CN104932529A - Unmanned plane autonomous flight cloud control system - Google Patents
Unmanned plane autonomous flight cloud control system Download PDFInfo
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Abstract
The invention discloses an unmanned plane autonomous flight cloud control system. The system comprises a ground control station, a cloud server, an unmanned plane device and an aerial photography device. Real-time autonomous flight of an unmanned plane involves establishment of a course planning control analysis module based on real-time information, the ground control station carries out preliminary automatic planning of a course by use of flight coordinate scope information, in case of low-attitude flight, aerial photography data acquisition is carried out on landform space information by use of the aerial photography device, the information is transmitted to the cloud server by use of a 4G network through the ground control station, three-dimensional real-time visualization space modeling of aerial photography data is carried out by use of a cloud processing technology, through combination with a DEM and space topology relation, real-time course correction is carried out on an unmanned plane task flight preliminary course, flight control signals are returned to an autopilot, and thus autonomous flight of the unmanned plane is realized.
Description
Technical field
The present invention relates to a kind of high in the clouds control system of unmanned plane autonomous flight, be specifically related to UAV Flight Control field.
Background technology
The independence of system for flight control computer refers to that unmanned plane does not rely on operating personnel's instruction, only relies on the monitoring equipment of self and the support of opertaing device to complete the ability of the task of defined.The control mode of unmanned plane mainly controls based on the simple remote control of operator and pre-programmed, and the autonomous level of control of unmanned plane has realized the intellectuality of partial function simultaneously.Along with the raising of the intelligent level of hardware of system for flight control computer, the system for flight control computer with autonomous control ability will realize Situation Awareness and the vague memory learning ability of scene, the interactive controlling of the compatibility simultaneously between hardware will be in leading position gradually, will realize the work compound of unmanned plane hardware system gradually.When the maintenance that communicates is unimpeded, realizes unmanned plane from main control, also can alleviate the working load of operator, realize intelligent independent and control, thus improve operational efficiency.
At present, the accuracy of identification facing the actual scene of flight of unmanned plane autonomous flight is poor, in flight course planning spatial relationship application consider shortcoming, but the breakthrough of the rapid modeling of high performance sensor, three-dimensional scenic and cloud treatment technology be unmanned plane provide possibility from main control.The autonomous flight control of unmanned plane in flight course, autonomous flight course planning decision-making, perception and avoidance treatment mechanism and work transformation matrix control etc. can form solution by building unmanned plane high in the clouds intelligent independent control system.
Summary of the invention
A kind of autonomous flight field of high in the clouds control system to unmanned plane of unmanned plane autonomous flight proposes a kind of new resolving ideas, utilize the mature technology of GIS space topological, oblique photograph three-dimensional modeling, cloud computing aspect, be incorporated in the flight control mode of PID, carry out the autonomous Design of flight decision-making level, extend the range of application of relevant art.
A kind of high in the clouds control system of unmanned plane autonomous flight is that a kind of nobody based on cloud service flies to control and the distributed high performance control structure of generating date.High in the clouds controls to be divided into three layers according to distributed structure of passing stepwise: information Perception layer, Organization of Data layer, flight update step.
At information Perception layer, UAS possesses comprehensive environment sensing ability, under being included in the environment and terrible weather (as thunderstorm, wind shear, turbulent flow) condition highly resisted, system to environment sensing and information processing, carries out real-time monitoring to the flight attitude of unmanned plane, course line skew, course, height and Mach number by tri-axis angular rate gyro, three axis accelerometer, three axle magnetometers, two mouth airspeed sensor, barometric altimeter, 5HzGPS receiver, temperature sensor, high precision range sensor etc.
In Organization of Data layer, high in the clouds control system is according to the flight space scope of aerial mission determination unmanned plane, according to the image capturing angle of described flight range and height control 3-D view aerial device, and generate preliminary flight course planning in conjunction with DEM, unmanned plane utilizes 3-D view aerial device to perform task of taking photo by plane after take off, utilize land station's server that the boat sheet real-time data transmission collected is flown in control cloud computing end to backstage, at cloud computing end, high performance cloud data computing power is utilized to carry out three-dimensional rapid modeling, real-time generation Three-dimensional Terrain Visualization image data, according to the visual landform image data of three-dimensional rendering generated, utilize the extraction of three-dimensional environment feature, the identification of target and identification.
In flight update step, according to three-dimensional model, the state parameter of unmanned plane and the default line of flight are carried out to the spatial analysis of topological relation; Based on the real-time task planning strategy that real-time information, layer and section subregion multi-method merge mutually, and according to the current positional information of unmanned plane and flight status parameter, carry out the assessment of flight posture, determine attitude and the course line adjustment information of described unmanned plane.Described adjustment information is sent described unmanned aerial vehicle site server, land station's server by utilizing communication link is Signal transmissions to the autopilot of unmanned plane, and autopilot adjusts current course and speed to complete the flight path of described task according to described adjustment information.
Preferably, the collection of data of taking photo by plane will use the oblique photograph technology of unmanned plane, by carrying multiple stage sensor on same flying platform of taking photo by plane, simultaneously from vertical, four five different angle acquisition images such as to tilt, determine the spatial information at the current place of described unmanned plane, inclination image can realize individual image measurement simultaneously, improves the extraction efficiency of three-dimensional environment feature.
Further, for ensureing unmanned plane autonomous flight control, system establishes the module of making decisions on one's own in real time centered by online Situation Awareness, introduce the topological transitiveness in GIS especially, to unmanned plane flight course planning, to take off and the spatial relationship of landform of landing place has carried out spatial relation analysis, determine the adjustment information of described unmanned plane, and utilize the various sensors of Information Level to carry out analysis & verification to result of calculation, planning basis is again provided to the rationality of course line and landing position.
Further, the flight course planning storehouse of unmanned plane, unmanned plane landing predetermined analog storehouse is established in the high in the clouds control system of unmanned plane, utilize cloud computing ability fully, the dynamic conditioning of flight model is carried out according to the real-time attitude information of unmanned plane and spatial relationship, and achieve the dynamic similation flying demonstration carrying out follow-up work according to the current flight state of unmanned plane, improve the autonomous intelligence monitoring capacity of unmanned plane.
Further, UAS has formulated the modes of warning during event that there occurs non-prediction, has preset the conversion of emergent course line at each way point, comprises that alignment spirals, spot hover, Yuan Lu make a return voyage.As emergency condition, system utilizes the special standby power supply that makes a return voyage to be altered in the contingency mode pre-established, and realizes the emergency response mechanism of unmanned plane.
Preferably, described high-resolution camera adopts breathes out Soviet Union H4D-60 camera;
Preferably, the real-time Transmission of data make use of 4G network;
Beneficial effect of the present invention:
System meets the Autonomy flight requirement in uncertain simple environment and complicated fixed ring border really, and achieving the autonomous flight control pattern of unmanned plane unit single task, is the further propelling of the autonomous flight control technique scheme to current civilian unmanned plane.
System is set up according to the basic structure of intelligent distributed hierarchical control, achieving having flying from main control under DEM terrain data, not needing artificial intervention.Especially, the rapid modeling of the three-dimensional scenic in flight range is introduced in flying scene, the introducing of cloud computing technology improves the efficiency of three dimensional ground model, and achieve the measurement in flying scene, especially the correction of extraction to the line of flight of unmanned plane of three-dimensional environment feature plays a positive role.
The Distributed Design thinking based on cloud service of system, meets the mobile operating requirement of unmanned plane, and all background task computings all realize in Cloud Server, requires more to simplify to the performance design of ground control station.
Accompanying drawing explanation
Fig. 1 is the Structure and Process schematic diagram of high in the clouds of the present invention control system.
Fig. 2 is the distributed hierarchical control design slice map of high in the clouds of the present invention control system.
Embodiment
Do to be described in further detail the specific embodiment of the present invention below in conjunction with accompanying drawing.
In FIG, a kind of high in the clouds control system of unmanned plane autonomous flight, comprises a ground control station, cloud server, unmanned plane equipment, equipment of taking photo by plane.Described ground control station comprises 4G data transmission device, unmanned plane communication link device, state of flight display device, unmanned plane emergency monitoring device, data server.
Described 4G data transmission device is used for transmission and takes photo by plane data, and taking photo by plane, data are transferred to ground control station from the equipment of taking photo by plane, and control station is transferred to cloud server end again.Unmanned plane communication link device is used for information transmission and the commander of unmanned plane; State of flight display device for showing the status information of described unmanned plane, and accepts data mode bag and the monitor message of autopilot; Unmanned plane emergency monitoring device stands ready, and when being in an emergency, emergency monitoring device sends emergency processing instruction automatically.Cloud server is used for the backstage computing of three-dimensional modeling and the analysis and assessment of unmanned plane during flying situation;
Described unmanned plane equipment comprises unmanned plane during flying device, autopilot, reserve battery, sensor.
The described equipment of taking photo by plane comprises oblique photograph device, camera, service equipment etc.
When the treatment scheme of the high in the clouds control system of described a kind of unmanned plane autonomous flight is implemented, ground control station utilizes flight coordinate range information to carry out the preliminary planning automatically in course line, equipment of taking photo by plane is utilized to realize taking photo by plane data acquisition to landform spatial information during low-latitude flying, utilize 4G Internet Transmission in cloud server by ground control station, cloud treatment technology is utilized to carry out taking photo by plane the three-dimensional real-time visual spatial modeling of data, carry out real-time course line in conjunction with DEM and spatial topotaxy to the preliminary course line of unmanned plane operation flight to revise, and flight control signal is turned back in autopilot, realize the autonomous flight of unmanned plane.
In fig. 2, high in the clouds controls to be divided into 3 layers according to distributed structure of passing stepwise: information Perception layer, Organization of Data layer, flight update step.
At information Perception layer, the data of the flight environment of vehicle sense that high in the clouds control system monitoring is relevant, comprise height, tri-axis angular rate, 3-axis acceleration, three axle magnetic force, air pressure, 5HzGPS information, temperature, high precision range sensor etc. to environment sensing and information processing, to the monitoring of the flight condition of the flight attitude of unmanned plane, course line skew, course and carrying equipment.
In Organization of Data layer, the flight space scope of high in the clouds control system determination unmanned plane, generates preliminary flight course planning in conjunction with DEM; By the large data-handling capacity of cloud computing end, three-dimensional modeling is carried out to data of taking photo by plane, real-time generation Three-dimensional Terrain Visualization image data, and be independently spliced into a width and fly regional panorama sketch, realize the extraction of three-dimensional environment feature, the identification of target and identification simultaneously.
In flight update step, utilize the state parameter of unmanned plane and the line of flight preset in Three-dimensional Terrain Visualization to the spatial analysis carrying out topological relation; Based on the real-time task planning strategy that real-time information, layer and section subregion multi-method merge mutually, carry out the assessment of flight posture, determine attitude and the course line adjustment information of described unmanned plane, and described adjustment information is sent described unmanned aerial vehicle site server, land station's server by utilizing communication link Signal transmissions to the autopilot of unmanned plane.
It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore scope comprises the embodiment be not limited to described in embodiment; every other embodiments drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (7)
1. the high in the clouds control system of unmanned plane autonomous flight is that a kind of nobody based on cloud service flies to control and the distributed high performance control structure of generating date, comprises a ground control station, cloud server, unmanned plane equipment, equipment of taking photo by plane.
Described ground control station comprises 4G data transmission device, unmanned plane communication link device, state of flight display device, unmanned plane emergency monitoring device, data server.
Described 4G data transmission device is used for transmission and takes photo by plane data, and taking photo by plane, data are transferred to ground control station from the equipment of taking photo by plane, and control station is transferred to cloud server end again.
Described unmanned plane communication link device is used for information transmission and the commander of unmanned plane;
Described state of flight display device for showing the status information of described unmanned plane, and accepts data mode bag and the monitor message of autopilot;
Described unmanned plane equipment comprises unmanned plane during flying device, autopilot, reserve battery, sensor, emergency set etc.;
The described equipment of taking photo by plane comprises oblique photograph device, camera, service equipment.
2. method according to claim 1, it is characterized in that, the equipment such as tri-axis angular rate gyro, three axis accelerometer, three axle magnetometers, two mouth airspeed sensor, barometric altimeter, 5HzGPS receiver, temperature sensor, high precision range sensor is utilized during the flight of unmanned plane, by to environmental monitoring and information processing, to flight attitude, course line skew, the speed of a ship or plane of unmanned plane, highly carry out real-time monitoring.
3. method according to claim 1, it is characterized in that, described cloud server is used for the backstage computing of three-dimensional modeling and the analysis and assessment of unmanned plane during flying situation, utilizes the generation Three-dimensional Terrain Visualization figure that data of taking photo by plane are real-time, and achieves the extraction of three-dimensional environment feature.
4. method according to claim 1, it is characterized in that, establish the flight course planning storehouse of unmanned plane, unmanned plane landing predetermined analog storehouse in the high in the clouds control system of unmanned plane, and achieve the dynamic similation flying demonstration carrying out follow-up work according to the current flight state of unmanned plane.
5. method according to claim 1, it is characterized in that, the collection of data of taking photo by plane will use the oblique photograph technology of unmanned plane, oblique photograph device by carrying multiple stage sensor on same flying platform of taking photo by plane, simultaneously from vertical, four five different angle acquisition images such as to tilt, inclination image realizes image measurement simultaneously.
6. method according to claim 1, it is characterized in that, system establishes module of making decisions on one's own in real time, introduce the topological transitiveness in GIS, to unmanned plane flight course planning, to take off and the spatial relationship of landform of landing place has carried out spatial relation analysis, determine attitude and the course line adjustment information of described unmanned plane, the various sensors of Information Level are utilized to carry out analysis & verification to result of calculation, realize planning again course line and landing position, and utilize communication link that flight adjustment information is transferred to the autopilot of unmanned plane.
7. method according to claim 1, it is characterized in that, UAS has formulated the warning module during event that there occurs non-prediction, and system utilizes the special standby power supply that makes a return voyage to be altered in the contingency mode pre-established, and realizes the emergency response mechanism response of unmanned plane.
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