CN104122573A - Unmanned aerial vehicle-based portable runway calibrating system and method - Google Patents

Abstract

The invention, which belongs to the unmanned aerial vehicle system of aviation, relates to a method and equipment for calibrating feature point coordinates of an airfield runway, thereby realizing rapid deployment and unmanned aerial vehicle usage at the airfield. The system consists of a power supply module, a GPS module, a GPS receiving antenna, a differential radio module, a differential receiving antenna and a control and display module; and the power supply module provides a power supply for the GPS module and the differential radio module. The GPS module receives GPS positioning information and caries out resolving on the information to generate position information by the GPS receiving antenna connected with the GPS module; the differential radio module uses the differential receiving antenna to receive differential information and transmits the differential information to the GPS module; the GPS module uses the differential information to correct the position information and transmits the corrected position information to the control and display module; and the control and display module carries out weighted average calculation on the received position information and visualizes the process and the result as well as monitors the working states of the GPS module and the differential radio module.

Description

The portable runway calibration system of a kind of unmanned plane and method thereof

Technical field

The invention belongs to aviation UAS, relate to a kind of method and apparatus of demarcating airfield runway unique point coordinate, at airport rapid deployment, use unmanned plane.

Background technology

The full unmanned plane (from taking off, cruise landing whole-process automatic control) from main control, need in the file of air route, to arrange in advance the coordinate figure of some unique point (takeoff point, landing point, the landing point etc. of making preparation for dropping) on landing airfield runway, comprise the distance between longitude, latitude, height and unique point, like this, the Navigation Control algorithm of unmanned plane could pass through to contrast in real time the current location information (data of the unmanned plane position of Airborne GPS sensor output) of unmanned plane and the positional information of runway unique point, unmanned plane is carried out to safe landing and automatically control.

Therefore, dispose on certain airport, use unmanned plane, need first on runway, to find the unique point that meets this type unmanned plane requirement, and these points are demarcated to obtain coordinate information accurately.Although the coordinate precision obtaining with accurate geographical mapping, surveying instrument is high, do not meet the demands, because unmanned plane is to guide control according to the data of Airborne GPS sensor,, the coordinate information of runway unique point, must be accurate with respect to unmanned plane, and do not need absolutely accurate.Unique unique point scaling method is aircraft standardization at present,, unmanned plane is placed on to the position of runway unique point, several groups of coordinate figures of Airborne GPS sensor output under manual record, after averaging, obtain this point coordinate, then unmanned plane is drawn to the next unique point on runway, record again, until demarcated all runway unique points with unmanned plane.

Aircraft standardization is used inconvenience, not only needs the vehicle of towing aircraft, also must unmanned plane on-the-spot at runway, must be equipped with several personnel and just can complete demarcation task, and deployment time is long.

Summary of the invention:

Object of the present invention: provide a kind of design proposal of portable runway calibration facility, the efficiency of disposing on airport, using for improving unmanned plane.

Technical scheme of the present invention: the portable runway calibration system of a kind of unmanned plane, native system comprises power module, GPS module, GPS receiving antenna, difference radio station module, differential received antenna and control and display module; Wherein,

Power module provides power supply for GPS module and difference radio station module, GPS module receives GPS locating information by coupled GPS receiving antenna and solution is counted as positional information, difference radio station module is accepted difference information by differential received antenna, and difference information is transferred to GPS module, GPS module is utilized difference information correction position information, and revised positional information is passed to and controlled and display module; Control and display module, in its setting-up time section, are weighted average computation to the positional information of receiving, by process and result visualization, control and display module are also monitored the duty of GPS module and difference radio station module.

Described GPS module and difference radio station module are by RS232 serial communication.

Described control and display module are by RS422 serial ports and GPS module and difference radio station module communication.

The portable runway scaling method of unmanned plane, this method comprises the following steps:

The first step: power on, by control and display module, the frequency of operation of difference radio station module is set, and be set coordinate a*N computing time second;

Second step: GPS module receives GPS locating information by GPS receiving antenna and solution is counted as positional information, while resolving, first carry out data validity judgement, only GPS information effectively resolved, when meeting following four conditions, think that the gps data in this moment is effective:

A) GPS Time Status is FINESTEERING;

B) Receiver Status is 00000000 or 00040000;

C) solution status is SOL_COMPUTED;

D) position type is that SINGLE is that single-point location or PSRDIFF are that DGPS or L1_FLOAT are that RTK or L1_INT are that RTK or NARROW_FLOAT are that RTK or NARROW_INT are RTK.

The 3rd step: coordinate points statistical average is calculated:

1) extract data qualification

When the BESTPOSA resolving information of the GPS that receive each second meets the following conditions,

A) GPS information is effective;

B) station-keeping mode is DGPS or RTK.

Extract longitude lat, latitude lon, height hgt, carry out the correction of real-time carrier phase difference with the difference information that difference radio station module sends respectively;

2) to doing separately following computing through revised longitude lat, latitude lon, height hgt:

N data of every extraction are as one group, calculate once and:

Sum=X ₁+ X ₂+ X ₃+ ... + X _n, wherein X is longitude lat, latitude lon, height hgt value;

3) if be a*N second, a, for group number, carries out following ranking operation to the Sum trying to achieve, and tries to achieve its weighted mean value M computing time of setting:

M _n+1=0.5*M _n+ 0.5*Sum _n+1/ N; The span of n is 0,1,2 ... a-1; M ₀be first group of Sum ₁/ N;

When set computing time, a*N countdown was 0 time, statistical average computing finishes, obtain current runway unique point through, latitude, high mean value.

Advantage of the present invention:

1) improve the efficiency of runway staking-out work

Runway staking-out work no longer needs unmanned plane and tractor, and only need carry runway calibration facility can complete, and has reduced human and material resources resource occupation amount.The evaluation work of calibration point is completed automatically by calibration software, has shortened the time of artificial calculating.

2) guarantee correctness and the reliability of nominal data

Calibration software can automatic decision gps data validity, and only extract active data, the coordinate figure of weighted average calculation calibration point, has improved coordinate accuracy in computations and reliability.

3) good reusability

The unmanned plane of different model may be equipped the gps system of different model, and runway calibration facility GPS module can quick-detachment, and replaceable is the GPS module identical with unmanned aerial vehicle onboard gps system, for Multiple Type unmanned plane shares, has good reusability.

Accompanying drawing explanation:

The portable runway calibration facility of Fig. 1 theory of constitution figure

Embodiment:

The portable runway scaling method of unmanned plane, this method comprises the following steps:

The first step: power on, by controlling and display module is selected the frequency of operation 452MHz of difference radio station module, the form that frequency corresponding to the frequency of selection encoded by 422 serial communications sends to difference radio station module

Second step: GPS module receives GPS locating information by GPS receiving antenna and solution is counted as positional information, while resolving, first carry out data validity judgement, only GPS information is effectively resolved, when meeting following four conditions, think that the gps data in this moment is effective.

A) GPS Time Status is FINESTEERING;

B) Receiver Status is 00000000 or 00040000;

C) solution status is SOL_COMPUTED;

D) position type is that SINGLE is that single-point location or PSRDIFF are that DGPS or L1_FLOAT are that RTK or L1_INT are that RTK or NARROW_FLOAT are that RTK or NARROW_INT are RTK.

The 3rd step: coordinate points statistical Mean Algorithm

1) extract data qualification

When the BESTPOSA resolving information of the GPS that receive each second meets the following conditions,

C) GPS information is effective;

D) station-keeping mode is DGPS or RTK.

Extract longitude lat, latitude lon, height hgt, carry out the correction of real-time carrier phase difference with the difference information that difference radio station module sends respectively;

2) to doing separately following computing through revised longitude lat, latitude lon, height hgt:

10 data of every extraction are as one group, calculate once and:

Sum=X ₁+ X ₂+ X ₃+ ... + X ₁₀, wherein X is longitude lat, latitude lon, height hgt value;

3) if be 100*10=1000 second the computing time of setting, be divided into 100 groups of numbers, the Sum trying to achieve carried out to following ranking operation, try to achieve its weighted mean value M:

M _n+1=0.5*M _n+ 0.5*Sum _n+1/ 10; The span of n is 0,1,2 ... 99; M ₀be first group of Sum ₁/ 10;

When set 1000 seconds computing times, countdown was 0 time, statistical average computing finishes, obtain current runway unique point through, latitude, high mean value.

Claims (4)

1. the portable runway calibration system of unmanned plane, is characterized in that, native system comprises power module, GPS module, GPS receiving antenna, difference radio station module, differential received antenna and control and display module; Wherein,

Power module provides power supply for GPS module and difference radio station module, GPS module receives GPS locating information by coupled GPS receiving antenna and solution is counted as positional information, difference radio station module is accepted difference information by differential received antenna, and difference information is transferred to GPS module, GPS module is utilized difference information correction position information, and revised positional information is passed to and controlled and display module; Control and display module, in its setting-up time section, are weighted average computation to the positional information of receiving, by process and result visualization, control and display module are also monitored the duty of GPS module and difference radio station module.

2. the portable runway calibration system of a kind of unmanned plane as claimed in claim 1, is characterized in that, described GPS module and difference radio station module are by RS232 serial communication.

3. the portable runway calibration system of a kind of unmanned plane as claimed in claim 1, is characterized in that, described control and display module are by RS422 serial ports and GPS module and difference radio station module communication.

4. the portable runway scaling method of unmanned plane, is characterized in that, this method comprises the following steps:

The first step: power on, by control and display module, the frequency of operation of difference radio station module is set, and be set coordinate a*N computing time second;

Second step: GPS module receives GPS locating information by GPS receiving antenna and solution is counted as positional information, while resolving, first carry out data validity judgement, only GPS information effectively resolved, when meeting following four conditions, think that the gps data in this moment is effective:

A) GPS Time Status is FINESTEERING;

B) Receiver Status is 00000000 or 00040000;

C) solution status is SOL_COMPUTED;

D) position type is that SINGLE is that single-point location or PSRDIFF are that DGPS or L1_FLOAT are that RTK or L1_INT are that RTK or NARROW_FLOAT are that RTK or NARROW_INT are RTK;

The 3rd step: coordinate points statistical average is calculated:

1) extract data qualification:

When the BESTPOSA resolving information of the GPS that receive each second meets the following conditions,

A) GPS information is effective;

B) station-keeping mode is DGPS or RTK;

Extract longitude lat, latitude lon, height hgt, carry out the correction of real-time carrier phase difference with the difference information that difference radio station module sends respectively;

2) to doing separately following computing through revised longitude lat, latitude lon, height hgt:

N data of every extraction are as one group, calculate once and:

Sum=X ₁+ X ₂+ X ₃+ ... + X _n, wherein X is longitude lat, latitude lon, height hgt value;

3) if be a*N second, a, for group number, carries out following ranking operation to the Sum trying to achieve, and tries to achieve its weighted mean value M computing time of setting:

M _n+1=0.5*M _n+ 0.5*Sum _n+1/ N; The span of n is 0,1,2 ... a-1; M ₀be first group of Sum ₁/ N;

When set computing time, a*N countdown was 0 time, statistical average computing finishes, obtain current runway unique point through, latitude, high mean value.