CN-121979256-A - Unmanned aerial vehicle height early warning and recycling method based on multi-source height

CN121979256ACN 121979256 ACN121979256 ACN 121979256ACN-121979256-A

Abstract

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle height early warning and recycling method based on multi-source height, which is used for calculating the current field height of an unmanned aerial vehicle according to the multi-source height of the unmanned aerial vehicle and the height of a terrain point at the current position by fusing the multi-source height of the unmanned aerial vehicle in real time, if the current field height of the unmanned aerial vehicle is in the alarm threshold value and the danger threshold value, alarming an operator through a ground control vehicle acousto-optic system, carrying out text alarming on an operation interface, and controlling the unmanned aerial vehicle to avoid danger according to the current situation when the operator fails to carry out any avoidance operation. According to the multisource height of the unmanned aerial vehicle and other telemetry parameters, the multisource height of the unmanned aerial vehicle is fused in real time, the parking point and the parachute opening point of the unmanned aerial vehicle are calculated, and when the unmanned aerial vehicle reaches the parking point and the parachute opening point, parking and parachute opening instructions are executed in a distinguishing mode.

Inventors

LIU KUN
Kang Rongyan
GUO PEILIN
LU XITUAN
REN JIAXIN
ZHAO YUANPENG
LIN FANYONG
Dai Te

Assignees

西安爱生技术集团有限公司

Dates

Publication Date: 20260505
Application Date: 20260104

Claims (10)

1. The unmanned aerial vehicle height early warning recovery method based on the multi-source height is characterized by comprising the following steps of: The method comprises the steps of collecting the current position, dead weight, real-time site wind speed and wind direction of the unmanned aerial vehicle, the included angle between the wind direction and the speed of the unmanned aerial vehicle and the height data of the unmanned aerial vehicle in the flight process of the unmanned aerial vehicle in real time, wherein the height data of the unmanned aerial vehicle comprise the barometric altitude, the satellite altitude and the radio altitude; loading regional map elevation tif format data to obtain the height of a terrain point; Recording unmanned plane height data of 20 continuous frames, acquiring measurement variances of the air pressure height, the satellite height and the radio height, and calculating corresponding confidence degrees respectively; normalizing the confidence coefficient to obtain a barometric altitude fusion weight, a satellite altitude fusion weight and a radio altitude fusion weight; performing self-adaptive weighted fusion on the three heights based on fusion weights corresponding to the heights to obtain the height of the unmanned aerial vehicle, and calculating the current field height of the unmanned aerial vehicle by combining the terrain point height; continuously recording the unmanned aerial vehicle height data of 20 continuous frames, and updating three height measurement variances in real time to correct the fusion weight in real time; The method comprises the steps of presetting a high warning threshold and a dangerous threshold of an unmanned aerial vehicle, sending a warning prompt to an operator through an acousto-optic system by a ground control vehicle when the current field height of the unmanned aerial vehicle reaches the warning threshold, and displaying a text warning on an operation interface; if the operator does not execute the risk avoidance operation within the preset time, the system autonomously transmits avoidance instructions to the unmanned aerial vehicle, wherein the avoidance instructions comprise climbing instructions and left-right spiral instructions.
2. The unmanned aerial vehicle height early warning recovery method based on the multi-source height according to claim 1, wherein the normalization processing adopts a linear normalization mode, so that the sum of the barometric altitude fusion weight, the satellite altitude fusion weight and the radio altitude fusion weight is 1.
3. The unmanned aerial vehicle height early warning recovery method based on the multi-source height according to claim 1, wherein the confidence coefficient is calculated by the following formula: In the formula, The measurement variance for the ith altitude source includes the barometric pressure altitude measurement variance High measurement variance of satellite Radio altitude measurement variance ; Is a real-time deviation; 、 Are all adjusting coefficients; confidence corresponding to the ith altitude source includes barometric altitude confidence High confidence of satellite High confidence of radio 。
4. The unmanned aerial vehicle height early warning recovery method based on the multi-source height according to claim 1, wherein the current field height of the unmanned aerial vehicle is calculated by the following formula: In the formula, The current field height of the unmanned aerial vehicle is high; The altitude of the terrain point is the longitude and latitude of the current unmanned aerial vehicle; The calculation formula of the height of the unmanned aerial vehicle is as follows , wherein, Height of the ith height source; The fusion weights corresponding to the ith height source include pneumatic height fusion weights Satellite high fusion weights Radio highly fused weights 。
5. The unmanned aerial vehicle height early warning recovery method based on the multi-source heights, according to claim 4, is characterized in that the fusion weight corresponding to each height is calculated by the following formula: In the formula, Fusion weights corresponding to the ith height source; confidence corresponding to the ith height source, and n is the number of the height sources.
6. The multi-source altitude-based unmanned aerial vehicle altitude pre-warning recovery method of claim 1, wherein real-time correction of the fusion weights by continuously recording unmanned aerial vehicle altitude data for 20 consecutive frames and updating three altitude measurement variances in real time comprises: when the airspeed of the unmanned aerial vehicle is greater than 54km/h, if the deviation of height data of a certain frame is greater than 100m, the height data is suddenly changed, the fusion weight of the corresponding height source is reduced, if the deviation of the height data of 20 frames is less than 100m, the fusion weight of the corresponding height source is reduced, and if the height data of 20 frames is unchanged or continuously 0, the height source data is invalid, the fusion weight is adjusted to 0, and the height data is removed.
7. The multi-source altitude-based unmanned aerial vehicle altitude pre-warning recovery method according to claim 1, wherein the warning threshold range is 200m < <300M, hazard threshold range of ≤200m。
8. The method for recovering the altitude pre-warning of the unmanned aerial vehicle based on the multisource altitude according to claim 1, wherein after the system autonomously sends an avoidance command to the unmanned aerial vehicle, the method further comprises the following steps of: Before the unmanned aerial vehicle is recovered, an operator plans the landing point and the height of the parachute opening point of the unmanned aerial vehicle; After the unmanned aerial vehicle reaches the recovery starting point, calculating the parachute landing time through a parachute landing recovery model according to the dead weight of the unmanned aerial vehicle, and simultaneously automatically controlling the speed and the field height of the unmanned aerial vehicle to preset values; calculating the ground speed of the unmanned aerial vehicle by combining the real-time field wind speed, the wind direction and the speed included angle of the unmanned aerial vehicle, and correcting the parking point and the parachute opening point coordinates of the unmanned aerial vehicle based on the ground speed; Stopping adjusting the parking point and the parachute opening point when the unmanned aerial vehicle reaches a preset key node, maintaining the current speed and the field height, executing a parking instruction when the unmanned aerial vehicle reaches the parking point, and executing the parachute opening instruction when the unmanned aerial vehicle reaches the parachute opening point.
9. A system for the multi-source altitude-based unmanned aerial vehicle altitude pre-warning recovery method of claim 1, comprising: The system comprises a data acquisition module, a loading area map elevation tif format data, a data processing module and a data processing module, wherein the data acquisition module is used for acquiring the current position, dead weight, real-time site wind speed and wind direction of the unmanned aerial vehicle, the included angle of the speed of the unmanned aerial vehicle and the height data of the unmanned aerial vehicle in real time in the flight process of the unmanned aerial vehicle, wherein the height data of the unmanned aerial vehicle comprises the barometric pressure height, the satellite height and the radio height; The data processing module is used for recording unmanned plane height data of 20 continuous frames, acquiring measurement variances of the air pressure height, the satellite height and the radio height, and respectively calculating corresponding confidence coefficients; normalizing the confidence coefficient to obtain a barometric altitude fusion weight, a satellite altitude fusion weight and a radio altitude fusion weight; carrying out self-adaptive weighted fusion on the three heights based on fusion weights corresponding to the heights to obtain the height of the unmanned aerial vehicle, and calculating the current field height of the unmanned aerial vehicle by combining the heights of the terrain points; The system comprises a height early warning module, a ground control vehicle, an audible and visual system and an operator, wherein the height early warning module is used for presetting a high warning threshold value and a danger threshold value of an unmanned aerial vehicle, when the current field height of the unmanned aerial vehicle reaches the warning threshold value, the ground control vehicle sends warning prompts to the operator through the audible and visual system and displays text warning on an operation interface, when the current field height of the unmanned aerial vehicle reaches the danger threshold value, the ground control vehicle sends danger prompts to the operator through the audible and visual system, and if the operator does not execute a risk avoidance operation within a preset time, the system autonomously sends avoidance instructions to the unmanned aerial vehicle, wherein the avoidance instructions comprise climbing instructions and left-right spiral instructions.
10. A system for the multi-source altitude-based unmanned aerial vehicle altitude pre-warning recovery method of claim 8, comprising: The unmanned aerial vehicle recovery module is used for planning landing points and parachute opening points of the unmanned aerial vehicle by an operator before the unmanned aerial vehicle is recovered, calculating parachute landing time according to dead weight of the unmanned aerial vehicle through a parachute landing recovery model after the unmanned aerial vehicle reaches a recovery starting point, simultaneously automatically controlling speed and the parachute opening points of the unmanned aerial vehicle to preset values, calculating ground speed of the unmanned aerial vehicle by combining real-time field wind speed, wind direction and an included angle of the speed of the unmanned aerial vehicle, correcting coordinates of the parking points and the parachute opening points of the unmanned aerial vehicle based on the ground speed, stopping adjusting the parking points and the parachute opening points after the unmanned aerial vehicle reaches a preset key node, maintaining current speed and the parachute opening points, executing a parking instruction when the unmanned aerial vehicle reaches the parking points, and executing the parachute opening instruction when the unmanned aerial vehicle reaches the parachute opening points.

Description

Unmanned aerial vehicle height early warning and recycling method based on multi-source height Technical Field The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle height early warning and recycling method based on multi-source heights. Background Fixed wing unmanned aerial vehicles are widely used in civilian applications, often fly in mountains or under geospatial constraints during mission execution, where emergency operations to avoid risks due to excessively low flight altitude are typically determined empirically and performed by an operator. And the current mode of obtaining the terrain height is that an operator observes the map with the contour lines to judge, so that the terrain height is not clear and visual. The unmanned aerial vehicle operation standard is not formulated in the safety strategy by combining with the geographic space, and when the flight height of the unmanned aerial vehicle is too low, the unmanned aerial vehicle operation standard does not give an enough and obvious alarm prompt to an operator, if the operator fails to discover and control the aircraft in time, the risk of the unmanned aerial vehicle crashing into mountains and the risk of the flight height being too low are increased, and the flight safety of the unmanned aerial vehicle is seriously threatened. Unmanned aerial vehicle system adopts the running take off and land and parachuting mode to retrieve the unmanned aerial vehicle generally, and the parachuting is retrieved, and gesture, altitude, speed, parking spot, parachute opening point when retrieving the unmanned aerial vehicle are controlled through planning to retrieve the route. In general, the recovery route is composed of 8 points, 1-3 points are mainly used for adjusting the unmanned aerial vehicle, the unmanned aerial vehicle can reach a parking point and an parachute opening point in an optimal posture, height and speed, 4 points are parking points, when the unmanned aerial vehicle reaches 4 points, the engine is flamed out and stopped, the unmanned aerial vehicle flies forwards in an unpowered gliding mode, 5 points are parachute opening points, when the unmanned aerial vehicle reaches 5 points in a parking state, the recovery parachute is opened, the unmanned aerial vehicle depends on the recovery parachute to land, 6-8 points are standby navigation points, when the unmanned aerial vehicle fails to reach a recovery condition in a 1-3-point period, the unmanned aerial vehicle does not execute parking and parachute opening actions at 4 and 5 points, and the unmanned aerial vehicle is selected to recover again according to the planned 6-8 points. At present, the recovery route planning of the unmanned aerial vehicle mainly comprises the steps of inputting the air pressure altitude of the route by an operator, selecting each waypoint on a map for operation, and generating a recovery model based on the input wind speed, wind direction and the entry angle of the unmanned aerial vehicle. This method is too dependent on the experience of the operator to judge, and is prone to misoperation. Meanwhile, because parameters such as the wind speed and the wind direction of a real-time site and the entering angle of the unmanned aerial vehicle are changed frequently, an operator needs to modify a recovery route frequently in a recovery stage, and a great amount of operation burden is brought to the operator. Disclosure of Invention In order to solve the defects in the background technology, the invention provides an unmanned aerial vehicle height early warning and recycling method based on multi-source height, the method fuses the unmanned aerial vehicle multi-source height in real time according to the unmanned aerial vehicle multi-source height and the current position terrain point height, calculates the current field height of the unmanned aerial vehicle, if the current field height of the unmanned aerial vehicle is in the alarm threshold value and the danger threshold value, alarming an operator through a ground control vehicle acousto-optic system, carrying out text alarming on an operation interface, and controlling the unmanned aerial vehicle to avoid danger according to the current situation when the operator fails to carry out any avoidance operation. According to the multisource height of the unmanned aerial vehicle and other telemetry parameters, the multisource height of the unmanned aerial vehicle is fused in real time, the parking point and the parachute opening point of the unmanned aerial vehicle are calculated, and when the unmanned aerial vehicle reaches the parking point and the parachute opening point, parking and parachute opening instructions are executed in a distinguishing mode. The first object of the invention is to provide an unmanned aerial vehicle height early warning recovery method based on multi-source height, comprising the following steps: The method comprises th