CN112416017B - Course guide control method for return flight approach of ship-borne unmanned helicopter - Google Patents
Course guide control method for return flight approach of ship-borne unmanned helicopter Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle flight control, and relates to a course guidance control method for a return flight approach of a ship-borne unmanned helicopter. The process guiding track aligning to the ship course is divided into 2 circles, 4 points and 1 tangent line, the unmanned helicopter starts from an initial position P1 point, reaches a first arc cutting point P2 point through a section of arc, flies to a second arc cutting point P3 along the tangent line, then passes through a section of arc, flies to an initial point P4 point approaching to a gliding point, and finally flies forward aiming at the ship.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle flight control, and relates to a course guidance control method for a return flight approach of a ship-borne unmanned helicopter.
Background
The autonomous landing process of the unmanned helicopter can be described as that the landing guide system generates a landing guide track according to the position, the course and the speed of the unmanned helicopter at the initial moment, controls the unmanned helicopter to execute return flight approach and approach gliding, guides the unmanned helicopter to be right above a ship deck, and controls the unmanned helicopter to start landing when the unmanned helicopter receives an autonomous landing instruction. And starting a deck motion estimation and compensation system, and controlling the unmanned helicopter to quickly finish the landing after an ideal landing opportunity appears.
The purpose of the return approach is to guide the unmanned helicopter from any position to a certain position right behind the ship and align the course of the ship. Currently, most of known control methods are fixed-wing unmanned aerial vehicle guiding control methods, and the return approach is to determine a guiding reference track and adjust the position according to errors to realize guiding; another type of patent is that relative guidance information of a ship is obtained based on different guidance devices, and mainly introduces how the guidance devices achieve the obtaining of the guidance information.
The invention for describing how the return voyage of the unmanned helicopter is aligned with the ship course does not appear in detail, and the invention mainly solves the problem that the return voyage of the unmanned helicopter is aligned with the ship course.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problem that the return voyage of a ship-borne unmanned helicopter is aligned to the ship course in the background technology, the ship-borne unmanned helicopter return voyage course guide control method is provided.
A course guiding method for a ship-borne unmanned helicopter return approach divides a course guiding track of the unmanned helicopter return approach into: the first arc, the second arc, four points and a tangent line; the four points are respectively an initial position P1 point, a first arc cutting-out point P2 point, a second arc cutting-in point P3 point and a gliding initial point P4;
the initial position point P1 and the first arc cutting-out point P2 are respectively positioned at two end points of a first arc, and the second arc cutting-in point P3 and the gliding initial point P4 are respectively positioned at two end points of a second arc; the tangent line is a common tangent line of the first arc and the second arc passing through the point P2 of the first arc cutting point and the point P3 of the second arc cutting point;
the unmanned helicopter starts from an initial position P1 point, reaches a first arc cutting point P2 point through a first arc, flies to a second arc cutting point P3 point along a tangent line and then passes through a second arc, and the unmanned helicopter flies to an initial point P4 of approaching gliding.
Further, from the known ship position coordinates: longitude S lon Latitude S lat Ship course psi s Ship running speed V s And the distance L required by the process of approaching gliding, and determining the coordinate of a gliding initial point P4 according to the following formula;
wherein V 0 : current speed, H, of unmanned helicopter 0 : current altitude of unmanned helicopter, H s : target height, V m : current speed, H, of unmanned helicopter dot : descent speed, L, of unmanned helicopter H : hover follow-up distance.
The glide initial point P4 coordinate is calculated according to the following formula,
p4 point longitude:
p4 point latitude:
further, dividing a horizontal space into a left half plane and a right half plane by connecting a down-slip initial point P4 with the ship position;
according to the current semi-plane where the unmanned helicopter is located, determining the position of a second arc passing through a point P4 with the radius of
The center C1 of the second arc is a coordinate point which is at a distance R from the point P4 and has a direction of 90 degrees or-90 degrees; c1 The point coordinates are determined according to the following formula,
c1 point longitude:
c1 point latitude:
further, according to the deviation between the initial course of the unmanned helicopter and the course of the ship, the course of the unmanned helicopter is divided into two conditions of driving away the ship and driving close to the ship;
if the unmanned helicopter is positioned on the right half plane and the unmanned helicopter drives away from the ship, the unmanned helicopter flies clockwise along the first arc, and the tangent is an external common tangent of the first arc and the second arc;
if the unmanned helicopter is positioned on the right half plane and approaches the ship, the unmanned helicopter flies anticlockwise along the first arc, and the tangent line is an internal common tangent line of the first arc and the second arc;
if the unmanned helicopter is positioned on the left half plane and the unmanned helicopter drives away from the ship, the unmanned helicopter flies anticlockwise along the first arc, and the tangent line is an external common tangent line of the first arc and the second arc;
if the unmanned helicopter is positioned on the left half plane and approaches the ship, the unmanned helicopter flies clockwise along the first circular arc, and the tangent is an external common tangent of the first circular arc and the second circular arc.
Further, according to the flight direction of the unmanned helicopter along the first arc and the current position coordinate of the unmanned helicopter: longitude: ac lon And latitude: ac lat And the radius of the second arc:
the C2 coordinate of the center of the first circular arc is calculated according to the following formula; the first arc radius is the same as the second arc radius;
c2 point longitude:
c2 point latitude:
further, according to the circle center coordinates of the first circular arc and the second circular arc, the length L of a line segment S connecting the two circle centers is solved s And direction psi L (ii) a The specific calculation formula is as follows:
ψ L ＝tan -1 (y,x)*57.3
further, if the tangent is an external common tangent, the length and the course are the same as the length and the direction of a connecting line S between the two circle centers;
further, if the tangent is an internal common tangent, the deviation psi of the course and the direction of the connecting line S of the two circle centers is obtained according to the radius R and the inverse tangent of half the length of the connecting line of the two circle centers; length L of internal common tangent line n The calculation formula is obtained by following the Pythagorean theorem and is as follows,
has the advantages that:
the invention designs the initial area division of the return approach of the unmanned helicopter, and simplifies the logic judgment of the return approach alignment course;
the invention provides a set of guiding control method for the unmanned helicopter to return to the ship course at any initial position, which simplifies the judgment logic and improves the success rate of the unmanned helicopter to return to the ship course;
in a ship landing guide test flight test of a certain unmanned helicopter, the unmanned helicopter is successfully guided and recovered by the method. The specific test method comprises the following steps: the unmanned helicopter flies away from the ship, flies for a distance at any course, speed and height by remote regulation, and is put into return voyage control to guide the unmanned helicopter to return.
Drawings
FIG. 1 is a schematic view of a process for guiding an alignment heading;
FIG. 2 is a schematic view of the lower slide section;
FIG. 3 is a schematic plan view of the division and rotation;
FIG. 4 is a schematic diagram illustrating segment length and course calculation of P2-P3
Fig. 5 shows a flight path diagram of a pilot test flight by landing of an unmanned helicopter.
Detailed Description
The design method according to the present invention will be described in further detail with reference to the accompanying drawings.
A course guiding method of a ship-borne unmanned helicopter returning approach divides a course guiding track aiming at a ship course into 2 circles, 4 points and 1 tangent line, as shown in figure 1, the unmanned helicopter starts from an initial position P1 point, reaches a first arc cutting point P2 point through a section of arc, flies to a second arc cutting point P3 along the tangent line and then passes through a section of arc, and the unmanned helicopter flies to an initial point P4 point approaching to glide and finally flies forwards aiming at the ship.
The method comprises the following specific implementation steps:
step 1): determining a coordinate of a starting point P4 of approaching glide according to the known ship position, the ship course and the ship speed; the specific calculation process is as follows: as shown in fig. 2, the required distance for the approach and glide process is:
wherein V 0 : current speed of unmanned aerial vehicle, H 0 : current altitude of unmanned helicopter, H s : target height, V m : current speed, V, of unmanned helicopter s : ship speed H dot : descent speed, L, of unmanned helicopter H : hover follow-up distance. The specific formula for calculating the coordinate of the initial glide point P4 is as follows: p4 point longitude:
P4 point latitude:
Wherein S lon : longitude, S of ship lat : latitude, psi of ship s : shipThe heading of the ship.
Step 2): in a top view, a horizontal space is divided into a left half plane and a right half plane through a P4 point and a ship position S0 connecting line, as shown in FIG. 3;
step 3): firstly, determining the position of a circle passing through a P4 point according to the current semi-plane where the unmanned helicopter is positioned, automatically calculating the radius R according to the flight speed, and obtaining a formula
Then the center of the circle is the C1 coordinate point with the distance R from the point P4 and the direction of 90 ° or-90 °, and can be obtained according to the following formula: c1 point longitude:
C1 point latitude:
Step 4): summarizing all the situations into two situations of the unmanned helicopter driving away from the ship and the unmanned helicopter driving close to the ship through the deviation of the initial course of the unmanned helicopter and the course of the ship;
step 5): in the right half-plane: taking an external common tangent as a flight path instead of a clockwise circle; the approach adopts an anticlockwise circle, and an internal common tangent is taken as a flight path; in the left half-plane: taking an external common tangent as a flight path when the counter-clockwise circle is deviated from the selected circle; the approach adopts a clockwise circle, and an internal common tangent is taken as a flight path, as shown in figure 3;
step 6): determining a circle center coordinate of the P1 point according to the circle steering determined in the step 5, the current position of the unmanned helicopter and the radius R; referring to the step 3, the resolving method can obtain the center coordinate C2 of the point P1 by converting the point P4 into the point P1; c2 point longitude:
c2 point latitude:
step 7): according to two in figure 4The length S and the direction psi of a line connecting two circle centers can be obtained according to the known algorithm by the circle center coordinates (C1, C2) and the radius R L 。
ψ L ＝tan -1 (y, x) 57.3. The length and course of the external common tangent line are the same as S, and the course deviation psi of the internal common tangent line and S is obtained according to the inverse tangent of half length of R and S
The length of the internal common tangent can be found out according to the Pythagorean theorem>
Step 8): and obtaining the points, the distance and the course needed to be clear on the guide path through the steps. And calling a turning forward flight control strategy twice to realize flight track tracking, aiming at the ship course and realizing return approach. The pre-turn flight strategy is described as: in the process of flying ahead of the unmanned helicopter, after a turning flying ahead instruction is received, angular rate control is carried out according to an appointed turning rate, deviation with a target course is judged in real time, when the absolute value of the deviation is smaller than a given threshold value, course tracking control is accessed, the unmanned helicopter flies ahead of the turning, and the turning flying ahead and actions are completed.
In a ship landing guide test of a certain unmanned helicopter, the unmanned helicopter is guided and recovered successfully by the method. The specific test method comprises the following steps: the unmanned helicopter flies off the ship, flies for a distance at any course, speed and height through remote adjustment, and is put into return flight approach control to guide the unmanned helicopter to return. The flight path results of the test flight are shown in figure 5.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and decorations can be made without departing from the original scope of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A course guidance control method for a ship-borne unmanned helicopter return approach is characterized by comprising the following steps:
the method divides the course guide track of the return approach of the unmanned helicopter into: the first arc, the second arc, four points and a tangent line; the four points are respectively an initial position P1 point, a first arc cutting-out point P2 point, a second arc cutting-in point P3 point and a gliding initial point P4;
the initial position point P1 and the first arc cutting point P2 are respectively positioned at two end points of the first arc, and the second arc cutting point P3 and the gliding initial point P4 are respectively positioned at two end points of the second arc; the tangent line is a common tangent line of the first arc and the second arc, and the common tangent line passes through a first arc cutting point P2 and a second arc cutting point P3;
the unmanned helicopter starts from an initial position P1 point, reaches a first arc cutting point P2 point through a first arc, flies to a second arc cutting point P3 point along a tangent line and then passes through a second arc, and the unmanned helicopter flies to an initial point P4 of approaching gliding.
2. The course guidance control method for the return flight approach of the shipborne unmanned helicopter as claimed in claim 1, characterized in that: the initial downslide point P4 is:
from the known ship position coordinates: longitude S lon Latitude S lat Ship course psi s Ship running speed V s And the distance L required by the process of approaching glide, and determining the coordinate of a glide initial point P4 according to the following formula;
wherein V 0 : current speed, H, of unmanned helicopter 0 : unmanned straightCurrent height of lift, H s : target height, V m : current speed, H, of unmanned helicopter dot : descent speed, L, of unmanned helicopter H : hover follow-up distance.
The glide initial point P4 coordinate is calculated according to the following formula,
p4 point longitude:
p4 point latitude:
3. the course guidance control method for the return flight approach of the shipborne unmanned helicopter as claimed in claim 2, characterized in that: the second arc position is as follows:
dividing a horizontal space into a left half plane and a right half plane by connecting a down-slip initial point P4 with the ship position;
according to the current semi-plane where the unmanned helicopter is located, determining the position of a second arc passing through a point P4 with the radius of
The center C1 of the second arc is a coordinate point which is at a distance R from the point P4 and has a direction of 90 degrees or-90 degrees; the C1 point coordinates are determined according to the following formula:
c1 point longitude:
c1 point latitude:
4. the course guidance control method for the return flight approach of the shipborne unmanned helicopter as claimed in claim 3, characterized in that:
according to the deviation of the initial course of the unmanned helicopter and the course of the ship, dividing the course of the unmanned helicopter into two conditions of driving away the ship and driving close to the ship;
if the unmanned helicopter is positioned on the right half plane and the unmanned helicopter drives away from the ship, the unmanned helicopter flies clockwise along the first arc, and the tangent is an external common tangent of the first arc and the second arc;
if the unmanned helicopter is positioned on the right half plane and approaches the ship, the unmanned helicopter flies anticlockwise along the first arc, and the tangent line is an internal common tangent line of the first arc and the second arc;
if the unmanned helicopter is positioned on the left half plane and the unmanned helicopter drives away from the ship, the unmanned helicopter flies anticlockwise along the first arc, and the tangent line is an external common tangent line of the first arc and the second arc;
if the unmanned helicopter is positioned on the left half plane and approaches the ship, the unmanned helicopter flies clockwise along the first circular arc, and the tangent is an external common tangent of the first circular arc and the second circular arc.
5. The course guidance control method for the return flight approach of the shipborne unmanned helicopter as claimed in claim 4, characterized in that: the first arc position is:
according to the flight direction of the unmanned helicopter along the first arc and the current position coordinate of the unmanned helicopter: longitude: ac lon And latitude: ac lat And the radius of the second arc:
the C2 coordinate of the center of the first arc is calculated according to the following formula; the first arc radius is the same as the second arc radius;
c2 point longitude:
c2 point latitude:
6. the carrier-based unmanned helicopter of claim 5The course guidance control method of the return approach of the elevator is characterized in that: according to the circle center coordinates of the first circular arc and the second circular arc, the length L of a line segment S connecting the two circle centers is solved s And direction psi L (ii) a The specific calculation formula is as follows:
ψ L ＝tan -1 (y,x)*57.3。
7. the course guidance control method for the return flight approach of the shipborne unmanned helicopter as claimed in claim 6, characterized in that:
if the tangent is an external common tangent, the length and the course are the same as the length and the direction of a connecting line S between the two circle centers.
8. The course guidance control method for the return flight approach of the shipborne unmanned helicopter as claimed in claim 6, characterized in that:
if the tangent is an internal common tangent, the deviation psi of the course and the direction of the connecting line S of the two circle centers is obtained according to the inverse tangent of the radius R and the half length of the connecting line of the two circle centers; length L of internal common tangent line n The following Pythagorean theorem is used for solving the following Pythagorean theorem, and the calculation formula is as follows:
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