CN102636796A - System and method for determining airfield runway of unmanned plane - Google Patents
System and method for determining airfield runway of unmanned plane Download PDFInfo
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- CN102636796A CN102636796A CN2012101221356A CN201210122135A CN102636796A CN 102636796 A CN102636796 A CN 102636796A CN 2012101221356 A CN2012101221356 A CN 2012101221356A CN 201210122135 A CN201210122135 A CN 201210122135A CN 102636796 A CN102636796 A CN 102636796A
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Abstract
The invention relates to a system and a method for determining an airfield runway of an unmanned plane. The system consists of a reference station and a mobile station, wherein the reference station and the mobile station are of the same construction and comprise main control boards, differential GPS (Global Positioning System) boards, digital transmission radio boards and the like. The reference station is used for obtaining a GPS differential code and sending the GPS differential code to the mobile station through a radio link, so that the positioning accuracy of the mobile station is improved. The mobile station is used for acquiring the GPS data of specified positions of the airfield runway and obtaining the length, width and runway centerline of the airfield runway by using an average and fitting algorithm. According to the system and the method for determining the airfield runway of the unmanned plane, the effect for measuring and processing data of the airfield runway can be quantitatively evaluated instantaneously.
Description
Technical field
The present invention relates to a kind of system and method for definite unmanned plane runway, be used to unmanned plane and take off to land runway parameter accurately is provided.
Background technology
Present known unmanned plane airfield runway position and course information scaling method use real system (unmanned plane) to measure (with unmanned plane people's force urges on existing runway; Be used to measure the runway of unmanned plane) or use various general mapping means to survey and draw; Its automaticity is lower; Labour intensity is higher, and work efficiency is lower, and the demarcation effect can not provide quantitative judge fast.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiency of prior art, a kind of system and method for definite unmanned plane airfield runway is provided, reduce airfield runway and demarcate labour intensity, increase work efficiency, guarantee data validity.
Technical solution of the present invention is:
A kind of system of definite unmanned plane airfield runway comprises: base station and movement station,
The structure of movement station and base station is formed identical, all comprises differential GPS plate, data radio station plate, master control borad, battery and cabinet;
Differential GPS plate, data radio station plate, master control borad and battery all are fixed in the cabinet; Battery is differential GPS plate, data radio station plate and master control borad power supply; Master control borad is connected through the PC104 bus with the differential GPS plate, and master control borad is connected through the RS232 serial communication with the data radio station plate;
The differential GPS plate of base station is used to produce differential code; And offer master control borad through the PC104 bus; Master control borad sends to movement station through the data radio station plate with said differential code; The master control borad of movement station receives the differential GPS plate that said differential code offers this differential code movement station afterwards through the data radio station of movement station; The differential GPS buttress of movement station generates the differential GPS locating information according to GPS locating information and said differential code, and said differential GPS locating information is offered movement station through the PC104 bus master control borad is in order to confirm runway.
Pass through the radio link communication between base station and the movement station.
A kind of method of definite unmanned plane airfield runway of realizing based on the said system of claim 1, step is following:
(1) base station is fixed near the organic field, and makes the base station energising;
(2) the differential GPS plate of base station is constantly gathered the GPS positional information of base station and is carried out average computation, can export differential code up to the differential GPS plate, and base station sends this differential code to movement station afterwards;
(3) with the movement station energising, whether the differential GPS plate of monitoring movement station has afterwards got into the difference mode of operation, after the differential GPS plate of movement station is in the difference mode of operation, gets into step (4);
(4) movement station is placed on the runway centerline of said organic field; With runway centerline six five equilibriums; Successively in the position of the two ends of runway centerline, 56 Along ents and the runway dual-side along each station acquisition mobile station location information of getting at 1, get into step (5) afterwards;
(5) linear least square fitting is carried out in the final position of 7 location points on the runway centerline, and calculate the final position of 7 location points and the root mean square between the fitting result; Calculate 2 at runway edge to fitting result apart from the calculated value of sum as unmanned plane airfield runway width, calculate distance between the runway centerline two ends as the calculated value of unmanned plane airport runway length;
(6) if the root mean square that calculates is less than 1 meter, the calculated value of unmanned plane airfield runway width and the error between the runway width of organic field is less than the calculated value of 1 meter and unmanned plane airport runway length and the error between the landing airdrome length of organic field is also less than 1 meter in the step (5), then the length of unmanned plane airfield runway is distance, unmanned plane airfield runway width between the runway centerline two ends and is 2 center lines apart from sum, unmanned plane airfield runway to fitting result in runway edge and is the result of linear least square fitting.
Gathering mobile station location information in the said step (4) specifically carries out through following steps:
(4.1) first location point is gathered 50 mobile station location informations;
(4.2) according to 50 mobile station location information Calculation variance that collect; If variance is more than or equal to 1 meter; Then at this location point from 50 mobile station location informations of new collection and Calculation variance;, the mobile station location information of gathering for up-to-date 50 times is averaged, less than 1 meter up to variance with the final position of mean value as this location point;
(4.3) all the other location points are all gathered mobile station location information 50 times, and carry out the operation of step (4.2), up to the variance of the mobile station location information of each location point all less than 1 meter, and the final position of calculating each location point.
The present invention's beneficial effect compared with prior art is:
(1) among the present invention movement station base station constitute consistent, can be each other as spare part;
(2) effect of airfield runway DATA REASONING and processing can quantitatively be passed judgment on immediately among the present invention;
(3) be can single hand-held portable set for movement station among the present invention and base station, reduces personnel's labour intensity, increases work efficiency, and guarantees the quality of data;
Description of drawings
Fig. 1 is a system architecture synoptic diagram of the present invention;
Fig. 2 airfield runway is confirmed method flow diagram;
Fig. 3 airfield runway is confirmed method measuring point distribution plan;
Embodiment
Further describe in detail below in conjunction with the accompanying drawing specific embodiments of the invention.
As shown in Figure 1, the invention provides a kind of system of definite unmanned plane airfield runway, this system comprises base station and movement station, the structure of movement station and base station is formed identical, all comprises differential GPS plate, data radio station plate, master control borad, battery and cabinet; Base station with move through the radio link communication.
Differential GPS plate, data radio station plate, master control borad and battery all are fixed in the cabinet; Battery is differential GPS plate, data radio station plate and master control borad power supply; Master control borad is connected through the PC104 bus with the differential GPS plate, and master control borad is connected through the RS232 serial communication with the data radio station plate;
The differential GPS plate of base station is used to produce differential code, and (base station is through long period average a certain fixed location gps coordinate; Obtain differential code); And offer master control borad through the PC104 bus; Master control borad sends to movement station through the data radio station plate with said differential code; The master control borad of movement station receives the differential GPS plate that said differential code offers this differential code movement station afterwards through the data radio station of movement station, and the differential GPS buttress of movement station generates the differential GPS locating information according to GPS locating information and said differential code, and said differential GPS locating information is offered movement station through the PC104 bus master control borad is in order to confirm runway.
Be illustrated in figure 2 as the method for a kind of definite unmanned plane airfield runway of realizing based on said system provided by the invention, carry out according to following steps:
(1) base station is fixed near the organic field, and makes the base station energising;
(2) the differential GPS plate of base station is constantly gathered the GPS positional information of base station and is carried out average computation, can export differential code up to the differential GPS plate, and base station sends this differential code to movement station afterwards;
The differential GPS plate can not just be switched on and just exported differential code, in general, needs to wait for about one hour and can export differential code.
(3) with the movement station energising, whether the differential GPS plate of monitoring movement station has afterwards got into the difference mode of operation, after the differential GPS plate of movement station is in the difference mode of operation, gets into step (4);
The differential GPS plate mainly contains two kinds of mode of operations, and a kind of is single mode of operation, and a kind of is the difference mode of operation.The difference mode of operation is meant that the GPS locating information accomplished the differential code correction.
(4) as shown in Figure 3; Movement station is placed on the runway centerline of said organic field; With runway centerline six five equilibriums; Successively in the position of the two ends of runway centerline, 5 six Along ents and the runway dual-side along each station acquisition mobile station location information (amounting to 9 location points) of getting at 1, get into step (5) afterwards;
Gathering mobile station location information specifically carries out through following steps:
(4.1) first location point is gathered 50 mobile station location informations;
(4.2) according to 50 mobile station location information Calculation variance that collect; If variance is more than or equal to 1 meter; Then at this location point from 50 mobile station location informations of new collection and Calculation variance;, the mobile station location information of gathering for up-to-date 50 times is averaged, less than 1 meter up to variance with the final position of mean value as this location point;
(4.3) all the other location points are all gathered mobile station location information 50 times, and carry out the operation of step (4.2), up to the variance of the mobile station location information of each location point all less than 1 meter, and the final position of calculating each location point.
(5) linear least square fitting (result who obtains is the center line of unmanned plane airfield runway) is carried out in the final position of seven location points (location point 1～7 among Fig. 3) on the runway centerline, and calculate the final position of seven location points and the error mean square root between the fitting result; Calculate runway edge 2 points ( location point 8 and 9 among Fig. 3) to fitting result apart from the calculated value of sum (putting the distance of straight line) as unmanned plane airfield runway width, the distance (distance between two points) between the calculating runway centerline two ends is as the calculated value of unmanned plane airport runway length;
(6) if the root mean square that calculates is less than 1 meter, the calculated value of unmanned plane airfield runway width and the error between the runway width of organic field is less than the calculated value of 1 meter and unmanned plane airport runway length and the error between the landing airdrome length of organic field is also less than 1 meter in the step (5), then the length of unmanned plane airfield runway is distance, unmanned plane airfield runway width between the runway centerline two ends and is 2 center lines apart from sum, unmanned plane airfield runway to fitting result in runway edge and is the result of linear least square fitting.
The content of not doing to describe in detail in the instructions of the present invention belongs to this area professional and technical personnel's known technology.
Claims (4)
1. the system of a definite unmanned plane airfield runway is characterized in that comprising: base station and movement station,
The structure of movement station and base station is formed identical, all comprises differential GPS plate, data radio station plate, master control borad, battery and cabinet;
Differential GPS plate, data radio station plate, master control borad and battery all are fixed in the cabinet; Battery is differential GPS plate, data radio station plate and master control borad power supply; Master control borad is connected through the PC104 bus with the differential GPS plate, and master control borad is connected through the RS232 serial communication with the data radio station plate;
The differential GPS plate of base station is used to produce differential code; And offer master control borad through the PC104 bus; Master control borad sends to movement station through the data radio station plate with said differential code; The master control borad of movement station receives the differential GPS plate that said differential code offers this differential code movement station afterwards through the data radio station of movement station; The differential GPS buttress of movement station generates the differential GPS locating information according to GPS locating information and said differential code, and said differential GPS locating information is offered movement station through the PC104 bus master control borad is in order to confirm runway.
2. the system of a kind of definite unmanned plane airfield runway according to claim 1 is characterized in that: pass through the radio link communication between base station and the movement station.
3. the method for a kind of definite unmanned plane airfield runway of realizing based on the said system of claim 1 is characterized in that step is following:
(1) base station is fixed near the organic field, and makes the base station energising;
(2) the differential GPS plate of base station is constantly gathered the GPS positional information of base station and is carried out average computation, can export differential code up to the differential GPS plate, and base station sends this differential code to movement station afterwards;
(3) with the movement station energising, whether the differential GPS plate of monitoring movement station has afterwards got into the difference mode of operation, after the differential GPS plate of movement station is in the difference mode of operation, gets into step (4);
(4) movement station is placed on the runway centerline of said organic field; With runway centerline six five equilibriums; Successively in the position of the two ends of runway centerline, 56 Along ents and the runway dual-side along each station acquisition mobile station location information of getting at 1, get into step (5) afterwards;
(5) linear least square fitting is carried out in the final position of 7 location points on the runway centerline, and calculate mean square of error root between final position and the fitting result of 7 location points; Calculate 2 at runway edge to fitting result apart from the calculated value of sum as unmanned plane airfield runway width, calculate distance between the runway centerline two ends as the calculated value of unmanned plane airport runway length;
(6) if the root mean square that calculates is less than 1 meter, the calculated value of unmanned plane airfield runway width and the error between the runway width of organic field is less than the calculated value of 1 meter and unmanned plane airport runway length and the error between the landing airdrome length of organic field is also less than 1 meter in the step (5), then the length of unmanned plane airfield runway is distance, unmanned plane airfield runway width between the runway centerline two ends and is 2 center lines apart from sum, unmanned plane airfield runway to fitting result in runway edge and is the result of linear least square fitting.
4. the method for a kind of definite unmanned plane airfield runway according to claim 3 is characterized in that: gather mobile station location information in the said step (4) and specifically carry out through following steps:
(4.1) first location point is gathered 50 mobile station location informations;
(4.2) according to 50 mobile station location information Calculation variance that collect; If variance is more than or equal to 1 meter; Then at this location point from 50 mobile station location informations of new collection and Calculation variance;, the mobile station location information of gathering for up-to-date 50 times is averaged, less than 1 meter up to variance with the final position of mean value as this location point;
(4.3) all the other location points are all gathered mobile station location information 50 times, and carry out the operation of step (4.2), up to the variance of the mobile station location information of each location point all less than 1 meter, and the final position of calculating each location point.
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Cited By (5)
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| CN103353601A (en) * | 2013-07-01 | 2013-10-16 | 唐粮 | System and method for unmanned aerial vehicle accurate navigation based on GNSS real-time difference technology |
| CN104122573A (en) * | 2013-04-24 | 2014-10-29 | 成都飞机设计研究所 | Unmanned aerial vehicle-based portable runway calibrating system and method |
| EP2942604A1 (en) * | 2014-04-10 | 2015-11-11 | Honeywell International Inc. | Runway location determination |
| CN105933866A (en) * | 2016-04-29 | 2016-09-07 | 中国航天空气动力技术研究院 | Unmanned aerial vehicle runway course and center coordinate calibration method |
| CN106019251A (en) * | 2016-05-16 | 2016-10-12 | 深圳市金溢科技股份有限公司 | Radar positioning method and device and ETC transaction method and system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104122573A (en) * | 2013-04-24 | 2014-10-29 | 成都飞机设计研究所 | Unmanned aerial vehicle-based portable runway calibrating system and method |
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| CN105933866A (en) * | 2016-04-29 | 2016-09-07 | 中国航天空气动力技术研究院 | Unmanned aerial vehicle runway course and center coordinate calibration method |
| CN105933866B (en) * | 2016-04-29 | 2019-10-22 | 中国航天空气动力技术研究院 | A kind of unmanned plane runway course and centre coordinate scaling method |
| CN106019251A (en) * | 2016-05-16 | 2016-10-12 | 深圳市金溢科技股份有限公司 | Radar positioning method and device and ETC transaction method and system |
| CN106019251B (en) * | 2016-05-16 | 2019-06-28 | 深圳市金溢科技股份有限公司 | Radar fix method, apparatus and ETC method of commerce and system |
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| CN102636796B (en) | 2013-07-10 |
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Effective date of registration: 20170306 Address after: 065500 Guan Industrial Park, Hebei, Langfang Patentee after: Rainbow UAV Technology Co., Ltd. Address before: 100074 Beijing, Fengtai District Yungang West Road, No. 17 Patentee before: China Aerospace Aerodynamic Technology Institute |