Rotor aircraft guided autonomous landing method, system, equipment, medium and product

Abstract

The invention discloses a rotorcraft guided autonomous landing method, system and device, a medium and a product, and relates to the field of aircraft control, the method comprises the following steps: obtaining a landing area position of a rotorcraft, determining position information of a reference point according to the landing area position, the method comprises the following steps: acquiring position information of a reference point of a rotor aircraft, establishing an ultra wide band communication technology UWB navigation coordinate system according to the position information of the reference point, determining distance information and angle information of the rotor aircraft relative to the UWB navigation coordinate system according to UWB equipment in the rotor aircraft, further determining navigation information of the rotor aircraft based on the UWB navigation coordinate system, and performing autonomous guided landing according to the navigation information; according to the invention, autonomous guided landing of the aircraft under the satellite navigation signal denial condition can be realized.

Description

Technical Field

[0001] The present application relates to the field of aircraft control, and in particular to a method, system, equipment, medium and product for guiding autonomous landing of a rotorcraft. Background Art

[0002] Autonomous guided landing of a rotorcraft is the process of autonomously landing the rotorcraft to the target position under the control of the flight control system under the given landing target position conditions.

[0003] Rotorcraft control can be divided into outer-loop position control and inner-loop attitude control. Regardless of the control method used, determining navigation information is crucial: obtaining the rotorcraft's current position and heading. When satellite navigation information is available, it is based on the local geographic system. Position information is obtained from satellite signals, while heading information is generally obtained through magnetic heading. However, when satellite navigation information is interfered with and cannot be obtained, the rotorcraft cannot obtain accurate navigation information, and thus cannot perform basic autonomous control functions.

[0004] Therefore, based on the above problems, there is an urgent need to provide a new method or system for guiding the autonomous landing of a rotorcraft to achieve autonomous guided landing of the aircraft under conditions of satellite navigation signal denial. Summary of the Invention

[0005] The purpose of this application is to provide a method, system, equipment, medium and product for guiding autonomous landing of a rotorcraft, which can realize autonomous guided landing of the aircraft under conditions of satellite navigation signal denial.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a method for guiding an autonomous landing of a rotorcraft, the method comprising:

[0008] Get the landing area location of the rotorcraft;

[0009] Determining the location information of the reference point according to the location of the landing area; and establishing an ultra-wideband communication technology UWB navigation coordinate system according to the location information of the reference point;

[0010] determining, based on a UWB device in the rotorcraft, distance information and angle information of the rotorcraft relative to a UWB navigation coordinate system;

[0011] Determining navigation information of the rotorcraft based on a UWB navigation coordinate system according to the distance information and the angle information; wherein the navigation information includes: position information and heading angle information;

[0012] Perform autonomous guided landing based on the navigation information.

[0013] Optionally, determining the position information of a reference point according to the position of the landing area; and establishing an ultra-wideband communication technology UWB navigation coordinate system according to the position information of the reference point specifically includes:

[0014] Determine four reference points based on the landing area location; and determine the position information corresponding to each reference point; the four reference points are distributed in a rectangular shape;

[0015] A UWB navigation coordinate system is established based on the position information corresponding to each reference point.

[0016] Optionally, determining the distance information and angle information of the rotorcraft relative to a UWB navigation coordinate system based on the UWB device in the rotorcraft specifically includes:

[0017] Determining coordinates of the rotorcraft and angle information of the rotorcraft relative to four reference points based on a UWB device in the rotorcraft and the UWB navigation coordinate system;

[0018] According to the position information corresponding to each reference point and the coordinates of the rotorcraft, the distance information from the rotorcraft to the four reference points is determined respectively.

[0019] Optionally, determining navigation information of the rotorcraft based on a UWB navigation coordinate system according to the distance information and the angle information specifically includes:

[0020] Determining, based on the distance information, position information of the rotorcraft based on a UWB navigation coordinate system;

[0021] According to the angle information, the heading angle information of the rotorcraft based on the UWB navigation coordinate system is determined.

[0022] Optionally, determining, based on the distance information, position information of the rotorcraft based on a UWB navigation coordinate system specifically includes:

[0023] Using the formula Determine the position information of the rotorcraft based on the UWB navigation coordinate system;

[0024] Where (x, y, z), (0, 0, 0), (m, 0, 0), (0, n, 0), and (m, n, 0) are the coordinates of rotorcraft P, reference points A, B, C, and D, respectively, and d1, d2, and d3 are the distances from rotorcraft P to reference points A, B, and C, respectively.

[0025] Optionally, determining the heading angle information of the rotorcraft based on a UWB navigation coordinate system according to the angle information specifically includes:

[0026] According to the angle information, using the formula respectively determining an initial heading angle of the rotorcraft relative to four reference points in the UWB navigation coordinate system;

[0027] Where (x, y, z), (0, 0, 0), (m, 0, 0), (0, n, 0), and (m, n, 0) are the coordinates of the rotorcraft P, reference points A, B, C, and D, respectively. ψ1, ψ2, ψ3, and ψ4 are the initial heading angles of the rotorcraft P relative to reference points A, B, C, and D, respectively. p1 , ψ p2 , ψ p3 , ψ p4 are the angle information of the rotorcraft P relative to the reference points A, B, C and D, respectively, po The angle between the line between the rotorcraft P and the reference point A and the Oy axis in the UWB navigation coordinate system;

[0028] According to the initial heading angle, use the formula Determine the heading angle information of the rotorcraft based on the UWB navigation coordinate system; where ψ is the heading angle.

[0029] In a second aspect, the present application provides a rotorcraft guided autonomous landing system, the rotorcraft guided autonomous landing system comprising:

[0030] A landing area position determination module is used to obtain the landing area position of the rotorcraft;

[0031] A UWB navigation coordinate system establishment module is used to determine the position information of the reference point according to the position of the landing area; and establish an ultra-wideband communication technology UWB navigation coordinate system according to the position information of the reference point;

[0032] a distance information and angle information determination module, configured to determine distance information and angle information of the rotorcraft relative to a UWB navigation coordinate system based on a UWB device in the rotorcraft;

[0033] A navigation information determination module, configured to determine navigation information of the rotorcraft based on a UWB navigation coordinate system according to the distance information and the angle information; the navigation information including: position information and heading angle information;

[0034] The autonomous landing module is used to perform autonomous guided landing according to the navigation information.

[0035] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the above-described methods for guiding autonomous landing of a rotorcraft.

[0036] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the above-mentioned methods for guiding autonomous landing of a rotorcraft.

[0037] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any one of the above-mentioned methods for guiding autonomous landing of a rotorcraft.

[0038] According to the specific embodiments provided in this application, this application has the following technical effects:

[0039] The present application provides a method, system, device, medium and product for guiding the autonomous landing of a rotorcraft. When satellite navigation signals are unavailable, a navigation coordinate system is established by using ultra-wideband communication technology (UWB), providing the rotorcraft with high-precision node distance information and angle information between two points, and then determining the navigation information of the rotorcraft based on the UWB navigation coordinate system, so as to achieve autonomous guided landing of the aircraft under conditions of satellite navigation signal denial. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 This is a flow chart of a method for guiding autonomous landing of a rotorcraft in one embodiment of the present application;

[0042] Figure 2 This is a schematic diagram of a UWB navigation coordinate system in an embodiment of the present application;

[0043] Figure 3 This is a schematic diagram of the angle information of the rotorcraft relative to the UWB navigation coordinate system in one embodiment of the present application;

[0044] Figure 4 A schematic diagram of the structure of a computer device provided in one embodiment of the present application.

[0045] Reference numerals: P-rotorcraft, A-reference point, B-reference point, C-reference point, D-reference point. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0047] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0048] In an exemplary embodiment, Figure 1 As shown, a method for guiding an autonomous landing of a rotorcraft is provided, wherein the method comprises the following steps S1 to S5.

[0049] S1: Get the landing area position of the rotorcraft.

[0050] S2: Determine the location information of the reference point based on the landing area location; and establish an ultra-wideband communication technology navigation coordinate system based on the location information of the reference point.

[0051] S201: Determine four reference points according to the landing area location; and determine the position information corresponding to each reference point.

[0052] like Figure 2 As shown, according to the location of the rotorcraft landing area, four reference points are determined at the location of the rotorcraft landing area, namely reference point A, reference point B, reference point C and reference point D; the four reference points are distributed in a rectangular shape, where |AB|=m, |AC|=n.

[0053] S202: Establishing a UWB navigation coordinate system based on the position information corresponding to each reference point.

[0054] With reference point A as the origin O, AB as the Ox-axis, and AC as the Oy-axis, a rectangular coordinate system Oxyz is established as the UWB navigation coordinate system according to the right-hand rule; among them, the coordinates of reference point A, reference point B, reference point C, and reference point D in the UWB navigation coordinate system are: A: (0, 0, 0), B: (m, 0, 0), C: (0, n, 0), and D: (m, n, 0).

[0055] S3: Determine, based on the UWB device in the rotorcraft, distance information and angle information of the rotorcraft relative to the UWB navigation coordinate system.

[0056] S301: Determine the coordinates of the rotorcraft and the angle information of the rotorcraft relative to four reference points according to the UWB device in the rotorcraft and the UWB navigation coordinate system.

[0057] Assume that the coordinates of the rotorcraft P in the UWB navigation coordinate system are (x, y, z), where z>0.

[0058] like Figure 3 As shown, the rotorcraft P is projected onto the Oxy plane, and the angles of the rotorcraft P relative to the reference points A, B, C, and D are determined based on the angle information output by the UWB device in the rotorcraft, which are ψ p1 , ψ p2 , ψ p3 , ψ p4 .

[0059] S302: Determine distance information from the rotorcraft to the four reference points based on the position information corresponding to each reference point and the coordinates of the rotorcraft.

[0060] Based on the distance information output by the UWB device in the rotorcraft, the distances from the rotorcraft P to reference points A, B, C, and D are determined to be d1, d2, d3, and d4, respectively. The distance formula between two points in three-dimensional space is as follows:

[0061]

[0062] S4: Determine navigation information of the rotorcraft based on the UWB navigation coordinate system according to the distance information and the angle information; the navigation information includes position information and heading angle information.

[0063] S401: Determine the position information of the rotorcraft based on the UWB navigation coordinate system according to the distance information.

[0064] Solve the distance formula to determine the position information of the rotorcraft based on the UWB navigation coordinate system, that is, the coordinates of point P of the rotorcraft. The calculation formula is:

[0065]

[0066] Where (x, y, z), (0, 0, 0), (m, 0, 0), (0, n, 0), and (m, n, 0) are the coordinates of rotorcraft P, reference points A, B, C, and D, respectively, and d1, d2, and d3 are the distances from rotorcraft P to reference points A, B, and C, respectively.

[0067] S402: Determine heading angle information of the rotorcraft based on the UWB navigation coordinate system according to the angle information.

[0068] The angular relationships between the rotorcraft P and reference points A, B, C, and D are studied respectively. Based on the relationship between the plane geometric angles, the initial heading angle of the rotorcraft P relative to the four reference points in the navigation coordinate system Oxyz can be obtained based on the angular information between PA, PB, PC, and PD. The calculation formula is:

[0069]

[0070] Among them, ψ1, ψ2, ψ3 and ψ4 are the initial heading angles of the rotorcraft P relative to the reference points A, B, C and D, respectively. p1 , ψ p2 , ψ p3 , ψ p4 are the angles of the rotorcraft P relative to reference points A, B, C, and D, respectively, po The angle between the line between the rotorcraft P and the reference point A and the Oy axis in the UWB navigation coordinate system;

[0071] The average of the initial heading angles is taken as the heading angle of the rotorcraft P in the UWB navigation coordinate system Oxyz. The calculation formula is:

[0072]

[0073] Where ψ is the heading angle.

[0074] S5: Perform autonomous guided landing according to the navigation information.

[0075] Navigation information includes position information and heading angle information. By inputting the navigation information into the rotorcraft outer ring position controller, precise position control of the rotorcraft can be achieved, thereby realizing autonomous guided landing of the rotorcraft.

[0076] The outer loop controller of a rotorcraft is usually position control. When the rotorcraft has navigation information, the position information of the rotorcraft can be given. The outer loop controller of the rotorcraft can automatically calculate the attitude of the rotorcraft based on the deviation between the current position and the target position, thereby controlling the aircraft to fly to the target position.

[0077] This application proposes a method for guiding an autonomous landing of a rotorcraft. By establishing a UWB navigation coordinate system, the navigation information of the rotorcraft in the UWB navigation coordinate system is calculated based on the distance information and angle information output by the UWB device on the rotorcraft. The rotorcraft outer loop controller uses the navigation information to control and guide the rotorcraft to achieve autonomous landing, thereby solving the problem of autonomous landing of the aircraft under conditions where satellite navigation information is unavailable and improving the anti-interference capability of the aircraft.

[0078] In an exemplary embodiment, a rotorcraft guided autonomous landing system is provided, the rotorcraft guided autonomous landing system comprising:

[0079] A landing area position determination module is used to obtain the landing area position of the rotorcraft;

[0080] A UWB navigation coordinate system establishment module is used to determine the position information of the reference point according to the position of the landing area; and establish an ultra-wideband communication technology UWB navigation coordinate system according to the position information of the reference point;

[0081] a distance information and angle information determination module, configured to determine distance information and angle information of the rotorcraft relative to a UWB navigation coordinate system based on a UWB device in the rotorcraft;

[0082] A navigation information determination module, configured to determine navigation information of the rotorcraft based on a UWB navigation coordinate system according to the distance information and the angle information; the navigation information including: position information and heading angle information;

[0083] The autonomous landing module is used to perform autonomous guided landing according to the navigation information.

[0084] In an exemplary embodiment, assuming |AB| = m = 5, |AC| = n = 4, when the rotorcraft is at point P, based on the distance information output by the UWB device in the rotorcraft, the distances from the rotorcraft P to the four reference points are determined to be d1 = 102.02, d2 = 106.93, d3 = 101.99, and d4 = 106.89, respectively. The position information of the rotorcraft based on the UWB navigation coordinate system, i.e., the coordinates of the rotorcraft point P, is:

[0085]

[0086] Project the rotorcraft P onto the Oxy plane, and determine the angles of the rotorcraft P relative to the four reference points based on the angle information output by the UWB device in the rotorcraft: p1 =46.82°, ψ p2 =46.50°, ψ p3 =44.66° and ψp4 =44.48°, and then determine the initial heading angles of the rotorcraft P in the navigation coordinate system Oxyz relative to the four reference points:

[0087]

[0088] The average of the initial heading angles ψ1, ψ2, ψ3, and ψ4 is taken as the heading angle of the rotorcraft P in the UWB navigation coordinate system Oxyz. The calculation formula is:

[0089]

[0090] By inputting the position information and heading angle information into the rotorcraft outer ring position controller, the precise position control of the rotorcraft can be achieved, thereby realizing the autonomous guided landing of the rotorcraft.

[0091] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store the rotorcraft guided autonomous landing. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for guiding the autonomous landing of a rotorcraft is implemented.

[0092] Those skilled in the art will understand that Figure 4 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application and does not constitute a limitation on the computer device to which the solution of the present application is applied. A specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps of the above-mentioned method embodiments when executing the computer program.

[0093] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0094] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0095] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0096] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0097] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for guiding autonomous landing of a rotorcraft, characterized in that: The method for guiding the autonomous landing of a rotorcraft comprises: Get the landing area location of the rotorcraft; Determining the location information of the reference point according to the location of the landing area; and establishing an ultra-wideband communication technology UWB navigation coordinate system according to the location information of the reference point; determining, based on a UWB device in the rotorcraft, distance information and angle information of the rotorcraft relative to a UWB navigation coordinate system; Determining navigation information of the rotorcraft based on a UWB navigation coordinate system according to the distance information and the angle information; wherein the navigation information includes: position information and heading angle information; Perform autonomous guided landing based on the navigation information.

2. The method for guiding autonomous landing of a rotorcraft according to claim 1, wherein: Determining the position information of the reference point according to the position of the landing area; And establishing an ultra-wideband communication technology UWB navigation coordinate system based on the position information of the reference point, specifically including: Determine four reference points based on the landing area location; and determine the position information corresponding to each reference point; the four reference points are distributed in a rectangular shape; A UWB navigation coordinate system is established based on the position information corresponding to each reference point.

3. The method for guiding autonomous landing of a rotorcraft according to claim 2, wherein: The determining, based on the UWB device in the rotorcraft, distance information and angle information of the rotorcraft relative to the UWB navigation coordinate system specifically includes: Determining coordinates of the rotorcraft and angle information of the rotorcraft relative to four reference points based on a UWB device in the rotorcraft and the UWB navigation coordinate system; According to the position information corresponding to each reference point and the coordinates of the rotorcraft, the distance information from the rotorcraft to the four reference points is determined respectively.

4. The method for guiding autonomous landing of a rotorcraft according to claim 3, wherein: Determining navigation information of the rotorcraft based on a UWB navigation coordinate system according to the distance information and the angle information specifically includes: Determining, based on the distance information, position information of the rotorcraft based on a UWB navigation coordinate system; According to the angle information, the heading angle information of the rotorcraft based on the UWB navigation coordinate system is determined.

5. The method for guiding autonomous landing of a rotorcraft according to claim 4, wherein: Determining the position information of the rotorcraft based on the UWB navigation coordinate system according to the distance information specifically includes: Using the formula Determine the position information of the rotorcraft based on the UWB navigation coordinate system; Where (x, y, z), (0, 0, 0), (m, 0, 0), (0, n, 0), and (m, n, 0) are the coordinates of rotorcraft P, reference points A, B, C, and D, respectively, and d1, d2, and d3 are the distances from rotorcraft P to reference points A, B, and C, respectively.

6. The method for guiding autonomous landing of a rotorcraft according to claim 4, wherein: Determining the heading angle information of the rotorcraft based on the UWB navigation coordinate system according to the angle information specifically includes: According to the angle information, using the formula respectively determining an initial heading angle of the rotorcraft relative to four reference points in the UWB navigation coordinate system; Where (x, y, z), (0, 0, 0), (m, 0, 0), (0, n, 0), and (m, n, 0) are the coordinates of the rotorcraft P, reference points A, B, C, and D, respectively. ψ1, ψ2, ψ3, and ψ4 are the initial heading angles of the rotorcraft P relative to reference points A, B, C, and D, respectively. p1 , ψ p2 , ψ p3 , ψ p4 are the angle information of the rotorcraft P relative to the reference points A, B, C and D, respectively, po The angle between the line between the rotorcraft P and the reference point A and the Oy axis in the UWB navigation coordinate system; According to the initial heading angle, use the formula Determine the heading angle information of the rotorcraft based on the UWB navigation coordinate system; where ψ is the heading angle.

7. A rotorcraft guided autonomous landing system, characterized in that: The rotorcraft guided autonomous landing system includes: A landing area position determination module is used to obtain the landing area position of the rotorcraft; A UWB navigation coordinate system establishment module is used to determine the position information of the reference point according to the position of the landing area; and establish an ultra-wideband communication technology UWB navigation coordinate system according to the position information of the reference point; a distance information and angle information determination module, configured to determine distance information and angle information of the rotorcraft relative to a UWB navigation coordinate system based on a UWB device in the rotorcraft; A navigation information determination module, configured to determine navigation information of the rotorcraft based on a UWB navigation coordinate system according to the distance information and the angle information; the navigation information including: position information and heading angle information; The autonomous landing module is used to perform autonomous guided landing according to the navigation information.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for guided autonomous landing of a rotorcraft according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for guided autonomous landing of a rotorcraft according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for guided autonomous landing of a rotorcraft according to any one of claims 1 to 6 is implemented.

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