Invention content
The technical problem to be solved in the present invention is to control single GPS navigation system easy for parafoil in the prior artThe defects of failing, and not considering meteorological condition and terrain environment provides a kind of use multimodal satellite navigation system, and at the same time rightThe paragliding flight path control system that meteorological condition and terrain environment are monitored.
The technical solution adopted by the present invention to solve the technical problems is：
The present invention provides a kind of paragliding flight path control system using multimodal satellite navigation, including being arranged on parafoilData combination module and multimode locating module connected to it and flight path programming module, the flight path programming module is alsoIt is connected with winged control tracking module；It further includes and is arranged on the air-drop Climate measurement module in place and terrain data acquisition module；
The multimode locating module obtains the signal of multiple satellite navigation systems in real time, measures the location information of parafoil, andNavigation data quality is monitored, rejects disturbed data, exports effective navigational parameter；
The Climate measurement module drops the wind speed of each layer in high-altitude in place, wind direction information for monitoring；
The terrain data acquisition module currently drops the geography information in place for being obtained from terrain environment database；
The data combination module is received obtains mould from the multimode locating module, Climate measurement module and terrain dataThe information that block is got, and resolving processing is carried out to it, extraction wind field data, geodata and trajectory planning key point data.
The flight path programming module receives the calculation result data from the data combination module, and with reference to parafoilCurrent location, speed, height, course angle and movement state information, formulate flight path, obtain the coordinates of N number of track points；
The coordinate of N number of track points that the winged control tracking module reception is calculated from flight path programming module, according to thisCoordinate changes the position of the heading, one by one track point of parafoil, and calculates parafoil current location and the position of track pointsDeviation, the course for controlling parafoil according to the size of deviation change.
The system further includes input detection terminal, and the input detection terminal was used in ground preparation stage and the flight pathPlanning module connects, and the information of target point is inputted the flight path programming module, is disconnected after the completion of input.
The system further includes homogeneous with the data combination module, the flight path programming module and the winged control tracking moduleData memory module even, the data memory module are used to store navigational parameter, track data and control instruction.
The system further includes the driver being connected with the winged control tracking module, and the driver is received from the winged controlThe control signal of tracking module, and amplification is driven to control signal.
The system further includes the motor servo machine structure being connected with driver, and the motor servo machine structure is received from the driveThe control signal of dynamic device, completes the contraction to parafoil control wire or release.
The multimode locating module includes the Big Dipper/GPS receiver module and GPS/GLONASS receiving modules.
The Climate measurement module includes weather radar and sonde.
The Climate measurement module monitors dropping ground overhead every 100M height wind direction and wind speed information.
The terrain data acquisition module obtains the elevation key point in the range of air-drop place central area radius 20KMPosition and elevation information.
The beneficial effect comprise that：The present invention provides a kind of paragliding flight path control using multimodal satellite navigationSystem processed using combined type multimodal satellite navigation, overcomes the use limitation of single GPS satellite navigation, improves navigationReliability and precision；Meanwhile parafoil flight tracking control device is external by data combination navigation information, weather information, geography information etc.Environmental information with reference to the kinetic characteristic of parafoil itself, cooks up rational flight path, control steerable parasail delivery system is according to planningFlight is completed in good track, solves the rashness in action in current parafoil flight tracking control, improves the reachable rate of landing precision.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is rightThe present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, notFor limiting the present invention.
As shown in Figure 1, it is that the paragliding flight path control system using multimodal satellite navigation of the embodiment of the present invention isSystem block diagram, is advised including the data combination module 1 being arranged on parafoil and multimode locating module 2 connected to it and flight pathModule 5 is drawn, flight path programming module 5 is also connected with winged control tracking module 6；Further include the Climate measurement module for being arranged on air-drop place3 and terrain data acquisition module 4.
Multimode locating module 2 obtains the signal of multiple satellite navigation systems in real time, measures the location information of parafoil, and to leadingThe boat quality of data is monitored, and is rejected disturbed data, is exported effective navigational parameter；Multimode locating module 2 include the Big Dipper/GPS receiver module and GPS/GLONASS receiving modules.
Climate measurement module 3 includes weather radar and sonde, for monitoring wind speed, the wind of each layer in high-altitude in air-drop placeTo information, wind direction, a wind speed information are extracted every 100M height.
Terrain data acquisition module 4 obtains for obtaining the geography information in current air-drop place from terrain environment databaseTake position and the elevation information of the elevation key point in the range of air-drop place central area radius 20KM.
The reception of data combination module 1 is obtained from multimode locating module 2, Climate measurement module 3 and terrain data acquisition module 4The information got, and resolving processing is carried out to it, extraction wind field data, geodata and trajectory planning key point data.
Flight path programming module 5 receives the calculation result data from data combination module 1, and combines the current of parafoilPosition, speed, height, course angle and movement state information formulate flight path, obtain the coordinate of N number of track points.
Fly control tracking module 6 and receive the coordinate of N number of track points being calculated from flight path programming module 5, according to the seatMark changes the position of the heading, one by one track point of parafoil, and the position for calculating parafoil current location and track points is inclinedDifference, the course for controlling parafoil according to the size of deviation change.
As shown in Fig. 2, being the structure diagram of the embodiment of the present invention, which further includes input detection terminal, input inspectionTerminal is surveyed for being connect in the ground preparation stage with the flight path programming module 5, and the information of target point is inputted into flight pathPlanning module 5 disconnects after the completion of input.
The system further includes the data being connected with data combination module 1, flight path programming module 5 and winged control tracking module 6Memory module, the data memory module are used to store navigational parameter, track data and control instruction.
The system further includes the driver being connected with flying control tracking module 6, and driver is received from winged control tracking module 6Signal is controlled, and amplification is driven to control signal.What is be connected with driver also has motor servo machine structure, motor servo machine structureThe control signal for carrying out output from driver is received, completes the contraction to parafoil control wire or release.
As shown in figure 3, it is the working-flow figure of the embodiment of the present invention, the specific steps of binding operation are to the present embodimentIt is described in detail.
In the ground preparation stage, input detection terminal is connect with flight tracking control device 5, longitude and latitude, the height above sea level of target pointDegree is written by inputting the input inspection software of detection terminal, is injected into flight tracking control device 5, injection software interface such as Fig. 4 institutesShow.
Before air-drop, weather radar or sonde measure the wind field information in dropping ground, include the wind direction and wind of every 100M heightFast data are delivered to general settlement module 1 by way of wire transmission or wireless transmission.From the earth geographic information databaseThe vital ground data in dropping ground are obtained, the elevation letter mainly in the range of the radius 20KM of dropping ground landing central areaBreath, the position of elevation key point and height, are delivered to data combination module 1.
After air-drop, the Big Dipper/GPS satellite receiver and GPS/GLONASS satellite receiver obtain the navigator fix number combinedAccording to, comprising：The parameters such as the real-time longitude and latitude of aerial delivery system, height, speed, course angle are exported by serial ports to data combination mouldBlock 1.General settlement module with reference to the placement position of air release point, carries out the meteorological data of acquisition, terrain data, navigational parameterAnalysis judgement, finds out critical control point information.Critical control point information enters flight path programming module 5, and flight path programming module 5 is analyzedKey point for parafoil kinetic model, with reference to the maneuvering motion characteristic of parafoil, cooks up the flight path of parafoil, obtain 1~N number of flight path point coordinates and number.Fly number order of the control tracking module 6 according to the track points planned, tracking one by one is flown extremelyThe coordinate position of track points, during flight-follow, in real time to the aerial delivery system location information measured and the position of trace pointConfidence breath is compared, and is obtained the distance of deviation, the angle of deviation, difference in height between the two, is sent out control instruction, control instructionFor the turn signal of motor, motor rotation drives parafoil control wire to shrink or discharge, so as to adjust paragliding direction.Air-drop systemSystem reaches preset track points position, subsequently enters next track points, until precision landing.
The course of work of the embodiment of the present invention can be divided into following steps in detail：
It 1st, the ground preparation stage before the air-drop of remote control aerial delivery system, will be between input detection terminal and parafoil trajectory planning deviceCommunication interface connects, and the longitude of write-in target point, latitude, height above sea level, are connect by communication in input detection terminalTarget point information is injected into parafoil trajectory planning device by mouth.
2nd, before system is launched, dropping ground release altitude range is measured using the Climate measurements equipment such as sonde, weather radarInterior wind speed and direction information obtains the wind speed that relative altitude is often incremented by 100M high levels, wind direction.
3rd, with reference to the geographical location of airborn landing field, topographic database is transferred, is obtained apart from airborn landing field center 20KMIn the range of vital ground data：Height above sea level, elevation landform.
4th, after remote control aerial delivery system is launched, parafoil expansion, in full gliding state, the Big Dipper/GPS/GLONASS multimodes at this timeSatellite receiver receives satellite-signal, and lock star positioning obtains remote control aerial delivery system current location, height, speed, course angle, fortuneThe parameters such as dynamic state.
5th, the feedings such as position data of navigation data, meteorological data, geodata, release position resolve module, according to dataProcessing rule carries out resolving processing, obtains trajectory planning key point data.
6th, trajectory planning analysis of key point data, with reference to the kinetic model of parafoil itself, for the kinetic characteristic of parafoil,Formulate rational flight path, formation 1~N number of flight path point coordinates.
7th, fly control tracking according to 1~N number of flight path point coordinates, change the heading of parafoil, one by one track point position.During track point position, fly the aerial delivery system location information of control tracker acquisition navigation system output, with flight pathDot position information is compared judgement, obtains yaw information, and adjustment paragliding direction makes aerial delivery system gradually approach track pointsPosition.
8th, fly control tracking and obtain the deviation of aerial delivery system current location and track points position, made according to the size of deviationTo the operational order of parafoil, i.e. decision goes out the manipulated variable of parafoil.Manipulated variable instruction is sent out, which is amplified by driving unit,The rotation or stopping of motor servo machine structure are controlled by relay, so as to shrink or discharge parafoil control wire.
It should be understood that for those of ordinary skills, can be improved or converted according to the above description,And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.