CN106569504A - Apparatus for realizing device information acquisition in remote area through Beidou unmanned gyroplanes and data exchanging method - Google Patents
Apparatus for realizing device information acquisition in remote area through Beidou unmanned gyroplanes and data exchanging method Download PDFInfo
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Abstract
The invention discloses an apparatus for realizing device information acquisition in a remote area through Beidou unmanned gyroplanes and a data exchanging method. The system comprises a Beidou unmanned aerial vehicle (UAV) fleet, a Beidou satellite navigation system and a ground control center, wherein the Beidou UAV fleet is formed by unmanned gyroplanes with a serial inertial navigation system (SINS) Beidou combined navigation system and supports one-key return voyage and course optimization. The unmanned gyroplanes are powered by solar energy and storage battery, and video and data acquisition for an observation area is conducted through high-speed cameras. When no Beidou low altitude flight is avilable, a visual positioning system is used to sense the ground texture and relative height to realize stable flight. Wireless wifi is used for sharing information. The ground control center receives video information acquired by the UAV fleet to control the flight of the unmanned gyroplanes. In this way, the problem of low image transmission speed of UAVs, impossibility for stable flight when no Beidou and wireless communication network is available, poor cruising ability and small investigation scope of single UVA.
Description
Technical field
The present invention relates to unmanned plane telemetry field, particularly a kind of device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and the presetting apparatus provided for oneself, it is widely used in the civilian industry such as police, city management, agricultural, geology, meteorology, electric power, rescue and relief work, video capture, it is also possible to which the military fields such as clearance, war observation, investigation landform are afield realized in application.
Unmanned plane is although of many uses, but the deficiency of following several respects governs the application of unmanned plane.Firstth, unmanned plane often carries high-speed camera and carries out information gathering, and the data volume of the video image of collection is general all very big, and the speed of existing unmanned machine equipment transmission of video images is slow, it is impossible to the fact of reflection collection site in time；Secondth, unmanned plane endurance is the reflection of unmanned plane observing capacity and operational efficiency, and existing unmanned plane endurance is poor, have impact on the observed efficiency and investigation ability of unmanned plane；3rd, unmanned plane carries out navigator fix generally by satellite navigation system or communication network, and in some remote districts, no satellite-signal or communication network, unmanned plane is unable to smooth flight；4th, single unmanned plane scope of investigation and parsing computing capability it is limited.
In view of above-mentioned deficiency, the positive in addition innovation research of the design people a kind of realizes equipment information collection device from far-off regions and data interactive method by Big Dipper rotor wing unmanned aerial vehicle to founding.
The content of the invention
To solve above-mentioned technical problem, it is an object of the invention to provide the image transmitting speed in the presence of a kind of effectively solving unmanned plane is slow, smooth flight is unable under without the Big Dipper and cordless communication network, endurance is poor and single unmanned plane scope of investigation and parsing computing capability it is limited the problems such as.
A kind of device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle of the present invention, including the formation of Big Dipper unmanned plane, Beidou satellite navigation system and ground control centre three parts.The Big Dipper unmanned plane is formed into columns by multiple stage rotor wing unmanned aerial vehicle networking, and the rotor wing unmanned aerial vehicle includes flight control system, inertial navigation Big Dipper integrated navigation system, data collection station, wireless WIFI systems, vision positioning system, power-supply system and high speed data transmission system；Described high speed data transmission system includes video acquisition system and satellite broadband communication system.Wherein：
The inertial navigation Big Dipper integrated navigation system periodically can carry out bias correction to inertial navigation by triones navigation system information, and when receiving Big Dipper satellite signal, inertial navigation ensure that navigation information within a certain period of time accurate.The navigation information such as position that flight control system is provided according to inertial navigation Big Dipper integrated navigation system and speed, controls unmanned plane smooth flight with the theory of optimal control.
Further, the wireless WIFI systems can realize the information sharing between multiple stage rotor wing unmanned aerial vehicle, when multiple stage rotor wing unmanned aerial vehicle rises space-time simultaneously, one rotor wing unmanned aerial vehicle is set to into hotspot pattern, other rotor wing unmanned aerial vehicles are set to into client mode, the high-speed radiocommunication between multiple stage unmanned plane and networking is realized.In the case where sending indivedual unmanned planes to be investigated at a distance, the hop-by-hop passback of investigation image can be realized by maximum spacing.
Further, the data collection station collection is observed the status information of region or unmanned plane itself, passes through inertial navigation Big Dipper integrated navigation system or satellite broadband communication system is transferred to ground control centre in real time or realizes information sharing to other unmanned planes by wireless WIFI system transfers under the control of flight control system.
Further, the power-supply system includes solar battery array, controller for solar, accumulator and electric power detection sensor.Controller for solar controls the working condition of whole system, plays a part of additives for overcharge protection, over to accumulator.When electric power detection sensor detects accumulator electric-quantity deficiency, controller for solar control solar battery array is charged to accumulator, improves the endurance of unmanned plane.When weather condition is bad, information about power is passed to flight control system by electric power detection sensor in real time, and flight control system is automatically performed flight path optimum programming according to information about power, it is ensured that unmanned function is normally maked a return voyage.
Further, the vision positioning system ensures unmanned plane when without Big Dipper low-speed operations, and its built-in vision and laser sensor pass through perceiving ground texture and relative altitude, realizes that unmanned plane is accurately positioned hovering and smooth flight.
Further, described high speed data transmission system includes video acquisition system and satellite broadband communication system, video acquisition system shoots interested observation area video image by high speed camera, then noise reduction process is carried out to the video image for gathering through Image semantic classification system, being then transferred to Lossless Image Compression Algorithm system carries out reducing the data volume of image after high compression to video image, is last transmitted to satellite broadband communication system.The satellite broadband communication system includes MF transmitter and radio frequency sending set, and the video image information after compression is transferred to ground control centre at high speed by satellite.Plaintext and dark text two ways are supported in the transmission of video image information.On the other hand, rotor wing unmanned aerial vehicle supports information sharing of the video signal between formation, so as to assembled, common calculating parsing, ground passback and the database lookup of realizing multiple images are calculated with auxiliary, the restriction of single unmanned plane scope of investigation and parsing computing capability is solved.
Further, the ground control centre includes transmitter, video receiver, Beidou receiver, ground control computer and display centre.Shown in display centre after the video image decompression processing of the rotor wing unmanned aerial vehicle that video receiver is received by the ground control computer in real time, ground control computer receives navigation and the temporal information that rotor wing unmanned aerial vehicle sends by Beidou receiver, and shown in display centre with reference to electronic map system in real time, ground control computer can also pass through the running parameter that transmitter remotely arranges rotor wing unmanned aerial vehicle, track etc. of such as cruising.The management controller of ground control centre can also one frame unmanned plane of temporary takeover any of which carry out remote real_time control flight, and by radio sensing network all formation unmanned planes are carried out flight space, spacing distance, flight speed and drainage pattern automatic algorithms control and manual intervention.
Description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of the single UAS of the present invention.
Fig. 3 is the structural representation of the ground control centre of the present invention.
Fig. 4 is the structural representation of the high speed data transmission system of the present invention.
Fig. 5 is the unmanned plane power system structure schematic diagram of the present invention.
Fig. 6 is each subsystem communication mode structural representation of unmanned plane of the present invention.
In figure：1 forms into columns for Big Dipper unmanned plane, and 2 is Beidou satellite navigation system, and 3 is ground control centre.11 is flight control system, and 12 is inertial navigation Big Dipper integrated navigation system, and 13 is data collection station, and 14 is wireless WIFI systems, and 15 is vision positioning system, and 16 is satellite broadband communication system, and 17 is video acquisition system, and 18 is power-supply system.31 is ground control computer, and 32 is transmitter, and 33 is video receiver, and 34 is display centre, and 35 is Beidou receiver.16-1 is MF transmitter, and 16-2 is radio frequency sending set, and 17-1 is high speed camera, and 17-2 Image semantic classification systems, 17-3 are Lossless Image Compression Algorithm system, and 17-4 is DEU data encryption unit.18-1 is solar battery array, and 18-2 is controller for solar, and 18-3 is accumulator, and 18-4 is electric power detection sensor.
Specific embodiment
As shown in figure 1, a kind of device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle of the present invention, including the formation 1,3 three parts of Beidou satellite navigation system 2 and ground control centre of Big Dipper unmanned plane.The Big Dipper unmanned plane forms into columns 1 by multiple stage rotor wing unmanned aerial vehicle networking, and the rotor wing unmanned aerial vehicle includes flight control system 11, inertial navigation Big Dipper integrated navigation system 12, data collection station 13, wireless WIFI systems 14, vision positioning system 15, power-supply system 18 and high speed data transmission system；Described high speed data transmission system includes video acquisition system 16 and satellite broadband communication system 17.Wherein：
The inertial navigation Big Dipper integrated navigation system 12 periodically can carry out bias correction to inertial navigation by triones navigation system information, and when receiving Big Dipper satellite signal, inertial navigation ensure that navigation information within a certain period of time accurate.The navigation information such as position that flight control system 11 is provided according to inertial navigation Big Dipper integrated navigation system 12 and speed, controls unmanned plane smooth flight with the theory of optimal control.Inertial navigation Big Dipper integrated navigation system 12 is it is also ensured that communicated between unmanned plane and ground control centre 3 in the case of no mobile communications network.
Further, the wireless WIFI systems 14 can realize the information sharing between multiple stage rotor wing unmanned aerial vehicle, when multiple stage rotor wing unmanned aerial vehicle rises space-time simultaneously, one rotor wing unmanned aerial vehicle is set to into hotspot pattern, other rotor wing unmanned aerial vehicles are set to into client mode, the high-speed radiocommunication between multiple stage unmanned plane and networking is realized.In the case where sending indivedual unmanned planes to be investigated at a distance, the hop-by-hop passback of investigation image can be realized by maximum spacing.
Further, the collection of the data collection station 13 is observed the status information of region or unmanned plane itself, passes through inertial navigation Big Dipper integrated navigation system 12 or satellite broadband communication system 17 is transferred to ground control centre in real time or is transferred to other unmanned planes by wireless WIFI systems 14 and realizes information sharing under the control of flight control system 11.
Further; the power-supply system 18 includes solar battery array 18-1, controller for solar 18-2, accumulator 18-3 and electric power detection sensor 18-4; controller for solar 18-2 controls the working condition of whole system, plays a part of additives for overcharge protection, over to accumulator 18-3.When electric power detection sensor 18-4 detects accumulator 18-3 not enough power supply, controller for solar 18-2 control solar battery array 18-1 are charged to accumulator 18-3, improve the endurance of unmanned plane.When weather condition is bad, information about power is passed to flight control system 11 by electric power detection sensor 18-4 in real time, and flight control system 11 is automatically performed flight path optimum programming according to information about power, it is ensured that unmanned function is normally maked a return voyage.
Further, the vision positioning system 15 ensures unmanned plane when without Big Dipper low-speed operations, and its built-in vision and laser sensor pass through perceiving ground texture and relative altitude, realizes that unmanned plane is accurately positioned hovering and smooth flight.
Further, described high speed data transmission system includes video acquisition system 17 and satellite broadband communication system 16, video acquisition system 17 shoots interested observation area video image by high speed camera 17-1, then noise reduction process is carried out to the video image for gathering through Image semantic classification system 17-2, being then transferred to Lossless Image Compression Algorithm system 17-3 carries out reducing the data volume of image after high compression to video image, and the video image after finally compressing is encrypted or do not encrypted through DEU data encryption unit 17-4 and is sent to satellite broadband communication system 16.The satellite broadband communication system includes MF transmitter 16-1 and radio frequency sending set 16-2, and the video image information after compression is transferred to ground control centre 3 at high speed by satellite.Rotor wing unmanned aerial vehicle supports that video image information is shared between formation, so as to assembled, common calculating parsing, ground passback and the database lookup of realizing multiple video images are calculated with auxiliary, solves the restriction of single unmanned plane scope of investigation and parsing computing capability.
Further, the ground control centre 3 includes ground control computer 31, transmitter 32, video receiver 33, display centre 34 and Beidou receiver 35.Shown in display centre 34 after the video image decompression processing of the rotor wing unmanned aerial vehicle that video receiver 33 is received by the ground control computer 31 in real time, ground control computer 31 receives navigation and the temporal information that rotor wing unmanned aerial vehicle sends by Beidou receiver 35, and shown in display centre 34 with reference to electronic map system in real time, ground control computer 31 can also pass through the running parameter that transmitter 32 remotely arranges rotor wing unmanned aerial vehicle, such as cruise track etc., it is possible to control one key of unmanned plane and make a return voyage.The management controller of ground control centre can one frame unmanned plane of temporary takeover any of which carry out remote real_time control flight, and by radio sensing network all formation unmanned planes are carried out flight space, spacing distance, flight speed and drainage pattern automatic algorithms control and manual intervention.
Further, the flight control system 11 inside the rotor wing unmanned aerial vehicle, inertial navigation Big Dipper integrated navigation system 12, data collection station 13, wireless WIFI systems 14, vision positioning system 15, communication network between satellite broadband communication system 16 and video acquisition system 17 is 1553B buses, wherein 1553B buses have two passages of A and B, and two passages of A, B backup each other, and enhance the reliability of unmanned plane during flying.Communicated using A channel under normal circumstances, channel B is automatically switched to when system occurs abnormal and communicated.In communication process, flight control system 11 is bus control unit, initiate bus communication, inertial navigation Big Dipper integrated navigation system 12, data collection station 13, wireless WIFI systems 14, vision positioning system 15, satellite broadband communication system 16 and video acquisition system 17 are used as remote terminal, the order of response bus controller.Meanwhile, in order to improve the transmission speed of the video image of unmanned plane high speed camera collection, between satellite broadband communication system 16 and video acquisition system 17, data transfer is transmitted using Rapidio on piece.
Although the foregoing describing the specific embodiment of the present invention; but those skilled in the art should be understood; these are merely illustrative of; various changes or modifications can be made to present embodiment; without departing from the principle and essence of the present invention, protection scope of the present invention is only limited by the claims that follow.
Claims (7)
1. a kind of device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle, the system include Big Dipper unmanned plane form into columns, Beidou satellite navigation system and ground control centre three parts;The Big Dipper unmanned plane is formed into columns by multiple stage rotor wing unmanned aerial vehicle networking, and the rotor wing unmanned aerial vehicle includes flight control system, inertial navigation Big Dipper integrated navigation system, data collection station, wireless WIFI systems, vision positioning system, power-supply system and high speed data transmission system；Described high speed data transmission system includes video acquisition system and satellite broadband communication system;Wherein：
The inertial navigation Big Dipper integrated navigation system periodically can carry out bias correction to inertial navigation by triones navigation system information, and when receiving Big Dipper satellite signal, inertial navigation ensure that navigation information within a certain period of time accurate；The navigation information such as position that flight control system is provided according to inertial navigation Big Dipper integrated navigation system and speed, controls unmanned plane smooth flight with the theory of optimal control.
2. according to the device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle described in claim 1, it is characterised in that：The wireless WIFI systems can realize the information sharing between multiple stage rotor wing unmanned aerial vehicle, when multiple stage rotor wing unmanned aerial vehicle rises space-time simultaneously, one rotor wing unmanned aerial vehicle is set to into hotspot pattern, other rotor wing unmanned aerial vehicles are set to into client mode, the high-speed radiocommunication between multiple stage unmanned plane and networking is realized；In the case where sending indivedual unmanned planes to be investigated at a distance, the hop-by-hop passback of investigation image can be realized by maximum spacing.
3. according to the device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle described in claim 1, it is characterised in that：The data collection station collection is observed the status information of region or unmanned plane itself, passes through inertial navigation Big Dipper integrated navigation system or satellite broadband communication system is transferred to ground control centre in real time or realizes information sharing to other unmanned planes by wireless WIFI system transfers under the control of flight control system.
4. according to the device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle described in claim 1, it is characterised in that：The power-supply system includes solar battery array, controller for solar, accumulator and electric power detection sensor;Controller for solar controls the working condition of whole system, plays a part of additives for overcharge protection, over to accumulator；When electric power detection sensor detects accumulator electric-quantity deficiency, controller for solar control solar battery array is charged to accumulator, improves the endurance of unmanned plane；When weather condition is bad, information about power is passed to flight control system by electric power detection sensor in real time, and flight control system is automatically performed flight path optimum programming according to information about power, it is ensured that unmanned function is normally maked a return voyage.
5. according to the device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle described in claim 1, it is characterised in that：The vision positioning system ensures unmanned plane when without Big Dipper low-speed operations, and its built-in vision and laser sensor pass through perceiving ground texture and relative altitude, realizes that unmanned plane is accurately positioned hovering and smooth flight.
6. according to the device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle described in claim 1, it is characterised in that：Described high speed data transmission system includes video acquisition system and satellite broadband communication system, video acquisition system shoots interested observation area video image by high speed camera, then noise reduction process is carried out to the video image for gathering through Image semantic classification system, being then transferred to Lossless Image Compression Algorithm system carries out reducing the data volume of image after high compression to video image, is last transmitted to satellite broadband communication system；The satellite broadband communication system includes MF transmitter and radio frequency sending set, and the video image information after compression is transferred to ground control centre at high speed by satellite；Plaintext and dark text two ways are supported in the transmission of video image information；On the other hand, rotor wing unmanned aerial vehicle supports information sharing of the video signal between formation, so as to assembled, common calculating parsing, ground passback and the database lookup of realizing multiple images are calculated with auxiliary, the restriction of single unmanned plane scope of investigation and parsing computing capability is solved.
7. according to the device and data interactive method that equipment information collection from far-off regions is realized by Big Dipper rotor wing unmanned aerial vehicle described in claim 1, it is characterised in that：The ground control centre includes transmitter, video receiver, Beidou receiver, ground control computer and display centre；Shown in display centre after the video image decompression processing of the rotor wing unmanned aerial vehicle that video receiver is received by the ground control computer in real time, ground control computer receives navigation and the temporal information that rotor wing unmanned aerial vehicle sends by Beidou receiver, and shown in display centre with reference to electronic map system in real time, ground control computer can also pass through the running parameter that transmitter remotely arranges rotor wing unmanned aerial vehicle, track etc. of such as cruising；The management controller of ground control centre can also one frame unmanned plane of temporary takeover any of which carry out remote real_time control flight, and by radio sensing network all formation unmanned planes are carried out flight space, spacing distance, flight speed and drainage pattern automatic algorithms control and manual intervention.
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