CN106339007A - Line-of-sight link directional antenna deviation correction method based on unmanned aerial vehicle location prediction - Google Patents

Abstract

The invention discloses a line-of-sight link directional antenna deviation correction method based on unmanned aerial vehicle location prediction. The method comprises the following steps that a) unmanned aerial vehicle location information is extracted from the received telemeasuring data downloaded by an unmanned aerial vehicle; b) the location deviation of the unmanned aerial vehicle is calculated; c) the location offset is calculated; d) the final prediction location deviation distance is obtained according to the location deviation and the location offset; e) the finally predicted location information of the unmanned aerial vehicle is calculated according to the final prediction location deviation distance and the longitude, the latitude, the track angle or course angle and the pitch angle in the received telemeasuring data downloaded by the unmanned aerial vehicle; and f) a terrestrial line-of-sight link directional antenna is driven to rotate to the corresponding azimuth and pitch location according to the finally predicted location information of the unmanned aerial vehicle. The line-of-sight link directional antenna deviation correction method based on unmanned aerial vehicle location prediction has the characteristics of being high in reliability, high in precision and convenient in project implementation.

Description

A kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction

Technical field

The invention belongs to UAV TT ＆ C and field of information transmission, it is related to position prediction and the correction of airborne directional aerial, tool Body is related to a kind of unmanned plane position prediction and airborne directional aerial correction implementation method.The method improve terrestrial links terminal Hysteresis quality during digital designation for the line of sight link directional aerial, solves airborne line of sight link directional aerial position and inertial navigation sets Installation site deviation between standby.UAV ground control station using the method design controls ground visibility link directional aerial Follow the tracks of under digital designation mode of operation unmanned plane have highly reliable, in high precision, Project Realization is the features such as facilitate, can effectively change The link transmission quality in high-speed flight for the kind unmanned plane, provides stable Ground-to-air Communication Link.

Technical background

With the extensive application of unmanned plane, the data volume transmitted between unmanned plane and UAV ground control station is increasingly Greatly.In order to ensure that the reliable, efficient, stable of data transmit, unmanned plane leave behind airport in horizon range generally by ground and Airborne antenna switch to directional aerial (if any) carry out data transmission.The control mode of surface orientation antenna works for digital designation Under mode, the orientation of line of sight link directional aerial and pitching data are sent to terrestrial links terminal by UAV ground control station, Terrestrial links terminal follows the tracks of unmanned plane according to orientation and pitching data-driven guiding line of sight link directional aerial.In the process, Due to the delayed impact of the unmanned plane positional information being controlled the cycle and link delay brings, add that unmanned aerial vehicle onboard inertial navigation sets The standby deviation with airborne line of sight link directional aerial installation site, leads to the Ground-to-Air Data Link road under digital designation mode to transmit matter Amount is unstable, the situation that link down is even lost.Particularly take off in unmanned plane, landing phases, airborne inses equipment It is easier to occur in the case of and unmanned plane during flying speed larger with airborne line of sight link directional aerial installation site deviation Link losing lock or the situation of interruption.In order to reduce the impact to digital designation for the problems referred to above, can be by terrestrial links terminal or ground Face control station the position of unmanned plane is predicted, is rectified a deviation in airborne directional aerial position it is contemplated that terrestrial links terminal Equipment complexity and the process to unmanned plane telemetry, parsing complexity, and there is no UAV ground control station In relatively flexible man machine operation interface, therefore emphasis of the present invention be directed to UAV ground control station in unmanned plane position prediction and Airborne directional aerial correction process is described.

Content of the invention

In order to improve the hysteresis quality regarding road link directional aerial during digital designation of terrestrial links terminal, solve machine The problems such as carry the installation site deviation between directional aerial position and inertial navigation equipment, the present invention proposes one kind and is based on unmanned seat in the plane Put the line of sight link directional aerial method for correcting error of prediction.UAV ground control station using the method design controls ground visibility Link directional aerial follow the tracks of under digital designation mode of operation unmanned plane have highly reliable, in high precision, the spy such as Project Realization is convenient Point.

For achieving the above object, the goal of the invention of the present invention is achieved through the following technical solutions:

A kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction, comprises the steps of

Extraction unmanned plane positional information in step a), the telemetry passing from the unmanned plane receiving；

The positional information of step b), the unmanned plane positional information according to extraction and line of sight link directional aerial judges whether to open Dynamic Prediction program, if starting Prediction program, the reception time delay according to the unmanned plane positional information extracted and prediction calculates no Man-machine position offset；

C) judge the line of sight link antenna type that current airborne antenna uses, when airborne use line of sight link omnidirectional antenna When, position deviation amount is set to 0；Then need the position of line of sight link directional aerial is carried out when using line of sight link directional aerial Correction processes and obtains position deviation amount；

D) position deviation in the position offset according to the unmanned plane in step b) and step c) measure final pre- Location puts offset distance；

E) according to final predicted position offset distance, longitude in the telemetry that unmanned plane passes down, latitude, flight-path angle or Course angle, the angle of pitch calculate the positional information of the unmanned plane of final prediction；

F) orientation is obtained according to the final positional information of unmanned plane of prediction and the positional information calculation of current directional aerial Digital designation value and pitching digital designation value, the digital designation value of the digital designation value according to orientation and pitching drives ground Line of sight link directional aerial turns to corresponding orientation and pitch position.

According to features described above, in described step a), if can be respectively from sighting distance primary link, sighting distance pair link and satellite relay chain The telemetry that unmanned plane passes down is received, then prioritizing selection receives the remote measurement that unmanned plane passes down from sighting distance primary link in road Data extracts unmanned plane positional information, is secondly sighting distance pair link, finally for satellite relay link.

According to features described above, judge whether in described step b) that the step starting Prediction program is: using unmanned plane position The positional information calculation of information and line of sight link directional aerial goes out between current unmanned plane position and line of sight link directional aerial Apart from d_p-a, when apart from d_p-aIn critical distance d_criticalIn the range of and unmanned plane ground velocity v_gsWhen reception with prediction postpones Between δ_tProduct be more than or equal to start apart from d_start, then start Prediction program.

According to features described above, ground velocity v of described unmanned plane_gsDirect access in the telemetry being passed down by unmanned plane, or East orientation speed v in the telemetry being passed down by unmanned plane_eastWith north orientation speed v_north, unmanned plane is calculated according to formula (1) Ground velocity v_gs:

$v_{gs}=\sqrt{{v_{east}}^2+{v_{north}}^2}---\left(1\right).$

According to features described above, the reception time delay δ of described prediction_tFor δ_t=t₁+t₂+t₃+t₄+t₅, wherein t₁For producing The unmanned plane position data cycle, t₂It is the telemetry cycle being passed down by Data-Link terminal transmission unmanned plane, t₃For unmanned plane ground Face control station process cycle, t₄For the angle of pitch of UAV ground control station's output, bearing data to terrestrial links terminal Cycle, t₅For terrestrial links terminal, the angle of pitch, bearing data were sent to the cycle of line of sight link directional aerial.

According to features described above, the calculation of described position offset is: according to ground velocity v_gs, prediction reception time delay δ_tCalculate position offset s_forecast=v_gsδ_t.

According to features described above, then need in described step c) to orient sky to line of sight link when using line of sight link directional aerial The position of line carries out correction and processes obtaining the step of position deviation amount: body axis system with head center as initial point, vertical machine The horizontal direction of body is x-axis, and fuselage direction is y-axis, and the vertical direction of vertical fuselage is z-axis, airborne line of sight link directional aerial Coordinate is (x_aa,y_aa,z_aa), airborne inses device coordinate is (x_ins,y_ins,z_ins), position deviation amount δ_s=y_aa-y_ins.

According to features described above, in described step e), calculate the position letter of the unmanned plane of final prediction by below equation Breath:

1) set the earth as a round and smooth spheroid, mean radius r of the earth_earth=6371.004km, with the earth's core as the center of circle, no The radius r=r of man-machine current location place altitude circle_earth+h_p, often spend arc lengthCalculated finally pre- according to formula (2) The unmanned plane latitude l surveying_f:

$l_f=arcsin(\sin l_{p}cos\frac{s_{aaforecast}}{\mathrm{\δ}s}+\cos l_{p}sin\frac{s_{aaforecast}}{\mathrm{\δ}s}{\mathrm{cos\ψ}}_{fpa})---\left(2\right)$

2) the unmanned plane longitude λ of final prediction is calculated according to formula (3)_f:

${\mathrm{\λ}}_f=arcsin\left(\frac{{\mathrm{sin\ψ}}_{fpa}sin\frac{s_{aaforecast}}{\mathrm{\δ}s}}{{\mathrm{cosl}}_f}\right)+{\mathrm{\λ}}_p---\left(3\right)$

3) the unmanned plane height h of final prediction is calculated according to formula (4)_f:

h_f=h_p+s_aaforecastsinθ_pa(4)

Wherein, s_aaforecastFor final predicted position offset distance, l_pFor extract unmanned plane positional information in latitude, ψ_fpaFlight-path angle in the unmanned plane positional information extracted or course angle, λ_pFor the longitude in the unmanned plane positional information of extraction, h_p For the height in the unmanned plane positional information of extraction, θ_paFor the angle of pitch in the unmanned plane positional information of extraction.

Advantages of the present invention and remarkable result: comprehensive Design of the present invention unmanned plane position prediction and airborne directional aerial entangle Inclined compensation method, and fully have studied the boundary condition of the method use, provide in unmanned plane digital designation control process More accurate anticipation position, using the teaching of the invention it is possible to provide more stable, reliable link connection, for unmanned plane manipulation provide more high-quality The communication link of amount.Only can need to be improved and use has been put on the basis of not increasing hardware cost using the method for the present invention Unmanned aerial vehicle system in software reach the design effect of the present invention.The present invention has the spies such as method is simple, data is accurate Point, is a kind of economical and effective and the method being easy to Project Realization.

Brief description

Fig. 1 is the equipment crosslinking block diagram realizing the present invention；

Fig. 2 is the schematic flow sheet of the present invention.

Specific embodiment

The present invention, in order to improve the directional aerial of the terrestrial links terminal hysteresis quality during digital designation, solves airborne The problems such as installation site deviation between directional aerial position and inertial navigation equipment, propose a kind of unmanned plane position prediction and entangle with antenna Implementation method partially.Control ground visibility link directional aerial using the UAV ground control station of the method design in digital designation Follow the tracks of under mode of operation unmanned plane have highly reliable, in high precision, Project Realization is the features such as facilitate.

As shown in Fig. 2 for achieving the above object, the present invention adopts the following technical scheme that, comprises the following steps:

Extraction unmanned plane positional information in the telemetry that step a) passes from the unmanned plane receiving: longitude λ_p, latitude l_p, height h_p.UAV ground control station passes through terrestrial links terminal can be respectively from sighting distance primary link, sighting distance pair link and defending Star repeated link receives the telemetry that unmanned plane passes down.The selecting sequence of unmanned plane positional information is according to priority successively For: sighting distance primary link > sighting distance pair link > satellite relay link.Sighting distance primary link can be the links such as c, and sighting distance pair link is permissible For links such as uhf, satellite relay link can be the link such as ku, ka, s, is determined according to the link of unmanned plane actual disposition.

Step b) judges whether to open according to the positional information of the unmanned plane positional information extracted and line of sight link directional aerial Dynamic Prediction program, if starting Prediction program, calculates unmanned plane according to the time delay that receives of unmanned plane positional information and prediction Position offset.In this step, there is following key node:

1st, whether start the judgement of Prediction program.

According to location algorithm, using unmanned plane positional information (the longitude λ selecting in step a)_p, latitude l_p, height h_p) with Positional information (the longitude λ of ground visibility link directional aerial_a, latitude l_a, height h_a) calculate current unmanned plane position and ground The distance between directional aerial d_p-a, the longitude λ of ground visibility link directional aerial_a, latitude l_a, height h_aBy terrestrial links terminal Cycle sends to UAV ground control station.Work as d_p-aIn critical distance d_criticalIn the range of and unmanned plane ground velocity v_gsWith pre- The reception time delay δ surveying_tProduct be more than or equal to start apart from d_startI.e. v_gsδ_t≥d_startWhen start start Prediction program. Wherein, d_startCan value 0.01m, v_gsFor the ground velocity of unmanned plane, when in the telemetry that unmanned plane passes down no ground velocity information but have East orientation speed v_eastWith north orientation speed v_northWhen, the ground velocity of unmanned plane is calculated according to formula (1).

$v_{gs}=\sqrt{{v_{east}}^2+{v_{north}}^2}---\left(1\right)$

2nd, the reception time delay δ of prediction_tDetermination.

The factor receiving delay is caused to have: airborne equipment produces unmanned plane position data cycle t₁, pass through Data-Link terminal Transmission unmanned plane position data cycle t₂, UAV ground control station's process cycle t₃, UAV ground control station output pitching Angle, the cycle t of bearing data to terrestrial links terminal₄, terrestrial links terminal sends the angle of pitch, bearing data to sighting distance The cycle t of link directional aerial₅, δ_tFor above 5 cycle phases in addition after time, i.e. δ_t=t₁+t₂+t₃+t₄+t₅, due to each UAS has different framework forms and transmission means, δ_tMay be different, usual δ_t=200ms, when selection in step a) δ need to be increased during the positional information of the unmanned plane that satellite relay link passes down_tValue.

3rd, the calculating of position skew.

According to ground velocity v_gs, prediction reception time delay δ_tCalculate the position skew s of unmanned plane_forecast=v_gsδ_t.

Step c) judges the line of sight link antenna type that current airborne antenna uses, when airborne use line of sight link omnidirectional antennas The positional deviation correction of line of sight link directional aerial need not be carried out during line.Then need to line of sight link when using line of sight link directional aerial The position of directional aerial carries out positional deviation correction.In this step, there is following key node:

1st, judge the line of sight link antenna type that current airborne antenna uses: according to the link telemetry intelligence (TELINT) in telemetry Parsing line of sight link antenna type, when airborne line of sight link antenna be omnidirectional antenna or for no omnidirectional antenna when seated position deviation Amount δ_s=0.The selecting sequence of link telemetry intelligence (TELINT) with consistent in step a), be followed successively by according to priority: sighting distance primary link > sighting distance pair link > satellite relay link.

2nd, then need to carry out correction to the position of line of sight link directional aerial when using line of sight link directional aerial to process To position departure: according to airborne line of sight link directional aerial, coordinate in unmanned plane body axis system for the airborne inses equipment Position calculation position deviation amount.With head center as initial point, the horizontal direction of vertical fuselage is x-axis to body axis system, fuselage side To for y-axis, the vertical direction of vertical fuselage is z-axis.Airborne line of sight link directional aerial coordinate is (x_aa,y_aa,z_aa), airborne used Leading device coordinate is (x_ins,y_ins,z_ins), generally, in order to simplify deviation computational methods it is contemplated that unmanned aerial vehicle onboard sets Installation site deviation between standby is significantly greater than fuselage width direction in fuselage length direction, therefore, airborne line of sight link is oriented Antenna, the installation site deviation of airborne inses equipment are approximately the deviation in the y-axis of fuselage direction, i.e. position departure δ_s= y_aa-y_ins.

The position deviation amount that the position offset of the unmanned plane that step d) calculates according to step b) and step c) calculate Obtain final predicted position offset distance s_aaforecast=s_forecast+δ_s.

Step e) is according to final predicted position offset distance s_aaforecast, longitude λ in the telemetry that unmanned plane passes down_p、 Latitude l_p, flight-path angle or course angle ψ_fpa(selecting course angle when no flight-path angle), pitching angle theta_paCalculate the unmanned of final prediction The positional information of machine: longitude λ_f, latitude l_f, height h_f.In flight-path angle or course angle, the selecting sequence of the angle of pitch and step a) Unanimously, be followed successively by according to priority: sighting distance primary link sighting distance pair link > satellite relay link.

1) set the earth as a round and smooth spheroid, mean radius r of the earth_earth=6371.004km, with the earth's core as the center of circle, no The radius r=r of man-machine current location place altitude circle_earth+h_p, often spend arc lengthCalculated finally pre- according to formula (2) The unmanned plane latitude l surveying_f.

$l_f=arcsin(\sin l_{p}cos\frac{s_{aaforecast}}{\mathrm{\δ}s}+\cos l_{p}sin\frac{s_{aaforecast}}{\mathrm{\δ}s}{\mathrm{cos\ψ}}_{fpa})---\left(2\right)$

2) the unmanned plane longitude λ of final prediction is calculated according to formula (3)_f.

${\mathrm{\λ}}_f=arcsin\left(\frac{{\mathrm{sin\ψ}}_{fpa}sin\frac{s_{aaforecast}}{\mathrm{\δ}s}}{{\mathrm{cosl}}_f}\right)+{\mathrm{\λ}}_p---\left(3\right)$

3) the unmanned plane height h of final prediction is calculated according to formula (4)_f.

h_f=h_p+s_aaforecastsinθ_pa(4)

Step f) is according to the unmanned plane longitude λ of final prediction_f, latitude l_f, height h_f, the longitude λ of current directional aerial_f, latitude Degree l_f, height h_fIt is calculated digital designation value ψ in orientation_azDigital designation value θ with pitching_el, send to terrestrial links terminal, Corresponding orientation and pitch position are turned to by terrestrial links final drive ground visibility link directional aerial.

The as shown in Figure 1 device structure block diagram realizing the present invention, UAV ground control station 1 receives terrestrial links terminal 2 transmission unmanned plane telemetry intelligence (TELINT)s, comprising: unmanned plane longitude, latitude, highly, ground velocity, the unmanned plane angle of pitch, flight-path angle (course Angle), airborne line of sight link antenna type.UAV ground control station 1 receives the ground visibility of terrestrial links terminal 2 transmission simultaneously The longitude of link directional aerial, latitude, highly.UAV ground control station 1 passes through the software main flow in Fig. 2 according to data above Journey calculates orientation angles and the luffing angle sending to terrestrial links terminal 2, ground of ground visibility link directional aerial rotation This data forwarding is controlled the rotation of directional aerial by face link terminal 2 again to ground visibility link directional aerial 3, completes whole nothing The process that man-machine position prediction is rectified a deviation with antenna.

It is understood that for those of ordinary skills, with technology according to the present invention scheme and its can send out Bright design in addition equivalent or change, and all these change or replace the guarantor that all should belong to appended claims of the invention Shield scope.

Claims (8)

1. a kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction, comprises the steps of

Extraction unmanned plane positional information in step a), the telemetry passing from the unmanned plane receiving；

The positional information of step b), the unmanned plane positional information according to extraction and line of sight link directional aerial judges whether to start in advance Ranging sequence, if starting Prediction program, the reception time delay according to the unmanned plane positional information extracted and prediction calculates unmanned plane Position offset；

C) judge the line of sight link antenna type that current airborne antenna uses, when airborne use line of sight link omnidirectional antenna, will Position deviation amount is set to 0；Then need to be rectified a deviation in the position of line of sight link directional aerial when using line of sight link directional aerial Process obtains position deviation amount；

D) position deviation in the position offset according to the unmanned plane in step b) and step c) measures final prediction bits Put offset distance；

E) according to final predicted position offset distance, longitude in the telemetry that unmanned plane passes down, latitude, flight-path angle or course Angle, the angle of pitch calculate the positional information of the unmanned plane of final prediction；

F) number in orientation is obtained according to the final positional information of unmanned plane of prediction and the positional information calculation of current directional aerial Word guiding value and the digital designation value of pitching, the digital designation value of the digital designation value according to orientation and pitching drives ground visibility Link directional aerial turns to corresponding orientation and pitch position.

2. a kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction according to claim 1, its It is characterised by described step a), if can receive no from sighting distance primary link, sighting distance pair link and satellite relay link respectively The man-machine telemetry passing down, then prioritizing selection receive from sighting distance primary link the telemetry that unmanned plane passes down extract unmanned Machine positional information, is secondly sighting distance pair link, finally for satellite relay link.

3. a kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction according to claim 1, its It is characterised by that the step judging whether to start Prediction program in described step b) is: using unmanned plane positional information and line of sight link The positional information calculation of directional aerial goes out current unmanned plane position and the distance between line of sight link directional aerial d_p-a, work as distance d_p-aIn critical distance d_criticalIn the range of and unmanned plane ground velocity v_gsReception time delay δ with prediction_tProduct be more than It is equal to and start apart from d_start, then start Prediction program.

4. a kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction according to claim 3, its It is characterised by ground velocity v of unmanned plane_gsDirect access in the telemetry being passed down by unmanned plane, or the remote measurement being passed down by unmanned plane East orientation speed v in data_eastWith north orientation speed v_north, ground velocity v of unmanned plane is calculated according to formula (1)_gs:

$v_{gs}=\sqrt{{v_{east}}^2+{v_{north}}^2}---\left(1\right).$

5. a kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction according to claim 1 or 3, It is characterized in that the reception time delay δ of prediction_tFor δ_t=t₁+t₂+t₃+t₄+t₅, wherein t₁For producing unmanned plane position data Cycle, t₂It is the telemetry cycle being passed down by Data-Link terminal transmission unmanned plane, t₃Process week for UAV ground control station Phase, t₄For the cycle of the angle of pitch of UAV ground control station's output, bearing data to terrestrial links terminal, t₅For ground chain Road terminal sends the angle of pitch, bearing data to the cycle of line of sight link directional aerial.

6. a kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction according to claim 1, its The calculation being characterised by position offset is: according to ground velocity v_gs, prediction reception time delay δ_tCalculate out position skew Amount s_forecast=v_gsδ_t.

7. a kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction according to claim 1, its It is characterised by described step c) then needing the position of line of sight link directional aerial is carried out when using line of sight link directional aerial Correction processes and obtains the step of position deviation amount and be: body axis system with head center as initial point, the horizontal direction of vertical fuselage For x-axis, fuselage direction is y-axis, and the vertical direction of vertical fuselage is z-axis, and airborne line of sight link directional aerial coordinate is (x_aa, y_aa,z_aa), airborne inses device coordinate is (x_ins,y_ins,z_ins), position deviation amount δ_s=y_aa-y_ins.

8. a kind of line of sight link directional aerial method for correcting error based on unmanned plane position prediction according to claim 1, its It is characterised by described step e), calculating the positional information of the unmanned plane of final prediction by below equation:

1) set the earth as a round and smooth spheroid, mean radius r of the earth_earth=6371.004km, with the earth's core as the center of circle, unmanned plane The radius r=r of current location place altitude circle_earth+h_p, often spend arc lengthFinal prediction is calculated according to formula (2) Unmanned plane latitude l_f:

$l_f=arcsin(\sin l_{p}cos\frac{s_{aaforecast}}{\mathrm{\δ}s}+\cos l_{p}sin\frac{s_{aaforecast}}{\mathrm{\δ}s}{\mathrm{cos\ψ}}_{fpa})---\left(2\right)$

2) the unmanned plane longitude λ of final prediction is calculated according to formula (3)_f:

${\mathrm{\λ}}_f=arcsin\left(\frac{{\mathrm{sin\ψ}}_{fpa}sin\frac{s_{aaforecast}}{\mathrm{\δ}s}}{\cos l_f}\right)+{\mathrm{\λ}}_p---\left(3\right)$

3) the unmanned plane height h of final prediction is calculated according to formula (4)_f:

h_f=h_p+s_aaforecastsinθ_pa(4)

Wherein, s_aaforecastFor final predicted position offset distance, l_pFor the latitude in the unmanned plane positional information of extraction, ψ_fpaCarry Flight-path angle in the unmanned plane positional information taking or course angle, λ_pFor the longitude in the unmanned plane positional information of extraction, h_pFor extracting Unmanned plane positional information in height, θ_paFor the angle of pitch in the unmanned plane positional information of extraction.