CN103293511A - Method and system for point-to-point positioning of unmanned aerial vehicle - Google Patents
Method and system for point-to-point positioning of unmanned aerial vehicle Download PDFInfo
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- CN103293511A CN103293511A CN 201210437143 CN201210437143A CN103293511A CN 103293511 A CN103293511 A CN 103293511A CN 201210437143 CN201210437143 CN 201210437143 CN 201210437143 A CN201210437143 A CN 201210437143A CN 103293511 A CN103293511 A CN 103293511A
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Abstract
The invention relates to a method and system for point-to-point positioning of an unmanned aerial vehicle. a point-to-point positioning technology is used by the method and system for the point-to-point positioning of the unmanned aerial vehicle for positioning the unmanned aerial vehicle. In the system, a search position indicator is arranged on the unmanned aerial vehicle and can receive point-to-point positioning signals sent by an emitter, the angle and the distance of the search position indicator and the emitter are confirmed, and therefore the precise positioning of the unmanned aerial vehicle is achieved. The point-to-point positioning can be independent of other existing positioning technologies, and precise positioning is carried out on the unmanned aerial vehicle. The defects that a global positioning system is weak in signal and easy to shield or interfere, and an inertial navigation system has large accumulative errors in the prior art can be overcome.
Description
Technical field:
The present invention relates to the positioning navigation method of unmanned plane, is that unmanned plane uses point-to-point location technology that unmanned plane is implemented accurately location specifically.
Background technology:
The unmanned plane location navigation mainly uses following three kinds of location technologies at present:
(1) inertial navigation system (INS)
Determine the acceleration of unmanned plane by accelerometer, determine angular velocity by gyroscope.The shortcoming of inertial navigation system is the accumulation along with the time, and locating accuracy can reduce, and mistake increases.Very large deviation can take place in the position of former and later two time points.
(2) global positioning system (GPS)
This type systematic includes the GPS of USA system, the Galileo system in Europe, Muscovite glonass system, the dipper system of China etc.These systems all are made up of the satellite of near-earth orbit.Locating accuracy is determined by the geometric relationship of triangulation.Because these satellites are kept in motion all the time, cause the geometric relationship of triangulation to have error.Another problem of satellite positioning navigation is exactly that signal is very faint, and signal can not enter buildings and be disturbed by atmospheric envelope and ionosphere easily.The out of true of the clock of satellite-signal receiver self also can cause the error of locating.
(3) image auxiliary positioning navigational system
This type systematic needs storage topographic(al) data figure in the Installed System Memory of unmanned plane in advance, does associative operation by the real-time three-dimensional land map of taking of unmanned plane and the topographic(al) data figure of storage, thereby realizes the location of unmanned plane.This method only is applicable to that unmanned plane is in the location navigation task of known specific region and position.
Summary of the invention
The present invention adopts point-to-point location technology, realizes the accurate location of unmanned plane.Point-to-point location technology is sent radiowave by a target, and the radiowave that the search orientator sends according to the described target that detects calculates direction and a kind of method of distance to realize target is positioned of its target.This method can overcome the GPS GPS can't locate or locate inaccurate shortcoming owing to what the signal screen covert produced, can support the interior of building location simultaneously.
The search orientator is housed on the unmanned plane, and this orientator receives the positioning signal of sending from signal transmitter, and by real-time angle and the distance of determining search orientator and transmitter, thereby realization is for the location of unmanned plane.
The search orientator is realized the location by communicating with signal transmitter.The transmitting terminal of transmitter can be launched the wireless signal of unique representative transmitter identity information code, and the orientator that this signal is positioned on the unmanned plane receives.
Transmitter must have fixing known positional information, the position reference point the when positional information of transmitter will be as point-to-point location.The search orientator can filter out the radiowave that the transmitter that docks with it is launched, and independently calculates the angle and distance of own and transmitter.
Transmitter itself can receive the position signalling that comes from other transmitters, and the relative position between each transmitter should meet certain geometric relationship, satisfies the needs of bearing accuracy with this.
Can form network between the transmitter, the transmitter that adds network at first must have the known geographic position of determining, the transmitter of Jia Ruing can be determined the position of oneself automatically according to the position of existing transmitter afterwards, can enlarge the orientation range of unmanned plane like this.
Transmitter can comprise an active device, is used for receiving the activation signal that the search orientator sends, and the effect of activation signal is to activate transmitter: during no activation signal, transmitter enters the sleep for electricity saving pattern, is in dormant state.
The user can be by movement locus and the orientation of network inquiry unmanned plane
The orientation of search orientator relative transmitter shows and comprises a kind of in following several mode at least:
I, left and right or upper and lower two direction indications of demonstration;
The direction indication of II, 4 directions that show 90 degree five equilibriums and more refinement angle;
III, show the angle and distance of unmanned plane and transmitter simultaneously in order to following at least a method
(1) with the position of point or other icon representation transmitter, reflected the angle and distance of unmanned plane range transmission instrument apart from the direction of this icon and distance by central point.
(2) with arrow or point apart from the angle of central point reflection direction, with color, brightness, density, size or numeral distance.
(3) map software is installed, middle control end can be observed geographic position and the track of unmanned plane at map.
Unmanned plane localization method of the present invention and system are independent of existing other unmanned plane localization methods, by the mode of point-to-point location, realize accurate location and the navigation of unmanned plane.
Description of drawings
Fig. 1 unmanned plane is communicated by letter with a plurality of transmitters by the search orientator, realizes the location of self
Fig. 2-4 has described transmitter and has formed network, enlarges the orientation range of unmanned plane
Fig. 5 has described the composition structure of transmitter
Embodiment:
This positioning system is used for location and the navigation of unmanned plane.System comprises transmitter and two chief components of search orientator.Transmitter itself has known fixed position, and the search orientator is installed on the unmanned plane, and unmanned plane can communicate by searching instrument and transmitter, thereby realizes the accurate location of unmanned plane self.
Unmanned plane sends activation signal by the search orientator near transmitter, activates point-to-point communication.
The search orientator is by self entrained identities match sign indicating number, and the wireless signal that sends with the transmitter of communicating by letter with it mates, and obtains self with respect to distance and the angle of transmitter.In Fig. 1, always have four transmitters, be that four pyramid types of 1-4 are represented with label respectively.The search orientator is installed on the unmanned plane, the search orientator can self-contained four different identities match sign indicating numbers, the wireless signal that these four identities match sign indicating numbers can be respectively send with these four transmitters carries out man-to-man coupling, by coupling, can determine distance and the angle of unmanned plane and each transmitter.
When the search orientator was communicated by letter with a plurality of transmitters simultaneously, searching instrument had a relative distance and angle with respect to each transmitter, and at this moment the position of searching instrument is on the intersection point of a plurality of circular arcs.
Transmitter self can also be formed network, and in order to enlarging the hunting zone of unmanned plane, and initiate transmitter does not need to determine in advance the position.The process of transmitter MANET is shown in Fig. 2-4.Three transmitters are arranged in the initial transmitter network, and the position of these three transmitters is known.When the 4th transmitter added this network, initiate transmitter was by communicating with existing transmitter, thereby determined the position of oneself.The benefit of networking is like this, can very easily enlarge the scope that point to point network covers, thereby in bigger space unmanned plane be positioned.
Figure 5 shows that the transmitter structural representation, comprise the wireless transmitter module 201 that sends wireless signal to the search orientator.Be used for forming with other transmitters the MANET module 203 of network.Be used for showing the display end 204 of current state.If the state of current demonstration is dormant state, then need not to send wireless signal.
Claims (8)
1. unmanned plane positioning system that adopts point-to-point location technology, it is characterized in that: the search orientator is housed on the unmanned plane, this orientator can acceptance point to the point location signal, by determining the angle and distance of orientator and transmitter, unmanned plane is implemented accurately to locate.
2. method and system according to claim 1 is characterized in that: search for orientator by communicating with signal transmitter, realize the location.The transmitting terminal of transmitter can be launched the wireless signal of unique representative transmitter identity information code, and the orientator that this signal is positioned on the unmanned plane receives.
3. method and system according to claim 1, it is characterized in that: transmitter must have fixing known positional information, the position reference point the when positional information of transmitter will be as point-to-point location.
4. method and system according to claim 1 is characterized in that: the search orientator can filter out the radiowave that the transmitter that docks with it is launched, and independently calculates the angle and distance of own and transmitter.
5. according to the described method and system of claim 1, it is characterized in that: transmitter itself can receive the position signalling that comes from other transmitters, and the relative position between each transmitter should meet certain geometric relationship, satisfies the needs of bearing accuracy with this.
6. according to the described method and system of claim 1, it is characterized in that: can form network between the transmitter, the initial transmitter that adds network must have the known geographic position of determining, the transmitter of Jia Ruing can be determined the position of oneself automatically according to existing transmitter afterwards, can enlarge the orientation range of unmanned plane like this.
7. method and system according to claim 1, it is characterized in that: transmitter can comprise an active device, be used for receiving the activation signal that the search orientator sends, the effect of activation signal is to activate transmitter: during no activation signal, transmitter enters the sleep for electricity saving pattern, is in dormant state.
8. method and system according to claim 1 is characterized in that: when using point-to-point location, middle control end can be inquired about the movement locus of unmanned plane and orientation in real time by map software.
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| CN 201210437143 CN103293511A (en) | 2012-11-06 | 2012-11-06 | Method and system for point-to-point positioning of unmanned aerial vehicle |
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| CN 201210437143 CN103293511A (en) | 2012-11-06 | 2012-11-06 | Method and system for point-to-point positioning of unmanned aerial vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926559A (en) * | 2014-03-21 | 2014-07-16 | 金陵科技学院 | Point-to-point positioning system for downhole mine tunnel |
| CN104807464A (en) * | 2015-04-22 | 2015-07-29 | 深圳市视晶无线技术有限公司 | Near field guiding method of aircraft |
| WO2016070796A1 (en) * | 2014-11-03 | 2016-05-12 | 邦彦技术股份有限公司 | Method and device for obtaining target position information |
| CN107357310A (en) * | 2017-07-17 | 2017-11-17 | 北京京东尚科信息技术有限公司 | UAV Flight Control equipment, system, method and unmanned aerial vehicle (UAV) control method |
| CN108521791A (en) * | 2017-07-18 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Localization method, unmanned plane and machine readable storage medium |
| CN109557528A (en) * | 2017-09-25 | 2019-04-02 | 联想(北京)有限公司 | Localization method, electronic equipment and server for multiple electronic equipments |
-
2012
- 2012-11-06 CN CN 201210437143 patent/CN103293511A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103926559A (en) * | 2014-03-21 | 2014-07-16 | 金陵科技学院 | Point-to-point positioning system for downhole mine tunnel |
| WO2016070796A1 (en) * | 2014-11-03 | 2016-05-12 | 邦彦技术股份有限公司 | Method and device for obtaining target position information |
| CN104807464A (en) * | 2015-04-22 | 2015-07-29 | 深圳市视晶无线技术有限公司 | Near field guiding method of aircraft |
| CN104807464B (en) * | 2015-04-22 | 2017-12-01 | 深圳市视晶无线技术有限公司 | Aircraft near field bootstrap technique |
| CN107357310A (en) * | 2017-07-17 | 2017-11-17 | 北京京东尚科信息技术有限公司 | UAV Flight Control equipment, system, method and unmanned aerial vehicle (UAV) control method |
| CN108521791A (en) * | 2017-07-18 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Localization method, unmanned plane and machine readable storage medium |
| CN108521791B (en) * | 2017-07-18 | 2022-07-01 | 深圳市大疆创新科技有限公司 | Positioning method, unmanned aerial vehicle and machine-readable storage medium |
| CN109557528A (en) * | 2017-09-25 | 2019-04-02 | 联想(北京)有限公司 | Localization method, electronic equipment and server for multiple electronic equipments |
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Application publication date: 20130911 |