面向货物运输的移动平台设计与无人直升机追踪控制  

Design of Mobile Platform and Tracking Control of Unmanned Helicopter for Cargo Transportation

作　　者：王诚[1] 徐锦法[1] 张梁[1] 于永军[1] 

机构地区：[1]南京航空航天大学直升机旋翼动力学国家级重点实验室,南京210016

出　　处：《南京航空航天大学学报》2016年第2期244-250,共7页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：武器装备预研基金资助项目;江苏高校优势学科建设工程资助项目;南京航空航天大学基本科研专项研究基金(NEZ014407)资助项目

摘　　要：由于无人直升机具有垂直起降、机动性好的特点,使其可用于移动平台之间的货物运输,因此,提出了无人直升机跟踪移动平台的货物运输方法。设计了一套用于无人直升机追踪实验的动平台,动平台上可放置物品,无人直升机在追踪动平台过程中同时完成物品的拾起和码放。动平台系统由移动小车平台、运动控制器、引导装置以及地面监视软件等组成,采用MEMS-SINS/GPS组合导航系统作为引导装置的核心部件,完成对移动小车平台的位置和速度估计。提出了由单点GPS测量点提供多个目标点位置的方法,可使无人直升机方便快捷地知道需要拾起和码放物品的目标点。设计开发了一套操作简便、显示友好的地面监控软件,辅助移动平台正常运行,能有效监控引导装置与无人直升机的通信。Considering that the vertical takeoff and landing（VTOL） unmanned helicopter has good ma- neuverability, a method for tracking mobile platform and transporting cargo by unmanned helicopter is presented. A mobile platform is designed for tracking experiment by the unmanned helicopter. The car- go, placed on the mobile platform, can be picked up and stacked by unmanned helicopter while tracking the platform. The mobile platform system consists of a mobile car platform, a motion controller, a guiding device and a ground control system （GCS）. The integrated navigation system based on MEMS- SINS/GPS is the core of the guiding device to estimate the position and the velocity of mobile car plat- form. Moreover, a method is proposed for providing multiple target locations by single GPS antenna position, which helps the unmanned helicopter to pick up and stack goods conveniently. A set of GCS with kind interface is also developed to monitor the communication between the guide device and the un- manned helicopter.

关 键 词：无人直升机 追踪 动平台 引导装置 货物运输 地面监控软件 

分 类 号：V249[航空宇航科学与技术—飞行器设计]