CN106898161A - A kind of aircraft DAS (Driver Assistant System) and method - Google Patents

Abstract

The present invention relates to an aircraft auxiliary driving system and method, comprising: an aircraft auxiliary driving device and a monitoring device; the aircraft auxiliary driving device includes: a communication module, a state acquisition module and a state adjustment module; the state acquisition module is used to collect the current flight state of the aircraft information; wherein, the flight state information includes the current position coordinates of the aircraft; the monitoring device is used to calculate the distance between the aircraft and the no-fly area according to the position coordinates; the state adjustment module is used to change the The flight direction of the aircraft. The technical solution provided by the embodiment of the present invention collects the flight state of the aircraft, and adjusts the flight state of the aircraft in time through the state adjustment module when the flight state of the aircraft is abnormal, so as to play the role of auxiliary driving and avoid artificially controlling the flight of the aircraft , causing the aircraft to fly into the no-fly area, resulting in property damage and personal safety hazards.

Description

A system and method for assisting piloting of an aircraft

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an auxiliary driving system and method for an aircraft.

Background technique

In recent years, in order to promote the development of the general aviation industry and meet the needs of the public, the country has gradually released the control of low-altitude airspace. At the same time, with the advancement of science and technology, the rapid development of the national economy and the continuous improvement of people's living standards, aviation flight activities mainly using low-altitude airspace are becoming more and more frequent, and with their unique advantages, they are used in agriculture, forestry, tourism, sports, It plays an important role in medical treatment, exploration, earthquake relief and other fields.

However, as more and more low-altitude unmanned aerial vehicles such as aviation models, toy models, and small drones enter the low-altitude field, the traffic conditions in the low-altitude airspace are becoming more and more complicated. Due to the lack of standardized management, corresponding safety measures are not in place , Not only brings hidden dangers to the air management over the city, but also low-altitude flight accidents occur from time to time, causing serious personal and property losses. Therefore, in order to achieve safe and accurate positioning or navigation of low-altitude aircraft, maintain low-altitude flight order, reduce the occurrence of low-altitude accidents, avoid endangering important targets and the risk of air terrorism, and implement monitoring of low-altitude airspace aircraft has become an inevitable trend in the development of air traffic control. .

However, my country's aviation service support system is mainly established to protect civil transport aviation and military aviation. However, the low-altitude field has not received attention for a long time. The necessary service guarantee systems such as communication, navigation, and surveillance have lagged behind in development, are small in scale, and have poor versatility, and have not formed a complete service guarantee system. At the same time, some civilian aircraft are mainly active in the low-altitude airspace. If the monitoring cost is too high, these civilian aircraft may not be able to afford it, which will also affect the promotion of the monitoring system.

Contents of the invention

The technical problem to be solved by the present invention is to provide an aircraft auxiliary driving system for timely adjusting the flight state of the aircraft.

For this purpose, the present invention proposes a kind of aircraft auxiliary driving system, comprising:

Auxiliary piloting devices and monitoring equipment for aircraft;

The aircraft auxiliary driving device includes: a communication module connected to the monitoring equipment, and also includes a state acquisition module and a state adjustment module connected to the communication module;

The state collection module is used to collect the current flight state information of the aircraft, and send the flight state information to the monitoring device through the communication module; wherein, the flight state information includes the current position coordinates of the aircraft;

The monitoring device is used to receive the current position coordinates of the aircraft, and calculate the distance between the aircraft and the no-fly area according to the pre-stored position coordinates of the no-fly area;

The state adjustment module is used for changing the flight direction of the aircraft when the distance is less than a first preset value.

Optionally, the state collection module includes a GPS module and an auxiliary sensing module.

Optionally, the communication module is a GPRS module; the GPRS module is used to send the flight status information collected by the status acquisition module to the monitoring device, and to locate the aircraft when the GPS module fails .

Optionally, the auxiliary sensing module includes: at least one of an atmospheric pressure sensor, a gyroscope, an electronic compass, and an energy measurement sensor; wherein the atmospheric pressure sensor is used to measure the flying height of the aircraft in real time; the The gyroscope is used to measure the acceleration of the aircraft in real time; the electronic compass is used to measure the flight direction of the aircraft in real time; the energy measurement sensor is used to measure the energy consumption of the aircraft in real time.

Optionally, the flight status information also includes the flight speed and flight direction of the aircraft.

Optionally, the aircraft assisted piloting device further includes: a power control module, the power control module is connected to the aircraft; When the value is greater than the second preset value, the working power supply of the aircraft is turned off.

Optionally, the state adjustment module is further configured to reduce the flight speed of the aircraft when the flight speed of the aircraft is greater than a third preset value.

Optionally, the aircraft assisted driving device also includes: a power conversion module, the power conversion module is connected to other modules in the aircraft assisted driving device; power supply for other modules.

Optionally, the aircraft assisted driving device also includes: a microprocessor, the microprocessor is respectively connected to the communication module, the state acquisition module and the state adjustment module; The flight status information collected by the status acquisition module is sent to the monitoring device; the microprocessor sends the distance calculated by the monitoring device to the status adjustment module through the communication module.

On the other hand, an embodiment of the present invention also provides a method for assisting piloting of an aircraft using any one of the systems described above, the method comprising:

collecting the current flight status information of the aircraft, wherein the flight status information includes the current position coordinates of the aircraft;

calculating the distance between the aircraft and the no-fly area according to the current position coordinates of the aircraft and the pre-stored position coordinates of the no-fly area;

When the distance is less than a first preset value, the flying direction of the aircraft is changed.

The aircraft assisted driving system and method provided by the embodiments of the present invention collect the flight state of the aircraft through the state acquisition module, and adjust the flight state of the aircraft in time when the flight state of the aircraft is abnormal (such as approaching a no-fly area) through the state adjustment module , so as to play the role of auxiliary driving and avoid artificial control of the flight of the aircraft. Due to the failure to adjust the flight status of the aircraft in time, the aircraft will fly into the no-fly area and cause property damage and personal safety hazards.

Description of drawings

The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the invention in any way. In the accompanying drawings:

Fig. 1 is the frame schematic diagram of the aircraft assisted driving system provided by the embodiment of the present invention;

Fig. 2 is a schematic diagram of the workflow of the aircraft assisted driving system provided by the embodiment of the present invention;

Fig. 3 is a schematic frame diagram of an aircraft pilot assistance device provided by another embodiment of the present invention;

Fig. 4 is a schematic flow chart of switching the positioning function between the GPS module and the GPRS module according to the embodiment of the present invention.

Fig. 5 is a schematic flow chart of processing an aircraft's abnormal flight state according to an embodiment of the present invention;

FIG. 6 is a schematic flowchart of a method for assisting piloting of an aircraft provided by an embodiment of the present invention.

detailed description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in Figure 1, an embodiment of the present invention provides an aircraft assisted driving system, including:

Aircraft auxiliary driving device 1 and monitoring equipment 2;

The aircraft pilot assistance device 1 includes: a communication module 12 connected to the monitoring device 2, and a state acquisition module 11 and a state adjustment module 13 connected to the communication module 12;

The state acquisition module 11 is used to collect the current flight state information of the aircraft, and send the flight state information to the monitoring device 2 through the communication module 12; wherein, the flight state information includes the current state of the aircraft. Position coordinates;

The monitoring device 2 is used to receive the current position coordinates of the aircraft, and calculate the distance between the aircraft and the no-fly area according to the pre-stored position coordinates of the no-fly area;

The state adjustment module 13 is used for changing the flight direction of the aircraft when the distance is less than a first preset value.

In an embodiment of the present invention, the workflow of the aircraft assisted driving system is shown in FIG. The flight state information is sent to the monitoring device 2 through the communication module 12; wherein, the flight state information includes the current position coordinates of the aircraft, and may also include information such as the flight speed of the aircraft as required; the monitoring device 2 receives the flight state information, that is, receives The current position coordinates of the aircraft, the monitoring device 2 stores and processes the flight status information, that is, calculates the distance between the aircraft and the no-fly area according to the position coordinates of the no-fly area pre-stored in its own memory; the monitoring device 2 will process the information That is, the calculated distance is sent to the state adjustment module 13 by the communication module 12; the state adjustment module 13 receives the calculated distance, and judges whether the state of the aircraft is normal (such as whether it is close to a no-fly area), when the distance is less than the first preset value , the state adjustment module 13 changes the flight direction of the aircraft (that is, performs exception processing). Wherein, the comparison circuit can be used to determine whether the distance between the aircraft and the no-fly area is less than the first preset value. When the distance is less than the first preset value, it means that the aircraft is close to the no-fly area, and the flight direction of the aircraft needs to be changed. , such as returning or crashing. The aircraft can be a low-altitude unmanned aerial vehicle such as an aviation model, a toy model, or a small unmanned aerial vehicle.

The aircraft assisted driving system provided by the embodiments of the present invention collects the flight state of the aircraft through the state acquisition module, and adjusts the flight state of the aircraft in time through the state adjustment module when the flight state of the aircraft is abnormal (such as approaching a no-fly area), thereby It plays the role of auxiliary driving and avoids artificially controlling the flight of the aircraft. Due to the failure to adjust the flight status of the aircraft in time, the aircraft will fly into the no-fly area and cause property damage and personal safety hazards.

On the basis of the above embodiments, as shown in FIG. 3 , the state collection module 11 includes a GPS (Global Positioning System, Global Positioning System) module 111 and an auxiliary sensing module 112 . Wherein, the aircraft auxiliary driving device can be installed in the aircraft, and the GPS module 111 can locate the aircraft and collect the three-dimensional position coordinates of the aircraft in real time. Preferably, the auxiliary sensing module 112 includes: at least one of an atmospheric pressure sensor, a gyroscope, an electronic compass and an energy measurement sensor; wherein the atmospheric pressure sensor is used to measure the flying height of the aircraft in real time; The gyroscope is used to measure the acceleration of the aircraft in real time so as to adjust the flight speed of the aircraft in time; the electronic compass is used to measure the flight direction of the aircraft in real time, so that the heading of the aircraft can be changed in time; the energy measurement sensor is used for The energy consumption of the aircraft is measured in real time so as to replenish energy in time.

Preferably, the flight state information collected by the state collection module 11 also includes the flight speed and flight direction of the aircraft.

On the basis of the foregoing embodiments, the communication module 12 in the aircraft pilot assistance device provided by the present invention is a GPRS (General Packet Radio Service, general wireless packet service) module, and the GPRS module is used to collect the state acquisition module 11 The flight status information is sent to the monitoring device 2, and the aircraft is positioned when the GPS module 111 fails. It should be noted that the GPS module 111 and the auxiliary sensing module 112 are usually used to obtain the flight status information of the aircraft, and the GPRS module sends the flight status information to the monitoring device 2, and the monitoring device 2 stores and monitors the flight status information of the aircraft, and the user The flight status information of the aircraft can be viewed through the monitoring device 2 . However, when the GPS signal is unstable, it means that the GPS module 111 fails, and the aircraft is automatically switched to the GPRS module to locate the aircraft, and the GPRS module and the auxiliary sensor module 112 obtain the flight status information of the aircraft. Whether the GPS signal is good or not depends on the number of valid satellites received by the GPS module 111. Usually, when the number of valid satellites received by the GPS module 111 is more than 5, it is considered that precise positioning can be achieved. During the flight of the aircraft, if the GPS signal is affected by the region or other factors such as mountains, buildings or GPS signal blind spots, resulting in the interruption of the effective signal satellite received by the GPS module 111 or the signal is unstable, the aircraft auxiliary driving device will automatically switch To obtain the flight state of the aircraft with the GPRS module and the auxiliary sensing module 112, when the effective satellite signal received by the GPS module 111 returns to a normal state, the flight warning device will automatically switch to the GPS module 111 and the auxiliary sensing module 112 to acquire The flight status information of the aircraft may be processed as shown in FIG. 4 .

On the basis of the above-mentioned embodiments, as shown in FIG. 3 , the driving assistance device provided by the embodiment of the present invention further includes: a power control module 15 connected to the aircraft; the power control module 15 is used for turning off the working power of the aircraft when the distance is less than a first preset value and the flight speed is greater than a second preset value.

It should be noted that the power control module 15 is connected to the aircraft and is used to control the working power of the aircraft. When the distance between the aircraft and the no-fly area is less than the first preset value, it means that the aircraft is close to the no-fly area, and if the flight speed is greater than the second preset value, it means that the aircraft speed is too fast to return, and must be in the no-fly area. Crash processing is done at the edge of the flying area. At this time, the working power of the aircraft can be turned off by the power control module 15, so that the aircraft loses energy and crashes, avoiding serious consequences caused by entering the no-fly area. For example, when the power control module 15 meets two conditions at the same time (1. The distance is less than the first preset value; 2. The flight speed is greater than the second preset value), the power supply of the aircraft is turned off, which can be realized by using an NOR gate circuit.

On the basis of the above embodiments, the state adjustment module 13 is further configured to reduce the flight speed of the aircraft when the flight speed of the aircraft is greater than a third preset value. It should be noted that when the flight speed of the aircraft is greater than the third preset value, it means that the aircraft has overspeed phenomenon, and the deceleration process can be performed until reaching the predetermined speed. Wherein, it can be judged whether the flight speed of the aircraft is greater than the third preset value through the comparison circuit.

For example, when the flight state of the aircraft is abnormal, the abnormal event can be handled through the processing flow shown in FIG. 5 . Specifically, processing events near the no-fly area and overspeed processing events, among them, the priority of the processing event near the no-fly area is higher than the overspeed processing event. Once the distance between the aircraft and the no-fly area is close to the set distance, the return flight must be performed immediately In operation, if the speed is too fast and it is too late to return, the crash must be handled at the edge of the no-fly zone (that is, the working power of the aircraft is disconnected) to avoid serious consequences caused by entering the no-fly zone. The specific workflow is: after entering the abnormal event processing, first judge whether it is close to the no-fly area, if it is close to the no-fly area, enter the return processing event, and then judge whether the return is successful, if not, cut off the power supply of the aircraft through the power control module 15 Working power supply, the aircraft crashes due to loss of energy. If the return is successful, the flight status information of the aircraft will be obtained again; if the aircraft is not close to the no-fly area, it will enter the overspeed processing event and slow down; , to judge whether it is close to the no-fly area, if it is close, enter the return processing event; if the speed reaches the predetermined speed, obtain the flight status information of the aircraft again, if the speed does not reach the predetermined speed, enter the overspeed processing again until the predetermined speed is reached.

On the basis of the above-mentioned embodiments, as shown in FIG. 3 , the aircraft auxiliary driving device provided by the embodiment of the present invention also includes: a power conversion module 16, and the power conversion module 16 is connected to other modules in the aircraft auxiliary driving device ; The power conversion module 16 is used to supply power to other modules in the aircraft assisted piloting device. Specifically, the power conversion module 16 is connected with other modules in the aircraft auxiliary driving device, and can convert the external power supply to different voltage levels. 15 and the state adjustment module 13 supply power, and convert the external power supply into 5V voltage to supply power for the GPS module 111, GPRS module and auxiliary sensor module 112.

Preferably, as shown in Figure 3, the aircraft assisted piloting device also includes: a microprocessor 14, the microprocessor 14 is connected to each module in the aircraft assisted piloting device; the power conversion module 16 passes through the The microprocessor 14 supplies power to each module in the aircraft auxiliary driving device, for example, it includes: a communication module 12, a state acquisition module 11, a state adjustment module 13, a power control module 15, and the like. As shown in Figure 3, described microprocessor 14 is respectively connected with described communication module 12, state collection module 11 and state adjustment module 13; The flight state information is sent to the monitoring device 2; the microprocessor 14 sends the distance calculated by the monitoring device 2 to the state adjustment module 13 through the communication module 12. Wherein, the microprocessor 14 can be used as the control center of the auxiliary piloting device of the aircraft, and it is connected with each module in the auxiliary piloting device of the aircraft, and is used for directing and coordinating the work between each module. Under the control of the microprocessor 14, the state The collection module 11 collects status information of the aircraft. Under the control of the microprocessor 14, the power supply control module 15 controls the operating power of the aircraft. When the aircraft is close to the no-fly zone and the speed is too fast to return, the operating power of the aircraft is cut off, so that the aircraft loses energy and crashes. Under the control of the microprocessor 14, the state adjustment module adjusts the flight state of the aircraft (such as deceleration, return or crash, etc.).

As shown in Figure 6, the embodiment of the present invention also provides a method for assisting piloting of an aircraft, the method may adopt the system for assisting piloting of an aircraft described in the above embodiment, and the method may include the following steps:

S1: collecting the current flight state information of the aircraft, wherein the flight state information includes the current position coordinates of the aircraft;

S2: Calculate the distance between the aircraft and the no-fly area according to the current position coordinates of the aircraft and the pre-stored position coordinates of the no-fly area;

S3: When the distance is less than a first preset value, change the flying direction of the aircraft.

Specifically, the state collection module 11 collects the current flight state information of the aircraft, wherein the flight state information includes the current position coordinates of the aircraft; coordinates to calculate the distance between the aircraft and the no-fly area; when the distance is less than a first preset value, the state adjustment module 13 changes the flight direction of the aircraft.

The aircraft assisted driving method provided by the embodiment of the present invention collects the flight state of the aircraft through the state acquisition module, and adjusts the flight state of the aircraft in time through the state adjustment module when the flight state of the aircraft is abnormal (such as approaching a no-fly area), thereby It plays the role of auxiliary driving and avoids artificially controlling the flight of the aircraft. Due to the failure to adjust the flight status of the aircraft in time, the aircraft will fly into the no-fly area and cause property damage and personal safety hazards.

As for the embodiment of the aircraft assisted driving method corresponding to the system, since it is basically similar to the system embodiment, the technical effect achieved is also the same as that of the system embodiment, so the description is relatively simple. For relevant information, refer to the system implementation The part of the example will suffice.

Finally, it should be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations Any such actual relationship or order exists between. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element. The orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must Having a particular orientation, being constructed and operating in a particular orientation, and therefore not to be construed as limiting the invention. Unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, It can also be an electrical connection; it can be a direct connection, or an indirect connection through an intermediary, or an internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the description of the invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description. Similarly, it should be appreciated that in the above description of exemplary embodiments of the invention, in order to streamline the present disclosure and to facilitate understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together into a single embodiment , figure, or description of it. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. All of them should be covered by the scope of the claims and description of the present invention.

Claims (10)

1. a kind of aircraft DAS (Driver Assistant System), it is characterised in that including：

Aircraft auxiliary driving device and monitoring device；

The aircraft auxiliary driving device includes：With the monitoring device communicate to connect communication module, also including with it is described The state acquisition module and state adjusting module of communication module connection；

The state acquisition module is used to gather the current state of flight information of aircraft, and the state of flight information is passed through The communication module is sent to the monitoring device；Wherein, the state of flight information includes the current location of the aircraft Coordinate；

The monitoring device is used to receive the current position coordinates of the aircraft, and is sat according to the position in the no-fly region for prestoring Mark, calculates the distance between the aircraft and described no-fly region；

The state adjusting module is used to, when the distance is less than the first preset value, change the heading of the aircraft.

2. system according to claim 1, it is characterised in that the state acquisition module includes that GPS module and auxiliary are passed Sense module.

3. system according to claim 2, it is characterised in that the communication module is GPRS module；The GPRS module For the state of flight information that the state acquisition module is gathered to be sent to the monitoring device, and lost in the GPS module The aircraft is positioned during effect.

4. system according to claim 2, it is characterised in that the auxiliary sensing module includes：Barometric pressure sensor, At least one in gyroscope, electronic compass and energy measurement sensor；Wherein, the barometric pressure sensor is used for survey in real time Measure the flying height of the aircraft；The gyroscope is used to measure in real time the acceleration of the aircraft；The electronic compass Heading for measuring the aircraft in real time；The energy measurement sensor is used to measure in real time the energy of the aircraft Amount Expenditure Levels.

5. system according to claim 1, it is characterised in that the state of flight information flying also including the aircraft Scanning frequency degree and heading.

6. system according to claim 5, it is characterised in that the aircraft auxiliary driving device also includes：Power supply control Molding block, the energy supply control module connects the aircraft；The energy supply control module, for being less than first when the distance When preset value and the flying speed are more than the second preset value, the working power of the aircraft is closed.

7. system according to claim 5, it is characterised in that

The state adjusting module is additionally operable to, when the flying speed of the aircraft is more than three preset values, reduce the flight The flying speed of device.

8. system according to claim 1, it is characterised in that the aircraft auxiliary driving device also includes：Power supply turns Mold changing block, the power transfer module connects other modules in the aircraft auxiliary driving device；The power supply turns Mold changing block is used to be powered for other modules in the aircraft auxiliary driving device.

9. system according to claim 8, it is characterised in that the aircraft auxiliary driving device also includes：Microprocessor Device, the microprocessor connects the communication module, state acquisition module and state adjusting module respectively；The microprocessor leads to The state of flight information that the communication module gathers the state acquisition module is crossed to send to the monitoring device；Micro- place Reason device is sent to the state adjusting module distance that the monitoring device is calculated by the communication module.

10. the system described in a kind of use claim 1-9 any one carries out the method that aircraft auxiliary drives, and its feature exists In, including：

The current state of flight information of collection aircraft, wherein, the state of flight information includes the present bit of the aircraft Put coordinate；

The position coordinates of current position coordinates and the no-fly region for prestoring according to the aircraft, calculates the aircraft and institute State the distance between no-fly region；

When the distance is less than the first preset value, change the heading of the aircraft.