基于滑跑绳钩双模回收的无人机航线自动规划  

Automatic Route Planning for UAV Based on Dual-mode Recovery of Running and Rope-hook

作　　者：刘洋 王健 马夏莹[1] 郭云曾 LIU Yang;WANG Jian;MA Xia-ying;GUO Yun-zeng(Xi′an ASN Technology Group Co.,Ltd.,Xi′an 710000,China;Northwest Polytechnical University,Xi′an 710000,China)

机构地区：[1]西安爱生技术集团有限公司,陕西西安710000 [2]西北工业大学,陕西西安710000

出　　处：《航空计算技术》2021年第4期30-33,共4页Aeronautical Computing Technique

基　　金：陕西省重点产业创新链项目资助(2019ZDLGY14-02-02)。

摘　　要：针对无人机回收方式趋于多样化、地面操控员人工操作完成无人机着陆回收精度和效率不高的问题,根据滑跑和绳钩双模回收无人机系统,提出了一种基于无人机双模回收航线自动规划方法。利用无人机下传的信息和输入的参数计算跑道方向角和滑跑着陆点位置,同时依据绳钩回收车获取撞线点和方向点位置并计算绳钩回收方向角;根据所选择的回收方式和相关参数,计算出滑跑回收或绳钩回收航线航点信息,生成回收航线;描述了软件实现流程。飞行试验结果表明,方法能够快速精确地生成滑跑回收航线和绳钩回收航线,满足了无人机回收的精确性和时效性要求。For the diversification of UAV recovery methods,the low accuracy and efficiency of the ground operator′s manual operation to complete the UAV landing recovery,based on the UAV running and rope-hook dual-mode recovery system,an automatic planning method for UAV dual-mode recovery route is proposed.Firstly,using the information downloaded by the drone and the input parameters,the running direction angle and the position of the landing point is calculated.At the same time,the collision point and direction point position is obtained according to the rope-hook recovery vehicle,and the rope-hook recovery direction angle is calculated.Secondly,according to the selected recovery method and related parameters,the waypoint position of the running recovery route or the rope-hook recovery route is calculated,and the recovery route is generated.Lastly,the software implementation process is described.The flight test results show that the ground command and control system adopts this method to generate the running recovery route and the rope-hook recovery route quickly and accurately,which meets the accuracy and timeliness requirements of the UAV recovery system.

关 键 词：无人机 双模回收 地面控制车 回收航线 自动规划 

分 类 号：V279[航空宇航科学与技术—飞行器设计]