CN108319288A - Unmanned plane and its flight control method and system - Google Patents
Unmanned plane and its flight control method and system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
A kind of flight control method is applied on unmanned plane, including step：Obtain the data information for multiple sensors (14) detecting installed on the unmanned plane；Data fusion is carried out to the data information so that the data information obtains unification in time；And relative altitude of the unmanned plane with respect to ground target object is calculated according to the data information after fusion.The invention further relates to a kind of unmanned plane and flight control systems.
Description
The application be inventor Shenzhen Dajiang Innovation Technology Co., Ltd. application No. is 201610050788.6 hairs
The divisional application of the application of bright entitled " unmanned plane and its flight control method and system ".
Technical field
The present invention relates to the miniature drone safe flight control technology field in low latitude field, more particularly to it is a kind of nobody
Machine and its flight control method and flight control system.
Background technology
Recently as the fast development of unmanned air vehicle technique so that unmanned air vehicle technique is applied to every field.Wherein in agriculture
Industry aviation field has played important function, and typical case is exactly for carrying out pesticide spraying operation to agriculture plant.It is existing agricultural
The mode that aircraft is mainly manually estimated carries out pesticide spraying operation, and such mode is in the case where farmland topography is uneven
Pesticide spraying can be caused uneven, reduce the practicability of agricultural aircraft.
In the prior art, unmanned function realizes avoidance and surveys high function.But unmanned plane avoidance is regarded with what survey height used
Feel and ultrasonic technology has serious inadequate natural endowment in industrial circle.The vision avoidance technology is unable to measure high reflective, high
Barrier under brightness, dark and fog environment.And ultrasound distance it is too small there are measurement distance the deficiencies of.At present also
Linear CW with frequency modulation (LinearFrequencyModulatedContinuousWave, LFMCW) Radar Technology and frequency displacement
Keying (FrequencyShiftKeying, FSK) technology can realize the measurement to object distance.The LFMCW thunders
The frequency information of LFMCW radar systems can be handled up to algorithm of the technology based on Fast Fourier Transform (FFT), to obtain
Range information.But the LFMCW Radar Technology ranging haves the shortcomings that blind area is big and resolution ratio is low.The FSK technologies can be with
Ranging is realized using the phase information of two carrier frequency.And the FSK technologies ranging presence is unable to measure opposing stationary object
It is insufficient.
Invention content
In view of this, it is necessary to a kind of unmanned plane and its flight control method and flight control system are proposed, in solution
State problem.
A kind of UAV Flight Control method is applied on unmanned plane, which includes the following steps：It obtains
Take the data information of the sensor detecting for the multiple and different types installed on the unmanned plane；To the data information into line number
According to fusion so that the data information obtains unification in time；The unmanned plane phase is calculated according to the data information after fusion
The relative altitude of object on a surface target.
In some embodiments, the sensor includes：Radar sensor and baroceptor, angular transducer and
At least one of acceleration transducer.
In some embodiments, the method specifically includes：Obtain the unmanned plane phase of the radar sensor detecting
The relative altitude information of object, the relatively angle information of the range information of barrier and opposite barrier on a surface target；And
Obtain at least one of following information：Elevation information residing for the unmanned plane of the baroceptor detecting；The angle
Spend the angle of inclination information of the unmanned plane relative level of sensor detecting；And the institute of the acceleration transducer detecting
State the normal acceleration information of unmanned plane.
In some embodiments, the multiple radar sensor is mounted on the lower section and side of unmanned plane, wherein installation
Radar sensor below the unmanned plane is used to detect relative altitude information of the unmanned plane with respect to ground target object,
It is used to detect the distance and angle of the relatively described barrier of the unmanned plane mounted on the radar sensor of the unmanned plane side
Information.
In some embodiments, this method further includes：Relative altitude letter according to the unmanned plane with respect to ground target object
Breath, the unmanned plane plan the line of flight of the unmanned plane with respect to the range information of barrier and angle information.
In some embodiments, when the radar sensor is by linear frequency modulation continuous wave system and frequency shift keying system
The mode of multiplexing is divided to calculate relative altitude of the unmanned plane with respect to ground target object.
In some embodiments, the radar sensor is calculated by way of Fourier transformation or Chirp-Z transformation
Range information and angle information of the unmanned plane with respect to barrier, wherein according to the Fourier transformation or Chirp-Z
The amplitude spectrum of transformation output obtains the range information of the barrier, defeated according to the Fourier transformation or Chirp-Z transformation
The phase spectrum gone out obtains the angle information of the barrier.
In some embodiments, the radar sensor using the linear frequency modulation continuous wave system calculate it is described nobody
Machine and using the frequency shift keying system calculates the unmanned plane with respect to ground with respect to the first relative altitude of ground target object
Second relative altitude of object.
In some embodiments, this method further includes：Judge whether first relative altitude is more than preset height, when
When first relative altitude is more than or equal to the preset height, retain first relative altitude, when described first relatively high
When degree is less than the preset height, first relative altitude is abandoned；And it is according to the judgement of the normal acceleration of the unmanned plane
It is no to retain second relative altitude, when the normal acceleration of the unmanned plane is more than or equal to preset vertical acceleration, retain
Second relative altitude abandons described the when the normal acceleration of the unmanned plane is less than the preset vertical acceleration
Two relative altitudes.
In some embodiments, this method further includes：By described the second of first relative altitude of reservation and reservation
Relative altitude calculates average relative altitude of the unmanned plane with respect to ground by weighted average value-based algorithm.
In some embodiments, this method further includes：According to the angle of inclination information of the unmanned plane relative level and
Elevation information residing for the unmanned plane judges whether to retain the average relative altitude；When the unmanned plane relative level
Angle of inclination be more than predetermined angle or occur compared with the height residing for the unmanned plane greatly in the average relative altitude
When range fluctuates, the average relative altitude is abandoned；Described in being less than or equal to when the angle of inclination of the unmanned plane relative level
The predetermined angle and average relative altitude wide fluctuations does not occur compared with the height that the unmanned plane is presently in
When, retain the average relative altitude.
In some embodiments, this method further includes：The average relative altitude of reservation is carried out at Kalman filtering
Reason；And the filtered average relative altitude is stored to a storage device.
In some embodiments, using the measured value of the acceleration transducer to the average relative altitude of reservation
Carry out Kalman filtering.
In some embodiments, the radar sensor is 24GHz radar sensors.
In some embodiments, the data fusion includes when being carried out to the data information of the multiple sensor detecting
Between be aligned.
In some embodiments, which includes：Acquisition module is installed for obtaining on the unmanned plane
Multiple and different types sensor detecting data information；Processing module, for carrying out data fusion to the data information
So that the data information obtains unification in time；And computing module, described in being calculated according to the data information after fusion
Relative altitude of the unmanned plane with respect to ground target object.
In some embodiments, the sensor includes：Radar sensor and baroceptor, angular transducer and
At least one of acceleration transducer.
In some embodiments, the acquisition module is specifically used for：Obtain radar sensor detecting it is described nobody
Machine is with respect to the relative altitude information of ground target object, the angle information of the range information of opposite barrier and opposite barrier；
At least one of and obtain following information：Elevation information residing for the unmanned plane of the baroceptor detecting；Institute
State the angle of inclination information of the unmanned plane relative level of angular transducer detecting；And the acceleration transducer detecting
The unmanned plane normal acceleration information.
In some embodiments, the multiple radar sensor is mounted on lower section, front and the side of unmanned plane, wherein
Radar sensor below the unmanned plane is used to detect relative altitude letter of the unmanned plane with respect to ground target object
Breath, in front of the unmanned plane and the radar sensor of side is for detecting the relatively described barrier of the unmanned plane
Distance and angle information.
In some embodiments, which further includes：Planning module, for opposite according to the unmanned plane
The relative altitude information of ground target object, the unmanned plane plan the nothing with respect to the range information of barrier and angle information
The man-machine line of flight.
In some embodiments, when the radar sensor is by linear frequency modulation continuous wave system and frequency shift keying system
The mode of multiplexing is divided to calculate relative altitude of the unmanned plane with respect to ground target object.
In some embodiments, the radar sensor is calculated by way of Fourier transformation or Chirp-Z transformation
Range information and angle information of the unmanned plane with respect to barrier, wherein according to the Fourier transformation or Chirp-Z
The amplitude spectrum of transformation output obtains the range information of the barrier, defeated according to the Fourier transformation or Chirp-Z transformation
The phase spectrum gone out obtains the angle information of the barrier.
In some embodiments, the radar sensor using the linear frequency modulation continuous wave system calculate it is described nobody
Machine and using the frequency shift keying system calculates the unmanned plane with respect to ground with respect to the first relative altitude of ground target object
Second relative altitude of object.
In some embodiments, the computing module is additionally operable to：Judge whether first relative altitude is more than default height
Degree retains first relative altitude, when described first when first relative altitude is more than or equal to the preset height
When relative altitude is less than the preset height, first relative altitude is abandoned；And the normal acceleration according to the unmanned plane
Judge whether to retain second relative altitude, when the normal acceleration of the unmanned plane is more than or equal to preset vertical acceleration
When, retain second relative altitude, when the normal acceleration of the unmanned plane is less than the preset vertical acceleration, loses
Abandon second relative altitude.
In some embodiments, the computing module is additionally operable to：By first relative altitude of reservation and the institute of reservation
State the average relative altitude that the second relative altitude calculates the unmanned plane with respect to ground by weighted average value-based algorithm.
In some embodiments, the computing module is additionally operable to：According to the angle of inclination of the unmanned plane relative level
Elevation information residing for information and the unmanned plane judges whether to retain the average relative altitude；When the unmanned plane is opposite
The angle of inclination of horizontal plane is more than predetermined angle or in the average relative altitude compared with the height residing for the unmanned plane
When there are wide fluctuations, the average relative altitude is abandoned；When the angle of inclination of the unmanned plane relative level be less than etc.
In the predetermined angle and the average relative altitude without occurring on a large scale with the height that the unmanned plane is presently in compared with
When fluctuation, retain the average relative altitude.
In some embodiments, the processing module is additionally operable to：Kalman is carried out to the average relative altitude of reservation
It is filtered；And the filtered average relative altitude is stored to a storage device.
In some embodiments, using the measured value of the acceleration transducer to the average relative altitude of reservation
Carry out Kalman filtering.
In some embodiments, the radar sensor is 24GHz radar sensors.
In some embodiments, the data fusion includes when being carried out to the data information of the multiple sensor detecting
Between be aligned.
A kind of unmanned plane, including processor；With the sensor of multiple and different types of processor communication connection；Its
Described in sensor transmission detecting data information to the processor；The processor carries out data to the data information
It merges so that the data information obtains unification in time, and calculates the unmanned plane phase according to the data information after fusion
The relative altitude of object on a surface target.
In some embodiments, the sensor includes：Radar sensor and baroceptor, angular transducer and
At least one of acceleration transducer.
In some embodiments, the processor is specifically used for：Obtain the unmanned plane of the radar sensor detecting
The angle information of the relative altitude information of opposite ground target object, the range information of opposite barrier and opposite barrier；With
At least one of and obtain following information：Elevation information residing for the unmanned plane of the baroceptor detecting；It is described
The angle of inclination information of the unmanned plane relative level of angular transducer detecting；And the acceleration transducer detecting
The normal acceleration information of the unmanned plane.
In some embodiments, the multiple radar sensor is mounted on lower section, front and the side of unmanned plane, wherein
Radar sensor below the unmanned plane is used to detect relative altitude letter of the unmanned plane with respect to ground target object
Breath, in front of the unmanned plane and the radar sensor of side is for detecting the relatively described barrier of the unmanned plane
Distance and angle information.
In some embodiments, the processor is additionally operable to：It is relatively high with respect to ground target object according to the unmanned plane
Degree information, the unmanned plane plan the line of flight of the unmanned plane with respect to the range information of barrier and angle information.
In some embodiments, when the radar sensor is by linear frequency modulation continuous wave system and frequency shift keying system
The mode of multiplexing is divided to calculate relative altitude of the unmanned plane with respect to ground target object.
In some embodiments, the radar sensor is calculated by way of Fourier transformation or Chirp-Z transformation
Range information and angle information of the unmanned plane with respect to barrier, wherein according to the Fourier transformation or Chirp-Z
The amplitude spectrum of transformation output obtains the range information of the barrier, defeated according to the Fourier transformation or Chirp-Z transformation
The phase spectrum gone out obtains the angle information of the barrier.
In some embodiments, the radar sensor using the linear frequency modulation continuous wave system calculate it is described nobody
Machine and using the frequency shift keying system calculates the unmanned plane with respect to ground with respect to the first relative altitude of ground target object
Second relative altitude of object.
In some embodiments, the processor is additionally operable to：Judge whether first relative altitude is more than default height
Degree retains first relative altitude, when described first when first relative altitude is more than or equal to the preset height
When relative altitude is less than the preset height, first relative altitude is abandoned；And the normal acceleration according to the unmanned plane
Judge whether to retain second relative altitude, when the normal acceleration of the unmanned plane is more than or equal to preset vertical acceleration
When, retain second relative altitude, when the normal acceleration of the unmanned plane is less than the preset vertical acceleration, loses
Abandon second relative altitude.
In some embodiments, the processor is additionally operable to：Described in first relative altitude of reservation and reservation
Second relative altitude calculates average relative altitude of the unmanned plane with respect to ground by weighted average value-based algorithm.
In some embodiments, the processor is additionally operable to：Believed according to the angle of inclination of the unmanned plane relative level
Elevation information residing for breath and the unmanned plane judges whether to retain the average relative altitude；When the unmanned plane is with respect to water
The angle of inclination of plane is more than predetermined angle or goes out compared with the height residing for the unmanned plane in the average relative altitude
When existing wide fluctuations, the average relative altitude is abandoned；When the angle of inclination of the unmanned plane relative level is less than or equal to
The predetermined angle and the average relative altitude no a wide range of wave of appearance compared with the height that the unmanned plane is presently in
When dynamic, retain the average relative altitude.
In some embodiments, the processor is additionally operable to carry out Kalman's filter to the average relative altitude of reservation
Wave processing；And the filtered average relative altitude is stored to a storage device.
In some embodiments, using the measured value of the acceleration transducer to the average relative altitude of reservation
Carry out Kalman filtering.
In some embodiments, the radar sensor is 24GHz radar sensors.
In some embodiments, the data fusion includes when being carried out to the data information of the multiple sensor detecting
Between be aligned.
The unmanned plane and its flight control method, flight control system of the present invention, by the unmanned plane
The sensor detecting data of multiple and different types, and to the data of detecting carry out data fusion so that the data in time
Unification is obtained, and relative altitude of the unmanned plane with respect to ground target object is calculated according to the data information after fusion.By more
A sensor detecting data information so that the relative altitude information is more accurate and stablizes.It solves and is only sensed by radar
The problems such as blind area that occurs when device ranging, flase drop.
Description of the drawings
Fig. 1 is a kind of high-level schematic functional block diagram of unmanned plane of the embodiment of the present invention.
Fig. 2 is a kind of high-level schematic functional block diagram of UAV Flight Control System of the embodiment of the present invention.
Fig. 3 is the time correlation curve figure of sawtooth wave LFMCW radar emissions signal and echo-signal in the prior art.
Fig. 4 is the flow diagram of the UAV Flight Control method of the embodiment of the present invention.
Fig. 5 is the detail flowchart of step S404 in Fig. 4.
Main element symbol description
120 acquisition module of unmanned plane 1 processor, 11 storage device, 12 flight control system, 122 processing module 124 calculates mould
126 planning module of block, 128 display device, 13 sensor 14
Following specific implementation mode will be further illustrated the present invention in conjunction with above-mentioned attached drawing.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
Can be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article and the technical field for belonging to the present invention
The normally understood meaning of technical staff it is identical.Used term is intended merely to retouch in the description of the invention herein
State the purpose of specific embodiment, it is not intended that in the limitation present invention.Term " and or " used herein include one or
Any and all combinations of multiple relevant Listed Items.
Specifically, referring to Fig. 1, being a kind of high-level schematic functional block diagram of unmanned plane of the embodiment of the present invention.It is preferable at this
In embodiment, the unmanned plane 1 may include, but be not limited to the processor being electrically connected with each other 11, storage device 12, unmanned plane
Flight control system 120 (hereinafter referred to as " flight control system 120 "), display device 13 and sensor 14.In this preferably implementation
In mode, the unmanned plane 1 obtains the data information that the sensor 14 detects using the processor 11, and passes through institute
Processor 11 and the flight control system 120 is stated to handle the above-mentioned data information detected.To calculate the nothing
Man-machine 1 relative to ground target object (such as crops) relative altitude information and the unmanned plane 1 relative to barrier (as believe
Number tower) distance and angle information, to plan the line of flight of the unmanned plane 1.Unmanned plane 1 described herein is to include
The system of aircraft and flight control assemblies.
In other preferred embodiments, the processor 11, the storage device 12, the UAV Flight Control system
System 120 and/or the display device 13 can run on one with the unmanned plane 1 communication connection (for example, be wirelessly connected
Communication mode) electronic device (be not shown in figure, such as move control terminal) on, the electronic device i.e. as unmanned plane 1
Flight control assemblies.The electronic device receives the various data that the sensor 14 is detected from unmanned plane 1, by using described
Processor 11, the UAV Flight Control System 120 and/or the display device 13 carry out the data received
Processing.To calculate the unmanned plane 1 relative to ground target object relative altitude information and the unmanned plane 1 relative to barrier
The distance and angle information for hindering object, to plan the line of flight of the unmanned plane 1.
The processor 11 is used to execute the function of each function module in the flight control system 120.The flight control
System 120 processed is mounted in the form of software program or instruction in the storage device 12, and is executed by the processor 11.
In some embodiments, the processor 11 can be central processing unit (CentralProcessingUnit, CPU), microprocessor
Device or other data processing chips.
The storage device 12 is used to store the Various types of data of the unmanned plane 1.The storage device 12 can be described
The internal storage of unmanned plane 1, or removable memory, such as removable media card, external USB flash disk and other flash memories
Or storage device etc..The removable media card includes but not limited to TF (Trans-flash) cards, secure digital
(SecureDigital, SD) blocks, miniature flash storage (CompactFlash, CF) card.In one embodiment, the number
According to can be saved on the removable media card so that the data easily pass between the unmanned plane 1 and external equipment
It send.The removable media card can pass through security input and output (SecureDigitalInputOutput, SDIO) interface
It is communicated to connect with the processor 11.
The display device 13 is used to show the relative altitude information relative to ground target object of the unmanned plane 1, and
Distance and angle information of the unmanned plane 1 relative to barrier.The display device 13 can be liquid crystal display, touch
Display screen or other kinds of display screen.The display device 13 can be built on the unmanned plane 1, can also be external in
The unmanned plane 1.
The sensor 14 includes in radar sensor and baroceptor, angular transducer and acceleration transducer
At least one.In the preferred embodiment, the radar sensor is mounted on the lower section of the unmanned plane 1, side and preceding
Side.Wherein, the radar sensor mounted on 1 lower section of the unmanned plane is used to detect the unmanned plane 1 with respect to ground target object
Relative altitude information, it is opposite for detecting the unmanned plane 1 mounted on the radar sensor in 1 side of the unmanned plane and front
The distance and angle information of the barrier.It is appreciated that the side that the radar sensor is mounted on the unmanned plane 1 is wrapped
Include the left and right.
The radar sensor is with radiated electromagnetic energy and detects ground target object or the echo system of barrier reflection
Work, for measuring relative altitude and the unmanned plane 1 of the unmanned plane 1 with respect to ground target object relative to barrier
Distance and angle information.In the preferred embodiment, the radar sensor for being mounted on 1 side of the unmanned plane and front can be with
By carrying out unmanned plane 1 described in Fourier (Fouriertransform) transformation calculations relative to obstacle to the echo information
The range information and angle information of object.Wherein, according to the Fourier transformation export amplitude spectrum obtain the barrier away from
From information, the phase spectrum exported according to the Fourier transformation obtains the angle information of the barrier.
It should be noted that can also be by described in Chirp-Z (chirpztransformalgorithm) transformation calculations
Range information and angle information of the unmanned plane 1 relative to barrier.Wherein, according to the amplitude spectrum of Chirp-Z transformation outputs
The range information of the barrier is obtained, the angle of the barrier is obtained according to the phase spectrum of Chirp-Z transformation outputs
Information.Below use Fourier transformation for illustrate.
Specifically, the radar sensor mounted on 1 side of the unmanned plane and front includes transmitting antenna, the
One reception antenna and the second reception antenna.The radar sensor generates transmitting signal, and signal is launched through the transmitting antenna
It goes, echo information is formed when encountering barrier.First reception antenna receives the first echo letter of the barrier reflection
Breath, second antenna receive the second echo information of the barrier reflection.The radar sensor is to first echo
Information carries out Fourier transformation and handles to obtain the first amplitude spectrum and first phase spectrum, and the radar sensor is to described second time
Wave information carries out Fourier transformation and handles to obtain the second amplitude spectrum and second phase spectrum.According to first amplitude spectrum and described
Second amplitude spectrum can obtain the range information of the relatively different barriers of the unmanned plane 1, according to first phase spectrum and institute
State the angle information that the phase difference between second phase spectrum can obtain the unmanned plane 1 with respect to barrier.
In the preferred embodiment, the effective detection range of the radar sensor is closer, belongs to short-range detecting radar,
And the main linear CW with frequency modulation of the existing more continuous wave system used of millimeter wave short-range detecting system
(LinearFrequencyModulatedContinuousWave, LFMCW) system, frequency shift keying
(FrequencyShiftKeying, FSK) system and frequency stepping continuous wave (SFCW) system.In the preferred embodiment, institute
Radar sensor is stated using the time-multiplexed mode of both the LFMCW systems and the FSK systems to measure the unmanned plane
The relative altitude of 1 opposite ground target object.
Unmanned plane 1 described in the LFMCW physiometries is as follows with respect to the principle of the relative altitude of ground target object：
The LFMCW radars generate transmitting signal, and signal is launched through antenna, and echo-signal is formed when encountering ground,
Enter radar through reception antenna after time τ.The entire transmission range of electromagnetic wave is 2R, in air Electromagnetic Wave Propagation speed
Degree is about light velocity c0, c0=3.0 × 108M/s, that is to say, that 2R=c0 τ, it is hereby achieved that：τ/2 R=c0.Therefore,
As long as obtaining the value of time τ, so that it may to calculate the relative altitude of ground target object.And the time value τ and LFMCW
The echo-signal of radar is related to transmitting signal, by taking sawtooth phase modulation signal as an example, as shown in figure 3, being sawtooth wave LFMCW thunders
Up to the time correlation curve figure of transmitting signal and echo-signal.As seen from the figure, the emission signal frequency of the LFMCW radars is bent
Both line and echo-signal frequency curve waveform are identical, and only there are one postpone τ in time.By the echo-signal and hair
It is modulation band that signal, which is penetrated, by the way that constant difference frequency fD=a Δ f τ/T, wherein Δ f can be obtained after frequency mixer Frequency mixing processing
Width, T are modulation period.It is possible thereby to calculate the distance between the ground and the radar sensor R=c0fDT/
2 Δ f or R=c0fD/2 Δ ff, wherein f=1/T are modulating frequency.
Can be obtained by above-mentioned formula, modulation bandwidth Δ f is bigger, between the radar sensor and the ground away from
From shorter.To ensure that difference frequency processing is significant, needs the modulating frequency to be equal to the difference frequency, can define at this time described
The measurable shortest distance Rmin=c0/2 Δs f of radar sensor.As the 24GHzISM that the modulation bandwidth is 250MHz
(IndustrialScientificMedical) when frequency range, it is 0.6m that can calculate the shortest distance.
Principle of the unmanned plane 1 described in the FSK physiometries with respect to the relative altitude of ground target object and the LFMCW
System the difference is that, the FSK systems pass through the echo-signal and transmitting signal between difference frequency signal phase
Difference calculates.The phase difference of the difference frequency signal is：The π Rfstep/c0 of Δ φ=4, it follows that the distance is：R
=c0 Δs φ/4 π fstep, wherein fstep are band separation.
The baroceptor is for obtaining the atmospheric value that the unmanned plane 1 is presently in environment, wherein the air
Pressure value can be converted into corresponding distance value.The baroceptor can pass through usart
(UniversalSynchronousAsynchronousReceiverTransmitter, USART) communication interface and the place
Device 11 is managed to connect.In other embodiments, the baroceptor can also by other similar communication interfaces with it is described
Processor 11 connects, such as the interfaces such as IIC, controller LAN (Control lerareanetwork, CAN).It is appreciated that
, the unmanned plane 1 can also can obtain the unmanned plane 1 relatively with respect to the relative altitude of ground target object by other
The height sensor determination of the relative altitude of Area Objects object, such as, but not limited to, active or passive altimeter, including swash
Light, infrared ray, stereoscopic vision and sound-ranging equipment.
In the preferred embodiment, since the radar sensor is used for middle high range measurement, if actual range is less than one
When set a distance (e.g., 6.5 meters), the range error that the radar sensor measures is larger.If actual range is more than hundreds of meters,
The radar sensor is then unable to measure relative altitude information of the unmanned plane 1 with respect to ground target object.And the air pressure
Sensor is suitable for measuring higher height, therefore the baroceptor not only can not have signal in the radar sensor
When the relative altitude information of opposite ground target object is provided to the unmanned plane 1, but also can be in the unmanned plane 1
Flying height be more than the radar sensor can detect height when continue to provide the relative altitude information.
The angular transducer is used to detect the angle of inclination information of 1 relative level of the unmanned plane, to ensure
Ground can be reached at a certain angle by stating the transmitting signal of radar sensor, prevent the radar sensor because of angle problem
There is the case where missing inspection and shake.If the angle of inclination information of the angular transducer detecting is more than predetermined angle, institute
Stating the transmitting signal angle of radar sensor can also change, at this time the opposite ground target of the radar sensor detecting
The relative altitude information of object is invalid (for example, the range information error is excessive).If the inclination of the angular transducer detecting
Angle information is not above predetermined angle, then the transmitting signal of the radar sensor can reach ground at a certain angle,
The relative altitude information of the opposite ground target object of the radar sensor detecting is effective at this time.
It is understood that in other embodiments, the angular transducer can also be that other similar having obtain
Take the angular transducer of the angle information of the unmanned plane 1, such as inertial measuring unit
(InertialMeasurementUnit, IMU), obliquity sensor, gyroscope etc..
The acceleration transducer is used to detect the normal acceleration information of the unmanned plane 1.
It is appreciated that the sensors such as the radar sensor, baroceptor, angular transducer and acceleration transducer
Other can also be used to substitute similar to sensor.As long as the sensing data obtained can be used for being calculated 1 phase of the unmanned plane
The relative altitude information of object, range information and angle information with respect to barrier on a surface target.For example, height can be passed through
Degree meter measures the height of the unmanned plane 1, by obliquity sensor obtain described in patrol the angle of inclination of unmanned plane 1, pass through sound wave
Unmanned plane 1 is at a distance from ground target object and barrier etc. described in stadia surveying.
In the preferred embodiment, the flight control system 120 can be divided into one or more modules, described
One or more modules are stored in the storage device 12 and are configured to by one or more processors (the present embodiment
For a processor 11) it executes, the unmanned plane 1 can keep certain using the flight control system 120 with ground target object
Distance flight, and can be according to the line of flight avoiding obstacles of planning in flight course.
As shown in fig.2, being the functional block diagram of the preferred embodiment of flight control system 120 of the present invention.The flight
Control system 120 includes at least, but is not limited to, acquisition module 122, processing module 124, computing module 126 and planning module
128.Above-mentioned each function module 122,124,126,128 is to complete each program segment of specific function, more than software program itself
It is suitable for describing the implementation procedure of software in a computer, such as the execution in the processor 11 of unmanned plane 1 or in electronic device
It is executed in processor, therefore the present invention describes the description of software program with module.In addition, above-mentioned each function module 122,
124, it 126,128 can also be realized by hardware, firmware (firmware) mode.
In the preferred embodiment, the acquisition module 122 for obtain installed on the unmanned plane 1 it is multiple and different
The data information of the sensor detecting of type.In this better embodiment, the sensor includes radar sensor, and
At least one of baroceptor, angular transducer and acceleration transducer.The acquisition module 122 is specifically used for obtaining
The unmanned plane 1 of the radar sensor detecting is with respect to the relative altitude information of ground target object, the distance of opposite barrier
The angle information of information and opposite barrier.The acquisition module 122 is additionally operable to obtain the institute of the baroceptor detecting
The elevation information residing for unmanned plane 1 is stated, the inclination of 1 relative level of the unmanned plane of the angular transducer detecting is obtained
At least one in angle information, and the normal acceleration information of the unmanned plane 1 of the acquisition acceleration transducer detecting
Kind.
In this better embodiment, the radar sensor is mounted on lower section, side and the front of unmanned plane 1.Its
In, it is opposite with respect to ground target object that the radar sensor mounted on 1 lower section of the unmanned plane is used to detect the unmanned plane 1
Elevation information, it is relatively described for detecting the unmanned plane 1 mounted on the radar sensor in 1 side of the unmanned plane and front
The distance and angle information of barrier.
The processing module 124 is used to carry out data fusion to the data information so that the data information is in the time
On obtain unification.Due to difference of each sensor sample period, and the data information detected is fed back into the flight and is controlled
When system 120, the data information might not obtain on same time point.In order to ensure the precision of data processed result,
It needs to carry out data fusion to the data information, makes information pair of the flight control system 120 in same process cycle
In standard to same time point.
The computing module 126 is for calculating relative altitude information of the unmanned plane with respect to ground target object.
Specifically, the radar sensor for being mounted on 1 lower section of unmanned plane calculates the nothing using linear frequency modulation continuous wave system
First relative altitude of man-machine 1 opposite ground target object, and the opposite ground of the unmanned plane 1 is calculated using frequency shift keying system
Second relative altitude of object.In the preferred embodiment, the radar sensor mounted on 1 lower section of unmanned plane passes through
Linear frequency modulation continuous wave system and the time-multiplexed mode of frequency shift keying system calculate the unmanned plane 1 with respect to ground target object
Relative altitude.
The computing module 126 judges whether to retain first relative altitude and second relative altitude.Wherein,
The computing module 126 judge first relative altitude whether be more than preset height, when first relative altitude be more than etc.
When the preset height, retain first relative altitude, when first relative altitude is less than the preset height,
Abandon first relative altitude.The computing module 126 judges whether to retain according to the normal acceleration of the unmanned plane 1
Second relative altitude, when the normal acceleration of the unmanned plane 1 is more than or equal to preset vertical acceleration, described in reservation
Second relative altitude abandons described second when the normal acceleration of the unmanned plane 1 is less than the preset vertical acceleration
Relative altitude.
The computing module 126 also leads to second relative altitude of first relative altitude of reservation and reservation
Cross the average relative altitude that weighted average value-based algorithm calculates the unmanned plane 1 with respect to ground.
Angle of inclination information and the unmanned plane of the computing module 126 also according to 1 relative level of the unmanned plane
Elevation information residing for 1 judges whether to retain the average relative altitude；When the angle of inclination be more than predetermined angle or
When the average relative altitude wide fluctuations occurs compared with the height residing for the unmanned plane 1, abandon described average opposite
Highly；When the angle of inclination is less than or equal to the predetermined angle and averagely relative altitude and the 1 current institute of the unmanned plane
The height at place is compared to when there are not wide fluctuations, retaining the average relative altitude.
The processing module 124 is also using the measured value of the acceleration transducer to the described average relatively high of reservation
Degree carries out Kalman filtering processing, and stores the filtered average relative altitude to a storage device 12.
The planning module 128 is used for according to the average relative altitude information, the unmanned plane 1 with respect to barrier
Range information and angle information plan the line of flight of the unmanned plane 1.Specifically, the planning module 128 controls the nothing
Man-machine 1 with object keep the average relative altitude imitative fly, and according to the range information and angle information of barrier
The line of flight of planning avoids the barrier flight.
It is the flow chart 400 of UAV Flight Control method preferred embodiment of the present invention refering to Fig. 4.It should be noted that
UAV Flight Control method of the present invention is not limited to the step in flow chart shown in Fig. 4 and sequence.According to different realities
Example is applied, the step in flow chart shown in Fig. 4 can increase, remove or change sequence.In the preferred embodiment, the side
Method 400 can be since step S401.
Step S401, the acquisition module 122 are used to obtain the biography for the multiple and different types installed on the unmanned plane 1
The data information of sensor detecting.
In this better embodiment, the sensor includes radar sensor and baroceptor, angle sensor
At least one of device and acceleration transducer.The acquisition module 122 is specifically used for obtaining the radar sensor detecting
The unmanned plane 1 is with respect to the relative altitude information of ground target object, the range information of opposite barrier and opposite barrier
Angle information.The acquisition module 122 is additionally operable to obtain the height residing for the unmanned plane 1 of the baroceptor detecting
Information obtains the angle of inclination information of 1 relative level of the unmanned plane of the angular transducer detecting, and described in acquisition
At least one of the normal acceleration information of the unmanned plane 1 of acceleration transducer detecting.
In this better embodiment, the radar sensor is mounted on lower section, side and the front of unmanned plane 1.Its
In, it is opposite with respect to ground target object that the radar sensor mounted on 1 lower section of the unmanned plane is used to detect the unmanned plane 1
Elevation information, it is relatively described for detecting the unmanned plane 1 mounted on the radar sensor in 1 side of the unmanned plane and front
The distance and angle information of barrier.
Specifically, the radar sensor mounted on 1 lower section of unmanned plane uses the linear frequency modulation continuous wave system meter
Calculate first relative altitude of the unmanned plane 1 with respect to ground target object, and using the frequency shift keying system calculate it is described nobody
Second relative altitude of the machine 1 with respect to ground target object.The radar sensor mounted on 1 side of unmanned plane and front passes through
The mode of Fourier transformation calculates range information and angle information of the unmanned plane 1 with respect to barrier.Wherein, according to described
The amplitude spectrum of Fourier transformation output obtains the range information of the barrier, the phase exported according to the Fourier transformation
Spectrum obtains the angle information of the barrier.
It is appreciated that the side that the radar sensor is mounted on unmanned plane 1 includes the left and right.
Step S402, the processing module 124 are used to carry out data fusion to the data information so that the data are believed
Breath obtains unification in time.
In this better embodiment, returned due to difference of each sensor sample period, and by the data information detected
When the flight control system 120 of feeding, the data information might not obtain on same time point.In order to ensure number
According to the precision of handling result, needs to carry out data fusion to the data information, make the flight control system 120 same
Information in process cycle was registered on same time point.
Step S403, the computing module 126 are used to calculate the unmanned plane 1 according to the data information after fusion opposite
The relative altitude of ground target object.
In this better embodiment, the computing module 126 according to first relative altitude, the second relative altitude,
The angle of inclination information of elevation information, 1 relative level of the unmanned plane residing for the unmanned plane 1 and the unmanned plane 1
Normal acceleration information calculates relative altitude information of the unmanned plane 1 with respect to ground target object.Specific processing procedure will be
It is described in detail in Fig. 5.
Step S404, the planning module 128 according to the unmanned plane 1 with respect to ground target object relative altitude information,
The unmanned plane 1 of the sensor detecting plans flying for the unmanned plane 1 with respect to the range information and angle information of barrier
Row course line.
It is appreciated that the planning step S404 can be omitted, when the flight control assemblies be calculated it is described nobody
After the relative altitude information of the opposite ground target object of machine 1, the range information and angle information of the opposite barrier of the unmanned plane 1,
It can transmit to the electronic device communicated to connect with the unmanned plane 1, carry out planning the unmanned plane 1 by the electronic device
The line of flight.
It is the particular flow sheet 500 of step S403 in UAV Flight Control method of the present invention refering to Fig. 5.It should illustrate
It is that the step S403 is not limited to the step in flow chart shown in Fig. 5 and sequence.According to different embodiments, shown in Fig. 5
Step in flow chart can increase, remove or change sequence.In the preferred embodiment, the step S403 can be from
Step S4030 starts.
When the radar sensor mounted on 1 lower section of the unmanned plane detects the unmanned plane 1 with respect to ground target object
After relative altitude information, the radar sensor calculates the unmanned plane 1 relatively using the linear frequency modulation continuous wave system
First relative altitude of Area Objects object, and the unmanned plane 1 is calculated with respect to ground target object using the frequency shift keying system
Second relative altitude.
Step S4030, the computing module 126 judge whether to retain first relative altitude and the second relative altitude.
When retaining first relative altitude and second relative altitude, flow enters step S4032；When not retaining described
When one relative altitude and second relative altitude, flow enters step S4034.
Specifically, the computing module 126 judges whether first relative altitude is more than preset height, when described the
When one relative altitude is more than or equal to the preset height, flow enters step S4032；When first relative altitude is less than institute
When stating preset height, flow enters step S4034.Normal acceleration of the computing module 126 also according to the unmanned plane 1
Judge whether to retain second relative altitude, when the normal acceleration of the unmanned plane 1 is more than or equal to preset vertical acceleration
When, flow enters step S4032；When the normal acceleration of the unmanned plane 1 is less than the preset vertical acceleration, flow
Enter step S4034.
Step S4032, the computing module 126 store first relative altitude and second relative altitude to depositing
Storage device 12.
Step S4034, the computing module 126 abandon first relative altitude and second relative altitude.
Step S4036, it is average relatively high with respect to ground target object that the computing module 126 calculates the unmanned plane 1
Degree.In the preferred embodiment, the computing module 126 is by described the second of first relative altitude of reservation and reservation
Relative altitude calculates average relative altitude of the unmanned plane 1 with respect to ground target object by weighted average value-based algorithm.It can manage
Solution, the algorithm for calculating the unmanned plane 1 with respect to the average relative altitude of ground target object are not limited to the weighted average
Algorithm.
Step S4038, the computing module 126 judge whether to retain the average relative altitude.It is described average when retaining
When relative altitude, flow enters step S4040；When not retaining the average relative altitude, flow enters step S4042.
In the preferred embodiment, the computing module 126 is according to the angle of inclination of 1 relative level of the unmanned plane
Elevation information residing for information and the unmanned plane 1 judges whether to retain the average relative altitude.When 1 phase of the unmanned plane
The predetermined angle and averagely relative altitude and the 1 current institute of the unmanned plane are less than or equal to the angle of inclination of horizontal plane
For the height at place compared to when there are not wide fluctuations, flow enters step S4040；When 1 relative level of the unmanned plane
Angle of inclination is more than predetermined angle or occurs compared with the height residing for the unmanned plane 1 greatly in the average relative altitude
When range fluctuates, flow enters step S4042.
Step S4040, the processing module 124 carry out Kalman filtering processing to the average relative altitude of reservation.
In the preferred embodiment, the processing module 124 utilizes the measured value of the acceleration transducer to the described average of reservation
Relative altitude carries out Kalman filtering, rejects since landform injustice causes the range information of the radar sensor detecting to calculate
The big situation of the average value error.
Step S4042, the processing module 124 abandon the average relative altitude.
In a further embodiment, the flight control method may also include step S4044, the processing module 124
The filtered average relative altitude is stored to a storage device 12.For example, when the storage device 12 is controlled for the flight
When the internal storage unit of device processed, the filtered average relative altitude is storable in the internal storage unit.Work as institute
When to state storage device 12 be a removable storage device, such as removable storage card or mobile storage disc, after the filtering
Average relative altitude be storable in the removable storage device.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the module or
The division of unit, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple lists
Member or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point,
Shown or discussed mutual coupling, direct-coupling or communication connection can be by some interfaces, device or list
The INDIRECT COUPLING of member or communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, as unit
The component of display may or may not be physical unit, you can be located at a place, or may be distributed over more
In a network element.Some or all of unit therein can be selected according to the actual needs to realize this embodiment scheme
Purpose.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention essence
On all or part of the part that contributes to existing technology or the technical solution can be with the shape of software product in other words
Formula embodies, which is stored in a storage medium, including some instructions are used so that at computer
Reason device (processor) performs all or part of the steps of the method described in the various embodiments of the present invention.And storage medium above-mentioned
Including：USB flash disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM,
RandomAccessMemory), the various media that can store program code such as magnetic disc or CD.
Finally it should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although reference
Preferred embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the present invention's
Technical solution is modified or equivalent replacement, without departing from the spirit of the technical scheme of the invention and range.
Claims (10)
1. a kind of UAV Flight Control method is applied on unmanned plane, which is characterized in that the flight control method includes following
Step：
The data information of the sensor detecting for the multiple and different types installed on the unmanned plane is obtained, the data information includes
The unmanned plane is with respect to the relative altitude information of ground target object, the distance and angle information of the opposite barrier of the unmanned plane；
Data fusion is carried out to the data information so that the data information obtains unification in time；And
Relative altitude of the unmanned plane with respect to ground target object is calculated according to the data information after fusion.
2. UAV Flight Control method as described in claim 1, which is characterized in that the sensor includes：
Radar sensor；And
At least one of baroceptor, angular transducer and acceleration transducer.
3. UAV Flight Control method as claimed in claim 2, which is characterized in that the method specifically includes：
The unmanned plane of the radar sensor detecting is obtained with respect to the relative altitude information of ground target object, opposite barrier
Range information and opposite barrier angle information；And
Obtain at least one of following information：
Elevation information residing for the unmanned plane of the baroceptor detecting；
The angle of inclination information of the unmanned plane relative level of the angular transducer detecting；And
The normal acceleration information of the unmanned plane of the acceleration transducer detecting.
4. UAV Flight Control method as claimed in claim 3, which is characterized in that the multiple radar sensor is mounted on
Lower section, front and the side of unmanned plane, wherein radar sensor below the unmanned plane for detect it is described nobody
Machine is with respect to the relative altitude information of ground target object, and in front of the unmanned plane and the radar sensor of side is for detecting
The distance and angle information of the relatively described barrier of the unmanned plane.
5. UAV Flight Control method as claimed in claim 3, which is characterized in that this method further includes：
The range information with respect to the elevation information, the unmanned plane of ground target object with respect to barrier and angle according to the unmanned plane
Spend the line of flight of unmanned plane described in information planning.
6. UAV Flight Control method as claimed in claim 4, which is characterized in that the thunder below unmanned plane
It is opposite that the unmanned plane calculated by linear frequency modulation continuous wave system and the time-multiplexed mode of frequency shift keying system up to sensor
The relative altitude of ground target object.
7. UAV Flight Control method as claimed in claim 4, which is characterized in that the radar sensor passes through Fourier
The mode of transformation or Chirp-Z transformation calculates range information and angle information of the unmanned plane with respect to barrier, wherein root
The range information of the barrier is obtained according to the amplitude spectrum of the Fourier transformation or Chirp-Z transformation outputs, according to described
Fourier transformation or the phase spectrum of Chirp-Z transformation outputs obtain the angle information of the barrier.
8. UAV Flight Control method as claimed in claim 6, which is characterized in that the radar sensor uses the line
Property CW with frequency modulation system calculate first relative altitude of the unmanned plane with respect to ground target object, and use the frequency shift keying
System calculates second relative altitude of the unmanned plane with respect to ground target object.
9. UAV Flight Control method as claimed in claim 8, which is characterized in that the method further includes：
Judge whether first relative altitude is more than preset height, when first relative altitude is more than or equal to the default height
When spending, retain first relative altitude, when first relative altitude is less than the preset height, abandons first phase
To height；And
Judged whether to retain second relative altitude according to the normal acceleration of the unmanned plane, it is vertical when the unmanned plane
When acceleration is more than or equal to preset vertical acceleration, retain second relative altitude, when the normal acceleration of the unmanned plane
When less than the preset vertical acceleration, second relative altitude is abandoned.
10. UAV Flight Control method as claimed in claim 9, which is characterized in that the method further includes：
First relative altitude of reservation and second relative altitude of reservation are calculated into institute by weighted average value-based algorithm
State average relative altitude of the unmanned plane with respect to ground.
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| Publication number | Publication date |
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| CN105700550A (en) | 2016-06-22 |
| CN105700550B (en) | 2018-06-26 |
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