CN104714557A - Method for controlling fixed point circular flying of unmanned plane - Google Patents

Abstract

The invention provides a method for controlling fixed point circular flying of an unmanned plane. The method comprises the steps that power-on self-test is conducted on the unmanned plane, and it is ensured that an unmanned plane-mounted GPS receiver can normally work; the parameters of fixed point circular flying of the unmanned plane are set through a ground station; after the unmanned plane is remotely controlled to take off and switched to a fixed point circular flying mode, an onboard flight control unit controls the unmanned plane to fly circularly in a fixed point mode through a PID control algorithm according to preset parameters; in the fixed point circular flying process of the unmanned plane, an operator of the unmanned plane can adjust the parameters of the fixed point circular flying through a remote controller or the ground station in real time. According to the method for controlling fixed point circular flying of the unmanned plane, intelligent circular flying of the unmanned plane in an interesting area can be achieved, the operation of the unmanned plane is greatly simplified, and the application scenarios of the unmanned plane can be greatly expanded.

Description

Unmanned plane is fixed a point circumvolant control method

Technical field

The present invention relates to unmanned aerial vehicle (UAV) control technical field, particularly a kind of unmanned plane is fixed a point circumvolant control method.

Background technology

Unmanned plane because of its have cost effectiveness low, dispose rapidly and the feature such as zero injures and deaths, be widely used in military and civilian field.Unmanned plane, by performing the acrobatic maneuver of in advance setting, can be monitored in disaster scene, take photo by plane, search and rescue, the field such as infrastructure supervision plays a significant role.

Traditional unmanned plane operation refers to that steering order is uploaded to flight controller by telepilot by ground controller, or on gps satellite navigation map, sets flight path point by land station and to cruise control to complete fixed point.To realize, area-of-interest being cruised targetedly, also only having and being realized by above two kinds of modes.On the one hand, perform fixed point circumaviate by the flare maneuver of operating personnel's Non-follow control aircraft, because the course change of aircraft is frequent and pace of change fast, very easily cause misoperation to cause unmanned plane to crash; On the other hand, on gps satellite navigation map, set cruising to area-of-interest by land station, the supervision that becomes more meticulous and supervision cannot be realized again because body of a map or chart is excessive or locating information is inaccurate.

Summary of the invention

Object of the present invention is intended at least solve one of above-mentioned technological deficiency.

For this reason, the object of the invention is to propose a kind of unmanned plane to fix a point circumvolant control method.The method can simplify the operation of unmanned plane, promotes Consumer's Experience.

To achieve these goals, the invention discloses a kind of unmanned plane and to fix a point circumvolant control method, comprise the following steps: unmanned plane startup self-detection, normal to determine UAV system gps receiver; Set unmanned plane by land station to fix a point circumvolant parameter; Remotely-piloted vehicle takes off and switches to fixed point around after pattern, and onboard flight controller uses pid control algorithm, and the state modulator unmanned plane according to presetting carries out fixed point circumaviate; And fixing a point in circumvolant process at unmanned plane, unmanned plane operator adjusts the circumvolant parameter of fixed point in real time by telepilot or land station.

To fix a point circumvolant control method according to the unmanned plane of the embodiment of the present invention, the intelligent circumaviate of unmanned plane to area-of-interest can be realized, greatly simplify the operation of unmanned plane, and the application scenarios of expansion unmanned plane greatly.

In addition, unmanned plane according to the above embodiment of the present invention circumvolant control method of fixing a point can also have following additional technical characteristic:

In some instances, in unmanned plane fixed point circumaviate pattern, the locating information of unmanned plane is provided by GPS.

In some instances, adjust unmanned plane circumaviate parameter in the following manner: given parameters adjusts, wherein, given parameters adjustment is completed by land station; Or continuously can operation adjustment, can be completed by telepilot control inputs by operation adjustment continuously.

In some instances, before unmanned plane takes off, by the given circumaviate parameter of land station, circumaviate parameter comprise around impact point, flying height, around radius, around tangential velocity, around normal velocity with around direction.

In some instances, describedly refer to that unmanned plane fixed point is circumvolant around center around impact point, represent with its longitude and latitude, when unmanned plane carries out fixed point circumaviate, head points to all the time around impact point.

In some instances, residing height when described flying height refers to unmanned plane fixed point circumaviate, is provided by the barometer of UAV system.

In some instances, land station setting or adjustment ring around radius time, in the following way realize: directly provide radius size; Or directly click around impact point with around after any point on circular arc on map, by calculating Euclidean distance therebetween to obtain radius.

In some instances, if by ring around impact point and around the Euclidean distance between any point on circular arc to obtain radius, need the gps coordinate of the two to convert to the coordinate under east northeast ground coordinate system.If the coordinate under takeoff point east northeast ground coordinate system is (x ₀, y ₀), the latitude coordinate of GPS is lat ₀, longitude coordinate is lon ₀.Then around the coordinate (x of impact point under east northeast ground coordinate system _c, y _c) be:

$x_c=k\×[\cos \left(\frac{{\mathrm{lat}}_0\×\mathrm{\π}}{180}\right)\×\sin \left(\frac{{\mathrm{lat}}_c\×\mathrm{\π}}{180}\right)-\sin \left(\frac{{\mathrm{lat}}_0\×\mathrm{\π}}{180}\right)\×\cos \left(\frac{{\mathrm{lat}}_c\×\mathrm{\π}}{180}\right)\×{\cos }_{d\_\mathrm{lon}}]\×R_{\mathrm{Earth}}$

$y_c=k\×\cos \left(\frac{{\mathrm{lat}}_c\×\mathrm{\π}}{180}\right)\×\sin (\frac{{\mathrm{lon}}_c\×\mathrm{\π}}{180}-\frac{{\mathrm{lon}}_0\×\mathrm{\π}}{180})\×R_{\mathrm{Earth}},$

Wherein, R _earthfor earth radius, π=3.1415926,

K is adjustable parameter,

If $c=\arccos [\sin \left(\frac{{\mathrm{lat}}_0\×\mathrm{\π}}{180}\right)\×\sin \left(\frac{{\mathrm{lat}}_c\×\mathrm{\π}}{180}\right)+\cos \left(\frac{{\mathrm{lat}}_0\×\mathrm{\π}}{180}\right)\×\cos \left(\frac{{\mathrm{lat}}_c\×\mathrm{\π}}{180}\right)\×{\cos }_{d\_\mathrm{lon}}],$ The value mode of k is:

if(fabs(c)<δ) k＝1.0

else k＝c/sin(c)，

Wherein, around impact point be the latitude coordinate lat of GPS _c, longitude coordinate lon _c, be the latitude coordinate lat of GPS around any point on circular arc ₁, longitude coordinate lon ₁.

Application said method obtains around the coordinate (x of any point on circular arc under east northeast ground coordinate system ₁, y ₁).

In some instances, when known around impact point and around any point on circular arc east northeast ground coordinate system under coordinate (x ₀, y ₀) and (x ₁, y ₁) after, around radius

In some instances, during unmanned plane surrounding target point circumaviate around angular velocity:

${\mathrm{\&omega;}}_{\mathrm{ff}}=\frac{{\mathrm{\&upsi;}}_t}{R},$

Wherein, υ _tfor unmanned plane around tangential velocity, R is around radius.

In some instances, refer to that unmanned plane is around the heading around impact point around direction, be divided into clockwise with counterclockwise.

In some instances, unmanned plane in fixed point circumaviate process, by telepilot pitch channel control inputs change around normal velocity to aircraft carry out around radius continuously can operation adjustment.

In some instances, when adjusting aircraft around radius by the change of telepilot control inputs around normal velocity, its control method around normal velocity is: in each control cycle, exists:

R _set＝R _set+υ _nsetdt，

${\mathrm{\&upsi;}}_{\mathrm{nsp}}=P_R\&times;(R_i-R_{\mathrm{set}})+I_R\&times;E_{\mathrm{rrR}}+D_R\&times;\frac{d(R_i-R_{\mathrm{set}})}{\mathrm{dt}},$

Wherein, R _setfor telepilot pitch channel input after change around radius, R _ifor current flight device and the distance around impact point, υ _nsetbe telepilot pitch channel input around normal velocity; P _r, I _rand D _rrepresent the pid control parameter of normal velocity, E _rrRfor error intergal, υ _nspit is the rate controlling amount that actual pid control algorithm produces.

In some instances, unmanned plane in fixed point circumaviate process, by telepilot roll passage control inputs to carry out around tangential velocity continuously can operation adjustment time, its control method around tangential velocity is: in each control cycle, have:

υ _tset＝υ _iset+acc _υdt，

${\mathrm{\&upsi;}}_{\mathrm{tsp}}=P_{\mathrm{\&upsi;}}\&times;({\mathrm{\&upsi;}}_i-{\mathrm{\&upsi;}}_{\mathrm{tset}})+I_{\mathrm{\&upsi;}}\&times;E_{\mathrm{rr\&upsi;}}+D_{\mathrm{\&upsi;}}\&times;\frac{d({\mathrm{\&upsi;}}_i-{\mathrm{\&upsi;}}_{\mathrm{tset}})}{\mathrm{dt}},$

Wherein, υ _ifor current around tangential velocity, acc _υfor the tangential acceleration of telepilot roll passage input, υ _tsetit is the tangential velocity after the input of roll passage; P _υ, I _υand D _υrepresent the pid control parameter of tangential velocity, E _{rr υ}for error intergal, υ _tspit is the tangential velocity controlled quentity controlled variable that actual pid control algorithm produces.

In some instances, unmanned plane in fixed point circumaviate process, by land station or telepilot pitch channel input amendment around radius, if the coordinate now under aircraft east northeast ground coordinate system is (x _i, y _i), be (x around the coordinate under impact point east northeast ground coordinate system ₀, y ₀), be then now θ relative to the crab angle around impact point _set=-atan2 (y _i-y ₀, x _i-x ₀), for θ _setand θ _icarry out PID to control to obtain angular rate compensation and be:

ω _c＝P _ω×(θ _set-θ _i)+I _ω×θ _err，

Wherein, in fixed point circumaviate process, be now θ relative to the crab angle around impact point _i,

Wherein P _ω, I _ωrepresent the PI controling parameters of angular velocity, θ _errfor crab angle error intergal, then around unmanned plane after change in radius around yaw rate be:

ω _set＝ω _ff+ω _c。

The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.

Accompanying drawing explanation

The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein,

Fig. 1 to fix a point circumvolant control method process flow diagram for unmanned plane according to an embodiment of the invention;

Fig. 2 is according to unmanned plane fixed point circumaviate parameter schematic diagram in the embodiment of the present invention;

Fig. 3 be according to unmanned plane in the embodiment of the present invention switch to fixed point circumaviate time schematic diagram;

Fig. 4 be according to constant around impact point in the embodiment of the present invention, change around radius time unmanned plane fixed point circumaviate schematic diagram; And

Fig. 5 is for according to unmanned plane fixed point circumaviate schematic diagram around impact point and when changing around radius in the embodiment of the present invention simultaneously.

Embodiment

Be described below in detail embodiments of the invention, the example of embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.

In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance.

In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition above-mentioned term concrete meaning in the present invention can be understood.

Describe below in conjunction with accompanying drawing and to fix a point circumvolant control method according to the unmanned plane of the embodiment of the present invention.

Fig. 1 to fix a point circumvolant control method process flow diagram for unmanned plane according to an embodiment of the invention.As shown in Figure 1, unmanned plane is fixed a point circumvolant control method according to an embodiment of the invention, comprises the steps:

Step S101: unmanned plane startup self-detection, to determine that UAV system gps receiver normally works.

Step S102: set unmanned plane by land station and to fix a point circumvolant parameter.

Step S103: remotely-piloted vehicle takes off and switches to fixed point around after pattern, and onboard flight controller uses pid control algorithm to carry out fixed point circumaviate according to the state modulator unmanned plane set in advance.

Step S104: fix a point in circumvolant process at unmanned plane, unmanned plane operator can adjust the circumvolant parameter of fixed point in real time by telepilot or land station.

To fix a point circumvolant control method according to the unmanned plane of the embodiment of the present invention, the intelligent circumaviate of unmanned plane to area-of-interest can be realized, greatly simplify the operation of unmanned plane, and the application scenarios of expansion unmanned plane greatly.

In step S101, unmanned plane startup self-detection, guarantees that UAV system gps receiver normally works, the east northeast ground coordinate at record takeoff point place and GPS latitude and longitude coordinates.The omnidistance support needing GPS locating information during unmanned plane fixed point circumaviate, if there is the situation that gps signal is lost in flight course, then directly exit fixed point to enter manual attitude around pattern and increase steady pattern, even if after this gps signal recovers, also can not return fixed point around pattern.

In step s 102, before unmanned plane takes off, to be diversion line parameter directly to fixed ring by land station, circumaviate parameter comprise around impact point, flying height, around radius, around tangential velocity, around normal velocity with around direction.Wherein refer to that unmanned plane fixed point is circumvolant around center around impact point, represent with its longitude and latitude, when unmanned plane carries out fixed point circumaviate, head points to all the time around impact point; Residing height when flying height refers to unmanned plane fixed point circumaviate, is provided by the barometer of UAV system; Around radius, around tangential velocity, around normal velocity and around angular velocity as shown in Figure 2.

In one embodiment of the invention, first by land station setting around impact point, then set unmanned plane around radius.Setting has two kinds of methods around radius, and one directly provides radius size; Another kind directly clicks around impact point with around after any point on circular arc on map, by calculating Euclidean distance therebetween to obtain radius.

In one embodiment of the invention, if around impact point, (latitude coordinate of GPS is lat by ring _c, longitude coordinate is lon _c) and (latitude coordinate of GPS is lat around any point on circular arc ₁, longitude coordinate is lon ₁) between Euclidean distance to obtain radius, need the gps coordinate of the two to convert to the coordinate under east northeast ground coordinate system.If the coordinate under takeoff point east northeast ground coordinate system is (x ₀, y ₀), the latitude coordinate of GPS is lat ₀, longitude coordinate is lon ₀.Then around the coordinate (x of impact point under east northeast ground coordinate system _c, y _c) be

$x_c=k\&times;[\cos \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\sin \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)-\sin \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\cos \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)\&times;{\cos }_{d\_\mathrm{lon}}]\&times;R_{\mathrm{Earth}}$

$y_c=k\&times;\cos \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)\&times;\sin (\frac{{\mathrm{lon}}_c\&times;\mathrm{\&pi;}}{180}-\frac{{\mathrm{lon}}_0\&times;\mathrm{\&pi;}}{180})\&times;R_{\mathrm{Earth}},$

Wherein R _earthfor earth radius, π=3.1415926, k is adjustable parameter, if $c=\arccos [\sin \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\sin \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)+\cos \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\cos \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)\&times;{\cos }_{d\_\mathrm{lon}}],$ The value mode of k is

if(fabs(c)<δ) k＝1.0

else k＝c/sin(c)

Around the coordinate (x of any point on circular arc under east northeast ground coordinate system ₁, y ₁) computing method be

$x_1=k\&times;[\cos \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\sin \left(\frac{{\mathrm{lat}}_1\&times;\mathrm{\&pi;}}{180}\right)-\sin \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\cos \left(\frac{{\mathrm{lat}}_1\&times;\mathrm{\&pi;}}{180}\right)\&times;{\cos }_{d\_\mathrm{lon}}]\&times;R_{\mathrm{Earth}}$

$y_1=k\&times;\cos \left(\frac{{\mathrm{lat}}_1\&times;\mathrm{\&pi;}}{180}\right)\&times;\sin (\frac{{\mathrm{lon}}_1\&times;\mathrm{\&pi;}}{180}-\frac{{\mathrm{lon}}_0\&times;\mathrm{\&pi;}}{180})\&times;R_{\mathrm{Earth}},$

Wherein k is adjustable parameter, if $c=\arccos [\sin \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\sin \left(\frac{{\mathrm{lat}}_1\&times;\mathrm{\&pi;}}{180}\right)+\cos \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\cos \left(\frac{{\mathrm{lat}}_1\&times;\mathrm{\&pi;}}{180}\right)\&times;{\cos }_{d\_\mathrm{lon}}],$ The value mode of k is

if(fabs(c)<δ) k＝1.0

else k＝c/sin(c)，

Now around radius $R=\sqrt{{(x_1-x_0)}^2+{(y_1-y_0)}^2}.$

In step s 103, remotely-piloted vehicle takes off and switches to fixed point around after pattern, and onboard flight controller uses pid control algorithm to carry out fixed point circumaviate according to the state modulator unmanned plane set in advance.

As shown in Figure 3, when flying to A point after remotely pilotless machine takes off, switch to fixed point circumaviate pattern by telepilot or ground station control.Now first unmanned plane flies to rang ring around impact point distance for target is around the B point place of radius R with the safe flight speed set in advance, then course is adjusted to alignment ring around impact point (C point), then start to set around tangential velocity υ _twith corresponding around angular velocity omega _ff=υ _t/ R starts circumaviate of fixing a point.

In step S104, fix a point in circumvolant process at unmanned plane, unmanned plane operator can adjust the circumvolant parameter of fixed point in real time by telepilot or land station.In one embodiment of the invention, the parameter adjustment of unmanned plane circumaviate has two kinds of modes, and a kind of is given parameters adjustment, and one is continuously can operation adjustment.Given parameters adjustment is completed by land station, can be completed by telepilot control inputs by operation adjustment continuously.

As shown in Figure 4, when unmanned plane is in fixed point circumaviate pattern at present, R ' will be adjusted to around radius from R by land station, constant around impact point.Now first unmanned plane flies to B point with the safe flight speed set in advance from A point, then according to set around tangential velocity υ _twith corresponding around angular velocity omega _ff=υ _t/ R ' continues fixed point circumaviate.

If adjustment ring is around impact point with around radius simultaneously, then now aircraft exits current fixed point circumaviate pattern, and adjustment attitude is flown around parameter according to new.As shown in Figure 5, change 2 around impact point into from 1, be adjusted to R ' around radius from R.Now unmanned plane exits fixed point circumaviate pattern, rang ring is flown to around impact point 2 apart from being (B point) on the circular arc of R ' when not changing crab angle, then adjust crab angle (C point), finally according to set around tangential velocity υ _twith corresponding around angular velocity omega _ff=υ _t/ R ' continues fixed point circumaviate.

Continuously can operation adjustment if undertaken by telepilot control inputs, the parameter that can control comprises around height, around radius and around tangential velocity.

1) around height control: for rotor craft, control throttle input and carry out adjustment ring around height, when bar position is returned middle, aircraft keeps flying height constant, and then corresponding aircraft rises and declines respectively up and down.

2) adjust around radius: for rotor craft, the pitch channel that uses a teleswitch come dynamic conditioning aircraft around radius.When bar position is returned middle, keeping current around radius, is zero around normal velocity; Bar position pushes away forward, and flying instrument has centripetal around normal velocity, then reduce around radius; Bar position post-tensioning, aircraft has centrifugal around normal velocity, then aircraft increases around radius.In practical flight, in order to ensure flight safety, being provided with minimum and maximum loop and limiting around radius.

In one embodiment of the invention, unmanned plane is in fixed point circumaviate process, by telepilot pitch channel control inputs change around normal velocity to aircraft carry out around radius continuously can operation adjustment, its control method around normal velocity is: in each control cycle, have:

R _set＝R _set+υ _nsetdt，

${\mathrm{\&upsi;}}_{\mathrm{nsp}}=P_R\&times;(R_i-R_{\mathrm{set}})+I_R\&times;E_{\mathrm{rrR}}+D_R\&times;\frac{d(R_i-R_{\mathrm{set}})}{\mathrm{dt}},$

Wherein R _setfor telepilot pitch channel input after change around radius, R _ifor current flight device and the distance around impact point, υ _nsetbe telepilot pitch channel input around normal velocity; P _r, I _rand D _rrepresent the pid control parameter of normal velocity, E _rrRfor error intergal, υ _nspit is the rate controlling amount that actual pid control algorithm produces.

3) adjust around tangential velocity: for rotor craft, the roll passage that uses a teleswitch come dynamic conditioning aircraft around tangential velocity, working control be aircraft counterclockwise or clockwise around acceleration.Under assumed initial state, aircraft is clockwise around direction, and also namely towards left flight: during bar position is returned, then aircraft keeps current around tangential velocity; Bar position is beaten left, then around tangential velocity continue increase, then keep in again returning now around tangential velocity; Bar position is beaten to the right, then circle cut reduces to speed absolute value, and when continuing to be reduced to 0, make bar to the right if continue, then aircraft changes around direction, starts counterclockwise circumaviate, then continues to make bar to the right, then circular velocity increases counterclockwise.In practical flight, in order to ensure flight safety, be provided with around normal velocity restriction, when the limit is exceeded, continuing to beat bar speed can not increase.

In one embodiment of the invention, unmanned plane is in fixed point circumaviate process, by telepilot roll passage control inputs to carry out around tangential velocity continuously can operation adjustment time, its control method around tangential velocity is: in each control cycle, have:

υ _tset＝υ _iset+acc _υdt

${\mathrm{\&upsi;}}_{\mathrm{tsp}}=P_{\mathrm{\&upsi;}}\&times;({\mathrm{\&upsi;}}_i-{\mathrm{\&upsi;}}_{\mathrm{tset}})+I_{\mathrm{\&upsi;}}\&times;E_{\mathrm{rr\&upsi;}}+D_{\mathrm{\&upsi;}}\&times;\frac{d({\mathrm{\&upsi;}}_i-{\mathrm{\&upsi;}}_{\mathrm{tset}})}{\mathrm{dt}},$

Wherein υ _ifor current around tangential velocity, acc _υfor the tangential acceleration of telepilot roll passage input, υ _tsetit is the tangential velocity after the input of roll passage; P _υ, I _υand D _υrepresent the pid control parameter of tangential velocity, E _{rr υ}for error intergal, υ _tspit is the tangential velocity controlled quentity controlled variable that actual pid control algorithm produces.

In one embodiment of the invention, unmanned plane in fixed point circumaviate process (set now relative to the crab angle around impact point as θ _i), by land station or telepilot pitch channel input amendment around radius, if now aircraft east northeast ground coordinate system under coordinate be (x _i, y _i), be (x around the coordinate under impact point east northeast ground coordinate system ₀, y ₀), be then now θ relative to the crab angle around impact point _set=-atan2 (y _i-y ₀, x _i-x ₀).For θ _setand θ _icarry out PID to control to obtain angular rate compensation and be:

ω _c＝P _ω×(θ _set-θ _i)+I _ω×θ _err，

Wherein P _ω, I _ωrepresent the PI controling parameters of angular velocity, θ _errfor crab angle error intergal, then around unmanned plane after change in radius around yaw rate be:

ω _set＝ω _ff+ω _c。

To fix a point circumvolant control method according to the unmanned plane of the embodiment of the present invention, the intelligent circumaviate of unmanned plane to area-of-interest can be realized, greatly simplify the operation of unmanned plane, and the application scenarios of expansion unmanned plane greatly.

Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention when not departing from principle of the present invention and aim, revising, replacing and modification.

Claims (15)

1. unmanned plane is fixed a point a circumvolant control method, it is characterized in that, comprises the following steps:

Unmanned plane startup self-detection is normal to determine UAV system gps receiver;

Set unmanned plane by land station to fix a point circumvolant parameter;

Remotely-piloted vehicle takes off and switches to fixed point around after pattern, and onboard flight controller uses pid control algorithm, and the state modulator unmanned plane according to presetting carries out fixed point circumaviate; And

Fix a point in circumvolant process at unmanned plane, unmanned plane operator adjusts the circumvolant parameter of fixed point in real time by telepilot or land station.

2. unmanned plane according to claim 1 is fixed a point circumvolant control method, it is characterized in that, in unmanned plane fixed point circumaviate pattern, is provided the locating information of unmanned plane by GPS.

3. unmanned plane according to claim 1 is fixed a point circumvolant control method, it is characterized in that, adjusts unmanned plane circumaviate parameter in the following manner:

Given parameters adjusts, and wherein, given parameters adjustment is completed by land station; Or

Continuously can operation adjustment, can be completed by telepilot control inputs by operation adjustment continuously.

4. unmanned plane according to claim 1 is fixed a point circumvolant control method, it is characterized in that, before unmanned plane takes off, by the given circumaviate parameter of land station, circumaviate parameter comprise around impact point, flying height, around radius, around tangential velocity, around normal velocity with around direction.

5. unmanned plane according to claim 4 is fixed a point circumvolant control method, it is characterized in that, describedly refer to that unmanned plane fixed point is circumvolant around center around impact point, represent with its longitude and latitude, when unmanned plane carries out fixed point circumaviate, head points to all the time around impact point.

6. unmanned plane according to claim 4 is fixed a point circumvolant control method, it is characterized in that, height residing when described flying height refers to unmanned plane fixed point circumaviate, is provided by the barometer of UAV system.

7. unmanned plane according to claim 1 is fixed a point circumvolant control method, it is characterized in that, land station's setting or adjustment ring around radius time, realize in the following way:

Directly provide radius size; Or

Directly click around impact point with around after any point on circular arc on map, by calculating Euclidean distance therebetween to obtain radius.

8. unmanned plane according to claim 1 is fixed a point circumvolant control method, it is characterized in that, if by ring around impact point and around the Euclidean distance between any point on circular arc to obtain radius, need the gps coordinate of the two to convert to the coordinate under east northeast ground coordinate system.If the coordinate under takeoff point east northeast ground coordinate system is (x ₀, y ₀), the latitude coordinate of GPS is lat ₀, longitude coordinate is lon ₀.Then around the coordinate (x of impact point under east northeast ground coordinate system _c, y _c) be:

$x_c=k\&times;[\cos \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\sin \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)-\sin \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\cos \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)\&times;{\cos }_{d\_\mathrm{lon}}]\&times;R_{\mathrm{Earth}}$

$y_c=k\&times;\cos \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)\&times;\sin (\frac{{\mathrm{lon}}_c\&times;\mathrm{\&pi;}}{180}-\frac{{\mathrm{lon}}_0\&times;\mathrm{\&pi;}}{180})\&times;R_{\mathrm{Earth}},$

Wherein, R _earthfor earth radius, π=3.1415926, k is adjustable parameter,

If $c=\arccos [\sin \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\sin \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)+\cos \left(\frac{{\mathrm{lat}}_0\&times;\mathrm{\&pi;}}{180}\right)\&times;\cos \left(\frac{{\mathrm{lat}}_c\&times;\mathrm{\&pi;}}{180}\right)\&times;{\cos }_{d\_\mathrm{lon}}],$ The value mode of k is:

if(fabs(c)<δ) k＝1.0

else k＝c/sin(c)，

Wherein, around impact point be the latitude coordinate lat of GPS _c, longitude coordinate lon _c, be the latitude coordinate lat of GPS around any point on circular arc ₁, longitude coordinate lon ₁.

Application said method obtains around the coordinate (x of any point on circular arc under east northeast ground coordinate system ₁, y ₁).

9. unmanned plane according to claim 1 is fixed a point circumvolant control method, it is characterized in that, when known around impact point with around the coordinate (x of any point on circular arc under east northeast ground coordinate system ₀, y ₀) and (x ₁, y ₁) after, around radius $R=\sqrt{{(x_1-x_0)}^2+{(y_1-y_0)}^2}.$

10. unmanned plane according to claim 1 is fixed a point circumvolant control method, it is characterized in that, during unmanned plane surrounding target point circumaviate around angular velocity:

${\mathrm{\&omega;}}_{\mathrm{ff}}=\frac{{\mathrm{\&upsi;}}_t}{R},$

Wherein, υ _tfor unmanned plane around tangential velocity, R is around radius.

11. unmanned planes according to claim 10 are fixed a point circumvolant control method, it is characterized in that, refer to that unmanned plane is around the heading around impact point around direction, are divided into clockwise and counterclockwise.

12. unmanned planes according to claim 1 are fixed a point circumvolant control method, it is characterized in that, unmanned plane in fixed point circumaviate process, by telepilot pitch channel control inputs change around normal velocity to aircraft carry out around radius continuously can operation adjustment.

13. unmanned planes according to claim 1 are fixed a point circumvolant control method, it is characterized in that, when adjusting aircraft around radius by the change of telepilot control inputs around normal velocity, its control method around normal velocity is: in each control cycle, exists:

R _set＝R _set+υ _nsetdt，

${\mathrm{\&upsi;}}_{\mathrm{nsp}}=P_R\&times;(R_i-R_{\mathrm{set}})+I_R\&times;E_{\mathrm{rrR}}+D_R\&times;\frac{d(R_i-R_{\mathrm{set}})}{\mathrm{dt}},$

Wherein, R _setfor telepilot pitch channel input after change around radius, R _ifor current flight device and the distance around impact point, υ _nsetbe telepilot pitch channel input around normal velocity; P _r, I _rand D _rrepresent the pid control parameter of normal velocity, E _rrRfor error intergal, υ _nspit is the rate controlling amount that actual pid control algorithm produces.

14. unmanned planes according to claim 1 are fixed a point circumvolant control method, it is characterized in that, unmanned plane is in fixed point circumaviate process, by telepilot roll passage control inputs to carry out around tangential velocity continuously can operation adjustment time, its control method around tangential velocity is: in each control cycle, have:

υ _tset＝υ _iset+acc _υdt，

${\mathrm{\&upsi;}}_{\mathrm{tsp}}=P_{\mathrm{\&upsi;}}\&times;({\mathrm{\&upsi;}}_i-{\mathrm{\&upsi;}}_{\mathrm{tset}})+I_{\mathrm{\&upsi;}}\&times;E_{\mathrm{rr\&upsi;}}+D_{\mathrm{\&upsi;}}\&times;\frac{d({\mathrm{\&upsi;}}_i-{\mathrm{\&upsi;}}_{\mathrm{tset}})}{\mathrm{dt}},$

Wherein, υ _ifor current around tangential velocity, acc _υfor the tangential acceleration of telepilot roll passage input, υ _tsetit is the tangential velocity after the input of roll passage; P _υ, I _υand D _υrepresent the pid control parameter of tangential velocity, E _{rr υ}for error intergal, υ _tspit is the tangential velocity controlled quentity controlled variable that actual pid control algorithm produces.

15. unmanned planes according to claim 1 are fixed a point circumvolant control method, it is characterized in that, unmanned plane in fixed point circumaviate process, by land station or telepilot pitch channel input amendment around radius, if the coordinate now under aircraft east northeast ground coordinate system is (x _i, y _i), be (x around the coordinate under impact point east northeast ground coordinate system ₀, y ₀), be then now θ relative to the crab angle around impact point _set=-atan2 (y _i-y ₀, x _i-x ₀), for θ _setand θ _icarry out PID to control to obtain angular rate compensation and be:

ω _c＝P _ω×(θ _set-θ _i)+I _ω×θ _err，

Wherein, in fixed point circumaviate process, be now θ relative to the crab angle around impact point _i,

Wherein P _ω, I _ωrepresent the PI controling parameters of angular velocity, θ _errfor crab angle error intergal, then around unmanned plane after change in radius around yaw rate be:

ω _set＝ω _ff+ω _c。