CN114839643A - Unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on laser ranging radar - Google Patents
Unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on laser ranging radar Download PDFInfo
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- CN114839643A CN114839643A CN202210532109.4A CN202210532109A CN114839643A CN 114839643 A CN114839643 A CN 114839643A CN 202210532109 A CN202210532109 A CN 202210532109A CN 114839643 A CN114839643 A CN 114839643A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
- G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to the technical field of unmanned aerial vehicle flight control, and discloses an unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on a laser range radar. Wherein, the method comprises the following steps: respectively arranging a first laser ranging radar A, a second laser ranging radar B and a third laser ranging radar C on the front parts of a left wing, a right wing and a fuselage of the unmanned aerial vehicle; according to the measured distance L of the first laser range radar A A A measured distance L of the second laser range radar B B And the measured distance L of the third laser range radar C C Calculating the pitch angle of the unmanned aerial vehicle; according to the pitch angle and the measuring distance L of the first laser range radar A A A measured distance L of the second laser range radar B B And the installation distance L between the first laser ranging radar A and the second laser ranging radar B AB Is calculated to have noThe roll angle of the human machine; according to the pitch angle and the measuring distance L of the first laser range radar A A A measured distance L of the second laser range radar B B And calculating the height of the unmanned aerial vehicle. From this, can improve the security performance when unmanned aerial vehicle takes off and lands.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to an unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on a laser range radar.
Background
Unmanned aerial vehicle takes off and land generally contains many rotor unmanned aerial vehicle vertical take off and land and fixed wing unmanned aerial vehicle level take off and land. For the unmanned vertical take-off and landing of multiple rotors, particularly in the landing stage, the unmanned vertical take-off and landing aircraft can hover in the air, slowly descend at a low speed, and is controllable in posture and height and low in safety risk; for the fixed-wing horizontal take-off and landing unmanned aerial vehicle, the landing speed is high, high attitude data and high data of precision are needed during landing, the requirement on the stability and reliability of hardware equipment is high, and the safety risk is high compared with the vertical take-off and landing during the horizontal take-off and landing.
The taking-off and landing attitude information of the unmanned aerial vehicle is generally realized by a triaxial gyro and a triaxial accelerometer, and the altitude information is generally realized by a GPS (global positioning system), a DGPS (differential GPS), a laser altitude ranging and other single or combined modes.
In the horizontal landing stage, the unmanned aerial vehicle lands by means of the height data of the GPS, and due to the fact that the error of the GPS is several meters, the unmanned aerial vehicle is easy to crash when taking off and landing horizontally, and the risk is high; the DGPS height data precision is in centimeter level, and the safe horizontal landing of the unmanned aerial vehicle can be realized; the laser height measurement precision is centimeter level, satisfies the precision demand of unmanned aerial vehicle descending to gesture and height data equally. The position, attitude, altitude and other information is generally realized in a mode of GPS + single laser altitude, DGPS + single laser altitude, GPS + DGPS + single laser altitude and the like.
However, at unmanned aerial vehicle descending in-process, there is still unexpected circumstances such as outside power electromagnetic interference, equipment module self sensing failure, will lead to unmanned aerial vehicle to descend the failure, causes the crash phenomenon even, consequently needs further improve unmanned aerial vehicle level landing security performance on the basis of existing mode.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on a laser range radar, and can solve the problems in the prior art.
The technical scheme of the invention is as follows: an unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on a laser range radar comprises the following steps:
respectively arranging a first laser ranging radar A, a second laser ranging radar B and a third laser ranging radar C on the front parts of a left wing, a right wing and a fuselage of the unmanned aerial vehicle;
according to the measuring distance L of the first laser range radar A A A measurement distance L of the second laser range radar B B And a measured distance L of the third laser range radar C C Calculating the pitch angle of the unmanned aerial vehicle;
according to the pitch angle and the measuring distance L of the first laser range radar A A A measurement distance L of the second laser range radar B B And the installation distance L between the first laser ranging radar A and the second laser ranging radar B AB Calculating the roll angle of the unmanned aerial vehicle;
according to the pitch angle and the measuring distance L of the first laser range radar A A A measurement distance L of the second laser range radar B B And calculating the height of the unmanned aerial vehicle.
Preferably, the first laser ranging radar a is at a mounting distance L from the third laser ranging radar C CA An installation distance L from the second laser ranging radar B to the third laser ranging radar C CB Are equal.
Preferably, the distance L measured by the first lidar A is determined by A A measurement distance L of the second laser range radar B B And a measured distance L of the third laser range radar C C Calculating the pitch angle of the unmanned aerial vehicle:
wherein angle CDC' is a pitch angle L CD Is the distance of the third lidar C from the midpoint D of the first lidar a and the second lidar B.
Preferably according to said pitch angle byThe measurement distance L of the first laser ranging radar A A A measurement distance L of the second laser range radar B B And the installation distance L between the first laser ranging radar A and the second laser ranging radar B AB Calculating the roll angle of the unmanned aerial vehicle:
wherein, the angle TSN is the roll angle.
Preferably, the measurement distance L of the first laser range radar A is determined from the pitch angle by A A measurement distance L of the second laser range radar B B Calculating the height of the unmanned aerial vehicle:
wherein L is D Is the height of the unmanned aerial vehicle.
By the technical scheme, the laser ranging radars can be respectively arranged on the front part, the left wing and the right wing of the unmanned aerial vehicle, and the pitch angle, the roll angle and the height value of the unmanned aerial vehicle can be calculated according to data measured by the correspondingly arranged laser ranging radars.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a flowchart of an unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on a laser range radar according to an embodiment of the present invention.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the device structures and/or processing steps that are closely related to the scheme according to the present invention are shown in the drawings, and other details that are not so relevant to the present invention are omitted.
Fig. 1 is a flowchart of an unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on a laser range radar according to an embodiment of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle horizontal landing pose auxiliary solution method based on a laser range radar, where the method includes:
s100, respectively arranging a first laser ranging radar A, a second laser ranging radar B and a third laser ranging radar C on the front parts of the left wing, the right wing and the fuselage of the unmanned aerial vehicle;
s102, according to the measuring distance L of the first laser range radar A A A measurement distance L of the second laser range radar B B And a measured distance L of the third laser range radar C C Calculating the pitch angle of the unmanned aerial vehicle;
s104, according to the pitch angle and the measuring distance L of the first laser range radar A A And a measured distance L of the second laser range radar B B And the installation distance L between the first laser ranging radar A and the second laser ranging radar B AB Calculating the roll angle of the unmanned aerial vehicle;
s106, according to the pitch angle and the measuring distance L of the first laser range radar A A Measurement of the second laser ranging radar BDistance L B The height of the drone (i.e., the vertical height of the drone from the ground) is calculated.
The first laser ranging radar A, the second laser ranging radar B and the third laser ranging radar C are located at the same plane height, and the laser line of the laser ranging radar is perpendicular to the plane formed by the first laser ranging radar A, the second laser ranging radar B and the third laser ranging radar C.
By the technical scheme, the laser ranging radars can be respectively arranged on the front part, the left wing and the right wing of the unmanned aerial vehicle, and the pitch angle, the roll angle and the height value of the unmanned aerial vehicle can be calculated according to data measured by the correspondingly arranged laser ranging radars.
The pitching angle is an included angle between a longitudinal axis of the unmanned aerial vehicle body and a horizontal plane, and is positive when pointing to the upper part of the horizontal plane, otherwise, the pitching angle is negative; the roll angle is the included angle between the horizontal axis and the horizontal plane of the body of the unmanned aerial vehicle, and when viewed from the tail along the direction of the nose, the left roll is positive and the right roll is negative.
According to an embodiment of the present invention, the first laser ranging radar A is installed at a distance L from the third laser ranging radar C CA An installation distance L from the second laser ranging radar B to the third laser ranging radar C CB Are equal.
That is, L CA And L CB And the first laser ranging radar A, the second laser ranging radar B and the third laser ranging radar C form an isosceles triangle. And the third laser ranging radar C is arranged at the front part of the machine body and is superposed with the longitudinal axis of the machine body.
According to an embodiment of the invention, the distance L is measured from the first lidar A by A A measurement distance L of the second laser range radar B B And a measured distance L of the third laser range radar C C Calculating the pitch angle of the unmanned aerial vehicle:
wherein angle CDC' is a pitch angle L CD Is the distance of the third lidar C from the midpoint D of the first lidar a and the second lidar B.
According to an embodiment of the invention, the measured distance L of the first lidar A is determined from the pitch angle by A A measurement distance L of the second laser range radar B B And the installation distance L between the first laser ranging radar A and the second laser ranging radar B AB Calculating the roll angle of the unmanned aerial vehicle:
wherein, the angle TSN is the roll angle.
According to an embodiment of the invention, the measured distance L of the first lidar A is determined from the pitch angle by A A measurement distance L of the second laser range radar B B Calculating the height of the unmanned aerial vehicle:
wherein L is D Is the altitude of the drone (i.e., the vertical distance of the midpoint D of the first lidar a and the second lidar B from the ground).
According to the embodiment, the laser ranging radar is installed on the unmanned aerial vehicle at a certain relative position, the attitude and the height of the unmanned aerial vehicle relative to the ground can be obtained through calculation according to the measurement data of the laser ranging radar, and the safety taking-off and landing performance of the unmanned aerial vehicle can be improved.
Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.
The above devices and methods of the present invention can be implemented by hardware, or can be implemented by hardware and software. The present invention relates to a computer-readable program which, when executed by a logic section, enables the logic section to realize the above-described apparatus or constituent section, or to realize the above-described various methods or steps. The present invention also relates to a storage medium such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, or the like, for storing the above program.
The many features and advantages of these embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of these embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The invention has not been described in detail and is in part known to those of skill in the art.
Claims (5)
1. An unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on a laser range radar is characterized by comprising the following steps:
respectively arranging a first laser ranging radar A, a second laser ranging radar B and a third laser ranging radar C on the front parts of a left wing, a right wing and a fuselage of the unmanned aerial vehicle;
according to the measuring distance L of the first laser range radar A A A measurement distance L of the second laser range radar B B And a measured distance L of the third laser range radar C C Calculating the pitch angle of the unmanned aerial vehicle;
according to the pitch angle and the measuring distance L of the first laser range radar A A A measurement distance L of the second laser range radar B B And the installation distance L between the first laser ranging radar A and the second laser ranging radar B AB Calculating the roll angle of the unmanned aerial vehicle;
according to the pitch angle and the measuring distance L of the first laser range radar A A A measurement distance L of the second laser range radar B B And calculating the height of the unmanned aerial vehicle.
2. The method of claim 1, wherein the first laser ranging radar A is mounted a distance L from the third laser ranging radar C CA An installation distance L from the second laser ranging radar B to the third laser ranging radar C CB Are equal.
3. Method according to claim 2, characterized in that the distance L measured according to the first lidar a is determined by A And a measured distance L of the second laser range radar B B And a measured distance L of the third laser range radar C C Calculating the pitch angle of the unmanned aerial vehicle:
wherein angle CDC' is a pitch angle L CD Is the distance of the third lidar C from the midpoint D of the first lidar a and the second lidar B.
4. Method according to claim 3, characterized in that the measured distance L of the first lidar A is determined from the pitch angle by A A measurement distance L of the second laser range radar B B And the installation distance L between the first laser ranging radar A and the second laser ranging radar B AB Calculating the roll angle of the unmanned aerial vehicle:
wherein, the angle TSN is the roll angle.
5. Method according to claim 4, characterized in that the measured distance L of the first lidar A is determined from the pitch angle by A A measurement distance L of the second laser range radar B B Calculating the height of the unmanned aerial vehicle:
wherein L is D Is the height of the unmanned aerial vehicle.
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| CN202210532109.4A CN114839643A (en) | 2022-05-09 | 2022-05-09 | Unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on laser ranging radar |
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| CN202210532109.4A CN114839643A (en) | 2022-05-09 | 2022-05-09 | Unmanned aerial vehicle horizontal landing pose auxiliary resolving method based on laser ranging radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118226401A (en) * | 2024-05-22 | 2024-06-21 | 南京航空航天大学 | Fixed wing aircraft pose measurement method and device based on laser radar three-dimensional point cloud |
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2022
- 2022-05-09 CN CN202210532109.4A patent/CN114839643A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118226401A (en) * | 2024-05-22 | 2024-06-21 | 南京航空航天大学 | Fixed wing aircraft pose measurement method and device based on laser radar three-dimensional point cloud |
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