CN110244308A - A kind of laser sensor and its working method for surveying Gao Dingzi suitable for unmanned plane - Google Patents
A kind of laser sensor and its working method for surveying Gao Dingzi suitable for unmanned plane Download PDFInfo
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- CN110244308A CN110244308A CN201910510937.6A CN201910510937A CN110244308A CN 110244308 A CN110244308 A CN 110244308A CN 201910510937 A CN201910510937 A CN 201910510937A CN 110244308 A CN110244308 A CN 110244308A
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- unmanned plane
- laser diode
- photoelectric converter
- pulsed laser
- plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
The invention discloses a kind of laser sensors that Gao Dingzi is surveyed suitable for unmanned plane, including transmitting camera lens, the first pulsed laser diode, the second pulsed laser diode, third pulsed laser diode, 3 channel parallel driving circuits, sequential control circuit, return laser beam to receive camera lens, the first photoelectric converter, the second photoelectric converter, third photoelectric converter, the amplification of 3 channel parallel signals and discriminator circuit, the parallel split-second precision-digital conversion circuit in 3 tunnels, height and calculate and posture determining module.The present invention obtains the range information between unmanned plane and three ground reference positions using above-mentioned apparatus, pass through ad hoc algorithm based on space geometry and analytic geometry theory, obtain the height and flight attitude information of unmanned plane, it overcomes that prior art measurement error is big, calculated result delay is high and calculates the limitations such as force request height programming complexity, has that small device, stability and strong real-time, Measurement Resolution be high, the advantages such as low with force request is calculated low in energy consumption.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control, laser acquisition, signal processing, field of navigation technology, in particular to one kind
The laser sensor and its working method of Gao Dingzi are surveyed suitable for unmanned plane.
Background technique
Come in recent years, unmanned plane is in military affairs, and civilian, gradually there is very extensive application in the fields such as scientific research, especially
The features such as rotor wing unmanned aerial vehicle, has small in size, and structure is simple, easy to control, can execute complicated times in narrow space
Business.
Rotor wing unmanned aerial vehicle is a typical under-actuated systems, and what it is with the characteristics such as multivariable, close coupling, non-linear is
System, and it is related to that subject is numerous, and field is very extensive, state complex in flight course.In summary problem, rotor wing unmanned aerial vehicle
It surveys high and determines appearance with very big difficulty.
It is using traditional GPS, barometer that existing unmanned plane, which surveys high sensing system mostly, and the sensors such as accelerometer are read
Take altitude information.However some drawbacks of these traditional sensors itself are in this needs high-precision of rotor wing unmanned aerial vehicle and in real time
It is particularly evidently exposed in the system of property.Barometrical measurement will receive atmospheric oscillation influence, this leads to barometrical measured value
Will appear large error fluctuation, GPS is Passive Positioning, will receive GPS system closing influence break down, accelerometer with
The phenomenon that lengthening of time of measuring will appear integrator drift.
Summary of the invention
It is an object of that present invention to provide a kind of laser sensor and its working method that Gao Dingzi is surveyed suitable for unmanned plane, energy
Enough overcome that prior art measurement error is big, calculated result delay is high and the limitations such as arithmetic programming complexity, has that stability is strong, surveys
Measure the advantages such as high resolution, strong real-time and algorithm be simple.
To reach above-mentioned purpose, in conjunction with Fig. 1, the present invention proposes a kind of laser sensing that Gao Dingzi is surveyed suitable for unmanned plane
Device, the laser sensor are mounted on unmanned plane.
The laser sensor includes transmitting camera lens, the first pulsed laser diode, the second pulsed laser diode, third
Pulsed laser diode, 3 channel parallel driving circuits, sequential control circuit, return laser beam receive camera lens, the first photoelectric conversion
When parallel with discriminator circuit, the 3 tunnels high-precision of device, the second photoelectric converter, third photoelectric converter, the amplification of 3 channel parallel signals
M- digital conversion circuit, height calculate and posture determining module.
First pulsed laser diode, the second pulsed laser diode and third pulsed laser diode and 3 channels
Parallel drive circuit is connected.
First photoelectric converter, the second photoelectric converter and third photoelectric converter are put with 3 channel parallel signals
It is connected with the input terminal of discriminator circuit greatly；When the amplification of 3 channel parallel signals and the output end of discriminator circuit and the parallel high-precision in 3 tunnels
The input terminal of m- digital conversion circuit is connected；The output end and height of the parallel split-second precision-digital conversion circuit in 3 tunnels calculate
It is connected with posture determining module.
The sequential control circuit and 3 channel parallel driving circuits, the parallel split-second precision-digital conversion circuit in 3 tunnels and
Height is connected with Attitude Calculation module.
First pulsed laser diode, the second pulsed laser diode and third pulsed laser diode are located at transmitting
In the focal plane of camera lens, and the distribution in equilateral triangle centered on the focus for emitting camera lens.
First photoelectric converter, the second photoelectric converter and third photoelectric converter are located at return laser beam and receive camera lens
Focal plane in, and its by return laser beam receive camera lens formed field of view of receiver be covered each by by two pole of the first pulse laser
Pipe, the second pulsed laser diode and third pulsed laser diode by transmitting mirror capitiform at transmitting visual field.
First pulsed laser diode, the second pulsed laser diode and third pulsed laser diode are in timing control
The synchronous three beams of laser signal that issues to three laser touchdown points, distinguish by three road laser echo signals of generation under the action of circuit processed
After being received by the first photoelectric converter, the second photoelectric converter and third photoelectric converter, amplifies through 3 channel parallel signals and reflect
Other circuit amplification and shaping, and it is sent to the parallel split-second precision-digital conversion circuit in 3 tunnels, the parallel split-second precision-in 3 tunnels
The range data of laser sensor and three laser touchdown points is calculated in digital conversion circuit, by calculated distance data
Height is sent to calculate and posture determining module, the phase of height calculating laser sensor and unmanned plane in conjunction with posture determining module
To position, unmanned plane is calculated to the distance on ground and the flight attitude parameter of unmanned plane.
Wherein, the flight attitude parameter of the unmanned plane includes pitch angle γ and roll angleBy three laser touchdown point structures
At plane definition at measuring point plane, pitch angle γ is the angle of unmanned plane longitudinal axis and measuring point plane, roll angleFor nobody
Machine transversal line and the angle with measuring point plane.
Further, the laser sensor further includes 3 channel gain control circuits.
First photoelectric converter, the second photoelectric converter and third photoelectric converter control electricity with 3 channel gains
The output end on road is connected；The sequential control circuit is connected with 3 channel gain control circuits.
The 3 channel gain control circuit is to control the first photoelectric converter, the second photoelectric converter and third photoelectricity
The yield value of three return laser beam receiving channels of converter.
Based on aforementioned laser sensor, the present invention further mentions a kind of laser sensor that Gao Dingzi is surveyed suitable for unmanned plane
Working method, the working method include:
S1: by sequential control circuit, make the first pulsed laser diode, the second pulsed laser diode and third pulse
The synchronous three beams of laser signal that issues of laser diode is to three laser touchdown points.
S2: the first pulsed laser diode, the second pulsed laser diode and third pulsed laser diode are obtained to three
The distance of a laser touchdown point is respectively h1、h2And h3。
S3: the plane definition that three laser touchdown points are constituted is at measuring point plane, in conjunction with laser sensor and unmanned plane
Unmanned plane is calculated to the distance on ground and the flight attitude parameter of unmanned plane in relative position, including unmanned plane is perpendicular to survey
The height h of the point plane and pitch angle γ and roll angle for describing UAV Attitude
S31: xyz space coordinates, xoy plane and unmanned plane are established as coordinate origin to emit camera lens in laser sensor
Plane determined by plane namely three laser diodes is parallel, and x-axis is parallel to the first pulsed laser diode and the second pulse
The a line of the equilateral triangle of laser diode composition, positive direction of the y-axis is identical as unmanned plane direction of advance and third pulse swashs
The projection of optical diode is just fallen on the y axis；Towards ground, z-axis is logical for the optical axis coincidence of z-axis and laser sensor and its positive direction
Cross equilateral triangle orthocenter.
S32: under the space coordinates, the coordinate (x of 3 laser touchdown points on ground is obtained1,y1,z1)、(x2,y2,
z2)、(x3,y3,z3) be respectively as follows:
Wherein, θ is the angle between any two for the 3 beam distance measuring light beams that 3 pulsed laser diodes issue.
S33: the normal vector of unmanned plane plane is set as (0,0,1), unmanned plane y direction vector is (0,1,0), unmanned plane
X direction vector is (1,0,0), and the normal vector of measuring point plane is calculatedAre as follows:
S34: by the space geometry derivation of equation can obtain γ andAre as follows:
The measurement height h of unmanned plane are as follows:
In the present invention, laser radar sensor device does not measure the height of itself and ground directly because in addition to survey it is high with
Outside, the confirmation and adjustment of flight attitude are more crucial somethings.In the present invention, we obtain nothing first with detector
It is man-machine between three ground reference positions at a distance from, then obtain target using the theoretical knowledge of space geometry and analytic geometry
Relation equation between parameter and known quantity and measurement, finally obtains the altitude information and flight attitude information of unmanned plane.
The above technical solution of the present invention, compared with existing, significant beneficial effect is:
(1) sensor device in the present invention, with high resolution, resists and does using laser diode as its signal source
The advantages that ability is strong, low-altitude detection performance is good, light weight small in size is disturbed, the detection of small drone is highly suitable to be applied for.
(2) present invention compares traditional unmanned plane height detecting device such as GPS, barometer, and accelerometer etc. is measuring
It is with the obvious advantage in terms of error, stability and real-time, and unmanned plane can also be obtained in conjunction with algorithm provided by the present invention
Real-time flight posture keeps UAV Flight Control more accurate, is more advantageous to the stability for guaranteeing aircraft.
(3) algorithm that uses of the present invention is based on realizing on the basis of space geometry and analytic geometry, and computational accuracy is high,
The small programming of algorithm calculation amount is simple, can be on the basis of current unmanned plane minimizes, is light-weighted to the of less demanding of processor
Realize preferable cost control.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this
It can be viewed as a part of the subject matter of the disclosure in the case that the design of sample is not conflicting.In addition, required guarantor
All combinations of the theme of shield are considered as a part of the subject matter of the disclosure.
Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that the foregoing and other aspects, reality
Apply example and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the invention will be below
Description in it is obvious, or learnt in practice by the specific embodiment instructed according to the present invention.
Detailed description of the invention
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, example will be passed through and the embodiments of various aspects of the invention is described in reference to the drawings, in which:
Fig. 1 is a kind of structural schematic diagram of laser sensor that Gao Dingzi is surveyed suitable for unmanned plane of the invention.
Fig. 2 is a kind of pulsed laser diode and reflection suitable for the laser sensor that unmanned plane surveys Gao Dingzi of the present invention
Lens location distribution map.
Fig. 3 is a kind of model simplification of the working method for the laser sensor that Gao Dingzi is surveyed suitable for unmanned plane of the present invention
Figure.
Fig. 4 is the coordinate established a kind of working method for the laser sensor for surveying Gao Dingzi suitable for unmanned plane of the present invention
It is schematic diagram.
Fig. 5 is that flight attitude is fixed a kind of working method for the laser sensor for surveying Gao Dingzi suitable for unmanned plane of the present invention
Justice figure.
Fig. 6 is the geometrical equivalence a kind of working method for the laser sensor for surveying Gao Dingzi suitable for unmanned plane of the present invention
Figure.
Fig. 7 is the computation model a kind of working method for the laser sensor for surveying Gao Dingzi suitable for unmanned plane of the present invention
Figure.
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
In conjunction with Fig. 1, Fig. 2, the present invention proposes a kind of laser sensor that Gao Dingzi is surveyed suitable for unmanned plane, including transmitting mirror
First 1, first pulsed laser diode 2, the second pulsed laser diode 3, third pulsed laser diode 4, the driving of 3 channel parallels
Circuit 5, sequential control circuit 6, return laser beam receive camera lens 7, the first photoelectric converter 8, the second photoelectric converter 9, third light
When the parallel high-precision in electric transducer 10, the amplification of 3 channel parallel signals and discriminator circuit 11,3 channel gain control circuits 12,3 tunnels
M- digital conversion circuit 13, height calculate and posture determining module 14 and unmanned plane 15.First pulsed laser diode 2, second
Pulsed laser diode 3 and third pulsed laser diode 4 are located in the focal plane of transmitting camera lens 1, the first photoelectric converter 8,
Second photoelectric converter 9 and third photoelectric converter 10 be located at return laser beam receive camera lens 7 focal plane in, transmitting camera lens 1 with
The optical axis that return laser beam receives camera lens 7 is parallel, the first photoelectric converter 8, the second photoelectric converter 9 and third photoelectric converter 10
It is corresponded with the first pulsed laser diode 2, the second pulsed laser diode 3 and third pulsed laser diode 4, it is ensured that light
The launch spot of the field of view of receiver covering pulsed laser diode of electric transducer.
First pulsed laser diode 2, the second pulsed laser diode 3 and third pulsed laser diode 4 with 3 channels
Parallel drive circuit 5 is connected；First photoelectric converter 8, the second photoelectric converter 9 and third photoelectric converter 10 with 3 channels
The output that parallel signal amplifies input and 3 channel gain control circuits 12 with discriminator circuit 11 is connected；3 channel parallel signals are put
It is connected with the output of discriminator circuit 11 with the input of the parallel split-second precision-digital conversion circuit 13 in 3 tunnels greatly；3 tunnels are high-precision parallel
The output of m- digital conversion circuit 13 and height are calculated when spending is connected with posture determining module 14；Sequential control circuit 6 and 3 is logical
Road parallel drive circuit 5,3 channel gain control circuits 12, the parallel split-second precision-digital conversion circuit 13 in 3 tunnels and altimeter
Calculation is connected with posture determining module 14；Finally, the laser sensor formed by 1~14 is fixed on unmanned plane 15.
3 channel parallel signals amplification with discriminator circuit 11 by be sequentially connected pre-amplification circuit, pulse shaper and
Signal pre-processing circuit composition.
Using 3 laser diodes (including the first pulsed laser diode 2, the second pulsed laser diode 3, third arteries and veins
Impulse optical diode 4) it is used as lasing fluorescence light source, sequential control circuit makes laser diode is synchronous to issue three-beam；Using 3
Photoelectric converter (including the first photoelectric converter 8, the second photoelectric converter 9 and third photoelectric converter 10) is used as return laser beam
Reception device；3 road laser echo signals are amplified by the amplification of 3 channel parallel signals with discriminator circuit and shaping；Then there are 3 tunnels
Parallel split-second precision-digital conversion circuit accurately provides 3 tunnel range data；It is finally calculated by height and is calculated with posture determining module
Unmanned plane is to the distance on ground and the inclination angle of unmanned plane out.
In the present embodiment, 3 laser diodes (including the first pulsed laser diode 2, two pole of the second pulse laser
Pipe 3, third pulsed laser diode 4) be OSRAM company near-infrared laser diode；3 photoelectric converters (including first
Photoelectric converter 8, the second photoelectric converter 9 and third photoelectric converter 10) be HAMAMATSU company two pole of InGaAs photoelectricity
Pipe；The amplification of 3 channel parallel signals is across resistance amplifying circuit, chip LTC6560, shaping pulse with amplifying circuit in discriminator circuit
Circuit is 3 high-speed comparators, and signal pre-processing circuit is the programmable logic device of ALTERA company；The parallel high-precision in 3 tunnels
When m- digital conversion circuit m- digital conversion chip when being the TDC-GPX of ACAM company.
Work in conjunction with Fig. 3,4,5,6,7, to the laser sensor for surveying Gao Dingzi suitable for unmanned plane a kind of in the present invention
Method is described in detail.
Practical problem is simplified, is equivalent to triangular pyramid, as shown in Figure 3.It is that coordinate is former to emit camera lens 1 in laser sensor
Point establishes xyz space coordinates, as shown in Figure 4.It is put down determined by xoy plane and unmanned plane plane namely three laser diodes
Face is parallel, and x-axis is parallel to the one of the equilateral triangle of the first pulsed laser diode 2 and the second pulsed laser diode 3 composition
Side, positive direction of the y-axis is identical as unmanned plane direction of advance and the projection of third pulsed laser diode 4 is just fallen on the y axis；z
The optical axis coincidence of axis and laser sensor and its positive direction pass through equilateral triangle orthocenter towards ground, z-axis.A represents transmitting mirror
Head, B, C, D respectively represent three point positions on ground, as shown in Figure 5.Isosceles triangular pyramid is intercepted on triangular pyramid ABCD
ALMN, as shown in Figure 6.Plane LMN is parallel with transmitting camera lens focal plane, and the angle of straight line AB, AC and AD between any two is θ.Point A
O is projected as on plane LMN1, O is projected as on plane BCD2, x-axis is parallel with straight line MN, y-axis straight line O1L is parallel, z-axis
With straight line AO1It is overlapped, straight line AO1With the key light overlapping of axles of transmitting camera lens 1.LMN is equilateral triangle, O1For its center of gravity, for convenience
It calculates, if AN=AM=AL=1.After laser echo signal processing, the distance for measuring A to reference position B is h1, to C point away from
From for h2, it is h to D point distance3。
It can be obtained by the cosine law:
If AO1Angle between AN is α:
The then relationship between α and θ are as follows:
AO1Length are as follows:
Then 3 coordinates of L, M, N are respectively as follows:
Point L, M, N is on straight line AD, AB and AC, it can thus be concluded that 3 coordinates of B, C, D are respectively as follows:
VectorCoordinate representation are as follows:
VectorCoordinate representation are as follows:
If the normal vector of measuring point plane BCDFor (m, n, 1)
Solving equation can obtainCoordinate representation are as follows:
The flight attitude of unmanned plane can use pitch angle γ and roll angleDefinition, pitch angle γ are unmanned plane longitudinal axis and survey
The angle of point plane, roll angleAngle for unmanned plane longitudinal axis and with measuring point plane, as shown in Figure 5.Wherein, unmanned plane is vertical
Axis is parallel with coordinate system y-axis, and unmanned plane horizontal axis x-axis is parallel, then unmanned plane y direction vectorCoordinate be (0,1,0), it is horizontal
Axis direction vectorCoordinate be (1,0,0), can be obtained according to space geometry knowledge:
Substituting into coordinate can obtain:
The then flight attitude of unmanned plane are as follows:
If vectorWithAngle be β, as shown in figure 5, then having
Coordinate representation are as follows:
Measurement height is defined as: the transmitting camera lens 1 in laser sensor arrives the vertical range of measuring point plane, is denoted as h, line segment
AO2Length be unmanned plane measurement height:
It can be obtained after substituting into coordinate:
Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
Embodiment of the disclosure need not be defined on including all aspects of the invention.It should be appreciated that a variety of designs and reality presented hereinbefore
Those of apply example, and describe in more detail below design and embodiment can in many ways in any one come it is real
It applies, this is because conception and embodiment disclosed in this invention are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined use with disclosed by the invention.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (10)
1. a kind of laser sensor for surveying Gao Dingzi suitable for unmanned plane, which is characterized in that the laser sensor is mounted on nothing
On man-machine (15)；
The laser sensor includes transmitting camera lens (1), the first pulsed laser diode (2), the second pulsed laser diode
(3), third pulsed laser diode (4), 3 channel parallel driving circuits (5), sequential control circuit (6), return laser beam receive mirror
Head (7), the first photoelectric converter (8), the second photoelectric converter (9), third photoelectric converter (10), 3 channel parallel signals are put
It is calculated and posture determining module with discriminator circuit (11), the parallel split-second precision-digital conversion circuit (13) in 3 tunnels, height greatly
(14)；
First pulsed laser diode (2), the second pulsed laser diode (3) and third pulsed laser diode (4) and 3
Channel parallel driving circuit (5) is connected；
First photoelectric converter (8), the second photoelectric converter (9) and third photoelectric converter (10) with 3 channel parallels
Signal amplification is connected with the input terminal of discriminator circuit (11)；The output end and 3 of 3 channel parallel signals amplification and discriminator circuit (11)
The input terminal of the parallel split-second precision-digital conversion circuit (13) in road is connected；Parallel split-second precision-the digital conversion circuit in 3 tunnels
(13) output end and height is calculated to be connected with posture determining module (14)；
The sequential control circuit (6) and 3 channel parallel driving circuits (5), the parallel split-second precision-digital conversion circuit in 3 tunnels
(13) it is connected with height with Attitude Calculation module (14)；
First pulsed laser diode (2), the second pulsed laser diode (3) and third pulsed laser diode (4) position
In in the focal plane of transmitting camera lens (1), and distribution in equilateral triangle centered on the focus to emit camera lens (1)；
First photoelectric converter (8), the second photoelectric converter (9) and third photoelectric converter (10) connect positioned at return laser beam
In the focal plane for receiving camera lens (7), and it receives the field of view of receiver that camera lens (7) are formed by return laser beam and is covered each by by the first arteries and veins
Impulse optical diode (2), the second pulsed laser diode (3) and third pulsed laser diode (4) pass through transmitting camera lens (1) shape
At transmitting visual field；
First pulsed laser diode (2), the second pulsed laser diode (3) and third pulsed laser diode (4) exist
The synchronous three beams of laser signal that issues to three laser touchdown points, believe by three road return laser beams of generation under the action of sequential control circuit
After being received number respectively by the first photoelectric converter (8), the second photoelectric converter (9) and third photoelectric converter (10), through 3 channels
Parallel signal amplification and discriminator circuit (11) amplification, arrangement and identification, and be sent to the parallel split-second precision-number in 3 tunnels and turn
It changes circuit (13), the parallel split-second precision-digital conversion circuit (13) in 3 tunnels is calculated laser sensor and lands with three laser
Point range data, by calculated distance data be sent to height calculate with posture determining module (14), height calculate with
Posture determining module (14) combines the relative position of laser sensor and unmanned plane, and the distance that unmanned plane is calculated to ground is believed
The flight attitude parameter of breath and unmanned plane.
2. the laser sensor according to claim 1 for surveying Gao Dingzi suitable for unmanned plane, which is characterized in that the laser
Sensor further includes 3 channel gain control circuits (12)；
First photoelectric converter (8), the second photoelectric converter (9) and third photoelectric converter (10) with 3 channel gains
The output end of control circuit (12) is connected；The sequential control circuit (6) is connected with 3 channel gain control circuits (12)；
The 3 channel gain control circuit (12) is to control the first photoelectric converter (8), the second photoelectric converter (9) and
The yield value of three (10) three return laser beam receiving channels of photoelectric converter.
3. the laser sensor according to claim 1 for surveying Gao Dingzi suitable for unmanned plane, which is characterized in that the transmitting
It is parallel that camera lens (1) and return laser beam receive the optical axis of camera lens (7), the first photoelectric converter (8), the second photoelectric converter (9) and
Third photoelectric converter (10) and the first pulsed laser diode (2), the second pulsed laser diode (3) and third pulse laser
Diode (4) corresponds.
4. the laser sensor according to claim 1 for surveying Gao Dingzi suitable for unmanned plane, which is characterized in that the laser
The optical axis of sensor is overlapped with the normal of unmanned plane, and towards ground；
The third pulsed laser diode (4) and the distance measuring light beam that transmitting camera lens (1) is formed are linear in unmanned plane axis and method
At plane in, and the second pulsed laser diode (3) and the line of third pulsed laser diode (4) are vertical with the plane.
5. it is according to claim 1 suitable for unmanned plane survey Gao Dingzi laser sensor, which is characterized in that it is described nobody
The flight attitude parameter of machine includes pitch angle γ and roll angleThe plane definition that three laser touchdown points are constituted is put down at measuring point
Face, pitch angle γ are the angle of unmanned plane longitudinal axis and measuring point plane, roll angleFor unmanned plane transversal line with measuring point plane
Angle.
6. the laser sensor according to claim 1 for surveying Gao Dingzi suitable for unmanned plane, which is characterized in that described 3 is logical
Parallel signal amplification in road includes that the pre-amplification circuit, pulse shaper and signal being sequentially connected are located in advance with discriminator circuit (11)
Manage circuit.
7. the laser sensor according to claim 6 for surveying Gao Dingzi suitable for unmanned plane, which is characterized in that described preposition
Amplifying circuit is across resistance amplifying circuit, and chip includes LTC6560；
The pulse shaper includes 3 high-speed comparators；
The signal pre-processing circuit includes programmable logic device.
8. the laser sensor according to claim 1 for surveying Gao Dingzi suitable for unmanned plane, which is characterized in that 3 tunnel
Parallel split-second precision-digital conversion circuit (13) m- digital conversion chip when including TDC-GPX.
9. the laser sensor according to claim 1 for surveying Gao Dingzi suitable for unmanned plane, which is characterized in that described first
Pulsed laser diode (2), the second pulsed laser diode (3) and third pulsed laser diode (4) use near-infrared laser
Diode；
First photoelectric converter (8), the second photoelectric converter (9) and third photoelectric converter (10) use InGaAs photoelectricity
Diode.
10. a kind of working method for the laser sensor for surveying Gao Dingzi suitable for unmanned plane, which is characterized in that the working method
Include:
S1: by sequential control circuit, make the first pulsed laser diode (2), the second pulsed laser diode (3) and third arteries and veins
The synchronous three beams of laser signal that issues of impulse optical diode (4) is to three laser touchdown points；
S2: the first pulsed laser diode (2), the second pulsed laser diode (3) and third pulsed laser diode (4) are obtained
Distance to three laser touchdown points is respectively h1、h2And h3；
S3: the plane definition that three laser touchdown points are constituted is at measuring point plane, in conjunction with laser sensor and unmanned plane (15)
Relative position, be calculated unmanned plane (15) to ground distance and unmanned plane (15) flight attitude parameter, including unmanned plane
(15) perpendicular to the height h of measuring point plane and the pitch angle γ and roll angle of description UAV Attitude
S31: xyz space coordinates, xoy plane and unmanned plane plane are established as coordinate origin to emit camera lens in laser sensor
Namely plane determined by three laser diodes is parallel, x-axis is parallel to the first pulsed laser diode (2) and the second pulse swashs
The a line of the equilateral triangle of optical diode (3) composition, positive direction of the y-axis is identical as unmanned plane direction of advance and third pulse swashs
The projection of optical diode (4) is just fallen on the y axis；The optical axis coincidence of z-axis and laser sensor and its positive direction are towards ground, z
Axis passes through equilateral triangle orthocenter；
S32: under the space coordinates, the coordinate (x of 3 laser touchdown points on ground is obtained1,y1,z1)、(x2,y2,z2)、(x3,
y3,z3) be respectively as follows:
Wherein, θ is the angle between any two for the 3 beam distance measuring light beams that 3 pulsed laser diodes issue；
S33: the normal vector of unmanned plane plane is set as (0,0,1), unmanned plane y direction vector is (0,1,0), unmanned plane horizontal axis
Direction vector is (1,0,0), and the normal vector of measuring point plane is calculatedAre as follows:
S34: by the space geometry derivation of equation can obtain γ andAre as follows:
The measurement height h of unmanned plane are as follows:
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| CN201910510937.6A CN110244308B (en) | 2019-06-13 | 2019-06-13 | Laser sensor suitable for height and attitude determination of unmanned aerial vehicle and working method thereof |
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| CN201910510937.6A CN110244308B (en) | 2019-06-13 | 2019-06-13 | Laser sensor suitable for height and attitude determination of unmanned aerial vehicle and working method thereof |
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| CN201910510937.6A Active CN110244308B (en) | 2019-06-13 | 2019-06-13 | Laser sensor suitable for height and attitude determination of unmanned aerial vehicle and working method thereof |
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