CN113671982A - Visual leading system applied to indoor outburst combat of unmanned aerial vehicle - Google Patents

Abstract

The invention provides a visual leading system applied to indoor outburst combat of an unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicles, and comprises a central control system, a signal strengthening module, a 3D visual modeling control system, unmanned aerial vehicle hardware and a data storage center, and is characterized in that: the central control system comprises a CPU, a 5G communication module, an operating system based on Windows and a display; the invention detects images through the camera and detects the radar detection distance at 360 degrees to carry out pilot detection on the flight of the unmanned aerial vehicle, the modeling module is used for modeling the unmanned aerial vehicle, the situation view module is used for carrying out scene display on the flight path of the unmanned aerial vehicle in a display in real time, the control module is used for obtaining a terrain legend and analysis data, the terrain analysis module is used for obtaining and displaying the analysis data according to the actual terrain, a map course is recommended, pilot identification is conveniently carried out on each terrain and the recommended course is given out, and the influence on normal flight is avoided.

Description

Visual leading system applied to indoor outburst combat of unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a visual leading system applied to indoor outburst combat of an unmanned aerial vehicle.

Background

In a future information battlefield, unmanned aerial vehicles are more and more widely used for executing various destructive combat tasks, the unmanned aerial vehicle combat mode is changed under the highly information battlefield prospect, the single-machine autonomous combat mode is changed into a combat mode for attacking a cluster and a cluster to ground and water surface targets, namely unmanned aerial vehicle cluster cooperative combat, and the unmanned aerial vehicle cluster forms scale advantages and has excellent battlefield viability and task completion capacity and can be used for completing tasks such as cooperative search, cooperative interference, cooperative attack, cooperative fighting, cluster confrontation and the like under a complex confrontation environment;

in the combat application of the unmanned aerial vehicle, indoor combat is an important item, the difficulty of indoor combat lies in the complication of an indoor environment and the emergency treatment of the unmanned aerial vehicle.

Disclosure of Invention

Aiming at the problems, the invention provides a visual leading system applied to the indoor outburst combat of the unmanned aerial vehicle, the visual leading system applied to the indoor outburst combat of the unmanned aerial vehicle carries out leading detection on the flight of the unmanned aerial vehicle by detecting images through the camera and detecting the radar detection distance at 360 degrees, in the 3D visual modeling control system, the modeling module is used for modeling the unmanned aerial vehicle, the situation scene module is used for displaying the flying path of the unmanned aerial vehicle in real time in a display, the control module is connected with the Internet and is accessed into a search engine to obtain various geographical legends, building indoor legends and various geographical analysis data, the terrain analysis module is accessed into the search engine, and analysis data is obtained and displayed according to actual terrain, so that map routes are recommended, pilot identification is conveniently carried out on various terrain, recommended routes are provided, and influence on normal flight is avoided.

In order to realize the purpose of the invention, the invention is realized by the following technical scheme: a visual leading system applied to indoor outburst combat of an unmanned aerial vehicle comprises a central control system, a signal strengthening module, a 3D visual modeling control system, unmanned aerial vehicle hardware and a data storage center, wherein the central control system comprises a CPU, a 5G communication module, an operating system based on Windows and a display, a data analysis module is arranged in the CPU, the 5G communication module is remotely connected with the unmanned aerial vehicle hardware and receives data of the unmanned aerial vehicle hardware, the data analysis module is used for analyzing the data, and the data storage center is used for storing data collected by the unmanned aerial vehicle hardware;

the unmanned aerial vehicle hardware comprises an unmanned aerial vehicle, a camera, a communication positioning chip and a 360-degree detection radar, wherein the communication positioning chip is wirelessly connected with a 5G communication module and transmits positioning data, a camera detection image and 360-degree detection radar detection distance data in real time;

the 3D visual modeling control system runs in an operating system based on Windows, and comprises a modeling module, a situation view module and a control module, wherein the modeling module is used for modeling the unmanned aerial vehicle, the situation view module is connected with a data analysis module, receives analyzed data and displays the data in a scene in a display, the unmanned aerial vehicle is modeled and displayed in the scene, the control module is connected with the Internet, and the control module comprises a terrain analysis module, a map navigation module and a route control module, analyzes the terrain in the scene and recommends a map route;

the signal strengthening module is a Kalman filtering module and is used for filtering and strengthening transmission signals of the communication positioning chip and the 5G communication module.

The further improvement lies in that: after the data analysis module analyzes data, the data is converted into HL7, IHE and XDS international standards, a standard data conversion layer is established, a data structure is converted from irregular to regular, basic service is provided for data processing and data exchange of an upper layer, the data analysis module supports the IHE standard, an IHE exchange tool is included, an integrated test function is built in an integrated engine, and the data is packaged and input to a data storage center for storage.

The further improvement lies in that: the modeling module is based on a Unity development platform, utilizes Photoshop to process three views of the unmanned aerial vehicle, sharpens and increases model textures, introduces the three views into 3ds Max, builds a model, utilizes the exhibition UV mapping to map and render an airplane model, and derives the unmanned aerial vehicle model.

The further improvement lies in that: the situation view module generates a view based on an image generator and a data storage center, the image generator defines and draws contents from a view point, the contents comprise image data, parameters and vectors, the image data, the parameters and the vectors are stored in the data storage center, a display displays the view, the view is reappeared of a 3D world, the view changes along with the continuous change of time, the display speed of the image follows the visual sensing speed of a user, the image of at least 10 frames per second is displayed on the display, and the image updating speed is between 20 frames per second and 30 frames per second.

The further improvement lies in that: the control module is connected with the Internet and is accessed to a search engine, the search engine is deployed by adopting an ElasticSearch + Logstash + Kibana framework, a distributed multi-user full-text search engine is completed by utilizing an ElasticSearch search server, and the search engine comprises various terrain legends, building indoor legends and various terrain analysis data.

The further improvement lies in that: the system comprises a terrain analysis module, a map navigation module, a communication positioning chip, a display, a route control module, a threat setting module and a search engine, wherein the terrain analysis module is accessed into the search engine to display terrain data of a scene displayed by a current situation view module on the display in real time, obtains and displays analysis data according to actual terrain, recommends a map route, the map navigation module is connected with the communication positioning chip to position an unmanned aerial vehicle, displays the current position of the unmanned aerial vehicle on the map on the display, and performs roaming, amplification and reduction operations on the map, the route control module is used for planning the route of the unmanned aerial vehicle, displays the planned route on the display, sets the threat before flight to perform offline global planning track display, and manually inserts the emergent threat to intervene the flight of the aircraft.

The further improvement lies in that: the navigation control module is internally provided with a PRM selection method, the PRM selection method is a random path searching method, after the terrain analysis module obtains analysis data, once a threat is met and no artificial intervention is performed, when the environment is known, path planning is randomly selected, and road signs are left in the scene display of the area.

The further improvement lies in that: in the Kalman filtering module, clock errors of the communication positioning chip and the 5G communication module are eliminated by calculating a double-difference observation value, and the pseudo range measured values corresponding to the communication positioning chip and the 5G communication module are combined into double-difference pseudo ranges, the double-difference carrier phase is utilized to smooth the corresponding double-difference pseudo ranges, thereby reducing the measurement noise of the double-difference pseudo range observed value, the smoothed or filtered double-difference pseudo range observed value not only has low measurement noise, but also keeps the advantage of no integer ambiguity, and simultaneously, when positioning is carried out, a Kalman filtering method is adopted to calculate a single-difference integer ambiguity value comprising a base line vector and each frequency point, after the single-difference integer ambiguity value is converted into a double-difference integer ambiguity, obtaining a double-difference whole-cycle ambiguity value corresponding to each frequency point through further linear transformation by an LAMBDA algorithm, therefore, the timeliness and the accuracy of signal transmission between the communication positioning chip and the 5G communication module are improved.

The further improvement lies in that: the data storage center comprises a cloud database and a time-space marking system, the cloud database is used for storing data analyzed by the data analysis module, the time-space marking system comprises a coordinate marking module and a time stamp module, the coordinate marking module is used for marking coordinate positions on the data collected by the detection hardware system, and the time stamp module is used for marking time on the data collected by the detection hardware system in real time.

The invention has the beneficial effects that:

1. the invention detects images through a camera and detects radar detection distance at 360 degrees to carry out pilot detection on the flight of the unmanned aerial vehicle, in a 3D visual modeling control system, the unmanned aerial vehicle is modeled through a modeling module, the flying path of the unmanned aerial vehicle is displayed in a scene in a display in real time through a situation view module, the control module is connected with the Internet and is accessed into a search engine to obtain various terrain legends, building indoor legends and various terrain analysis data, the terrain analysis module is accessed into the search engine to obtain and display the analysis data according to actual terrain, map routes are recommended, pilot identification is conveniently carried out on various terrain and recommended routes are given, and normal flight is prevented from being influenced.

2. The invention positions the unmanned aerial vehicle by connecting the map navigation module with the communication positioning chip, plans the air route of the unmanned aerial vehicle by the air route control module, sets threats before flight to carry out off-line global planning flight path display, intervenes the flight of the aircraft by manually inserting emergent threats, carries out random route selection planning when the environment is known and road signs are left in the scene display of the area by the PRM selection method once the threats are met and the manual intervention is not carried out, thereby facilitating emergency under various emergent conditions.

3. According to the invention, clock errors of a communication positioning chip and a 5G communication module are eliminated by calculating a double-difference observation value through the action of a Kalman filtering module, pseudo-range measurement values corresponding to the communication positioning chip and the 5G communication module form double-difference pseudo ranges, and the corresponding double-difference pseudo ranges are smoothed by using double-difference carrier phases, so that the measurement noise of the double-difference pseudo-range observation value is reduced.

Drawings

FIG. 1 is a structural diagram of the present invention.

Detailed Description

In order to further understand the present invention, the following detailed description will be made with reference to the following examples, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.

According to fig. 1, the embodiment provides a visual leader system for indoor outburst combat of an unmanned aerial vehicle, which comprises a central control system, a signal enhancement module, a 3D visual modeling control system, unmanned aerial vehicle hardware and a data storage center, wherein the central control system comprises a CPU, a 5G communication module, a Windows-based operating system and a display, the CPU is provided with a data analysis module, the 5G communication module is remotely connected with the unmanned aerial vehicle hardware and receives data of the unmanned aerial vehicle hardware, the data analysis module is used for analyzing the data, and the data storage center is used for storing data acquired by the unmanned aerial vehicle hardware;

the unmanned aerial vehicle hardware comprises an unmanned aerial vehicle, a camera, a communication positioning chip and a 360-degree detection radar, wherein the communication positioning chip is wirelessly connected with a 5G communication module and transmits positioning data, a camera detection image and 360-degree detection radar detection distance data in real time;

the 3D visual modeling control system runs in an operating system based on Windows, and comprises a modeling module, a situation view module and a control module, wherein the modeling module is used for modeling the unmanned aerial vehicle, the situation view module is connected with a data analysis module, receives analyzed data and displays the data in a scene in a display, the unmanned aerial vehicle is modeled and displayed in the scene, the control module is connected with the Internet, and the control module comprises a terrain analysis module, a map navigation module and a route control module, analyzes the terrain in the scene and recommends a map route;

the signal strengthening module is a Kalman filtering module and is used for filtering and strengthening transmission signals of the communication positioning chip and the 5G communication module.

After the data analysis module analyzes data, the data is converted into HL7, IHE and XDS international standards, a standard data conversion layer is established, a data structure is converted from irregular to regular, basic service is provided for data processing and data exchange of an upper layer, the data analysis module supports the IHE standard, an IHE exchange tool is included, an integrated test function is built in an integrated engine, and the data is packaged and input to a data storage center for storage.

The modeling module is based on a Unity development platform, utilizes Photoshop to process three views of the unmanned aerial vehicle, sharpens and increases model textures, introduces the three views into 3ds Max, builds a model, utilizes the exhibition UV mapping to map and render an airplane model, and derives the unmanned aerial vehicle model.

The situation view module generates a view based on an image generator and a data storage center, the image generator defines and draws contents from a view point, the contents comprise image data, parameters and vectors, the image data, the parameters and the vectors are stored in the data storage center, a display displays the view, the view is reappeared of a 3D world, the view changes along with the continuous change of time, the display speed of the image follows the visual sensing speed of a user, the image of at least 10 frames per second is displayed on the display, and the image updating speed is between 20 frames per second and 30 frames per second.

The control module is connected with the Internet and is accessed to a search engine, the search engine is deployed by adopting an ElasticSearch + Logstash + Kibana framework, a distributed multi-user full-text search engine is completed by utilizing an ElasticSearch search server, and the search engine comprises various terrain legends, building indoor legends and various terrain analysis data.

The system comprises a terrain analysis module, a map navigation module, a communication positioning chip, a display, a route control module, a threat setting module and a search engine, wherein the terrain analysis module is accessed into the search engine to display terrain data of a scene displayed by a current situation view module on the display in real time, obtains and displays analysis data according to actual terrain, recommends a map route, the map navigation module is connected with the communication positioning chip to position an unmanned aerial vehicle, displays the current position of the unmanned aerial vehicle on the map on the display, and performs roaming, amplification and reduction operations on the map, the route control module is used for planning the route of the unmanned aerial vehicle, displays the planned route on the display, sets the threat before flight to perform offline global planning track display, and manually inserts the emergent threat to intervene the flight of the aircraft.

The navigation control module is internally provided with a PRM selection method, the PRM selection method is a random path searching method, after the terrain analysis module obtains analysis data, once a threat is met and no artificial intervention is performed, when the environment is known, path planning is randomly selected, and road signs are left in the scene display of the area.

In the Kalman filtering module, clock errors of the communication positioning chip and the 5G communication module are eliminated by calculating a double-difference observation value, and the pseudo range measured values corresponding to the communication positioning chip and the 5G communication module are combined into double-difference pseudo ranges, the double-difference carrier phase is utilized to smooth the corresponding double-difference pseudo ranges, thereby reducing the measurement noise of the double-difference pseudo range observed value, the smoothed or filtered double-difference pseudo range observed value not only has low measurement noise, but also keeps the advantage of no integer ambiguity, and simultaneously, when positioning is carried out, a Kalman filtering method is adopted to calculate a single-difference integer ambiguity value comprising a base line vector and each frequency point, after the single-difference integer ambiguity value is converted into a double-difference integer ambiguity, obtaining a double-difference whole-cycle ambiguity value corresponding to each frequency point through further linear transformation by an LAMBDA algorithm, therefore, the timeliness and the accuracy of signal transmission between the communication positioning chip and the 5G communication module are improved.

The data storage center comprises a cloud database and a time-space marking system, the cloud database is used for storing data analyzed by the data analysis module, the time-space marking system comprises a coordinate marking module and a time stamp module, the coordinate marking module is used for marking coordinate positions on the data collected by the detection hardware system, and the time stamp module is used for marking time on the data collected by the detection hardware system in real time.

The invention detects images through a camera and detects radar detection distance at 360 degrees to carry out pilot detection on the flight of an unmanned aerial vehicle, in a 3D visual modeling control system, the unmanned aerial vehicle is modeled through a modeling module, the flying path of the unmanned aerial vehicle is displayed in a scene in real time through a situational view module, the control module is connected with the Internet and is accessed into a search engine to obtain various terrain legends, indoor legends of buildings and various terrain analysis data, the terrain analysis module is accessed into the search engine to obtain and display the analysis data according to actual terrain, map routes are recommended, pilot identification is conveniently carried out on various terrain and recommended routes are given out to avoid influencing normal flight, and the invention positions the unmanned aerial vehicle through a map navigation module connected with a communication positioning chip, plans the routes of the unmanned aerial vehicle through a route control module, setting a threat before flying to carry out off-line global planning track display, manually inserting the emergency threat to intervene the airplane flying, carrying out random selection path planning when the environment is known and keeping a road sign in the scene display of the area through a PRM selection method once the threat is met and the artificial intervention is not carried out, thus facilitating emergency under various emergency conditions, meanwhile, the invention eliminates the clock error of a communication positioning chip and a 5G communication module through calculating double-difference observed values through the function of a Kalman filtering module, forms double-difference pseudo ranges by pseudo range measured values corresponding to the communication positioning chip and the 5G communication module, smoothes the corresponding double-difference pseudo ranges by utilizing double-difference carrier phases, thereby reducing the measurement noise of the double-difference observed pseudo ranges, and calculates a single-difference whole-cycle ambiguity value comprising a base line vector and each frequency point through the Kalman filtering method when positioning is carried out, after the double-difference integer ambiguity is converted, the double-difference integer ambiguity corresponding to each frequency point is obtained through linear transformation by an LAMBDA algorithm, so that the timeliness and the accuracy of signal transmission between the communication positioning chip and the 5G communication module are improved, and the interference is reduced.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. The utility model provides a be applied to visual leading system of indoor outburst operation of unmanned aerial vehicle, strengthens module, the visual control system that models of 3D, unmanned aerial vehicle hardware and data storage center, its characterized in that including central control system, signal: the central control system comprises a CPU, a 5G communication module, an operating system based on Windows and a display, wherein a data analysis module is arranged in the CPU, the 5G communication module is remotely connected with unmanned aerial vehicle hardware and receives data of the unmanned aerial vehicle hardware, the data analysis module is used for analyzing the data, and the data storage center is used for storing data acquired by the unmanned aerial vehicle hardware;

the unmanned aerial vehicle hardware comprises an unmanned aerial vehicle, a camera, a communication positioning chip and a 360-degree detection radar, wherein the communication positioning chip is wirelessly connected with a 5G communication module and transmits positioning data, a camera detection image and 360-degree detection radar detection distance data in real time;

the 3D visual modeling control system runs in an operating system based on Windows, and comprises a modeling module, a situation view module and a control module, wherein the modeling module is used for modeling the unmanned aerial vehicle, the situation view module is connected with a data analysis module, receives analyzed data and displays the data in a scene in a display, the unmanned aerial vehicle is modeled and displayed in the scene, the control module is connected with the Internet, and the control module comprises a terrain analysis module, a map navigation module and a route control module, analyzes the terrain in the scene and recommends a map route;

the signal strengthening module is a Kalman filtering module and is used for filtering and strengthening transmission signals of the communication positioning chip and the 5G communication module.

2. The visual leading system applied to the unmanned aerial vehicle indoor outburst combat according to claim 1, wherein: after the data analysis module analyzes data, the data is converted into HL7, IHE and XDS international standards, a standard data conversion layer is established, a data structure is converted from irregular to regular, basic service is provided for data processing and data exchange of an upper layer, the data analysis module supports the IHE standard, an IHE exchange tool is included, an integrated test function is built in an integrated engine, and the data is packaged and input to a data storage center for storage.

3. The visual leading system applied to the unmanned aerial vehicle indoor outburst combat according to claim 2, wherein: the modeling module is based on a Unity development platform, utilizes Photoshop to process three views of the unmanned aerial vehicle, sharpens and increases model textures, introduces the three views into 3ds Max, builds a model, utilizes the exhibition UV mapping to map and render an airplane model, and derives the unmanned aerial vehicle model.

4. The visual leading system applied to the unmanned aerial vehicle indoor outburst combat according to claim 3, wherein: the situation view module generates a view based on an image generator and a data storage center, the image generator defines and draws contents from a view point, the contents comprise image data, parameters and vectors, the image data, the parameters and the vectors are stored in the data storage center, a display displays the view, the view is reappeared of a 3D world, the view changes along with the continuous change of time, the display speed of the image follows the visual sensing speed of a user, the image of at least 10 frames per second is displayed on the display, and the image updating speed is between 20 frames per second and 30 frames per second.

5. The visual leading system applied to the unmanned aerial vehicle indoor outburst combat according to claim 4, wherein: the control module is connected with the Internet and is accessed to a search engine, the search engine is deployed by adopting an ElasticSearch + Logstash + Kibana framework, a distributed multi-user full-text search engine is completed by utilizing an ElasticSearch search server, and the search engine comprises various terrain legends, building indoor legends and various terrain analysis data.

6. The visual leading system applied to the unmanned aerial vehicle indoor outburst combat according to claim 5, wherein: the system comprises a terrain analysis module, a map navigation module, a communication positioning chip, a display, a route control module, a threat setting module and a search engine, wherein the terrain analysis module is accessed into the search engine to display terrain data of a scene displayed by a current situation view module on the display in real time, obtains and displays analysis data according to actual terrain, recommends a map route, the map navigation module is connected with the communication positioning chip to position an unmanned aerial vehicle, displays the current position of the unmanned aerial vehicle on the map on the display, and performs roaming, amplification and reduction operations on the map, the route control module is used for planning the route of the unmanned aerial vehicle, displays the planned route on the display, sets the threat before flight to perform offline global planning track display, and manually inserts the emergent threat to intervene the flight of the aircraft.

7. The visual leading system applied to the unmanned aerial vehicle indoor outburst combat according to claim 6, wherein: the navigation control module is internally provided with a PRM selection method, the PRM selection method is a random path searching method, after the terrain analysis module obtains analysis data, once a threat is met and no artificial intervention is performed, when the environment is known, path planning is randomly selected, and road signs are left in the scene display of the area.

8. The visual leading system applied to the unmanned aerial vehicle indoor outburst combat according to claim 1, wherein: in the Kalman filtering module, clock errors of the communication positioning chip and the 5G communication module are eliminated by calculating a double-difference observation value, and the pseudo range measured values corresponding to the communication positioning chip and the 5G communication module are combined into double-difference pseudo ranges, the double-difference carrier phase is utilized to smooth the corresponding double-difference pseudo ranges, thereby reducing the measurement noise of the double-difference pseudo range observed value, the smoothed or filtered double-difference pseudo range observed value not only has low measurement noise, but also keeps the advantage of no integer ambiguity, and simultaneously, when positioning is carried out, a Kalman filtering method is adopted to calculate a single-difference integer ambiguity value comprising a base line vector and each frequency point, after the single-difference integer ambiguity value is converted into a double-difference integer ambiguity, obtaining a double-difference whole-cycle ambiguity value corresponding to each frequency point through further linear transformation by an LAMBDA algorithm, therefore, the timeliness and the accuracy of signal transmission between the communication positioning chip and the 5G communication module are improved.

9. The visual leading system applied to the unmanned aerial vehicle indoor outburst combat according to claim 1, wherein: the data storage center comprises a cloud database and a time-space marking system, the cloud database is used for storing data analyzed by the data analysis module, the time-space marking system comprises a coordinate marking module and a time stamp module, the coordinate marking module is used for marking coordinate positions on the data collected by the detection hardware system, and the time stamp module is used for marking time on the data collected by the detection hardware system in real time.

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