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.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
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
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
unmanned helicopter
tracking
mobile platform
guiding device
cargo transportation
ground control system（GCS）
作者简介
通信作者：徐锦法，男，教授，博士生导师，E-mail：xjfae@nuaa．edu．cn。
