CN112880685A - Joint positioning method for unmanned aerial vehicle group to detection target - Google Patents
Joint positioning method for unmanned aerial vehicle group to detection target Download PDFInfo
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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
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention provides a joint positioning method for a detection target by an unmanned aerial vehicle group, and relates to the technical field of target positioning. The invention comprises the following steps: the first step is as follows: obtaining known three-dimensional coordinate position information of a plurality of unmanned aerial vehicles; the second step is that: obtaining the distances from a target to be solved to a plurality of unmanned aerial vehicles with known three-dimensional positions; the third step: initializing a position calculation equation; the fourth step: solving a target coordinate to be solved according to a distance intersection method; the fifth step: and judging the reliability of the result and giving the result. When the unmanned aerial vehicle group target positioning method is applied to the unmanned aerial vehicle group, targets are not easy to lose, the influence of single unmanned aerial vehicle coordinate error is small, the continuous and high reliability of the unmanned aerial vehicle group target positioning can be ensured by jointly positioning the targets by a plurality of unmanned aerial vehicles, and the full-time positioning of the targets is realized.
Description
Technical Field
The invention relates to the technical field of target positioning, in particular to a joint positioning method for a detection target by an unmanned aerial vehicle group.
Background
The existing unmanned aerial vehicle realizes the positioning of the target in a single mode, and the single unmanned aerial vehicle has the advantages of simple structure, no coordination and the like to the positioning of the target, but the positioning of the single unmanned aerial vehicle is greatly influenced by the coordinates of the unmanned aerial vehicle, and once the coordinates of the single unmanned aerial vehicle are wrong, the target positioning error is caused. In addition, in the process of tracking the target, the target is shielded by the single machine, and in this case, the target coordinates are lost, so that the full-time positioning of the target cannot be realized. Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle forms the unmanned aerial vehicle crowd with the mode collaborative flight that becomes a lot of, reaches certain bigger practical function, possesses functions such as communication, mutual range finding between the unmanned aerial vehicle crowd. At present, unmanned aerial vehicle is to the location of target, and the polybase is in the location of stand-alone to the target, however, when the stand-alone location is applied to unmanned aerial vehicle crowd, the condition that the target loses appears easily, and receives the influence of stand-alone self coordinate precision big, in case self coordinate is wrong, very easily arouses the target location mistake. The unmanned aerial vehicle cluster is adopted to detect the target, so that the problems can be effectively reduced, the survival capability of the unmanned aerial vehicle cluster is strong, and the unmanned aerial vehicle cluster has great application potential in future military affairs, maritime affairs, emergency rescue and the like. When the unmanned aerial vehicle crowd fixes a position the target, track, survey the target because of a plurality of unmanned aerial vehicles, the target condition of losing can not appear, and receive single unmanned aerial vehicle coordinate error to influence for a short time. The multiple unmanned aerial vehicles jointly position the targets, so that the uninterrupted and high reliability of the unmanned aerial vehicle group to target positioning can be ensured. But the joint positioning of the targets realized by utilizing a plurality of unmanned aerial vehicles is less.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a method for jointly positioning a detection target by an unmanned aerial vehicle group, which is not easy to lose the target when applied to the unmanned aerial vehicle group, is slightly influenced by the coordinate error of a single unmanned aerial vehicle, can ensure the continuity and high reliability of the target positioning by the unmanned aerial vehicle group by jointly positioning the target, and realizes the full-time positioning of the target.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the invention provides a method for jointly positioning a detection target by an unmanned aerial vehicle group, which comprises the following steps:
the first step is as follows: obtaining known three-dimensional coordinate position information of a plurality of unmanned aerial vehicles;
the second step is that: obtaining the distances from a target to be solved to a plurality of unmanned aerial vehicles with known three-dimensional positions;
the third step: initializing a position calculation equation;
the fourth step: solving a target coordinate to be solved according to a distance intersection method;
the fifth step: and judging the reliability of the result and giving the result.
Further, the first step is specifically:
obtaining the spatial three-dimensional coordinate (x) of the known nth unmanned aerial vehicle(n),y(n),z(n)) Obtaining the space three-dimensional coordinates (x) of N unmanned planes(n),y(n),z(n))(n＝1,2,…,N)。
Further, the second step is specifically:
setting the coordinate of the target to be solved as (x, y, z), and the three-dimensional coordinate of the n-th known space as
The distance from the unmanned aerial vehicle to the target to be solved is r(n)Obtaining a total of N corresponding distances r(n)(n＝1,2,…,N)。
Further, the third step includes establishing a system of linear equations:
further, the fourth step includes the step of collating equation set (1) to obtain:
equation (2) is solved for (x, y, z) using the least squares method.
Further, the fifth step includes:
setting an error range delta, and enabling the obtained coordinates (x, y, z) and the coordinates (x) of the known unmanned aerial vehicle(n),y(n),z(n)) Determining a distance
The formula is obtained as follows:
if it is
Then (x, y, z) is a valid result; if it is
Then (x, y, z) is an invalid result, and it is necessary to go back to the first step to reacquire the coordinates of the known drone, and repeat the first step to the fifth step to reacquire the coordinates of the known drone.
By combining the technical scheme, the invention has the beneficial effects that:
when the positioning method is applied to the unmanned aerial vehicle group, targets are not easy to lose, the influence of single unmanned aerial vehicle coordinate error is small, the continuous and high reliability of the unmanned aerial vehicle group on target positioning can be ensured by jointly positioning the targets by a plurality of unmanned aerial vehicles, and the full-time positioning of the targets is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of positioning a target by 4 unmanned aerial vehicles according to an embodiment of the present invention.
Detailed Description
The objects, aspects and advantages of the present invention will become apparent from the following detailed description, which, when taken in conjunction with the drawings, illustrate by way of example only some, but not all, of the embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention provides a joint positioning method of an unmanned aerial vehicle cluster to a detection target, which is used for a method for positioning the target by the unmanned aerial vehicle cluster (more than 4 frames), and the method can also be used for positioning a certain sensor, ground equipment and the like by a plurality of unmanned aerial vehicles. The method specifically comprises the following steps:
the first step is as follows: obtaining known three-dimensional coordinate position information of a plurality of unmanned aerial vehicles; the method comprises the following steps: obtaining the spatial three-dimensional coordinate (x) of the known nth unmanned aerial vehicle(n),y(n),z(n)) Obtaining the space three-dimensional coordinates (x) of N unmanned planes(n),y(n),z(n))(n＝1,2,…,N)；
The second step is that: obtaining the distances from a target to be solved to a plurality of unmanned aerial vehicles with known three-dimensional positions; the method comprises the following steps: let the coordinate of the target to be solved be (x, y, z), and the three-dimensional coordinate of the n-th known space be (x)(n),y(n),z(n)) The distance from the unmanned aerial vehicle to the target to be solved is r(n)Obtaining a total of N corresponding distances r(n)(n＝1,2,…,N)；
The third step: initializing a position calculation equation; the method comprises the following steps of establishing a linear equation system:
the fourth step: solving a target coordinate to be solved according to a distance intersection method; the method comprises the following steps of sorting equation sets (1) to obtain:
solving the formula (2) by using a least square method to obtain (x, y, z);
the fifth step: judging the reliability of the result and giving the result, wherein the step comprises the following steps: setting an error range delta, and enabling the obtained coordinates (x, y, z) and the coordinates (x) of the known unmanned aerial vehicle(n),y(n),z(n)) Determining a distance
The formula is obtained as follows:
if it is
Then (x, y, z) is a valid result; if it is
Then (x, y, z) is an invalid result, and it is necessary to go back to the first step to reacquire the coordinates of the known drone, and repeat the first step to the fifth step to reacquire the coordinates of the known drone.
Example 1:
as shown in fig. 1, in the unmanned aerial vehicle cluster, coordinates x, y, z of a target to be measured, four unmanned aerial vehicles simultaneously obtain four distances r (1), r (2), r (3), r (4) to the target, and coordinates (x (1), y (1), z (1), x (2), y (2), z (2), x (3), y (3), z (3), x (4), y (4), z (4)) of the four unmanned aerial vehicles are utilized to solve the coordinates x, y, z of the target.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A joint positioning method for a detection target by an unmanned aerial vehicle group is characterized in that: the method comprises the following steps:
the first step is as follows: obtaining known three-dimensional coordinate position information of a plurality of unmanned aerial vehicles;
the second step is that: obtaining the distances from a target to be solved to a plurality of unmanned aerial vehicles with known three-dimensional positions;
the third step: initializing a position calculation equation;
the fourth step: solving a target coordinate to be solved according to a distance intersection method;
the fifth step: and judging the reliability of the result and giving the result.
2. The method for jointly positioning targets for detection by a cluster of unmanned aerial vehicles according to claim 1, wherein: the first step is specifically:
obtaining the spatial three-dimensional coordinate (x) of the known nth unmanned aerial vehicle(n),y(n),z(n)) Obtaining the space three-dimensional coordinates (x) of N unmanned planes(n),y(n),z(n))(n＝1,2,…,N)。
3. The method for jointly positioning targets for detection by a cluster of unmanned aerial vehicles according to claim 1, wherein: the second step is specifically as follows:
setting the coordinate of the target to be solved as (x, y, z), and the three-dimensional coordinate of the n-th known space as
The distance from the unmanned aerial vehicle to the target to be solved is r(n)Obtaining a total of N corresponding distances r(n)(n＝1,2,…,N)。
4. The method for jointly positioning targets for detection by a cluster of unmanned aerial vehicles according to claim 1, wherein: the third step includes establishing a system of linear equations:
5. the method for jointly positioning targets for detection by a cluster of unmanned aerial vehicles according to claim 1, wherein: the fourth step includes the arrangement of the equation set (1) to obtain:
equation (2) is solved for (x, y, z) using the least squares method.
6. The method for jointly positioning targets for detection by a cluster of unmanned aerial vehicles according to claim 1, wherein: the fifth step includes:
setting an error range delta, and enabling the obtained coordinates (x, y, z) and the coordinates (x) of the known unmanned aerial vehicle(n),y(n),z(n)) Determining a distance
The formula is obtained as follows:
if it is
Then (x, y, z) is a valid result; if it is
Then (x, y, z) is an invalid result, and it is necessary to go back to the first step to reacquire the coordinates of the known drone, and repeat the first step to the fifth step to reacquire the coordinates of the known drone.
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