Key Technology and Verification of USV and UAV Cooperative Positioning Landing and Take-off
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摘要: 无人艇(USV)单平台执行水面任务易受平台限制, 构建无人艇-机跨平台系统能实现平台优势互补。文章通过研究无人艇-机起降及补能技术, 实现无人艇-机持久协同作业。首先, 针对无人机(UAV)在动态USV上起降问题, 开展无人艇-机协同定位起降技术研究, 研究了无人艇-机速度、位置状态信息动态更新模型, 实现了UAV在USV端高精度的起降; 其次, 针对UAV续航时间短的问题, 开展UAV在USV端补能研究, 研究了UAV端起降机构和USV端充电网机构, 实现了UAV着艇快速补能; 最后, 在海面验证该无人艇-机跨平台起降补能系统性能, 试验结果中, 无人艇-机系统能在3.0 m/s的高速运动状态下, 实现UAV在USV端的成功降落和补能, 满足海上无人艇-机跨平台执行任务场景的需求。Abstract: Unmanned surface vessel(USV) single-platform execution mission is easily restricted by the platform, and the construction of USV and unmanned aerial vehicle(UAV) cross-platform system can realize the complementary advantages of the platform. In this paper, the USV and UAV take-off and landing and energy replenishment technologies are studied to realize the UAV and UAV enduring cooperative operation. Firstly, for the problem of UAV taking off and landing on dynamic UAV, we carry out the research on USV and UAV cooperative positioning take-off and landing technology, study the dynamic update model of USV’s and UAV’s speed and position information, and realize the high-precision take-off and landing of UAV at the USV end; Secondly, to address the problem of short endurance time of UAV, the research on UAV replenishment at the USV end is carried out, and the landing mechanism at the UAV end and the charging mechanism at the USV end are investigated to realize the rapid replenishment of UAV landing on the USV end; Finally, the performance of the USV and UAV cross-platform take-off and landing and replenishment system is verified on the sea, and the UAV is able to land and replenish at the USV end at the high-speed movement of 3.0 m/s, which meets the demand of the USV and UAV cross-platform execution mission on the sea.
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Key words:
- USV /
- UAV /
- Cross-Platform
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表 1 无人艇技术指标
Table 1. Technical specifications of the USV
名 称 参数性能 尺寸 长7.5 m, 宽2.8 m 满载吃水 ≤0.5 m(至载荷底部) 设计排水量 ≤2.5 t 搭载能力 ≥200 kg 工作速度 5~6 kn 最大平均航速 ≥12 kn 工作续航 20 h(工作航速) 通讯性能 宽带≥15 km, 8 Mbit/s 布放回收 三级海况下, 人员无须登艇实现 表 2 无人机技术指标
Table 2. Technical specifications of the UAV
名 称 参数性能 载荷 ≥3 kg 巡航速度 ≥25 km/h 续航时间 ≥20 min 抗风能力 5级 防水等级 ≥IPX3 悬停精度 4级风速下, 水平悬停航迹控制精度优于0.5 m,
垂直悬停航迹控制精度优于0.5 m -
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