safe recovery of the UAV.

The detailed steps of the technical solution adopted by the present invention to solve the technical problems are as follows:

Step 1: The UAV skyhook recovery planning route is a broken line composed of 6 waypoints, of which point 1 is the entry point, point 2 is the window point, point R is the line collision recovery point, and points 3, 4, 5, and 6 are Go-around point, D is the horizontal distance from point 2 to point R, H is the relative recovery site height from 1 point to 6 point, real-time acquisition of UAV position information, longitude and latitude (L _u , _Bu ) and relative recovery site height H _u ;

Step 2: When the aircraft enters the recovery route window, calculate the horizontal track deviation and altitude deviation of the drone in real time. The specific calculation steps are as follows:

a) The position of the UAV in space is P(L _u , B _u , _Hu ), and the position on the horizontal plane is point P _h (L _u , _Bu ), transform (L _u , B _u ) into The position (X _u , Y _u ) in plane Cartesian coordinates, the distance DEV _h from the point P _h to the straight line 2'R is calculated by using the distance calculation method from the point to the straight line, where 2' is the point 2 of the skyhook recovery planning route Projected on the horizontal plane, O is the vertical foot of _Ph to the line segment 2'R, is the angle between the straight line 2'P _h and the direction of true north, β is the angle between 2'R and the direction of true north, if Then DEV _h is positive; if Then DEV _h is negative, and DEV _h is the horizontal track deviation during the recovery stage of the UAV;

b) Obtain the Cartesian coordinates (X _O , Y _O ) of point O in the process of obtaining DEV _h , and calculate the distance D _O from point 2' to point O according to the distance calculation formula between two points;

c) The position of the point P in the UAV space on the vertical plane is P _V , the height relative to the recovery site is H _u , and α is the angle between 2R and 2'R, then Calculate the height deviation of the UAV recovery stage as DEV _V ＝H _u -(DD _O )tanα;

Step 3: When the UAV enters the recovery route at 2 o'clock, draw the field height and track deviation curve in real time, and display the field height and track deviation in text at the same time, where the track deviation is divided into horizontal deviation and height deviation;

Step 4: Start at 2 o'clock when the drone enters the recovery route, repeat steps 1 to 3, and draw the height deviation and horizontal deviation of the drone in real time until the drone hits the line and recovers; if the deviation is caused by an unexpected situation during this process Beyond the range of ±5, the operator can issue a go-around or cancel the recovery command, and can re-plan the recovery route during the process of canceling the recovery command.

The beneficial effect of the present invention is that the track deviation display method of the UAV skyhook recovery stage proposed by the present invention, due to the utilization of the planning recovery route and the actual flight trajectory of the UAV in the actual recovery stage, the horizontal and vertical deviations are calculated, and respectively used Graphics and text display, the flight operator can intuitively see the deviation of the flight track of the UAV during the recovery phase, and make a timely judgment when the deviation is large, and then go around again or modify the recovery route in time to improve the recovery rate of the skyhook. Accuracy guides the safe recovery of drones.

Description of drawings

Fig. 1 is a three-dimensional diagram of the route of the UAV skyhook recovery plan according to the present invention.

Fig. 2 is a schematic diagram of calculating the horizontal track deviation in the skyhook recovery stage of the UAV according to the present invention.

Fig. 3 is a schematic diagram of the height deviation calculation in the skyhook recovery stage of the UAV according to the present invention.

Fig. 4 is a schematic diagram showing the track deviation curve in the recovery stage of the UAV's skyhook, wherein Fig. 4(a) is a schematic diagram of field height curve, and Fig. 4(b) is a schematic diagram of horizontal deviation and height deviation.

Fig. 5 is a flow chart showing the implementation of the track deviation display method in the recovery stage of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The implementation steps of the present invention are as follows:

Step 1: The UAV skyhook recovery planning route is a broken line composed of 6 waypoints, of which point 1 is the entry point, point 2 is the window point, point R is the line collision recovery point, and points 3, 4, 5, and 6 are The go-around point, D is the horizontal distance from point 2 to point R, and H is the relative height of the recovery site from point 1 to point 6 (assuming the recovery site is on the same level), as shown in Figure 1; to obtain the position information of the drone in real time, Obtain latitude and longitude (L _u , B _u ) and relative recovery site height H _u ;

Step 2: When the aircraft enters the recovery route window, calculate the horizontal track deviation and altitude deviation of the drone in real time. The specific calculation steps are as follows:

a) The position of the UAV in space is P(L _u , _Bu , Hu ), and the position on the horizontal plane is point P _h (L _u , _Bu ), as shown in Figure 2, the ₍ L _u , B _u ) is transformed into the position (X _u , Y _u ) under the rectangular coordinates of the plane, and the distance DEV _h from the point _Ph to the straight line 2'R is calculated by using the distance calculation method from the point to the straight line, where the 2' point is the sky The projection of point 2 of the hook recovery planning route on the horizontal plane, O is the vertical foot from P _h to the straight line segment 2'R, is the angle between the straight line 2'P _h and the direction of true north, β is the angle between 2'R and the direction of true north, if Then DEV _h is positive; if Then DEV _h is negative, and DEV _h is the horizontal track deviation during the recovery stage of the UAV;

b) Obtain the Cartesian coordinates (X _O , Y _O ) of point O in the process of obtaining DEV _h , and calculate the distance D _O from point 2' to point O according to the distance calculation formula between two points;

c) The position of the point P in the UAV space on the vertical plane is P _V , and the height relative to the recovery site is H _u , as shown in Figure 3, α is the angle between 2R and 2'R, then According to the relationship in the figure, the height deviation of the UAV recovery stage can be calculated as DEV _V = _Hu -(DD _O )tanα;

Step 3: When the UAV enters the recovery route at point 2, the field height and track deviation curves are drawn in real time, and the field height and track deviation are displayed in text at the same time, where the track deviation is divided into horizontal deviation and height deviation, as shown in Figure 4(a) is the field height curve, Figure 4(b) shows the horizontal deviation and height deviation, the X-axis is the horizontal distance from the UAV to 2 points, draw an I-shape on the X-axis, and the position of the I-shape is the R point in Figure 1 , is the position of the landing gear, that is, the position R of the point where the hook retracts and hits the line. The Y-axis in Figure 4(a) is the field height of the UAV, and the planned field height curve is drawn with straight line 1 in the figure (the field height is 100 meters at point 2, and the field height is 0 meters at point R, draw a straight line section), the actual field height curve of the UAV is represented by curve 2, and the field height is displayed in text at the same time, and the unit is meter; the Y-axis in Figure 4(b) is the UAV’s horizontal deviation and height deviation, and the horizontal deviation curve is The solid line curve 3 indicates that the height deviation is expressed by the dotted line curve 4, and the horizontal deviation and the height deviation are displayed in words at the same time, and the unit is meter;

Step 4: Start at 2 o'clock when the drone enters the recovery route, repeat steps 1 to 3, and draw the height deviation and horizontal deviation of the drone in real time until the drone hits the line and recovers; if the deviation is caused by an unexpected situation during this process Beyond the range of ±5m, the operator can issue a go-around or cancel the recovery command, and can re-plan the recovery route during the process of canceling the recovery command.

Embodiments of the present invention are as follows:

Step 1: The UAV Skyhook recovery planning route information is known (1 point to 6 points and R point are all known information), the horizontal distance D = 1800m from the 2 point window point to the R point collision line recovery point D = 1800m, 1 point The height H=100m relative to the recovery site to 6 o'clock. Real-time acquisition of UAV's location information, latitude and longitude (L _u , B _u ) and relative recovery site height _Hu .

Step 2: When the aircraft enters the recovery route at 2 o'clock, calculate the drone's horizontal track deviation and altitude deviation in real time, according to the following steps:

a) The position of the UAV in space is P(L _u , _Bu , Hu ), and the position on the horizontal plane is point P _h (L _u , _Bu ), as shown in Figure 2, the ₍ L _u , B _u ) into the position (X _u , Y _u ) in plane Cartesian coordinates, using the distance calculation method from the point to the straight line to calculate the point P _h to the straight line segment 2'R (2' point is the skyhook recovery planning route 2 The projection of the point on the horizontal plane) is the distance DEV _h (O is the vertical foot of _Ph to the straight line 2'R). is the angle between the straight line 2'P _h and the true north direction, β is the angle between 2'R and the true north direction, the calculated β, and the real-time calculated Compare. like Then DEV _h is positive; if Then DEV _h is negative. DEV _h is the deviation of the horizontal track during the recovery phase of the UAV.

b) In the process of calculating DEV _h , the rectangular coordinates (X _O , Y _O ) of point O can be obtained, and the distance D _O from point 2' to point O can be further calculated according to the distance calculation formula between two points.

c) The position point P in the UAV space is P _V on the vertical plane, and the height relative to the recovery site is H _u , as shown in Figure 3, α is the angle between 2R and 2'R, then According to the relationship in the figure, the height deviation of the UAV recovery stage can be calculated as DEV _V = _Hu -(DD _O )tanα.

Step 3: When the UAV enters the recovery route at 2 o'clock, the field height and track deviation curves are drawn in real time, and the field height and track deviation are displayed in text at the same time. The track deviation is divided into horizontal track deviation and altitude direction track deviation. Figure 4(a) is the field height curve, Figure 4(b) is the horizontal deviation and height deviation, the X-axis is the horizontal distance from the UAV to 2 points, and the position of the landing gear is drawn on the X-axis (ie the rope hook recovery point R at the point of collision). The Y-axis in Figure 4(a) is the field height of the UAV, and the planned field height curve is drawn with straight line 1 in the figure (100 meters at point 2, 0 meters at point R, draw a straight line segment), no one The actual field height of the machine is drawn with curve 2, and the field height is displayed in text at the same time, and the unit is meter. The Y-axis in Figure 4(b) is the horizontal deviation and height deviation of the UAV. The horizontal deviation curve is drawn with a solid line curve, and the height deviation curve is drawn with a dotted line curve. At the same time, the horizontal deviation and height deviation are displayed in text in meters. In this embodiment, the display range of the height and horizontal deviation curves is ±5m.

Step 4: Start at 2 o'clock when the drone enters the recovery route, repeat steps 1 to 3, and draw the height deviation and horizontal deviation of the drone in real time until the drone hits the line and recovers; if the deviation is caused by an unexpected situation during this process Beyond the range of ±5m, the operator can issue a go-around or cancel the recovery command, and can re-plan the recovery route during the process of canceling the recovery command.

The flow chart of the method for displaying track deviation in the recovery stage of the present invention is shown in FIG. 5 .

The invention has been applied in a small unmanned aerial vehicle system, in which the invention is included in the navigation monitoring software of the ground station.

Claims (1)

1. A method for displaying track deviation in the skyhook recovery stage of an unmanned aerial vehicle, is characterized in that comprising the following steps: Step 1: The UAV skyhook recovery planning route is a broken line composed of 6 waypoints, of which point 1 is the entry point, point 2 is the window point, point R is the line collision recovery point, and points 3, 4, 5, and 6 are Go-around point, D is the horizontal distance from point 2 to point R, H is the relative recovery site height from 1 point to 6 point, real-time acquisition of UAV position information, longitude and latitude (L _u , _Bu ) and relative recovery site height H _u ; Step 2: When the aircraft enters the recovery route window, calculate the horizontal track deviation and altitude deviation of the drone in real time. The specific calculation steps are as follows: a) The position of the UAV in space is P(L _u , B _u , _Hu ), and the position on the horizontal plane is point P _h (L _u , _Bu ), transform (L _u , B _u ) into The position (X _u , Y _u ) in plane Cartesian coordinates, the distance DEV _h from the point P _h to the straight line 2'R is calculated by using the distance calculation method from the point to the straight line, and the 2' point is the 2 point of the skyhook recovery planning route Projected on the horizontal plane, O is the vertical foot of _Ph to the line segment 2'R, is the angle between the straight line 2'P _h and the direction of true north, β is the angle between 2'R and the direction of true north, if Then DEV _h is positive; if Then DEV _h is negative, and DEV _h is the horizontal track deviation during the recovery stage of the UAV; b) Calculate the rectangular coordinates (X _O , Y _o ) of point O in the process of calculating DEV _h , and calculate the distance D _O from point 2' to point O according to the distance calculation formula between two points; c) The position of the point P in the UAV space on the vertical plane is P _V , the height relative to the recovery site is H _u , and α is the angle between 2R and 2'R, then Calculate the height deviation of the UAV recovery stage as DEV _V ＝H _u -(DD _O )tanα; Step 3: When the UAV enters the recovery route at 2 o'clock, draw the field height and track deviation curve in real time, and display the field height and track deviation in text at the same time, where the track deviation is divided into horizontal deviation and height deviation; Step 4: Start at 2 o'clock when the drone enters the recovery route, repeat steps 1 to 3, and draw the height deviation and horizontal deviation of the drone in real time until the drone hits the line and recovers; if the deviation is caused by an unexpected situation during this process Beyond the range of ±5, the operator can issue a go-around or cancel the recovery command, and can re-plan the recovery route during the process of canceling the recovery command.