CN110209188A - It is a kind of to control the method and system of unmanned plane during flying, unmanned plane - Google Patents
It is a kind of to control the method and system of unmanned plane during flying, unmanned plane Download PDFInfo
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- CN110209188A CN110209188A CN201810169218.8A CN201810169218A CN110209188A CN 110209188 A CN110209188 A CN 110209188A CN 201810169218 A CN201810169218 A CN 201810169218A CN 110209188 A CN110209188 A CN 110209188A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000005259 measurement Methods 0.000 claims description 18
- 238000012795 verification Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 11
- 230000024703 flight behavior Effects 0.000 claims 1
- 230000010006 flight Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 14
- 239000011159 matrix material Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000005242 forging Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 230000001413 cellular effect Effects 0.000 description 2
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- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
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- 102000003800 Selectins Human genes 0.000 description 1
- 108090000184 Selectins Proteins 0.000 description 1
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- 230000005540 biological transmission Effects 0.000 description 1
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- 230000035772 mutation Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
Method and system, the unmanned plane of a kind of control unmanned plane during flying are disclosed herein, comprising: obtain inertial navigation metrical information and GPS positioning information；Current flight position information is obtained based on the inertial navigation metrical information and GPS positioning information, and by flight position information reporting base station；When receiving the certification from the base station and successfully notifying, subsequent flight operation is continued to execute；When receiving the notice of the authentification failure from the base station, stop executing subsequent flight operation.Whether the application can effectively examine the GPS data of unmanned plane true, and controls unmanned plane in the false situation of the GPS data of unmanned plane and stop subsequent flights operation, so that unmanned plane effectively be avoided to take off by forgery GPS data in no-fly zone or the case where flight.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to it is a kind of control unmanned plane during flying method and system, nobody
Machine.
Background technique
Unmanned plane price is more and more cheaper at present, and universal amount is also increasing, if user takes off in no-fly zone, to state
Family and personal property and personal safety will cause very big threat.With the extensive use of unmanned plane, the feelings flown in forbidden zone
Condition will be more and more and increasingly severe.
Currently, UAV system is the technology that is combined using fence with GPS no-fly zone is arranged, it is logical by GPS
Acquisition location information is crossed, judges whether the unmanned plane in no-fly zone or has driven into no-fly zone using fence technology.
Before unmanned plane takes off, refuse to take off if current location falls into no-fly zone, if flying into no-fly zone in flight course i.e.
Then land at once in no-fly zone or return to takeoff point and land in current location.But since GPS and system for flight control computer are using bright
Text transmission, as long as the flight control system of the GPS information input unmanned plane of forgery can easily be bypassed unmanned plane by unmanned plane control staff
The above-mentioned no-fly scheme of system, so that unmanned plane be allow to take off in no-fly zone.
It can not yet be mentioned at present by forging the technical issues of GPS data bypasses easily for the no-fly scheme of the relevant technologies
Effective solution scheme out.
Summary of the invention
The embodiment of the invention provides a kind of methods for controlling unmanned plane during flying, comprising:
Obtain inertial navigation metrical information and GPS positioning information；
Current flight position information is obtained based on the inertial navigation metrical information and GPS positioning information, and by the flight
Location information reporting base station；
When receiving the certification from the base station and successfully notifying, subsequent flight operation is continued to execute；
When receiving the notice of the authentification failure from the base station, stop executing subsequent flight operation.
The embodiment of the invention also provides a kind of unmanned planes, comprising:
GPS positioning device is configured to obtain GPS positioning information；
Inertial navigation positioning device is configured to obtain inertial navigation metrical information；
Fly control device, is configured to the inertial navigation metrical information and GPS positioning information obtains current flight position letter
Breath；And be configured to successfully notify to continue to execute subsequent flight operation according to the certification from base station, according to from base station
The notice of authentification failure stop executing subsequent flight operation；
Communication device is configured to flight position information reporting base station, and is received described logical from the base station
Know.
The embodiment of the invention also provides a kind of methods for controlling unmanned plane during flying, comprising:
Unmanned plane obtains inertial navigation metrical information and GPS positioning information, is based on the inertial navigation metrical information and GPS positioning information
Obtain current flight position information, and by flight position information reporting base station；
Base station obtains the flight position information of the unmanned plane, the letter of flight position described in the location information verification using itself
Whether cease legal；
When the flight position information is legal, base station notifies the unmanned plane to authenticate successfully, and the unmanned plane, which receives, to be come
When successfully notifying from the certification of the base station, subsequent flight operation is continued to execute；
When the flight position information is illegal, the base station notifies the unmanned plane authentification failure, the unmanned plane to connect
When receiving the notice of the authentification failure from the base station, stop executing subsequent flight operation.
The embodiment of the invention also provides a kind of systems for controlling unmanned plane during flying, comprising: unmanned plane and base station；Wherein,
The unmanned plane, comprising: GPS positioning device is configured to obtain GPS positioning information；Inertial navigation positioning device, is configured to
Obtain inertial navigation metrical information；Fly control device, is configured to the inertial navigation metrical information and GPS positioning information obtains current fly
Row location information；And be configured to successfully notify to continue to execute subsequent flight operation according to the certification from base station, according to
The notice of authentification failure from base station stops executing subsequent flight operation；Communication device is configured to the flight position
Information reporting base station, and receive the notice from the base station；
The base station, comprising: be configured to obtain the positioning device of base station own location information, the location information includes institute
State the ephemeris information of base station itself；It is configured to the telecommunication circuit communicated with unmanned plane；It is stored with and flies for controlling unmanned plane
The memory of capable program；Processor is configured to read the program for controlling unmanned plane during flying to perform the following operations:
The flight position information of the unmanned plane is obtained, whether flight position information described in the location information verification using base station itself closes
Method；When the flight position information is legal, the unmanned plane is notified to authenticate successfully；When the flight position information is illegal, institute
It states base station and notifies the unmanned plane authentification failure.
Base station that the embodiment of the present invention can be joined by unmanned plane and its location information verify the current flight position of unmanned plane
Whether whether confidence breath is legal, can effectively examine the GPS data of unmanned plane true, and untrue in the GPS data of unmanned plane
In the case where control unmanned plane stop subsequent flights operation, thus effectively avoid unmanned plane by forge GPS data in no-fly zone
It takes off or the case where flight.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
Attached drawing is used to provide to further understand technical solution of the present invention, and constitutes part of specification, with this
The embodiment of application technical solution for explaining the present invention together, does not constitute the limitation to technical solution of the present invention.
Fig. 1 is the flow diagram that the method for unmanned plane during flying is controlled in embodiment one；
Fig. 2 is the structural schematic diagram for the device that embodiment two controls unmanned plane during flying；
Fig. 3 is the flow diagram that the method for unmanned plane during flying is controlled in example IV；
Fig. 4 is the exemplary structure schematic diagram of five unmanned plane of embodiment；
Fig. 5 is the schematic diagram that unmanned plane calculates flight position information in example 1；
Fig. 6 is the exemplary scene schematic diagram communicated between unmanned plane and base station in example 3.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature can mutual any combination.
Step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes.Also, although logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
Embodiment one
A method of control unmanned plane during flying, as shown in Figure 1, can be realized by base station, comprising:
Step 101, base station obtains the flight position information of unmanned plane；
Step 102, whether flight position information described in location information verification of the base station using itself is legal；The flight position
Continue step 103 when confidence breath is legal, continues step 104 when the flight position information is illegal；
Step 103, the base station notifies the unmanned plane to authenticate successfully, so that the unmanned plane continues to execute subsequent fly
Row operation；
Step 104, the base station notifies the unmanned plane authentification failure, so that the unmanned plane stops executing subsequent fly
Row operation.
The method of the present embodiment, the base station that can be joined by unmanned plane and its location information verify the current flight of unmanned plane
Whether whether location information is legal, can effectively examine the GPS data of unmanned plane true, and untrue in the GPS data of unmanned plane
Unmanned plane is controlled in the case where reality and stops subsequent flights operation, to effectively avoid unmanned plane by forging GPS data no-fly
It takes off or the case where flight in area.
In the present embodiment, the whether legal side of flight position information described in location information verification of the base station using itself
Formula can there are many.In a kind of implementation, flight position information described in location information verification of the base station using itself is
No legal mode may include one of following or two: 1) base station is according to the flight of itself location information, the unmanned plane
Location information, judge the flight position message identification position whether the base station coverage area, the flight position
It is legal that the position of message identification is considered as the flight position information in the coverage area of the base station, the flight position information
It is illegal that the position of mark is not considered as the flight position information in the coverage area of the base station；2) base station, which utilizes, comes from institute
The inertial navigation metrical information and the ephemeris information of itself for stating unmanned plane obtain the observation error of base station, judge the flight position letter
Ceasing whether corresponding observation error matches with the observation error of the base station, it is legal that when matching, is considered as the flight position information,
It is illegal to be considered as the flight position information when mismatch.
In a kind of implementation of the present embodiment, flight position described in location information verification of the base station using itself is believed
Breath whether legal process may is that first judge the flight position message identification position whether the base station covering model
It encloses, if the position of the flight position message identification not in the coverage area of the base station, is further continued for judging the flight position
Confidence ceases whether corresponding observation error matches with the observation error of the base station.That is location information of the base station according to itself, institute
The flight position information for stating unmanned plane, judge the flight position message identification position whether the base station covering model
It encloses；Not in the coverage area of the base station, base station, which utilizes, comes from the unmanned plane for the position of the flight position message identification
Inertial navigation metrical information and itself ephemeris information obtain the observation error of base station, and judge that the flight position information is corresponding
Whether observation error matches with the observation error of the base station.In practical application, this implementation is applicable to unmanned plane during flying
Before and in-flight, more accurate verification result can be obtained.
Wherein, if the position of flight position message identification can be considered as the flight in the coverage area of the base station
Location information is legal, if the position of the flight position the message identification not coverage area in the base station but the flight position
Confidence ceases corresponding observation error and the observation error of the base station matches, and it is legal to be considered as the flight position information,
If the corresponding observation error of flight position information and the observation error of the base station mismatch, it is considered as the flight position
Confidence breath is illegal.
In another implementation of the present embodiment, flight position described in location information verification of the base station using itself is believed
Breath whether legal process may is that judge the flight position message identification position whether the base station covering model
It encloses, is considered as the flight position information if the position of the flight position message identification is not in the coverage area of the base station
It is illegal, it is considered as the flight position information if coverage area of the position of flight position message identification in the base station and closes
Method.In practical application, this implementation is particularly suitable for before unmanned plane takes off.
In another implementation of the present embodiment, flight position described in location information verification of the base station using itself
The whether legal process of information may is that base station using inertial navigation metrical information and the ephemeris information of itself from the unmanned plane
The observation error of base station is obtained, and judges the corresponding observation error of the flight position information and the observation error of the base station is
No matching.If the corresponding observation error of the flight position information and the observation error of the base station match, can be considered as
The flight position information is legal, if the corresponding observation error of the flight position information and the observation error of the base station are not
Matching, then it is illegal to be considered as the flight position information.In practical application, this implementation is particularly suitable for the flight of unmanned plane
In the process.
In the present embodiment, the observation in the corresponding observation error of the judgement flight position information and the base station is missed
Before whether difference matches, base station can also obtain the observation error of the corresponding flight position information.Described in base station acquisition is corresponding
The mode of the observation error of flight position information can there are many.In a kind of implementation, base station obtains the corresponding flight position
The mode of the observation error of confidence breath may include one of following: 1) obtaining from the unmanned plane, the corresponding flight position
The observation error of confidence breath；2) believed using the inertial navigation metrical information from the unmanned plane and the ephemeris from the unmanned plane
Breath, obtains the observation error for corresponding to the flight position information.
In a kind of implementation, the mode for obtaining observation error may is that obtaining inertial navigation using inertial navigation metrical information measures
The relevant parameter (for example, course, the speed of a ship or plane, speed, acceleration, angular speed etc.) of position, and satellite is obtained using ephemeris information
The pseudorange of position position, selects the difference and its puppet of the relevant parameter of the inertial navigation measurement position and the pseudorange of the satellite positioning location
Away from rate difference as observed quantity；It by the observed quantity discretization and is filtered, obtains observation error.That is, base station
Observation error and the observation error of corresponding flight position information can be obtained using this mode, the difference is that base station
The inertial navigation metrical information of ephemeris information and unmanned plane of the observation error based on base station obtains, and corresponds to the observation of flight position information
Error, that is, unmanned plane observation error is that the inertial navigation metrical information of ephemeris information and unmanned plane based on unmanned plane obtains.This
Sample, by the observation error of the observation error of base station and unmanned plane is compared can confirm unmanned plane GPS positioning whether
There are pseudo- data.
In practical application, the purpose of the discretization is the relevant information warp of inertial navigation and GPS in order to which computer disposal is convenient
Crossing the location information that COMPREHENSIVE CALCULATING obtains later, there are certain errors, and one group of smoother position is obtained after Kalman filtering
Confidence breath, this is final output.By in the observed quantity discretization and the calculating process that is filtered by association side
Poor battle array describes the calculating process of the final output confidence level, and the confidence level of the location information of final output is by the covariance
The battle array covariance that is calculated describes.
As an example it is assumed that doing r directly measurement to position certainty scalar X, measuring value is respectively Z1Z2...Zr, measurement
Error mean is zero, and variance R, then the covariance of X can obtain in the following way:
Directly measure resulting measurement equation r times are as follows: Z=HX+V；In formula, Z=[Z1Z2…Zr], H=[11 ... 1], E
[VVT]=RI；According toIt obtainsThen final variance is
In general, base station can illustrate that the distance between base station and unmanned plane are smaller at one with UAV Communication
Range, ephemeris information of base station and the actual ephemeris information of unmanned plane are identical or very close within the scope of this, accordingly
Its corresponding observation error should be identical, then the observation error of base station is with the observation error of corresponding flight position information
It is identical or very close that no matched standard can be the two.
Embodiment two
A kind of device controlling unmanned plane during flying, is applied to base station, as shown in Fig. 2, may include:
Module 21 is obtained, for obtaining the flight position information of unmanned plane；
Authentication module 22, it is whether legal for flight position information described in the location information verification using itself；
Notification module 23, for notifying the unmanned plane to authenticate successfully, with toilet when the flight position information is legal
It states unmanned plane and continues to execute subsequent flight operation；And when the flight position information is illegal, notify the unmanned plane
Authentification failure, so that the unmanned plane stops executing subsequent flight operation.
In a kind of implementation, the authentication module 22 may include one of following or two: location verification module 221,
For the flight position information according to itself location information, the unmanned plane, the position of the flight position message identification is judged
Set whether the base station coverage area, the position of the flight position message identification is regarded in the coverage area of the base station
It is legal for the flight position information；Observed quantity authentication module 222, for utilizing the inertial navigation metrical information from the unmanned plane
And the ephemeris information of itself obtains the observation error of base station, judge the corresponding observation error of the flight position information with it is described
Whether the observation error of base station matches, and it is legal that when matching is considered as the flight position information.
In a kind of implementation, the acquisition module 21, it may also be used for obtain from the unmanned plane, corresponding described fly
The observation error of row location information；And/or the observed quantity authentication module 222, it may also be used for using from the unmanned plane
Inertial navigation metrical information and ephemeris information from the unmanned plane, obtain the observation error for corresponding to the flight position information.
Each module in the device of unmanned plane during flying is controlled in the present embodiment can be the knot of software, hardware or both respectively
It closes.In practical application, which can realize above-mentioned function by being set to base station.
The other technologies details of the present embodiment is referring to embodiment one.
Embodiment three
A kind of base station, comprising:
It is configured to obtain the positioning device of base station own location information, the location information includes the star of the base station itself
Go through information；
It is configured to the telecommunication circuit communicated with unmanned plane；
It is stored with the memory of the program for controlling unmanned plane during flying；
Processor, the program for being configured to be used to control described in reading unmanned plane during flying control nothing described in embodiment one to execute
The operation of the method for man-machine flight.
The other technologies details of the present embodiment is referring to embodiment one.
Example IV
A method of control unmanned plane during flying is applied to unmanned plane, as shown in figure 3, may include:
Step 301, inertial navigation metrical information and GPS positioning information are obtained；
Step 302, current flight position information is obtained based on the inertial navigation metrical information and GPS positioning information, and will
Flight position information reporting base station；
Step 303, when receiving the certification from the base station and successfully notifying, subsequent flight operation is continued to execute；
Step 304, when receiving the notice of the authentification failure from the base station, stop executing subsequent flight operation.
In the present embodiment, unmanned plane is believed by connecting any base station by the current flight position of the base station authentication itself
Whether whether it is legal to cease, can effectively examine itself GPS data true, and can control in the false situation of GPS data
Unmanned plane stops subsequent flights operation, to effectively avoid unmanned plane by forgery GPS data no-fly zone takes off or flies
Situation.
In a kind of implementation, unmanned plane can be based on cellular narrowband Internet of Things (Narrow Band Internet of
Things, NB-IoT) module communicated with base station.
In a kind of implementation, unmanned plane can also oneself verifying flight position information legitimacy.It is based on the inertial navigation
It can also include: the verifying flight position letter after metrical information and GPS positioning information obtain current flight position information
Whether legal, the flight position information continues to execute subsequent flight operation when legal, and the flight position information does not conform to if ceasing
Stop executing subsequent flight operation when method.In this way, can be convenient the true and false in connecting the scene less than base station to GPS data
It is verified, so that user under this scene be avoided so that its unmanned plane is risen in no-fly zone by forging the GPS data of unmanned plane
Fly or flies.
In a kind of implementation, it may include: to utilize the inertial navigation that whether the verifying flight position information is legal
Ephemeris information in metrical information and the GPS positioning information obtains the observation error of unmanned plane；Verify the sight of the unmanned plane
Survey whether error mutates, it is illegal to be considered as the flight position information when the observation error mutates, i.e., accordingly
GPS data it is untrue.It is legal to be considered as the flight position information when the observation error does not mutate, i.e., accordingly
GPS data is also true that.
In a kind of implementation, the ephemeris information using in the inertial navigation metrical information and the GPS positioning information,
The observation error of unmanned plane is obtained, may include: to obtain the relevant parameter of inertial navigation measurement position using the inertial navigation metrical information
(for example, course, the speed of a ship or plane, acceleration, angular speed etc.), and the pseudorange of satellite positioning location is obtained using the ephemeris information, it selects
The difference and its pseudorange rates difference for selecting the relevant parameter of the inertial navigation measurement position and the pseudorange of the satellite positioning location are as observation
Amount；It by the observed quantity discretization and is filtered, obtains the observation error.
Embodiment five
A kind of unmanned plane, as shown in figure 4, may include:
GPS positioning device 41 is configured to obtain GPS positioning information；
Inertial navigation positioning device 42 is configured to obtain inertial navigation metrical information；
Fly control device 43, is configured to the inertial navigation metrical information and GPS positioning information obtains current flight position
Information；And be configured to successfully notify to continue to execute subsequent flight operation according to the certification from base station, according to from base
The notice for the authentification failure stood stops executing subsequent flight operation；
Communication device 44 is configured to flight position information reporting base station, and is received from described in the base station
Notice.
It is settable in communication device 44 to be based on cellular narrowband Internet of Things (Narrow Band in the present embodiment
Internet of Things, NB-IoT) module, communication device 44 can be led to by the base station of the NB-IoT module and surrounding
Letter.Specifically, the base station that communication device 44 can be joined flight position information reporting to surrounding by the NB-IoT module, and lead to
Cross the notice that the NB-IoT module receives the base station feedback.
In the present embodiment, the winged control device 43, whether legal, in institute if may be additionally configured to verify the flight position information
State flight position information it is legal when continue to execute subsequent flight operation, when the flight position information is illegal stop execute
Subsequent flight operation.
In the present embodiment, the winged control device 43 is arranged to: utilizing the inertial navigation metrical information and the GPS positioning
Ephemeris information in information obtains the observation error of unmanned plane；Whether the observation error for verifying the unmanned plane mutates,
It is illegal that the observation error is considered as the flight position information when mutating.
In the present embodiment, flight instruments 43 may is that in the process that control unmanned plane continues to execute subsequent flight operation
When confirming that current flight location information is legal, whether flight instruments 43 examine the position of the flight position message identification default
No-fly zone in, controlled if in no-fly zone unmanned plane stopping take off or land by force, controlled if not in no-fly zone
Unmanned plane normally takes off or keeps state of flight.Flight instruments 43 stop executing the mistake of subsequent flight operation in control unmanned plane
Journey may is that when confirming that current flight location information is illegal, flight instruments 43 directly control unmanned plane stopping and take off or by force
Row landing.
In practical application, flying control device 43 can be responsible for controlling the speed of a ship or plane, course, height, the flight operation etc. of unmanned plane.
Embodiment six
A method of control unmanned plane during flying, comprising:
Unmanned plane obtains inertial navigation metrical information and GPS positioning information, is based on the inertial navigation metrical information and GPS positioning information
Obtain current flight position information, and by flight position information reporting base station；
Base station obtains the flight position information of the unmanned plane, the letter of flight position described in the location information verification using itself
Whether cease legal；
When the flight position information is legal, base station notifies the unmanned plane to authenticate successfully, and the unmanned plane, which receives, to be come
When successfully notifying from the certification of the base station, subsequent flight operation is continued to execute；
When the flight position information is illegal, the base station notifies the unmanned plane authentification failure, the unmanned plane to connect
When receiving the notice of the authentification failure from the base station, stop executing subsequent flight operation.
A kind of system controlling unmanned plane during flying, comprising: unmanned plane and base station；Wherein,
The unmanned plane, comprising: GPS positioning device is configured to obtain GPS positioning information；Inertial navigation positioning device, is configured to
Obtain inertial navigation metrical information；Fly control device, is configured to the inertial navigation metrical information and GPS positioning information obtains current fly
Row location information；And be configured to successfully notify to continue to execute subsequent flight operation according to the certification from base station, according to
The notice of authentification failure from base station stops executing subsequent flight operation；Communication device is configured to the flight position
Information reporting base station, and receive the notice from the base station；
The base station, comprising: be configured to obtain the positioning device of base station own location information, the location information includes institute
State the ephemeris information of base station itself；It is configured to the telecommunication circuit communicated with unmanned plane；It is stored with and flies for controlling unmanned plane
The memory of capable program；Processor is configured to read the program for controlling unmanned plane during flying to perform the following operations:
The flight position information of the unmanned plane is obtained, whether flight position information described in the location information verification using base station itself closes
Method；When the flight position information is legal, the unmanned plane is notified to authenticate successfully；When the flight position information is illegal, institute
It states base station and notifies the unmanned plane authentification failure.
The particular technique details that the method for unmanned plane during flying is controlled described in the present embodiment can refer to embodiment one and implement
Example four, the particular technique details that the system of unmanned plane during flying is controlled in the present embodiment can refer to embodiment three and embodiment five, no
It repeats again.
The example implementations of some technical details in the various embodiments described above are described in detail in exemplary fashion below.It needs
It is noted that in other embodiments, other modes realization also can be used in relevant technical details, in this regard, the application not limits
System.
Example 1
In the application, the flight position information refers to that unmanned plane is obtained according to GPS positioning information and inertial navigation metrical information
Location information.In a kind of implementation, flight position information can be calculated in unmanned plane by the way of as shown in Figure 5,
It may include the information such as position, speed, attitude angle.As shown in figure 5, inertial navigation metrical information is that inertial navigation positioning device real-time measurement obtains
The information arrived may include angular speed and acceleration etc.；GPS positioning information is defending of getting of the GPS positioning device of unmanned plane
Star signal includes satellite navigation message information, and the satellite navigation message information includes that the ephemeris of unmanned plane current location is believed
Breath.As shown in figure 5, the basic principle that flight position information is calculated is to calibrate inertial navigation metrical information using GPS information, together
When GPS satellite navigation message is resolved according to inertial navigation metrical information, eventually by filtering algorithm obtain degree of precision comprising working as
The preceding speed of a ship or plane, course and the flight position in geographical location information.
Example 2
In a kind of implementation, the mode for obtaining observation error be may is that
Firstly, using pseudorange/pseudorange rates as observed quantity, if inertial navigation system (INS, Inertial Navigation
System position) is (XI, YI, ZI)τ, it is (X by the satellite position that satellite ephemeris determinesG, YG, ZG)T, then can pass through calculating
Obtain the position pseudorange ρ where INS measurementI, while setting the pseudorange ρ that GPS receiver measurement obtainsGSo select INS and GPS two
Observed quantity of the difference and the two pseudorange rates difference of person's pseudorange as combined system.
Wherein, X, Y, Z represent the point that space coordinate is fastened, it is assumed that the earth's core is far point, and X-coordinate axle is the earth's core to north and south
Pole and its extended line, Y are the axis vertical with X-axis, and Z is using the earth's core as the axis of any direction of origin, then in this coordinate
Under system, XYZ arbitrary value is established a capital the position that can confirm a point, and here it is the position coordinates that inertial navigation obtains.For example, X, Y, Z
East longitude, north latitude, height can be respectively indicated.
When X, Y, Z respectively indicate east longitude, north latitude, height, a point can be determined by these three values by following formula:
Pseudo-distance measured value can be write as:
δρi=ρIi-ρGi=ei1δx+ei2δy+ei3δz+δtu+vρi
δ x=δ hcosLcos λ-(RN+h)sinLcosλδL-(RN+h)cosLsinλδL
δ y=δ hcosLsin λ-(RN+h)sinLsinλδL-(RN+h)cosLcosλδL
δ z=δ hsinL+ [RN(1-f2)+h]cosLδL
Wherein, L indicates latitude, RNIt is signal related coefficient, h is to defend ground geometric distance.ei1ei2ei3Respectively indicate calculating because
Son.δ x, δ y, δ z are the self location error in ECEF coordinate system that SINS is provided；vρiFor pseudo range measurement noise；δtu
For equivalent distances error caused by GPS clock error；λ is longitude, and δ h is difference in height, and δ L is that dimension is poor, and h is height, RNFor star
Ground distance.f2Indicate specific force.
Pseudo range measurement equation are as follows: ZP(t)=HP(t)X(t)+VP(t)；
Wherein, ZP(t) measuring value for being t moment X, HPIt (t) is t moment measurement matrix, VPIt (t) is random measuring value.
Pseudorange rates measuring value can be with are as follows:
δ x=- δ vE sinλ-δvN sinλcosλ+δvU cosLcosλ
δ y=δ vE cosλ-δvN sinLsinλ+δvU cosLcosλ
δ z=δ vN cosL+δvU sinL
Then combined system measures equation:
Wherein, Z (t) is measurement, and H (t) is measurement matrix, and V (t) is to measure noise battle array.
In practical application, using apart from triangulation principle, user's GPS receiver receives the signal of 4 satellites simultaneously,
The three-dimensional space position where user's GPS receiver can be calculated；Meanwhile using to the distance obtained in time of measuring into
Row time diffusion, according to the relationship of linear speed and Doppler frequency, user's GPS receiver can calculate Doppler's frequency of satellite
Rate, to calculate the movement velocity of itself.Due to the clock reference of receiver user, the atomic clock benchmark relative to GPS is deposited
In error, therefore, its actual measurement distance is referred to as " pseudorange " (pseudo range), it will be at its practical time of measuring interval
The interior velocity measurement to the pseudo-distance differential gained is referred to as " poor pseudorange " (Delta pseudo range), also known as " pseudorange
Rate ".
Secondly, needing continuous observed quantity carrying out discretization, process is as follows:
Pseudorange, pseudorange rates close coupling navigation system dynamic realtime equation are as follows:
Taking the sampling time is T, then the system dynamical equation after discretization are as follows:
Wherein,
Step 7: being filtered by following formula to observation data, observation error is obtained；
Wherein,Indicate the real-time status estimated value at k moment,Indicate the k-1 moment to the shape at k moment
State predicted value, K (k) indicate the filtering gain battle array at k moment, and P (k/k-1) indicates that the k-1 moment assists the prediction estimation error at k moment
Variance matrix, P (k/k) indicate the Real-time Error estimate covariance battle array at k moment, and Q (k-1) indicates system noise variance matrix, R (k) table
Show the noise variance matrix of observation system.
Example 3
In a kind of implementation, base station judges institute according to the location information of itself, the flight position information of the unmanned plane
Whether the position for stating flight position message identification may is that in the process of the coverage area of the base station
As shown in fig. 6, unmanned plane is by NB-IOT module scans peripheral base station situation, randomly selecting two can symbasis station A
With base station B.Unmanned plane passes through satellite navigation message letter corresponding to the location information of NB-IOT module acquisition base station A and base station
It ceases (ephemeris information comprising the current sky satellite in base station)；Unmanned plane passes through the position that NB-IOT module acquires unmanned plane itself
Information package is transmitted to base station B, and whether the location information that base station B verifies unmanned plane and base station A according to the location information of oneself closes
Method, and to unmanned plane return whether legal mark；If unmanned plane takeoff setting is legal, flight control system, which compares coordinate information, is
It is no to be currently at no-fly zone if it is operator is directly prompted in unmanned plane no-fly zone, take off.
Example 4
For the scene that unmanned plane takes off, the process for controlling unmanned plane during flying be may is that
Before unmanned plane takes off, communicate unmanned plane and the base station NB-LTE by NB-IOT module, unmanned plane passes through
The base station NB-LET obtains reference position information, and flight control system is believed by the position for obtaining the reference position information of base station and GPS
Breath is verified, and the relevant information of base station is then fed back to inertial navigation system, and base station and inertial navigation is made to form close coupling navigation system,
No-fly zone is taken off or flown into evade false GPS information deception flight control system in no-fly zone.
Example 5
For the scene during unmanned plane during flying, the process for controlling unmanned plane during flying be may include steps of:
The first step, unmanned plane pass through the NB-IOT module scans peripheral base station situation of itself, and randomly selecting two can symbasis
Stand A and base station B；
Second step, unmanned plane obtain the location information and its satellite navigation electricity of base station A by the NB-IOT module of itself
Literary information, the satellite navigation message information include the ephemeris information of the current sky satellite in base station；
Third step, unmanned plane obtain GPS positioning information by the GPS positioning device of itself, are obtained by inertial navigation positioning device
Current inertial navigation metrical information is taken, and current flight position information is obtained by the GPS positioning information and inertial navigation metrical information；
4th step, unmanned plane is by the NB-IOT module of itself by the position of itself current flight position information and base station A
It sets information package and is transmitted to base station B；
5th step, base station B verify the whether legal (nothing of location information of unmanned plane and base station A according to the location information of oneself
The communication distance of man-machine cruising radius and NB-IOT are comprehensive to be determined), and send and notify to unmanned plane, carrying in notice indicates nobody
The whether legal mark of machine current flight location information, the mark can be certification Success Flag and authentification failure mark, certification
Success Flag indicates that unmanned plane current flight location information is legal, and authentification failure mark indicates unmanned plane current flight location information
It is illegal；
The specific implementation process of this step can refer to embodiment one, repeat no more.
6th step, unmanned plane receive the notice of base station B, if wherein carrying certification Success Flag, then it represents that unmanned plane is worked as
Preceding flight position information is legal, and the winged control device of unmanned plane is according to flight position information and preconfigured no-fly zone information
Determine that the current position of unmanned plane whether in the no-fly zone of unmanned plane, if it is operator is directly prompted, is currently at no-fly zone,
It can not take off or need to force to land；If operator can not prompted to continue the subsequent behaviour that takes off in the no-fly zone of unmanned plane
Work or flight operation.
7th step, unmanned plane receive the notice of base station B, if wherein carrying authentification failure mark, then it represents that unmanned plane is worked as
Preceding flight position information is illegal, and for the GPS data of unmanned plane there may be forging, the winged control device of unmanned plane is straight at this time
Prompt operator is met, no-fly zone is currently at, can not take off or need to force to land.
Example 6
For the scene that cannot connect to base station, the process for controlling unmanned plane during flying be may include steps of:
The first step, unmanned plane obtain GPS positioning information by the GPS positioning device of itself, are obtained by inertial navigation positioning device
Current inertial navigation metrical information is taken, and current flight position information is obtained by the GPS positioning information and inertial navigation metrical information；
Second step, unmanned plane utilize ephemeris information and inertial navigation metrical information in the GPS positioning information of itself to calculate oneself
Observation error, and judge whether current flight position information legal by observation error；
Specific calculating process can refer to example 2, repeat no more.
Third step, unmanned plane save the output information of GPS output information and inertial navigation, compare the k-1 moment in real time to the k moment
Predict the covariance matrix of estimation error, the Real-time Error estimate covariance battle array with the K moment, it is continuous really under data this this
Two error battle arrays be it is substantially matched, difference do not answer it is excessive, if mutation, and covariance matrix difference it is continuous it is excessive if, can
It is that observation error is mutated to assert, at this point, it is illegal to be considered as current flight position information；Conversely, being considered as flight position
Confidence breath is legal；
5th step when unmanned plane detects that observation error does not mutate, indicates that unmanned plane current flight location information closes
Method, the GPS data of unmanned plane is true at this time, and the winged control device of unmanned plane according to flight position information and is pre-configured with
No-fly zone information whether determine the current position of unmanned plane in the no-fly zone of unmanned plane, if it is directly prompting operator, when
It is preceding to be in no-fly zone, it can not take off or need to force to land；If operator can not prompted to continue in the no-fly zone of unmanned plane
Subsequent takeoff operational or flight operation.
6th step when unmanned plane detects that observation error mutates, indicates that unmanned plane current flight location information does not conform to
Method, the GPS data of unmanned plane is there may be forging at this time, and the winged control device of unmanned plane directly prompts operator, currently
In no-fly zone, it can not take off or need to force to land.
In addition, the embodiment of the present application also provides a kind of computer readable storage medium, computer executable instructions are stored with,
The computer executable instructions are performed the method realized and control unmanned plane during flying described in above-described embodiment one.
In addition, the embodiment of the present application also provides a kind of computer readable storage medium, computer executable instructions are stored with,
The computer executable instructions are performed the method realized and control unmanned plane during flying described in above-described embodiment four.
Optionally, in the present embodiment, above-mentioned computer readable storage medium can include but is not limited to: USB flash disk read-only is deposited
Reservoir (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk,
The various media that can store program code such as magnetic or disk.
Optionally, the specific example in the present embodiment can be with reference to described in above-described embodiment and optional embodiment
Example, details are not described herein for the present embodiment.
Those of ordinary skill in the art will appreciate that all or part of the steps in the above method can be instructed by program
Related hardware (such as processor) is completed, and described program can store in computer readable storage medium, as read-only memory,
Disk or CD etc..Optionally, one or more integrated circuits also can be used in all or part of the steps of above-described embodiment
It realizes.Correspondingly, each module/unit in above-described embodiment can take the form of hardware realization, such as pass through integrated circuit
It realizes its corresponding function, can also be realized in the form of software function module, such as be stored in and deposited by processor execution
Program/instruction in reservoir realizes its corresponding function.The application is not limited to the knot of the hardware and software of any particular form
It closes.
The advantages of basic principles and main features and the application of the application have been shown and described above.The application is not by upper
The limitation for stating embodiment, the above embodiments and description only describe the principles of the application, are not departing from the application
Under the premise of spirit and scope, the application be will also have various changes and improvements, these changes and improvements both fall within claimed
Within the scope of the application.
Claims (9)
1. a kind of method for controlling unmanned plane during flying, comprising:
Obtain inertial navigation metrical information and GPS positioning information；
Current flight position information is obtained based on the inertial navigation metrical information and GPS positioning information, and by the flight position
Information reporting base station；
When receiving the certification from the base station and successfully notifying, subsequent flight operation is continued to execute；
When receiving the notice of the authentification failure from the base station, stop executing subsequent flight operation.
2. the method according to claim 1, wherein being obtained based on the inertial navigation metrical information and GPS positioning information
To after current flight position information, further includes:
Whether legal verify the flight position information, the flight position information continues to execute subsequent flight behaviour when legal
Make, stops executing subsequent flight operation when the flight position information is illegal.
3. being wrapped the method according to claim 1, wherein whether the verifying flight position information is legal
It includes:
Using the ephemeris information in the inertial navigation metrical information and the GPS positioning information, the observation error of unmanned plane is obtained；
Whether the observation error for verifying the unmanned plane mutates, and is considered as the flight when the observation error mutates
Location information is illegal.
4. according to the method described in claim 3, it is characterized in that, described fixed using the inertial navigation metrical information and the GPS
Ephemeris information in the information of position, obtains the observation error of unmanned plane, comprising:
The relevant parameter of inertial navigation measurement position is obtained using the inertial navigation metrical information, and obtains satellite using the ephemeris information
The pseudorange of position location, select the relevant parameter of the inertial navigation measurement position and the pseudorange of the satellite positioning location difference and its
Pseudorange rates difference is as observed quantity；It by the observed quantity discretization and is filtered, obtains the observation error.
5. a kind of unmanned plane, comprising:
GPS positioning device is configured to obtain GPS positioning information；
Inertial navigation positioning device is configured to obtain inertial navigation metrical information；
Fly control device, is configured to the inertial navigation metrical information and GPS positioning information obtains current flight position information；With
And be configured to successfully notify to continue to execute subsequent flight operation according to the certification from base station, according to recognizing from base station
The notice of card failure stops executing subsequent flight operation；
Communication device is configured to flight position information reporting base station, and receives the notice from the base station.
6. unmanned plane according to claim 5, which is characterized in that
The winged control device, whether legal, legal in the flight position information if being additionally configured to verify the flight position information
When continue to execute subsequent flight operation, stop executing subsequent flight operation when the flight position information is illegal.
7. unmanned plane according to claim 6, which is characterized in that the winged control device is arranged to: utilizing the inertial navigation
Ephemeris information in metrical information and the GPS positioning information obtains the observation error of unmanned plane；Verify the sight of the unmanned plane
Survey whether error mutates, it is illegal to be considered as the flight position information when the observation error mutates.
8. a kind of method for controlling unmanned plane during flying, comprising:
Unmanned plane obtains inertial navigation metrical information and GPS positioning information, is obtained based on the inertial navigation metrical information and GPS positioning information
Current flight position information, and by flight position information reporting base station；
Base station obtains the flight position information of the unmanned plane, and flight position information described in the location information verification using itself is
It is no legal；
When the flight position information is legal, base station notifies the unmanned plane to authenticate successfully, and the unmanned plane is received from institute
When stating the certification of base station and successfully notifying, subsequent flight operation is continued to execute；
When the flight position information is illegal, the base station notifies the unmanned plane authentification failure, the unmanned plane to receive
When the notice of the authentification failure from the base station, stop executing subsequent flight operation.
9. a kind of system for controlling unmanned plane during flying characterized by comprising unmanned plane and base station；Wherein,
The unmanned plane, comprising: GPS positioning device is configured to obtain GPS positioning information；Inertial navigation positioning device is configured to obtain
Inertial navigation metrical information；Fly control device, is configured to the inertial navigation metrical information and GPS positioning information obtains current flight position
Confidence breath；And be configured to successfully notify to continue to execute subsequent flight operation according to the certification from base station, according to coming from
The notice of the authentification failure of base station stops executing subsequent flight operation；Communication device is configured to the flight position information
Reporting base station, and receive the notice from the base station；
The base station, comprising: be configured to obtain the positioning device of base station own location information, the location information includes the base
It stands itself ephemeris information；It is configured to the telecommunication circuit communicated with unmanned plane；It is stored with for controlling unmanned plane during flying
The memory of program；Processor is configured to read the program for controlling unmanned plane during flying to perform the following operations: obtaining
Whether the flight position information of the unmanned plane, flight position information described in the location information verification using base station itself are legal；
When the flight position information is legal, the unmanned plane is notified to authenticate successfully；When the flight position information is illegal, the base
Station notifies the unmanned plane authentification failure.
Priority Applications (2)
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| CN201810169218.8A CN110209188A (en) | 2018-02-28 | 2018-02-28 | It is a kind of to control the method and system of unmanned plane during flying, unmanned plane |
| PCT/CN2019/075584 WO2019165917A1 (en) | 2018-02-28 | 2019-02-20 | Method and system for controlling flight of unmanned aerial vehicle, and unmanned aerial vehicle |
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| CN201810169218.8A CN110209188A (en) | 2018-02-28 | 2018-02-28 | It is a kind of to control the method and system of unmanned plane during flying, unmanned plane |
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| CN114323004A (en) * | 2021-12-28 | 2022-04-12 | 北京骑胜科技有限公司 | Positioning method and system |
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| WO2019165917A1 (en) | 2019-09-06 |
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