CN114257966B - Unmanned aerial vehicle positioning system and method - Google Patents

Unmanned aerial vehicle positioning system and method Download PDF

Info

Publication number
CN114257966B
CN114257966B CN202111620460.0A CN202111620460A CN114257966B CN 114257966 B CN114257966 B CN 114257966B CN 202111620460 A CN202111620460 A CN 202111620460A CN 114257966 B CN114257966 B CN 114257966B
Authority
CN
China
Prior art keywords
gnss
unmanned aerial
aerial vehicle
signal
gnss signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111620460.0A
Other languages
Chinese (zh)
Other versions
CN114257966A (en
Inventor
杨宏伟
郭亮
徐大勇
薛松柏
王昆
刘�东
张国伟
朗仁华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sichuan AOSSCI Technology Co Ltd
Original Assignee
Sichuan AOSSCI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sichuan AOSSCI Technology Co Ltd filed Critical Sichuan AOSSCI Technology Co Ltd
Priority to CN202111620460.0A priority Critical patent/CN114257966B/en
Publication of CN114257966A publication Critical patent/CN114257966A/en
Application granted granted Critical
Publication of CN114257966B publication Critical patent/CN114257966B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application provides an unmanned aerial vehicle positioning system and method. The system comprises: the signal forwarding device comprises a receiving antenna, a GNSS signal repeater and a transmitting antenna, and the unmanned aerial vehicle comprises GNSS positioning equipment. The GNSS signal repeater receives satellite navigation signals in the air, namely first GNSS signals, through a receiving antenna, is used for processing the first GNSS signals, generating second GNSS signals, and sending the second GNSS signals to the unmanned aerial vehicle through a transmitting antenna; the unmanned aerial vehicle receives the second GNSS signal through the GNSS positioning device, and the GNSS positioning device is further used for determining the position information of the unmanned aerial vehicle according to the second GNSS signal. The unmanned aerial vehicle in the booster cylinder is positioned.

Description

Unmanned aerial vehicle positioning system and method
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle positioning system and method.
Background
Unmanned aerial vehicle cluster technology is focused on many unmanned aerial vehicles collaborative operations, through many unmanned aerial vehicle's interaction and cooperation for unmanned aerial vehicle cluster system presents the performance that single unmanned aerial vehicle simply adds does not possess, thereby improves the operating efficiency. Unmanned aerial vehicle cluster technology represents the development direction of unmanned aerial vehicle autonomous ability, has embodied higher group intelligence level, has huge using value. With the rapid development of unmanned aerial vehicle cluster technology, in order to facilitate storage, transportation and rapid deployment of unmanned aerial vehicle clusters, unmanned aerial vehicle clusters usually take off by adopting an in-cylinder boosting mode.
The in-cylinder boosting flying device is a closed device and has the function of storing the unmanned aerial vehicle. Such take-off devices for clustered unmanned aerial vehicles often employ a stacked arrangement. Due to the sealing and stacking characteristics of the booster cylinder device, the unmanned aerial vehicle in the booster cylinder cannot normally receive the signals of the global navigation satellite system (Global Navigation Satellite System; GNSS), so that the unmanned aerial vehicle cannot be positioned, and the follow-up task is affected.
Therefore, there is a need in the art for an unmanned aerial vehicle positioning system that implements positioning of an unmanned aerial vehicle in a booster.
Disclosure of Invention
The application provides an unmanned aerial vehicle positioning system and method for solve among the prior art unmanned aerial vehicle in the boost section of thick bamboo unable technical problem who fixes a position.
In a first aspect, the present application provides an unmanned aerial vehicle positioning system comprising:
the signal forwarding device comprises a receiving antenna, a GNSS signal repeater and a transmitting antenna, and the unmanned aerial vehicle comprises GNSS positioning equipment.
The GNSS signal repeater receives the first GNSS signal through the receiving antenna, is used for processing the first GNSS signal, generates a second GNSS signal, and sends the second GNSS signal to the unmanned aerial vehicle through the transmitting antenna; the unmanned aerial vehicle receives the second GNSS signal through the GNSS positioning device, and the GNSS positioning device is further used for determining the position information of the unmanned aerial vehicle according to the second GNSS signal.
In this embodiment of the application, through set up signal retransmission device in unmanned aerial vehicle positioning system, set up GNSS positioning device in unmanned aerial vehicle, and, the GNSS signal transponder through in the signal retransmission device handles the GNSS signal of receipt, and then transmit to unmanned aerial vehicle's GNSS positioning device, make GNSS positioning device fix a position unmanned aerial vehicle through the GNSS signal of retransmission, the problem that unmanned aerial vehicle in the booster among the prior art can't normally receive the GNSS signal has been solved, unmanned aerial vehicle's in the booster location has been realized.
In a possible implementation manner, the unmanned aerial vehicle positioning system provided in the embodiment of the present application, the signal forwarding device includes a plurality of transmitting antennas, and the signal forwarding device further includes: the power divider is configured to divide the power into a plurality of power dividers,
the input end of the power distributor is connected with the output end of the GNSS signal repeater, the plurality of output ends of the power distributor are respectively connected with the plurality of transmitting antennas one by one, and the power distributor is used for distributing the radio frequency signal energy of the second GNSS signal to the plurality of transmitting antennas.
In this embodiment of the application, through setting up power distributor, divide equally the GNSS signal of GNSS signal transponder output and reduce the radio frequency signal energy of output, not only can reduce the signal interference between a plurality of transmitting antennas between the different boosting section of thick bamboo to make unmanned aerial vehicle go out can switch to aerial first GNSS signal after a section of thick bamboo, but also can realize the signal forwarding to many unmanned aerial vehicle through a set of signal forwarding device, improved unmanned aerial vehicle positioning system's price/performance ratio.
In one possible implementation manner, the unmanned aerial vehicle positioning system provided in the embodiment of the present application, the power divider includes two output ends or four output ends or eight output ends.
In a possible implementation manner, the unmanned aerial vehicle positioning system provided in the embodiment of the present application, the signal forwarding device further includes: the characteristics of the attenuator are that,
an attenuator is coupled between the GNSS signal transponder and the power distributor for attenuating the radio frequency signal energy of the second GNSS signal.
In this embodiment of the application, through set up the attenuator between GNSS signal transponder and power distributor, realized reducing the radio frequency signal energy of GNSS signal transponder output, further reduced the signal interference between a plurality of transmitting antennas between the different boost cylinders, controlled GNSS signal transponder's working distance, can switch to aerial first GNSS signal after making unmanned aerial vehicle play a section of thick bamboo.
In one possible implementation manner, the unmanned aerial vehicle positioning system provided by the embodiment of the application further comprises a booster, wherein the booster is used for storing and assisting in taking off the unmanned aerial vehicle, and the transmitting antenna is fixed on the outer side of the cylinder wall of the booster.
In a possible implementation manner, in the unmanned aerial vehicle positioning system provided in the embodiment of the present application, a communication hole is provided at a position where the booster cylinder is close to a GNSS positioning device of the unmanned aerial vehicle, and the GNSS positioning device receives, through the communication hole, a second GNSS signal transmitted by the transmitting antenna.
In one possible implementation manner, the unmanned aerial vehicle positioning system provided in the embodiment of the present application, the unmanned aerial vehicle further includes a combined navigation device,
the integrated navigation equipment is connected with the GNSS positioning equipment through a serial port, and is used for receiving the position information of the unmanned aerial vehicle and navigating the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle.
In the embodiment of the application, the unmanned aerial vehicle is navigated through the integrated navigation equipment of the unmanned aerial vehicle.
In a possible implementation manner, the unmanned aerial vehicle positioning system provided by the embodiment of the application further comprises a GNSS antenna, and the integrated navigation device further comprises a high-precision GNSS board card, wherein the high-precision GNSS board card is used for receiving first GNSS signals through the GNSS antenna and positioning the unmanned aerial vehicle according to the first GNSS signals.
In this embodiment of the application, through set up high accuracy GNSS integrated circuit board in integrated navigation equipment to carry out location processing to unmanned aerial vehicle according to GNSS signal through high accuracy GNSS integrated circuit board, realized unmanned aerial vehicle behind the boost tube boost, unmanned aerial vehicle is the high accuracy location in flight in-process.
The following describes the unmanned aerial vehicle positioning method provided in the embodiment of the present application, and the content and effect thereof can refer to the unmanned aerial vehicle positioning system provided in the embodiment of the present application, and will not be described in detail.
In a second aspect, the present application provides a method for positioning an unmanned aerial vehicle, where the method for positioning an unmanned aerial vehicle is performed by the unmanned aerial vehicle positioning system provided in the first aspect and the optional manner of the first aspect in the embodiments of the present application, and the method includes:
the first GNSS signal is received through a receiving antenna of the signal forwarding device.
And processing the first GNSS signal through the GNSS signal repeater, generating a second GNSS signal, and transmitting the second GNSS signal to the GNSS positioning equipment of the unmanned aerial vehicle through the transmitting antenna.
And processing the second GNSS signal through the GNSS positioning equipment to determine the position information of the unmanned aerial vehicle.
In this embodiment of the application, the GNSS signal transponder through unmanned aerial vehicle positioning system handles the GNSS signal of receipt, and then forwards to unmanned aerial vehicle's GNSS positioning device, makes GNSS positioning device fix a position unmanned aerial vehicle through the GNSS signal of forwarding, has solved among the prior art unmanned aerial vehicle unable normal receiving GNSS signal's in the boost section of thick bamboo problem, has realized the location of unmanned aerial vehicle in the boost section of thick bamboo.
In a possible implementation manner, the unmanned aerial vehicle positioning method provided in the embodiment of the present application further includes:
and the unmanned aerial vehicle takes off through boosting.
The drone receives the first GNSS signal through a GNSS positioning device or a GNSS antenna.
And processing the first GNSS signal through GNSS positioning equipment or a high-precision GNSS board card to determine the position information of the unmanned aerial vehicle.
In this embodiment of the application, receive GNSS signal through between the GNSS antenna in the unmanned aerial vehicle to carry out location processing to unmanned aerial vehicle according to GNSS signal through high accuracy GNSS integrated circuit board, realized unmanned aerial vehicle behind the boost tube boost, unmanned aerial vehicle's high accuracy location in flight in-process.
The unmanned aerial vehicle positioning system and the unmanned aerial vehicle positioning method provided by the application comprise a signal forwarding device and an unmanned aerial vehicle, wherein the signal forwarding device comprises a receiving antenna, a GNSS signal repeater and a transmitting antenna, and the unmanned aerial vehicle comprises GNSS positioning equipment. The GNSS signal repeater receives the first GNSS signal through the receiving antenna, is used for processing the first GNSS signal, generates a second GNSS signal, and sends the second GNSS signal to the unmanned aerial vehicle through the transmitting antenna; the unmanned aerial vehicle receives the second GNSS signal through the GNSS positioning device, and the GNSS positioning device is further used for determining the position information of the unmanned aerial vehicle according to the second GNSS signal. Because set up signal retransmission device in unmanned aerial vehicle positioning system, set up GNSS positioning device in unmanned aerial vehicle, and, the GNSS signal transponder through in the signal retransmission device handles the GNSS signal of receipt, and then transmit to unmanned aerial vehicle's GNSS positioning device, make GNSS positioning device fix a position unmanned aerial vehicle through the GNSS signal of retransmission, the unmanned aerial vehicle in the booster among the prior art can't normally receive the problem of GNSS signal, realized the location of unmanned aerial vehicle in the booster.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is an exemplary application scenario architecture diagram provided in an embodiment of the present application;
FIG. 2 is another exemplary application scenario architecture diagram provided by embodiments of the present application;
fig. 3 is a schematic structural diagram of a positioning system for a drone according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a positioning system for a drone according to another embodiment of the present application;
fig. 5 is a schematic structural diagram of a positioning system for a drone according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of a drone according to an embodiment of the present disclosure;
fig. 7 is a flow chart of a method for positioning a drone according to an embodiment of the present application;
fig. 8 is a flowchart of a method for positioning a drone according to an embodiment of the present application.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
The terms first and second in the description and claims of the present application and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be capable of operation in sequences other than those illustrated or described herein, for example. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Unmanned aerial vehicle cluster technology is focused on many unmanned aerial vehicles collaborative operations, through many unmanned aerial vehicle's interaction and cooperation for unmanned aerial vehicle cluster system presents the performance that single unmanned aerial vehicle simply adds does not possess, thereby improves the operating efficiency. Unmanned aerial vehicle cluster technology represents the development direction of unmanned aerial vehicle autonomous ability, has embodied higher group intelligence level, has huge using value. With the rapid development of unmanned aerial vehicle cluster technology, in order to facilitate storage, transportation and rapid deployment of unmanned aerial vehicle clusters, unmanned aerial vehicle clusters usually take off by adopting an in-cylinder boosting mode. The in-cylinder boosting flying device is a closed device and has the function of storing the unmanned aerial vehicle. Such take-off devices for clustered unmanned aerial vehicles often employ a stacked arrangement. Due to the sealing and stacking characteristics of the boosting cylinder device, the unmanned aerial vehicle in the boosting cylinder cannot normally receive GNSS signals, and further cannot position, so that subsequent tasks are affected.
In order to solve the technical problems, the unmanned aerial vehicle positioning system and the unmanned aerial vehicle positioning method provided by the embodiment of the invention have the advantages that the signal forwarding device is arranged in the unmanned aerial vehicle positioning system to process received GNSS signals and then forward the GNSS signals to the GNSS positioning equipment of the unmanned aerial vehicle, so that the problem that the unmanned aerial vehicle in the booster can not normally receive the GNSS signals is solved, and further the GNSS positioning equipment is used for processing the forwarded GNSS signals, so that the unmanned aerial vehicle in the booster is positioned. Furthermore, according to the embodiment of the application, the high-precision GNSS board card is arranged in the unmanned aerial vehicle, the GNSS signals are directly received through the high-precision GNSS board card, and the GNSS signals are processed, so that the unmanned aerial vehicle can be positioned at high precision in the flight process.
In the following, an exemplary application scenario of the embodiments of the present application is described.
The unmanned aerial vehicle positioning method provided by the embodiment of the application can be executed through the unmanned aerial vehicle positioning system provided by the embodiment of the application. Fig. 1 is a diagram of an exemplary application scenario architecture provided in an embodiment of the present application, as shown in fig. 1, where the architecture mainly includes: the system comprises a boosting cylinder 11, an unmanned aerial vehicle 12, a signal forwarding device 13 and a navigation satellite 14, wherein in an unmanned aerial vehicle cluster, a plurality of boosting cylinders can be included, unmanned aerial vehicles are stored in each boosting cylinder, and the embodiment of the system is only illustrated by taking the example shown in fig. 1 as an example. The unmanned aerial vehicle in the booster cylinder carries out data communication with the navigation satellite 14 through the signal forwarding device 13 so as to acquire GNSS signals, and then the unmanned aerial vehicle is positioned. Fig. 2 is a schematic diagram of another exemplary application scenario provided in the embodiments of the present application, as shown in fig. 2, after the unmanned aerial vehicle 12 flies out from the booster cylinder, the unmanned aerial vehicle directly performs data communication with the navigation satellite 14 to obtain GNSS signals, so as to achieve positioning of the unmanned aerial vehicle. The type of unmanned aerial vehicle, the type of the boosting cylinder and the like are not limited.
The following describes the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle positioning system according to an embodiment of the present application, as shown in fig. 3, the unmanned aerial vehicle positioning system according to an embodiment of the present application may include: the signal forwarding device comprises a receiving antenna, a GNSS signal repeater and a transmitting antenna, and the unmanned aerial vehicle comprises GNSS positioning equipment.
The GNSS signal repeater receives the first GNSS signal through the receiving antenna, is used for processing the first GNSS signal, generates a second GNSS signal, and sends the second GNSS signal to the unmanned aerial vehicle through the transmitting antenna; the unmanned aerial vehicle receives the second GNSS signal through the GNSS positioning device, and the GNSS positioning device is further used for determining the position information of the unmanned aerial vehicle according to the second GNSS signal.
The receiving antenna of the GNSS signal repeater is mainly used for receiving the first GNSS signal transmitted by the navigation satellite, and the specific model type of the receiving antenna is not limited in the embodiment of the present application, and in one possible implementation, the receiving antenna adopts a low-noise active antenna design. The receiving antenna is connected to the GNSS signal transponder by a radio frequency cable, which in one possible embodiment is of a low loss design.
The GNSS signal repeater receives the first GNSS signal through the receiving antenna and processes the first GNSS signal, for example, the GNSS signal repeater can amplify, filter, adjust and the like the first GNSS signal to realize the positioning function check of the first GNSS signal, and meanwhile, remodulates and frequency-converts the code stream and the text information of the processed first GNSS signal to obtain the radio frequency signal of the second GNSS signal. And then output to the transmitting antenna through the output end of the GNSS signal repeater. The GNSS signal repeater receives and retransmits the first GNSS signal, and improves the spectrum quality of the GNSS signal.
The unmanned aerial vehicle receives the second GNSS signal through the receiving antenna, and the unmanned aerial vehicle is positioned through processing the second GNSS signal. In order to control the range of the second GNSS signal, in one possible implementation, the gain of the transmitting antenna provided in the embodiments of the present application is less than or equal to 5dBi.
The specific implementation manner of determining the position information of the unmanned aerial vehicle according to the second GNSS signal is not limited, and may be different for different navigation systems.
In this embodiment of the application, through set up signal retransmission device in unmanned aerial vehicle positioning system, set up GNSS positioning device in unmanned aerial vehicle, and, the GNSS signal transponder through in the signal retransmission device handles the GNSS signal of receipt, and then transmit to unmanned aerial vehicle's GNSS positioning device, make GNSS positioning device fix a position unmanned aerial vehicle through the GNSS signal of retransmission, the problem that unmanned aerial vehicle in the booster among the prior art can't normally receive the GNSS signal has been solved, unmanned aerial vehicle's in the booster location has been realized.
Based on the embodiment shown in fig. 3, in a possible implementation manner, fig. 4 is a schematic structural diagram of an unmanned aerial vehicle positioning system provided by another embodiment of the present application, as shown in fig. 4, where the unmanned aerial vehicle positioning system provided by the embodiment of the present application:
the signal forwarding device includes a plurality of transmitting antennas, and the signal forwarding device further includes: the input end of the power distributor is connected with the output end of the GNSS signal repeater, the plurality of output ends of the power distributor are respectively connected with the plurality of transmitting antennas one by one, and the power distributor is used for distributing the radio frequency signal energy of the second GNSS signal to the plurality of transmitting antennas.
In the embodiment of the present application, in fig. 4, the signal forwarding device includes 4 transmitting antennas, and the power divider includes 4 output terminals for example, which is not limited to this embodiment of the present application. In one possible implementation manner, the unmanned aerial vehicle positioning system provided in the embodiment of the present application, the power divider includes two output ends or four output ends or eight output ends.
For example, the signal forwarding device may further include 2 transmitting antennas, 6 transmitting antennas, 8 transmitting antennas and the like, and the power divider may include 2 output ends, 6 output ends, 8 output ends and the like, and specifically may be adjusted according to a user requirement. In the embodiment shown in fig. 4 of the present application, the power divider is more cost-effective by adopting a one-to-four configuration.
As shown in fig. 4, the power divider is connected to the transmitting antenna 1, the transmitting antenna 2, the transmitting antenna 3 and the transmitting antenna 4, respectively, the GNSS positioning device 1 in the unmanned aerial vehicle 1 receives the second GNSS signal through the transmitting antenna 1, wherein the GNSS positioning device 2 in the unmanned aerial vehicle 2 receives the second GNSS signal through the transmitting antenna 2 in the booster 1 (not shown in fig. 4), wherein the unmanned aerial vehicle 2 receives the second GNSS signal through the transmitting antenna 3 in the booster 2 (not shown in fig. 4), wherein the unmanned aerial vehicle 3 in the booster 3 (not shown in fig. 4), and the GNSS positioning device 4 in the unmanned aerial vehicle 4 receives the second GNSS signal through the transmitting antenna 4, wherein the unmanned aerial vehicle 4 is in the booster 4 (not shown in fig. 4).
In this embodiment of the application, GNSS signal transponder sends the second GNSS signal to power distributor in, power distributor is through the one-to-four configuration, equally divide into 4 with the radio frequency signal energy of the second GNSS signal of GNSS signal transponder output, effectively reduced the radio frequency signal energy of second GNSS signal, avoided because the radio frequency signal energy of transmitting antenna is too strong, lead to the mutual interference of the second GNSS signal between the boost section of thick bamboo, and then guaranteed unmanned aerial vehicle's accuracy of locating in the boost section of thick bamboo. In addition, in the embodiment of the application, through setting up the power distributor, can also realize the signal forwarding to many unmanned aerial vehicle through a set of signal forwarding device, improved unmanned aerial vehicle positioning system's sexual valence relative altitude.
In a possible implementation manner, as shown in fig. 4, in the unmanned aerial vehicle positioning system provided in the embodiment of the present application, the signal forwarding device may further include:
and the attenuator is connected between the GNSS signal repeater and the power distributor and used for attenuating the radio frequency signal energy of the second GNSS signal.
In order to expand the range of action of the second GNSS signal, in a possible implementation manner, the attenuation of the attenuator around 1.5GHz is 3dB to 30dB. The embodiment of the present application is merely taken as an example, and is not limited thereto.
Through setting up the attenuator between GNSS signal transponder and power distributor, realized reducing the radio frequency signal energy of GNSS signal transponder output, controlled GNSS signal transponder's working distance, further reduced the signal interference between a plurality of transmitting antennas between the different booster cylinders to make the unmanned aerial vehicle switch over to the aerial first GNSS signal after going out the section of thick bamboo.
On the basis of the above embodiment, in a possible implementation manner, fig. 5 is a schematic structural diagram of an unmanned aerial vehicle positioning system provided by another embodiment of the present application, as shown in fig. 5, where the system further includes a booster, the booster is used for storing and assisting in taking off the unmanned aerial vehicle, and the transmitting antenna is fixed on the outer side of the cylinder wall of the booster.
Through being fixed in the section of thick bamboo wall outside of boost cylinder with transmitting antenna, not only can guarantee to have unnecessary object in the boost, but also can prevent transmitting antenna and drop, further guaranteed unmanned aerial vehicle positioning system's reliability.
In a possible implementation manner, as shown in fig. 5, in the unmanned aerial vehicle positioning system provided in the embodiment of the present application, a communication hole is provided at a position where the booster barrel is close to a GNSS positioning device of the unmanned aerial vehicle, and the GNSS positioning device receives, through the communication hole, a second GNSS signal transmitted by a transmitting antenna.
In a possible implementation manner, the distance between the transmitting antenna and the GNSS positioning device of the unmanned aerial vehicle is smaller than 0.5 meter, no non-wave-transparent material is used for blocking the middle, other devices of the signal forwarding device are fixed on the peripheral platform of the booster cylinder, and the distance between the receiving antenna and the unmanned aerial vehicle is smaller than or equal to 10 meters, so that the unmanned aerial vehicle is prevented from jumping greatly after taking off. Before the unmanned aerial vehicle takes off, the GNSS signal transponder can be powered on, then the unmanned aerial vehicle is powered on, and the unmanned aerial vehicle can be positioned in the boosting cylinder about 30-60 seconds, so that the operation is convenient.
In this embodiment of the application, through the position that is close to unmanned aerial vehicle GNSS positioning device at the boost tube, set up the communication hole to with transmitting antenna setting in the next door of communication hole, be favorable to GNSS positioning device to receive the second GNSS signal that transmitting antenna sent, further guaranteed unmanned aerial vehicle positioning system's reliability.
Based on the foregoing embodiments, in one possible implementation manner, fig. 6 is a schematic structural diagram of the unmanned aerial vehicle provided by an embodiment of the present application, as shown in fig. 6, where the unmanned aerial vehicle positioning system provided by the embodiment of the present application, the unmanned aerial vehicle further includes an integrated navigation device.
The integrated navigation equipment is connected with the GNSS positioning equipment through a serial port, and is used for receiving the position information of the unmanned aerial vehicle and navigating the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle. In the embodiment of the application, the unmanned aerial vehicle is navigated through the integrated navigation equipment of the unmanned aerial vehicle.
In a possible implementation manner, as shown in fig. 6, in the unmanned aerial vehicle positioning system provided in this embodiment of the present application, the unmanned aerial vehicle further includes a GNSS antenna, and the integrated navigation device further includes a high-precision GNSS board card, where the high-precision GNSS board card is mainly configured to receive a first GNSS signal through the GNSS antenna, and perform positioning processing on the unmanned aerial vehicle according to the first GNSS signal.
When the unmanned aerial vehicle is pushed out by the boosting cylinder, the unmanned aerial vehicle leaves the forwarding action distance of the GNSS forwarding device, is switched to the first GNSS signal in the air just like entering a tunnel, can be considered to be short-term loss of satellite signals (millisecond level), the ephemeris information reserved in the GNSS positioning equipment is still available, and the distance from the moving position before the last outage is not far, so that the use condition of the receiver is not greatly different, and the information before outage can be calculated quickly. After the unmanned aerial vehicle takes off for about 30-60 s, the high-precision GNSS integrated circuit board in the integrated navigation equipment can be positioned or oriented normally, so that the GNSS positioning equipment is replaced to provide high-precision positioning navigation information for the unmanned aerial vehicle.
In the embodiment of the application, through setting up high accuracy GNSS integrated circuit board in integrated navigation equipment to receive first GNSS signal through high accuracy GNSS integrated circuit board and carry out location processing to unmanned aerial vehicle, realized unmanned aerial vehicle behind boost cylinder boost take off, unmanned aerial vehicle's high accuracy location in flight in-process.
The following describes the unmanned aerial vehicle positioning method provided in the embodiment of the present application, and the content and effect thereof can refer to the unmanned aerial vehicle positioning system provided in the embodiment of the present application, and will not be described in detail.
Fig. 7 is a schematic flow chart of an unmanned aerial vehicle positioning method according to an embodiment of the present application, where the unmanned aerial vehicle positioning method may be executed by an unmanned aerial vehicle positioning system according to an embodiment of the present application, and as shown in fig. 7, the method includes:
step S101: the first GNSS signal is received through a receiving antenna of the signal forwarding device.
Step S102: and processing the first GNSS signal through the GNSS signal repeater, generating a second GNSS signal, and transmitting the second GNSS signal to the GNSS positioning equipment of the unmanned aerial vehicle through the transmitting antenna.
Step S103: and processing the second GNSS signal through the GNSS positioning equipment to determine the position information of the unmanned aerial vehicle.
In this embodiment of the application, the GNSS signal transponder through unmanned aerial vehicle positioning system handles the GNSS signal of receipt, and then forwards to unmanned aerial vehicle's GNSS positioning device, makes GNSS positioning device fix a position unmanned aerial vehicle through the GNSS signal of forwarding, has solved among the prior art unmanned aerial vehicle unable normal receiving GNSS signal's in the boost section of thick bamboo problem, has realized the location of unmanned aerial vehicle in the boost section of thick bamboo.
On the basis of the foregoing embodiment, in a possible implementation manner, fig. 8 is a schematic flow chart of a method for positioning a drone according to an embodiment of the present application, where the method for positioning a drone may be performed by the drone positioning system according to the embodiment of the present application, and as shown in fig. 8, the method includes:
step S201: and the unmanned aerial vehicle takes off through boosting.
Step S202: the drone receives the first GNSS signal through a GNSS positioning device or a GNSS antenna.
Step S203: and processing the first GNSS signal through GNSS positioning equipment or a high-precision GNSS board card to determine the position information of the unmanned aerial vehicle.
In this embodiment of the application, after taking off through boosting unmanned aerial vehicle, unmanned aerial vehicle can receive first GNSS signal through GNSS locating device to handle first GNSS signal through GNSS locating device, confirm unmanned aerial vehicle's positional information, also can receive first GNSS signal through the GNSS antenna in the unmanned aerial vehicle, and fix a position processing according to first GNSS signal through high accuracy GNSS integrated circuit board to unmanned aerial vehicle, realized that unmanned aerial vehicle is behind boosting section of thick bamboo boosting, unmanned aerial vehicle is in the high accuracy location of flight in-process.
The unmanned aerial vehicle positioning system and the unmanned aerial vehicle positioning method provided by the application comprise a signal forwarding device and an unmanned aerial vehicle, wherein the signal forwarding device comprises a receiving antenna, a GNSS signal repeater and a transmitting antenna, and the unmanned aerial vehicle comprises GNSS positioning equipment. The GNSS signal repeater receives the first GNSS signal through the receiving antenna, is used for processing the first GNSS signal, generates a second GNSS signal, and sends the second GNSS signal to the unmanned aerial vehicle through the transmitting antenna; the unmanned aerial vehicle receives the second GNSS signal through the GNSS positioning device, and the GNSS positioning device is further used for determining the position information of the unmanned aerial vehicle according to the second GNSS signal. Because set up signal retransmission device in unmanned aerial vehicle positioning system, set up GNSS positioning device in unmanned aerial vehicle, and, the GNSS signal transponder through in the signal retransmission device handles the GNSS signal of receipt, and then transmit to unmanned aerial vehicle's GNSS positioning device, make GNSS positioning device fix a position unmanned aerial vehicle through the GNSS signal of retransmission, the unmanned aerial vehicle in the booster among the prior art can't normally receive the problem of GNSS signal, realized the location of unmanned aerial vehicle in the booster.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (9)

1. An unmanned aerial vehicle positioning system, comprising: the system comprises a signal forwarding device and an unmanned aerial vehicle, wherein the signal forwarding device comprises a receiving antenna, a Global Navigation Satellite System (GNSS) signal repeater and a transmitting antenna, and the unmanned aerial vehicle comprises GNSS positioning equipment;
the GNSS signal repeater receives a first GNSS signal through the receiving antenna, is used for processing the first GNSS signal, generates a second GNSS signal, and sends the second GNSS signal to the unmanned aerial vehicle through the transmitting antenna;
the unmanned aerial vehicle receives the second GNSS signal through the GNSS positioning device, and the GNSS positioning device is further used for determining the position information of the unmanned aerial vehicle according to the second GNSS signal;
the system also comprises a boosting cylinder, wherein the boosting cylinder is used for boosting the unmanned aerial vehicle to fly, and the transmitting antenna is fixed on the outer side of the cylinder wall of the boosting cylinder.
2. The system of claim 1, wherein the signal forwarding device comprises a plurality of transmit antennas, the signal forwarding device further comprising: the power divider is configured to divide the power into a plurality of power dividers,
the input end of the power distributor is connected with the output end of the GNSS signal repeater, a plurality of output ends of the power distributor are respectively connected with the plurality of transmitting antennas one by one, and the power distributor is used for distributing the radio frequency signal energy of the second GNSS signal to the plurality of transmitting antennas.
3. The system of claim 2, wherein the power divider comprises two outputs or four outputs or eight outputs.
4. The system of claim 2, wherein the signal forwarding means further comprises: the characteristics of the attenuator are that,
the attenuator is connected between the GNSS signal repeater and the power distributor and used for attenuating the radio frequency signal energy of the second GNSS signal.
5. The system of claim 1, wherein a communication hole is provided in the booster barrel near the GNSS positioning apparatus of the unmanned aerial vehicle, and the GNSS positioning apparatus receives the second GNSS signal transmitted by the transmitting antenna through the communication hole.
6. The system of any one of claims 1-5, wherein the drone further comprises a combination navigation device,
the integrated navigation equipment is connected with the GNSS positioning equipment through a serial port, and is used for receiving the position information of the unmanned aerial vehicle and navigating the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle.
7. The system of claim 6, wherein the unmanned aerial vehicle further comprises a GNSS antenna, and wherein the integrated navigation device further comprises a high-precision GNSS board card for receiving the first GNSS signal via the GNSS antenna and performing positioning processing on the unmanned aerial vehicle according to the first GNSS signal.
8. A method of unmanned aerial vehicle positioning, performed by a unmanned aerial vehicle positioning system according to any of claims 1 to 7, the method comprising:
receiving a first GNSS signal through a receiving antenna of the signal forwarding device;
processing the first GNSS signal through a GNSS signal repeater, generating a second GNSS signal, and transmitting the second GNSS signal to a GNSS positioning device of the unmanned aerial vehicle through a transmitting antenna;
and processing the second GNSS signal through the GNSS positioning equipment to determine the position information of the unmanned aerial vehicle.
9. The method as recited in claim 8, further comprising:
the unmanned aerial vehicle takes off through boosting;
the unmanned aerial vehicle receives the first GNSS signal through the GNSS positioning device or the GNSS antenna;
and processing the first GNSS signal through GNSS positioning equipment or a high-precision GNSS board card, and determining the position information of the unmanned aerial vehicle.
CN202111620460.0A 2021-12-27 2021-12-27 Unmanned aerial vehicle positioning system and method Active CN114257966B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111620460.0A CN114257966B (en) 2021-12-27 2021-12-27 Unmanned aerial vehicle positioning system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111620460.0A CN114257966B (en) 2021-12-27 2021-12-27 Unmanned aerial vehicle positioning system and method

Publications (2)

Publication Number Publication Date
CN114257966A CN114257966A (en) 2022-03-29
CN114257966B true CN114257966B (en) 2023-07-18

Family

ID=80795356

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111620460.0A Active CN114257966B (en) 2021-12-27 2021-12-27 Unmanned aerial vehicle positioning system and method

Country Status (1)

Country Link
CN (1) CN114257966B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106501817A (en) * 2016-12-13 2017-03-15 北京奥博泰科技有限公司 A kind of real-time satellite-signal retransmission unit that precise relay position is provided
EP3333587A1 (en) * 2016-12-12 2018-06-13 Samsung Electronics Co., Ltd. Electronic device and method for providing location data
WO2019023831A1 (en) * 2017-07-31 2019-02-07 深圳市大疆创新科技有限公司 Control method and device for interfering with unmanned aerial vehicle, and interference system
CN212324103U (en) * 2020-07-20 2021-01-08 深圳市因络通讯技术有限公司 Satellite signal coverage remote monitoring type transponder and system thereof

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2543521C1 (en) * 2013-08-02 2015-03-10 Закрытое акционерное общество "Конструкторское бюро навигационных систем" (ЗАО "КБ НАВИС") Method and system for multifrequency positioning in shielded space
US10153830B2 (en) * 2017-04-06 2018-12-11 At&T Intellectual Propertyi, L.P. Dynamic shielding system of cellular signals for an antenna of an unmanned aerial vehicle
CN207114764U (en) * 2017-04-18 2018-03-16 中国铁建电气化局集团第二工程有限公司 Big Dipper receiving system for high ferro
CN113466914B (en) * 2021-06-07 2023-03-24 苏州大学 Satellite positioning module nuclear radiation resistance performance evaluation method and system based on transponder
CN113359173B (en) * 2021-06-07 2022-05-31 苏州大学 Comprehensive evaluation method and system for nuclear radiation resistance performance of unmanned aerial vehicle based on transponder

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3333587A1 (en) * 2016-12-12 2018-06-13 Samsung Electronics Co., Ltd. Electronic device and method for providing location data
CN106501817A (en) * 2016-12-13 2017-03-15 北京奥博泰科技有限公司 A kind of real-time satellite-signal retransmission unit that precise relay position is provided
WO2019023831A1 (en) * 2017-07-31 2019-02-07 深圳市大疆创新科技有限公司 Control method and device for interfering with unmanned aerial vehicle, and interference system
CN212324103U (en) * 2020-07-20 2021-01-08 深圳市因络通讯技术有限公司 Satellite signal coverage remote monitoring type transponder and system thereof

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
卫星信号转发系统的研究;张维龙;;全球定位系统(第05期);全文 *

Also Published As

Publication number Publication date
CN114257966A (en) 2022-03-29

Similar Documents

Publication Publication Date Title
US20210288714A1 (en) Communication system and method for unmanned aerial vehicle
US9735856B2 (en) Receiving and transmitting radio frequency signals
US20230077063A1 (en) Intercepting Satellite Telephone Signals Via a Cube Satellite
CN105652289A (en) Satellite-borne GPS receiving system visible in total space
CN105898099A (en) Unmanned plane image transmission mode switching method and device, and unmanned plane
CN114257966B (en) Unmanned aerial vehicle positioning system and method
RU85055U1 (en) DIGITAL COMMUNICATION ON-BOARD COMPLEX
Solidakis et al. An Arduino-based subsystem for controlling UAVs through GSM
CN114218154A (en) On-orbit reconstruction method and device of satellite-borne equipment, electronic equipment and medium
CN112102651B (en) Near space communication control system and method for aircraft and aircraft
CN106443713A (en) Light and mini universe information collection and exchange device
US11496177B2 (en) Agile navigation transmitter system that includes a single amplifier system
CN211018831U (en) Radio frequency transceiver module
CN113131994A (en) Integrated intelligent shipborne satellite communication system
Li et al. Ku-band helicopter satellite communications for on scene disaster Information transmission
CN115955269A (en) Multi-track combination-based aircraft communication link wireless transmission system and method
US9520903B2 (en) Interconnection fabric with protocol agnostic switch for flexible radio avionics
WO2001093458A2 (en) Multi-node wireless communication system with multiple transponding platforms
RU191165U1 (en) UNMANNED AIRCRAFT RADIO COMMUNICATION TERMINAL
CN215498962U (en) Beidou short message and ADS-B integrated transceiver
CN113405409B (en) Mode switching method and system based on rocket measurement and control communication system
CN110988918B (en) Airborne position tracking equipment and positioning method
CN110730016B (en) Satellite signal retransmission device
CN113965298A (en) Dual-channel unmanned aerial vehicle line-of-sight communication system and communication method thereof
CN107797124A (en) The method of spacecraft navigation neceiver ephemeris renewal

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20230530

Address after: No. 601 and 602, area a, building 5, No. 200, Tianfu Fifth Street, high tech Zone, Chengdu, Sichuan 610000

Applicant after: SICHUAN AOSSCI TECHNOLOGY Co.,Ltd.

Address before: 610000 China (Sichuan) pilot Free Trade Zone, Chengdu

Applicant before: Wofei Changkong Technology (Chengdu) Co.,Ltd.

Applicant before: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd.

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant