CN114554594A - Unmanned aerial vehicle positioning method and device for search and rescue scene - Google Patents

Unmanned aerial vehicle positioning method and device for search and rescue scene Download PDF

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CN114554594A
CN114554594A CN202210442623.9A CN202210442623A CN114554594A CN 114554594 A CN114554594 A CN 114554594A CN 202210442623 A CN202210442623 A CN 202210442623A CN 114554594 A CN114554594 A CN 114554594A
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unmanned aerial
aerial vehicle
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CN114554594B (en
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童飞
丁波文
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Southeast University
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    • 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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
    • G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
    • 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

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  • Computer Networks & Wireless Communication (AREA)
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Abstract

The invention discloses a search and rescue scene-oriented unmanned aerial vehicle positioning method and device, and relates to the field of unmanned aerial vehicles and positioning. Wherein unmanned aerial vehicle is equipped with height measurement module, communication module, range finding module, removes distance measurement module, angle measurement module, storage module and calculation module. The positioning method comprises the following steps: firstly, the unmanned aerial vehicle is lifted off, height information is obtained by using a height measurement module, and a projection plane is determined according to the height information; then, a distance measurement process is executed to obtain distance information from the base station to the unmanned aerial vehicle; then, the current position is used as the origin to establish a virtual coordinate system along which
Figure 207455DEST_PATH_IMAGE002
The shaft advances forward; stopping moving after a distance, measuring the advancing distance by using a moving distance measuring module, and executing a distance measuring process to the base station; selecting a new direction, and then advancing along the new direction; stopping moving after advancing for a certain distance, measuring the advancing distance, and executing the distance measurement process to the base station; and finally, calculating and determining the starting position of the unmanned aerial vehicle according to the measured information.

Description

Unmanned aerial vehicle positioning method and device for search and rescue scene
Technical Field
The invention relates to the field of unmanned aerial vehicles and positioning, in particular to a method and equipment for positioning an unmanned aerial vehicle facing a search and rescue scene.
Background
In disaster areas, such as disaster areas caused by various natural disasters or man-made wars, the situations of damaged infrastructure and missing public services are often accompanied, and under the situation, quick and accurate positioning of the personnel to be rescued is realized, so that the survival probability of the trapped personnel is improved, and the method has great significance.
Currently, common positioning methods include a Global Navigation Satellite System (GNSS) based method, a multi-anchor positioning method, and a single-anchor positioning method. The GNSS-based method receives satellite broadcast signals to realize positioning by using a satellite system such as a beidou navigation satellite system or a global positioning system, but the method requires a special satellite signal receiving device, and the method also loses the function if the satellite signals cannot be received due to natural disaster damage or artificial damage. The method for positioning multiple anchor points measures the distances from a plurality of anchor nodes to a target node respectively by using a method based on time difference of arrival or a ranging method based on signal receiving intensity and the like, and further realizes the positioning of the target node. In recent years, a single anchor point positioning method is proposed, which can realize positioning by only depending on a single anchor node, but the method requires that a base station and a target node are provided with multiple antenna arrays, can simultaneously measure distance information and angle information from the anchor node to the target node, and puts higher requirements on software and hardware of the nodes.
Unmanned aerial vehicle also is applied to fields such as location, survey and drawing with its flexible characteristics. For example, chinese patent publication No. CN113670275A, published as 2021.11.19, discloses a method, system and storage medium for surveying and mapping an ancient building by using an unmanned aerial vehicle equipped with a height measurement module and a distance measurement module, which requires a plurality of calibration columns on the outer facade of the building. For example, chinese patent publication No. CN112558111A, published as 2021.03.26, discloses a method and an apparatus for positioning an unmanned aerial vehicle, which utilizes two known test points to correct the multi-anchor-point positioning result of the unmanned aerial vehicle, but still requires a plurality of base stations to position the unmanned aerial vehicle.
Disclosure of Invention
The technical problem to be solved by the invention is to realize the positioning of the personnel to be rescued only by a single base station under the disaster area scene without GNSS service or without GNSS signal weakness and cellular network service.
For the purpose, the invention provides an unmanned aerial vehicle positioning method facing a search rescue scene, which comprises the following steps:
s1, releasing an unmanned aerial vehicle by a person to be rescued, vertically lifting the unmanned aerial vehicle to a certain height, hovering the unmanned aerial vehicle, and obtaining height information by using a height measurement module;
s2, acquiring height information of the base station, and determining a projection plane according to the height information;
s3, the unmanned aerial vehicle executes a ranging process to obtain distance information from the base station to the unmanned aerial vehicle;
s4, the unmanned aerial vehicle establishes a virtual coordinate system by taking the current position as an origin, and determines the virtual coordinate system
Figure 247861DEST_PATH_IMAGE001
With axes in the forward direction and measuring the actual coordinate system by means of angle-measuring modules
Figure 429312DEST_PATH_IMAGE001
Axial forward and virtual coordinate system
Figure 914651DEST_PATH_IMAGE001
The included angle of the shaft in the positive direction then linearly advances along the selected direction on the horizontal plane;
s5, stopping moving the unmanned aerial vehicle after the unmanned aerial vehicle advances for a certain distance, hovering the unmanned aerial vehicle, and measuring the advancing distance by using a moving distance measuring module; executing a ranging process to obtain the distance from the base station to the current position of the unmanned aerial vehicle;
s6, selecting a new direction in the horizontal plane by the unmanned aerial vehicle, measuring an included angle between the original direction and the new direction by using an angle measuring module, and then advancing along the new direction;
s7, stopping moving the unmanned aerial vehicle after the unmanned aerial vehicle advances for a certain distance, hovering the unmanned aerial vehicle, and measuring the advancing distance by using a moving distance measuring module; executing a ranging process to obtain the distance from the base station to the current position of the unmanned aerial vehicle;
s8, according to the measured information, the base station or the unmanned aerial vehicle calculates and determines the starting position of the unmanned aerial vehicle, and then determines the position of the person to be rescued
Further, in S1, the vertical levitation and hovering position of the drone is
Figure 678208DEST_PATH_IMAGE002
Point, measuring position by height measuring module
Figure 840068DEST_PATH_IMAGE002
Altitude height
Figure 587444DEST_PATH_IMAGE003
。
Further, in the foregoing S2, the base station acquires the altitude of the base station itself
Figure 673212DEST_PATH_IMAGE004
And through communicating with the unmanned aerial vehicle, inform the unmanned aerial vehicle of the height information, select the horizontal plane with lower altitude as the vertical projection plane
Figure 681488DEST_PATH_IMAGE005
Position of
Figure 155194DEST_PATH_IMAGE002
In a plane
Figure 734074DEST_PATH_IMAGE005
Is vertically projected as
Figure 685850DEST_PATH_IMAGE006
。
Further, in the aforementioned S3, a ranging procedure is performed to obtain the base station and
Figure 814212DEST_PATH_IMAGE002
distance between points
Figure 193241DEST_PATH_IMAGE007
And calculating according to the height information measured in S1 and S2
Figure 321734DEST_PATH_IMAGE007
In a plane
Figure 201834DEST_PATH_IMAGE005
Length of projection of
Figure 60068DEST_PATH_IMAGE008
。
Further, in the foregoing S4, the drone selects one direction as the forward direction, and uses the direction as the forward direction
Figure 750944DEST_PATH_IMAGE001
The axis is positive, the current position of the unmanned aerial vehicle is used as the origin of coordinates, a two-dimensional virtual coordinate system is established on a horizontal plane, the base station is communicated with the unmanned aerial vehicle, and the two-dimensional virtual coordinate system is informed of
Figure 429050DEST_PATH_IMAGE001
Axial forward information, unmanned aerial vehicle using angle measuring module to measure actual coordinate system
Figure 841402DEST_PATH_IMAGE001
With positive and anti-clockwise rotation of the axis to a virtual coordinate system
Figure 554143DEST_PATH_IMAGE001
Angle of rotation of shaft in forward direction
Figure 212658DEST_PATH_IMAGE009
Let the actual coordinate system rotate counterclockwise around the origin
Figure 768273DEST_PATH_IMAGE009
Obtaining a two-dimensional rotating coordinate system, and setting the coordinate of the base station in the actual coordinate system as
Figure 865542DEST_PATH_IMAGE010
The coordinates in the rotating coordinate system are
Figure 308156DEST_PATH_IMAGE011
Then, there are:
Figure 199888DEST_PATH_IMAGE012
。
further, in the aforementioned S5, in the S5, the drone is stopped at the forward and backward suspension positions
Figure 242800DEST_PATH_IMAGE013
At position
Figure 878180DEST_PATH_IMAGE013
In a plane
Figure 237617DEST_PATH_IMAGE014
The projection on is recorded as
Figure 690464DEST_PATH_IMAGE015
And the unmanned aerial vehicle measures the moving distance by using the moving distance measuring module
Figure 830459DEST_PATH_IMAGE016
The unmanned plane is required to move in the horizontal plane when moving forward, so
Figure 144897DEST_PATH_IMAGE017
Is also at a distance of
Figure 686736DEST_PATH_IMAGE016
，
Figure 107222DEST_PATH_IMAGE013
The altitude of the point is still
Figure 609879DEST_PATH_IMAGE018
Then, then
Figure 587062DEST_PATH_IMAGE015
Has a virtual coordinate system of
Figure 373621DEST_PATH_IMAGE019
Performing a ranging procedure to measure the position
Figure 43637DEST_PATH_IMAGE013
At a distance from the base station of
Figure 768011DEST_PATH_IMAGE020
Calculating according to the height information measured at S1 and S2
Figure 548885DEST_PATH_IMAGE020
In a plane
Figure 189951DEST_PATH_IMAGE014
Has a projection length of
Figure 702972DEST_PATH_IMAGE021
。
Further, in the aforementioned S6, the drone is in position
Figure 304854DEST_PATH_IMAGE013
Selecting a new advancing direction, and measuring the angle of the original advancing direction clockwise turning to the new direction by using an angle measuring module
Figure 748474DEST_PATH_IMAGE022
Require
Figure 119412DEST_PATH_IMAGE022
Must not be an integer multiple of 180 deg., i.e., the new direction cannot be the same or opposite of the original direction of advance, and then proceeds in the selected new direction in the horizontal plane.
Further, in the aforementioned S7, the drone stops forward and then suspends in position
Figure 6597DEST_PATH_IMAGE023
At position
Figure 830196DEST_PATH_IMAGE023
In a plane
Figure 145683DEST_PATH_IMAGE014
The projection on is recorded as
Figure 246494DEST_PATH_IMAGE024
The unmanned aerial vehicle measures the moving distance by using the moving distance measuring unit as
Figure 429214DEST_PATH_IMAGE025
In the same way, the first and second substrates,
Figure 864744DEST_PATH_IMAGE026
is also at a distance of
Figure 791111DEST_PATH_IMAGE025
，
Figure 746429DEST_PATH_IMAGE023
The altitude of the point is still
Figure 287001DEST_PATH_IMAGE003
,
Figure 85192DEST_PATH_IMAGE024
Has a virtual coordinate system of
Figure 425038DEST_PATH_IMAGE028
Performing a ranging procedure to measure the position
Figure 359496DEST_PATH_IMAGE023
At a distance from the base station of
Figure 274231DEST_PATH_IMAGE029
Calculating according to the height information measured at S1 and S2
Figure 294140DEST_PATH_IMAGE029
In a plane
Figure 703255DEST_PATH_IMAGE014
Has a projection length of
Figure 757799DEST_PATH_IMAGE031
。
Finally, set up unmanned aerial vehicle initial position in S8
Figure 374594DEST_PATH_IMAGE002
And vertical projection
Figure 22744DEST_PATH_IMAGE006
The coordinates in the virtual coordinate system are
Figure 829026DEST_PATH_IMAGE032
Easy to know
Figure 659448DEST_PATH_IMAGE033
，
Is obtained from the above formula
Figure 666718DEST_PATH_IMAGE034
，
Then it is determined that,
Figure 395640DEST_PATH_IMAGE035
has a coordinate of a rotating coordinate system of
Figure 395826DEST_PATH_IMAGE036
Further, in the actual coordinate system,
Figure 424962DEST_PATH_IMAGE037
has the coordinates of
Figure 134292DEST_PATH_IMAGE038
，
The rescuer can be according to
Figure 6301DEST_PATH_IMAGE037
The position information of the points determines the specific position of the person to be rescued.
The invention also provides unmanned aerial vehicle equipment for the search rescue scene, which is provided with a height measuring module, a communication module, a distance measuring module, a moving distance measuring module, an angle measuring module, a storage module and a calculating module. The height measuring module is used for measuring the altitude height information of the unmanned aerial vehicle and sending the altitude height information to the storage module; the communication module is used for accessing data from the storage module and communicating with the base station to exchange information; the distance measurement module is used for measuring the distance between the base station and the unmanned aerial vehicle; the mobile distance measuring module is used for measuring the mobile distance of the unmanned aerial vehicle and sending the mobile distance to the storage module; the angle measuring module is used for measuring the advancing direction angle of the unmanned aerial vehicle and sending the advancing direction angle to the storage module; the storage module is used for storing the data and the program codes measured by the measuring modules; the calculation module is used for executing the program codes in the storage module and processing the measured data to obtain a positioning result.
Has the advantages that: the unmanned aerial vehicle positioning method facing the search rescue scene only needs one base station as an anchor node to participate in positioning, and hardware cost, calculation cost and communication cost for realizing positioning are greatly reduced. The invention realizes the positioning process by utilizing the movement of the unmanned aerial vehicle, and avoids the limitation of ground topography and the limitation that personnel to be rescued can be injured and can not move. The invention can define the moving track of the unmanned aerial vehicle in the form of program codes in advance, and realize full-automatic positioning. The invention can realize the positioning of the personnel to be rescued by an unmanned aerial vehicle by depending on a survived base station or a newly deployed single base station under the disaster area scene without GNSS service and cellular network service.
Drawings
FIG. 1 is a flow chart of the unmanned aerial vehicle positioning method for search and rescue scenes according to the invention;
FIG. 2a is a schematic diagram of determining a projection plane and a projection length;
fig. 2b is a diagram of an exemplary model of drone positioning;
fig. 3 is a schematic structural diagram of the unmanned aerial vehicle device oriented to the search and rescue scene.
Detailed Description
The specific embodiments of the present invention will be further explained with reference to the attached drawings, wherein like or similar symbols indicate like or similar elements or elements having like or similar functions throughout.
Example 1
The invention relates to the field of unmanned aerial vehicles and positioning, in particular to a method and equipment for positioning an unmanned aerial vehicle facing a search and rescue scene. The invention realizes the positioning of the personnel to be rescued with lower calculation cost and communication cost by utilizing the movement of the unmanned aerial vehicle, combining the ranging and positioning process of the base station and based on the Euclidean geometry theory.
As shown in fig. 1, a method for positioning an unmanned aerial vehicle facing a search rescue scene according to a first embodiment of the present invention includes the following steps.
S1, releasing the unmanned aerial vehicle by the rescue personnel, vertically lifting the unmanned aerial vehicle to a certain height, hovering the unmanned aerial vehicle, and obtaining height information by using a height measurement module.
The hovering height of the unmanned aerial vehicle can be the height determined by the personnel to be rescued through the control equipment, and can also be the height specified by writing codes in the unmanned aerial vehicle in advance. The vertical levitation and hovering position of the unmanned aerial vehicle is assumed to be point A, and the measured height is assumed to be point A
Figure 419965DEST_PATH_IMAGE039
。
And S2, acquiring height information of the base station, and determining a projection plane according to the height information.
Specifically, taking the model shown in fig. 2a as an example, the base station (Anc point) acquires the altitude of the base station itself
Figure 913395DEST_PATH_IMAGE040
And by communicating with the unmanned aerial vehicle, inform the unmanned aerial vehicle of this altitude information. Selecting the horizontal plane with lower altitude as the vertical projection plane
Figure 60472DEST_PATH_IMAGE041
(see fig. 2a, the plane of the base station Anc is taken as the projection plane), position
Figure 29565DEST_PATH_IMAGE042
In a plane
Figure 122286DEST_PATH_IMAGE041
Is vertically projected as
Figure 594855DEST_PATH_IMAGE043
。
And S3, the unmanned aerial vehicle executes a ranging process to obtain distance information from the base station to the unmanned aerial vehicle.
Utilize unmanned aerial vehicle equipment's range finding module to carry out the range finding process, acquire basic station and
Figure 364097DEST_PATH_IMAGE042
distance between points
Figure 820486DEST_PATH_IMAGE044
As shown in fig. 2a, can be calculated
Figure 248056DEST_PATH_IMAGE044
In a plane
Figure 168608DEST_PATH_IMAGE041
Length of projection on
Figure 984117DEST_PATH_IMAGE045
；
S4, the unmanned aerial vehicle establishes a virtual coordinate system by taking the current position as an origin, and determines the virtual coordinate system
Figure 521278DEST_PATH_IMAGE001
With axes in the forward direction and measuring the actual coordinate system by means of angle-measuring modules
Figure 80435DEST_PATH_IMAGE001
Axial forward and virtual coordinate system
Figure 668542DEST_PATH_IMAGE001
The shaft is positively angled and then proceeds straight in the selected direction in the horizontal plane.
Specifically, taking the model shown in fig. 2b as an example, the drone selects a direction as the forward direction, and uses the direction as the forward directionIs composed of
Figure 576324DEST_PATH_IMAGE001
The axis is forward, and a two-dimensional virtual coordinate system (the VCS coordinate system shown in fig. 2b, indicated by a dashed square line) is established on the horizontal plane with the current position of the drone as the origin of coordinates. Similarly, the forward direction may be a direction manually determined by the person to be rescued according to the surrounding environment, or a direction defined by program codes written in advance into the storage module. The base station communicates with the drone and informs of the two-dimensional actual coordinate system (TCS coordinate system shown in fig. 2b, indicated by the solid line)
Figure 741726DEST_PATH_IMAGE001
Axial positive information, the actual coordinate system may be a priori, e.g. with the positive east as the positive east
Figure 714362DEST_PATH_IMAGE001
Axial positive direction, with true north direction as
Figure 281609DEST_PATH_IMAGE046
The shaft is forward. The unmanned plane measures the actual coordinate system by using an angle measuring module
Figure 563555DEST_PATH_IMAGE001
With positive and anti-clockwise rotation of the axis to a virtual coordinate system
Figure 888357DEST_PATH_IMAGE001
Angle of rotation of shaft in forward direction
Figure 789317DEST_PATH_IMAGE047
Let the actual coordinate system rotate counterclockwise around the origin
Figure 335705DEST_PATH_IMAGE047
To obtain a two-dimensional rotating coordinate system (shown as RCS coordinate system in FIG. 2b, indicated by dashed line), and setting the coordinates of the base station in the actual coordinate system as
Figure 663918DEST_PATH_IMAGE010
The coordinates in the rotating coordinate system are
Figure 679278DEST_PATH_IMAGE011
Then, there are:
Figure 39721DEST_PATH_IMAGE049
。
s5, stopping moving the unmanned aerial vehicle after the unmanned aerial vehicle advances for a certain distance, hovering the unmanned aerial vehicle, and measuring the advancing distance by using a moving distance measuring module; and executing a ranging process to obtain the distance from the base station to the current position of the unmanned aerial vehicle.
Specifically, taking the model shown in fig. 2b as an example, the unmanned aerial vehicle stops at the position of front suspension and rear suspension
Figure 581561DEST_PATH_IMAGE050
At position
Figure 956042DEST_PATH_IMAGE050
In a plane
Figure 583332DEST_PATH_IMAGE051
The projection on is recorded as
Figure 691009DEST_PATH_IMAGE052
. Unmanned aerial vehicle utilizes removal distance measurement module to measure removal distance
Figure 352934DEST_PATH_IMAGE053
Similarly, the moving distance may be determined by the person to be rescued through the control device, or may be a distance defined by program code written in advance into the storage module. The unmanned aerial vehicle is required to be kept moving in a horizontal plane by utilizing a height sensor and a control unit when moving forwards, so that the unmanned aerial vehicle is
Figure 898316DEST_PATH_IMAGE054
Is also at a distance of
Figure 668695DEST_PATH_IMAGE053
，
Figure 715148DEST_PATH_IMAGE050
The altitude of the point is still
Figure 841367DEST_PATH_IMAGE055
Then, then
Figure 603656DEST_PATH_IMAGE056
Has a virtual coordinate system of
Figure 939959DEST_PATH_IMAGE057
Performing a ranging procedure to measure the position
Figure 399891DEST_PATH_IMAGE050
At a distance from the base station of
Figure 505250DEST_PATH_IMAGE058
And in S3
Figure 641702DEST_PATH_IMAGE044
The projection length method of (1) is like the same, calculating
Figure 730881DEST_PATH_IMAGE058
In a plane
Figure 728924DEST_PATH_IMAGE051
Has a projection length of
Figure 141319DEST_PATH_IMAGE059
。
S6, the unmanned aerial vehicle selects a new direction in the horizontal plane, measures an included angle between the original direction and the new direction by using the angle measuring module, and then advances along the new direction.
Specifically, taking the model shown in fig. 2b as an example, the drone is in position
Figure 324039DEST_PATH_IMAGE050
Selecting a new advancing direction, and measuring the angle of the original advancing direction rotating to the new direction clockwise as
Figure 510301DEST_PATH_IMAGE060
Require
Figure 171089DEST_PATH_IMAGE060
The direction of the new direction can not be an integral multiple of 180 degrees, that is, the new direction cannot be the same as or opposite to the original advancing direction (in fig. 2b, the unmanned aerial vehicle selects the right-side steering to the original advancing direction), and then the new direction is advanced in the horizontal plane, and likewise, the advancing direction can be the direction manually determined by the person to be rescued according to the surrounding environment, and can also be the direction defined by the program code written into the storage module in advance.
S7, stopping moving the unmanned aerial vehicle after the unmanned aerial vehicle advances for a certain distance, hovering the unmanned aerial vehicle, and measuring the advancing distance by using a moving distance measuring module; and executing a ranging process to obtain the distance from the base station to the current position of the unmanned aerial vehicle.
Specifically, taking the model shown in fig. 2b as an example, the unmanned aerial vehicle stops at the position of front suspension and rear suspension
Figure 641254DEST_PATH_IMAGE061
At position
Figure 994875DEST_PATH_IMAGE061
In a plane
Figure 668433DEST_PATH_IMAGE051
The projection on is recorded as
Figure 319863DEST_PATH_IMAGE062
. Unmanned aerial vehicle measures moving distance by using moving distance measuring unit
Figure 519900DEST_PATH_IMAGE063
The moving distance can be determined by the person to be rescued through the control device, or can be defined by program codes written into the storage module in advance. In the same way as above, the first and second,
Figure 919788DEST_PATH_IMAGE064
is also at a distance of
Figure 939697DEST_PATH_IMAGE065
，
Figure 598080DEST_PATH_IMAGE061
The altitude of the point is still
Figure 652624DEST_PATH_IMAGE039
。
Figure 20151DEST_PATH_IMAGE062
Has a virtual coordinate system of
Figure 646131DEST_PATH_IMAGE066
Performing a ranging procedure to measure the distance of the location C from the base station
Figure 717992DEST_PATH_IMAGE067
And in S3
Figure 502408DEST_PATH_IMAGE068
The projection length calculation method of (1) similarly calculates the projection length based on the height information measured at S1 and S2
Figure 634312DEST_PATH_IMAGE067
In a plane
Figure 753447DEST_PATH_IMAGE051
Has a projection length of
Figure 301103DEST_PATH_IMAGE069
。
And S8, according to the measured information, the base station or the unmanned aerial vehicle calculates and determines the starting position of the unmanned aerial vehicle, and further determines the position of the personnel to be rescued.
Setting the initial position of the unmanned plane
Figure 64660DEST_PATH_IMAGE042
And vertical projection
Figure 492099DEST_PATH_IMAGE070
The coordinates in the virtual coordinate system are
Figure 973896DEST_PATH_IMAGE071
Easy to know
Figure 997346DEST_PATH_IMAGE072
，
Is obtained from the above formula
Figure 880989DEST_PATH_IMAGE073
，
Then it is determined that,
Figure 479329DEST_PATH_IMAGE035
has a coordinate of a rotating coordinate system of
Figure 120526DEST_PATH_IMAGE036
Further, in the actual coordinate system,
Figure 337881DEST_PATH_IMAGE074
has the coordinates of
Figure 935084DEST_PATH_IMAGE075
，
Figure 579692DEST_PATH_IMAGE076
Is positioned right above the person to be rescued, so that the rescue personnel can operate according to
Figure 911448DEST_PATH_IMAGE077
The position information of the points determines the specific position of the person to be rescued.
Example 2
Fig. 3 is a schematic structural diagram of the search and rescue scene oriented unmanned aerial vehicle device of the invention, which includes:
and the height measuring module is used for measuring the altitude information of the unmanned aerial vehicle and storing the altitude information into the storage module, so that the unmanned aerial vehicle can be ensured to be on the same horizontal plane when determining the projection plane and moving. The altitude information may be obtained based on various methods, such as measuring the barometric pressure by a barometric pressure sensor.
And the communication module is connected with the storage module, acquires the measurement data from the storage module, communicates with the base station to exchange information, acquires the measurement data such as height information and the like and the final positioning result, and stores the measurement data and the final positioning result in the storage module.
And the ranging module is used for measuring the distance between the base station and the unmanned aerial vehicle and storing the distance into the storage module. The distance measurement may be based on various methods, such as a time-of-flight based ranging method may be used to ensure synchronization between the clocks of the base station and the drone, or a received signal strength indicator based ranging method may be used.
And the mobile distance measuring module is used for measuring the mobile distance of the unmanned aerial vehicle and storing the mobile distance into the storage module. Similarly, the moving distance may be measured based on various methods, such as measuring the displacement by using a light flow sensor, or measuring the moving distance of the drone by using an inertial measurement unit, a three-axis gyroscope, and a three-axis accelerometer.
The angle measurement module is used for measuring the advancing direction angle of the unmanned aerial vehicle and storing the angle into the storage module, and then calculating the angle
Figure 588285DEST_PATH_IMAGE079
More specifically, the measurement of the direction may be achieved using a geomagnetic sensor.
The storage module can be a Random Access Memory (RAM) or a Read Only Memory (ROM) and is used for storing data measured by the measurement module, data information obtained by communication between the communication module and the base station, and calculation data, and storing a program corresponding to the positioning method and a program corresponding to the movement track of the unmanned aerial vehicle.
The computing module, such as a central processing unit, is used for acquiring the data required by positioning from the storage module, executing the positioning method provided by the invention, acquiring the positioning result, and storing the result in the storage module.
It should be noted that, in this embodiment, each module (or unit) is in a logical sense, and in particular, when the embodiment is implemented, a plurality of modules (or units) may be combined into one module (or unit), and one module (or unit) may also be split into a plurality of modules (or units). It should also be noted that only some, but not all, of the structures associated with the present invention are shown in the drawings.
By the unmanned aerial vehicle device facing the search rescue scene, rescue workers can realize the positioning of the unmanned aerial vehicle only by a single base station, and further realize the positioning of the people to be rescued.
It should be noted that any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be executed out of order from that shown or discussed, including substantially the same way or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of patentable embodiments.
In the description herein, references to the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and not to be construed as limiting the invention, and that those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments without departing from the spirit and scope of the invention.

Claims (10)

1. An unmanned aerial vehicle positioning method for a search rescue scene is characterized by comprising the following steps:
s1, releasing an unmanned aerial vehicle by a person to be rescued, vertically lifting the unmanned aerial vehicle to a certain height, hovering the unmanned aerial vehicle, and obtaining height information by using a height measurement module;
s2, acquiring height information of the base station, and determining a projection plane according to the height information;
s3, the unmanned aerial vehicle executes a ranging process to obtain distance information from the base station to the unmanned aerial vehicle;
s4, the unmanned aerial vehicle establishes a virtual coordinate system by taking the current position as an origin, and determines the virtual coordinate system
Figure 113740DEST_PATH_IMAGE001
With axes in the forward direction and measuring the actual coordinate system by means of angle-measuring modules
Figure 310235DEST_PATH_IMAGE003
Axial forward and virtual coordinate system
Figure 484864DEST_PATH_IMAGE003
The included angle of the shaft in the positive direction then linearly advances along the selected direction on the horizontal plane;
s5, stopping moving the unmanned aerial vehicle after the unmanned aerial vehicle advances for a certain distance, hovering the unmanned aerial vehicle, and measuring the advancing distance by using a moving distance measuring module; executing a ranging process to obtain the distance from the base station to the current position of the unmanned aerial vehicle;
s6, selecting a new direction in the horizontal plane by the unmanned aerial vehicle, measuring an included angle between the original direction and the new direction by using an angle measuring module, and then advancing along the new direction;
s7, stopping moving the unmanned aerial vehicle after the unmanned aerial vehicle advances for a certain distance, hovering the unmanned aerial vehicle, and measuring the advancing distance by using a moving distance measuring module; executing a ranging process to obtain the distance from the base station to the current position of the unmanned aerial vehicle;
and S8, according to the measured information, the base station or the unmanned aerial vehicle calculates and determines the starting position of the unmanned aerial vehicle, and further determines the position of the personnel to be rescued.
2. The method for positioning unmanned aerial vehicle for search rescue scene as claimed in claim 1, wherein in S1, the unmanned aerial vehicle vertically ascends to hover positionIs arranged as
Figure 492135DEST_PATH_IMAGE004
Point, measuring position by height measuring module
Figure 870989DEST_PATH_IMAGE004
Altitude height
Figure 746541DEST_PATH_IMAGE005
。
3. The unmanned aerial vehicle positioning method for search and rescue scene as claimed in claim 1, wherein in S2, the base station obtains altitude at which the base station is located
Figure 651043DEST_PATH_IMAGE006
And through communicating with the unmanned aerial vehicle, inform the unmanned aerial vehicle of the height information, select the horizontal plane with lower altitude as the vertical projection plane
Figure 953849DEST_PATH_IMAGE007
Position of
Figure 560279DEST_PATH_IMAGE004
In a plane
Figure 973943DEST_PATH_IMAGE007
Is vertically projected as
Figure 998531DEST_PATH_IMAGE008
。
4. The unmanned aerial vehicle positioning method for search and rescue scene as claimed in claim 1, wherein in S3, a ranging process is performed to obtain a base station and a base station
Figure 596871DEST_PATH_IMAGE004
Distance between points
Figure 565965DEST_PATH_IMAGE009
And calculating according to the height information measured in S1 and S2
Figure 658685DEST_PATH_IMAGE009
In a plane
Figure 662414DEST_PATH_IMAGE007
Length of projection of
Figure 431655DEST_PATH_IMAGE010
。
5. The method as claimed in claim 1, wherein in S4, the drone selects a direction as the forward direction, and uses the direction as the forward direction
Figure 28990DEST_PATH_IMAGE001
The axis is positive, the current position of the unmanned aerial vehicle is used as the origin of coordinates, a two-dimensional virtual coordinate system is established on a horizontal plane, the base station is communicated with the unmanned aerial vehicle, and the two-dimensional virtual coordinate system is informed of
Figure 784456DEST_PATH_IMAGE001
Axial forward information, unmanned aerial vehicle using angle measuring module to measure actual coordinate system
Figure 501745DEST_PATH_IMAGE001
With positive and anti-clockwise rotation of the axis to a virtual coordinate system
Figure 317255DEST_PATH_IMAGE001
Angle of rotation of shaft in forward direction
Figure 136306DEST_PATH_IMAGE011
Let the actual coordinate system rotate counterclockwise around the origin
Figure 695463DEST_PATH_IMAGE011
Obtaining a two-dimensional rotating coordinate system, and setting the coordinate of the base station in the actual coordinate system as
Figure 798418DEST_PATH_IMAGE012
The coordinates in the rotating coordinate system are
Figure 519249DEST_PATH_IMAGE013
Then, there are:
Figure 91176DEST_PATH_IMAGE014
。
6. the method for positioning unmanned aerial vehicle for search and rescue scene as claimed in claim 1, wherein in S5, the unmanned aerial vehicle stops forward and suspends at a position after stopping
Figure 313078DEST_PATH_IMAGE015
At position
Figure 145905DEST_PATH_IMAGE015
In a plane
Figure 913004DEST_PATH_IMAGE016
The projection on is recorded as
Figure 96861DEST_PATH_IMAGE017
And the unmanned aerial vehicle measures the moving distance by using the moving distance measuring module
Figure 122454DEST_PATH_IMAGE018
The drone is required to move in the horizontal plane as it moves forward, thus
Figure 544208DEST_PATH_IMAGE019
Is also at a distance of
Figure 747788DEST_PATH_IMAGE018
，
Figure 283855DEST_PATH_IMAGE015
The altitude of the point is still
Figure 988505DEST_PATH_IMAGE020
Then, then
Figure 405711DEST_PATH_IMAGE017
Has a virtual coordinate system of
Figure 170405DEST_PATH_IMAGE021
Performing a ranging procedure to measure the position
Figure 922329DEST_PATH_IMAGE015
At a distance from the base station of
Figure 165092DEST_PATH_IMAGE022
Calculating according to the height information measured at S1 and S2
Figure 702383DEST_PATH_IMAGE022
In a plane
Figure 497033DEST_PATH_IMAGE016
Has a projection length of
Figure 611620DEST_PATH_IMAGE023
。
7. The method for positioning unmanned aerial vehicle for search rescue scene as claimed in claim 1, wherein in S6, the unmanned aerial vehicle is at the position
Figure 267860DEST_PATH_IMAGE015
Selecting a new advancing direction, and measuring the original advancing direction by using an angle measuring moduleThe angle of clockwise turning to a new direction is
Figure 49871DEST_PATH_IMAGE024
Require
Figure 281001DEST_PATH_IMAGE024
Must not be an integer multiple of 180 deg., i.e., the new direction cannot be the same or opposite of the original direction of advance, and then proceeds in the selected new direction in the horizontal plane.
8. The method for positioning unmanned aerial vehicle for search and rescue scene as claimed in claim 1, wherein in S7, the unmanned aerial vehicle stops forward and suspends at a position after stopping
Figure 758250DEST_PATH_IMAGE025
At position
Figure 342815DEST_PATH_IMAGE025
In a plane
Figure 838387DEST_PATH_IMAGE016
The projection on is recorded as
Figure 115785DEST_PATH_IMAGE026
The unmanned aerial vehicle measures the moving distance by using the moving distance measuring unit as
Figure 814751DEST_PATH_IMAGE027
In the same way, the first and second substrates,
Figure 593220DEST_PATH_IMAGE028
is also at a distance of
Figure 818665DEST_PATH_IMAGE027
，
Figure 142330DEST_PATH_IMAGE025
The altitude of the point is still
Figure 718805DEST_PATH_IMAGE005
，
Figure 769806DEST_PATH_IMAGE029
Has a virtual coordinate system of
Figure 849758DEST_PATH_IMAGE030
Performing a ranging procedure to measure the position
Figure 609903DEST_PATH_IMAGE025
At a distance from the base station of
Figure 532729DEST_PATH_IMAGE031
Calculating according to the height information measured at S1 and S2
Figure 262787DEST_PATH_IMAGE031
In a plane
Figure 72612DEST_PATH_IMAGE016
Has a projection length of
Figure 128292DEST_PATH_IMAGE032
。
9. The unmanned aerial vehicle positioning method for search rescue scene as claimed in claim 1, wherein an unmanned aerial vehicle initial position is set in S8
Figure 555992DEST_PATH_IMAGE004
And vertical projection
Figure 965108DEST_PATH_IMAGE008
The coordinates in the virtual coordinate system are
Figure 19651DEST_PATH_IMAGE033
Easy to know
Figure 105288DEST_PATH_IMAGE034
，
Is obtained from the above formula
Figure 612493DEST_PATH_IMAGE035
，
Then it is determined that,
Figure 825299DEST_PATH_IMAGE036
has a coordinate of a rotating coordinate system of
Figure 999929DEST_PATH_IMAGE037
。
10. An unmanned aerial vehicle device for a search rescue scene is used for realizing the unmanned aerial vehicle positioning method for the search rescue scene in any one of claims 1 to 9, and is characterized by comprising a height measuring module, a communication module, a distance measuring module, a moving distance measuring module, an angle measuring module, a storage module and a calculating module; the height measuring module is used for measuring the information of the altitude of the unmanned aerial vehicle and sending the information to the storage module; the communication module is used for accessing data from the storage module and communicating with the base station to exchange information; the distance measurement module is used for measuring the distance between the base station and the unmanned aerial vehicle and sending the distance to the storage module; the mobile distance measuring module is used for measuring the mobile distance of the unmanned aerial vehicle and sending the mobile distance to the storage module; the angle measuring module is used for measuring the advancing direction angle of the unmanned aerial vehicle and sending the advancing direction angle to the storage module; the storage module is used for storing the data and the program codes measured by the measuring modules; the calculation module is used for executing the program codes in the storage module and processing the measured data to obtain a positioning result.
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