CN105445729A - Unmanned plane three-dimensional flight track precision detection method and system - Google Patents

Unmanned plane three-dimensional flight track precision detection method and system Download PDF

Info

Publication number
CN105445729A
CN105445729A CN201510756087.XA CN201510756087A CN105445729A CN 105445729 A CN105445729 A CN 105445729A CN 201510756087 A CN201510756087 A CN 201510756087A CN 105445729 A CN105445729 A CN 105445729A
Authority
CN
China
Prior art keywords
unmanned plane
dimensional track
during flying
plane during
dimensional
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.)
Pending
Application number
CN201510756087.XA
Other languages
Chinese (zh)
Inventor
王晓婧
杨鹤猛
张巍
吴新桥
张贵峰
赵克
陈艳芳
廖永力
张拯宁
周筑博
赵恩伟
王兵
王诗奎
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.)
CSG Electric Power Research Institute
Research Institute of Southern Power Grid Co Ltd
Tianjin Aerospace Zhongwei Date Systems Technology Co Ltd
Original Assignee
Research Institute of Southern Power Grid Co Ltd
Tianjin Aerospace Zhongwei Date Systems 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 Research Institute of Southern Power Grid Co Ltd, Tianjin Aerospace Zhongwei Date Systems Technology Co Ltd filed Critical Research Institute of Southern Power Grid Co Ltd
Priority to CN201510756087.XA priority Critical patent/CN105445729A/en
Publication of CN105445729A publication Critical patent/CN105445729A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Abstract

The invention discloses an unmanned plane three-dimensional flight track precision detection method and system. The method comprises the steps of acquiring the three-dimensional flight track of an unmanned plane in real time by an airborne differential GPS unit arranged in the unmanned plane to obtain a preset three-dimensional flight track of the unmanned plane; measuring the distances between at least three detection radars of a radar detection unit and the unmanned plane in real time to obtain at least three distance data; calculating the actual three-dimensional flight track of the unmanned plane based on the at least three distance data; and calculating accurate assessment parameters for the three-dimensional flight track of the unmanned plane based on the preset three-dimensional flight track and the actual three-dimensional flight track. According to the technical scheme of the invention, the unmanned plane can be three-dimensionally positioned by the extra arrangement of the detection radars, so that the actual flight track of the unmanned plane can be positioned at a high precision. Meanwhile, through comparing the three-dimensional flight track of the unmanned plane detected by the differential GPS unit with the actual three-dimensional flight track of the unmanned plane, the accurate three-dimensional flight track precision of the unmanned plane can be obtained. Therefore, the actual flight track of the unmanned plane can be positioned at a high precision.

Description

Unmanned plane during flying Three-dimensional Track accuracy checking method and system
Technical field
The invention belongs to unmanned air vehicle technique field, especially relate to a kind of unmanned plane during flying Three-dimensional Track accuracy checking method and system.
Background technology
That applies in electric inspection process field along with unmanned plane develops rapidly, and tradition utilizes manually carries out the mode of operation that transmission line of electricity patrols and examines on the spot and slowly change.The time of Traditional Man method for inspecting cost is long, cost of labor is high, difficulty is large, and easily has influence on the personal safety of patrol officer in particular circumstances.And unmanned plane is patrolled and examined not only can improve and is patrolled and examined operating efficiency, cost-saving, record transmission line of electricity feature, transmission line of electricity environment and unmanned plane patrol and examine track (can also to comprise video, visible ray/infrared image etc.) in different forms, and effectively store.
But unmanned plane performs in polling transmission line process, and flying height is lower, and obstacle is many, patrol task is large by surrounding environment influence.Patrol and examine in process actual, often occur that the pre-set flight flight path of unmanned plane and practical flight flight path exist the phenomenon of error.Therefore, need to carry out real time record to the flight track of unmanned plane, and accurately detect the practical flight flight path of unmanned plane, by the overall treatment of the data such as pre-set flight flight path and practical flight flight path, obtain the precision of unmanned plane during flying Three-dimensional Track.When again performing aerial mission, can revise according to the pre-set flight flight path of this precision to unmanned plane.Therefore, this function be realized and just accurately must measure the skyborne practical flight flight path of unmanned plane.
Utilize single gps system to position unmanned plane during flying Three-dimensional Track, its positioning precision only can reach 25m.Therefore, present stage many employings differential global positioning system positions unmanned plane during flying Three-dimensional Track.The positioning precision of differential GPS can reach centimetre-sized.But differential GPS only can be revised the default track data of unmanned plane, accurately can not measure unmanned plane practical flight flight path, positioning precision is lower.As patent CN201020519831.7---real-time positioning monitoring management system of unmanned aerial vehicle, this system comprises the airborne positioning and communicating device being arranged at unmanned plane and the ground monitoring communicator being arranged at ground monitoring center, by the high-transmission data rate techniques of mobile communication is combined with Big Dipper communication data transmission technology, improve the communication of airborne equipment and uphole equipment, realize the location of unmanned plane.
In above-mentioned existing scheme, most Three-dimensional Track detecting unmanned plane with airborne differential GPS, be merely able to improve the accuracy that unmanned plane presets flight path, still cannot detect the practical flight flight path of unmanned plane, therefore cannot obtain accurate unmanned plane during flying Three-dimensional Track precision.
Summary of the invention
For this reason, the object of the invention is providing a kind of unmanned plane during flying Three-dimensional Track accuracy checking method and system, to solve the practical flight flight path that cannot detect unmanned plane in prior art, and then cannot obtain the defect of accurate unmanned plane during flying Three-dimensional Track precision.
Technical scheme provided by the invention is as follows:
A kind of unmanned plane during flying Three-dimensional Track accuracy checking method, comprising:
By differential GPS unit airborne in unmanned plane, Real-time Collection is carried out to unmanned plane during flying Three-dimensional Track, obtain the default Three-dimensional Track of unmanned plane during flying;
At least three detection radars of radar detection unit are measured in real time to the distance of unmanned plane, obtains at least three range data;
The actual Three-dimensional Track of unmanned plane during flying is calculated according to described at least three range data;
According to described default Three-dimensional Track and actual Three-dimensional Track, calculate unmanned plane during flying Three-dimensional Track precise evaluation parameter.
Preferably, described unmanned plane during flying Three-dimensional Track accuracy checking method, also comprises:
By the first timing unit, to the time of the Real-time Collection of unmanned plane during flying Three-dimensional Track, record is carried out to differential GPS unit, obtain first three-dimensional coordinate corresponding with acquisition time;
Preferably, described unmanned plane during flying Three-dimensional Track accuracy checking method, also comprises:
The default Three-dimensional Track of the unmanned plane during flying arrived by Real-time Collection, is stored in the first airborne data memory module.
Preferably, described unmanned plane during flying Three-dimensional Track accuracy checking method, also comprises:
By the default Three-dimensional Track of the unmanned plane during flying that described first data memory module stores, be wirelessly sent to ground control centre.
Preferably, described unmanned plane during flying Three-dimensional Track accuracy checking method, also comprises:
Described detection radar sends measuring-signal to unmanned plane, and obtains the range data of this detection radar to unmanned plane according to the feedback signal received;
By the second timing unit, record is carried out to the time detecting radar transmission measuring-signal and receiving feedback signals, obtain time data.
Preferably, described unmanned plane during flying Three-dimensional Track accuracy checking method, also comprises:
By described time data and range data, be wirelessly sent to ground control centre.
Preferably, described unmanned plane during flying Three-dimensional Track accuracy checking method, also comprises:
By described time data and range data, be stored in the second data memory module in ground control centre.
Preferably, at least three range data described in described basis calculate the actual Three-dimensional Track of unmanned plane during flying, comprising:
Select at least three range data to position calculating as one group of range data, obtain one group of second three-dimensional coordinate of unmanned plane.
Preferably, described unmanned plane during flying Three-dimensional Track accuracy checking method, also comprises:
Select at least two group range data to position calculating, obtain the second three-dimensional coordinate of at least two group unmanned planes;
Calculate mean value and the standard deviation of at least two group second D coordinates value of described unmanned plane;
By described standard deviation, mean value is revised, obtain the accurate three-dimensional coordinate of unmanned plane practical flight flight path, to confirm the actual Three-dimensional Track of unmanned plane during flying.
Preferably, described according to described default Three-dimensional Track and actual Three-dimensional Track, calculate unmanned plane during flying Three-dimensional Track precise evaluation parameter, comprising:
According to the coordinate figure in default Three-dimensional Track and actual Three-dimensional Track, calculate in setting-up time section or work, the error variance of unmanned plane during flying Three-dimensional Track horizontal level control accuracy, height control accuracy, horizontal level and the error variance of height.
Corresponding to said method, present invention also offers a kind of no-manned plane three-dimensional flight path precision detection system, comprising:
Differential GPS unit, is arranged in the airborne equipment of unmanned plane, for carrying out Real-time Collection to unmanned plane during flying Three-dimensional Track, obtains the default Three-dimensional Track of unmanned plane during flying;
Radar detection unit, is arranged in radar sensing system, and described radar detection unit comprises at least three and detects radars, and described detection radar is used for measuring in real time its distance to unmanned plane, obtains at least three range data;
First data processing unit, is arranged in ground control centre, for calculating the actual Three-dimensional Track of unmanned plane during flying according to described at least three range data;
Described first data processing unit, also for according to described default Three-dimensional Track and actual Three-dimensional Track, calculates unmanned plane during flying Three-dimensional Track precise evaluation parameter.
Preferably, in described airborne equipment, also comprise:
First timing unit, for carrying out record to differential GPS unit to the time of the Real-time Collection of unmanned plane during flying Three-dimensional Track, obtains first three-dimensional coordinate corresponding with acquisition time.
Preferably, in described airborne equipment, also comprise:
First data storage cell, for storing the default Three-dimensional Track of the unmanned plane during flying that Real-time Collection arrives.
Preferably, in described airborne equipment, also comprise:
First wireless communication unit, for the default Three-dimensional Track of the unmanned plane during flying by described first data memory module storage, is wirelessly sent to ground control centre.
Preferably, described radar sensing system, also comprises:
Second timing unit, is arranged in described radar detection unit;
Described detection radar sends measuring-signal to unmanned plane, and obtains the range data of this detection radar to unmanned plane according to the feedback signal received;
Described second timing unit, for carrying out record to the time detecting radar transmission measuring-signal and receiving feedback signals, obtains time data.
Preferably, described radar sensing system also comprises:
Second wireless communication unit, is arranged in described radar detection unit, for by described time data and range data, is wirelessly sent to ground control centre.
Preferably, described ground control centre, also comprises:
Second data storage cell, for storing described time data and range data.
Preferably, in described airborne equipment, also comprise:
First intelligent control unit, for control unmanned plane by default track flight, control system described differential GPS unit and the first timing unit carries out data acquisition and the first data storage cell carries out data storage.
Preferably, described ground control centre, also comprises:
Second intelligent control module, for data all types of in ground control centre reception, call and process;
Display module, for showing above-mentioned data and result.
Preferably, described ground control centre, also comprises:
3rd wireless communication unit, for carrying out the transmission of data with described first wireless communication unit and the second wireless communication unit.
The present invention compared with prior art tool has the following advantages:
The present invention can realize no-manned plane three-dimensional location by the detection radar increased, and can carry out hi-Fix to unmanned plane practical flight flight path.And the compare of analysis of no-manned plane three-dimensional flight path by detecting with differential GPS, unmanned plane during flying Three-dimensional Track horizontal level control accuracy, height control accuracy, the error variance of horizontal level and the error variance of height can be obtained, obtain accurate unmanned plane during flying Three-dimensional Track precision, the hi-Fix to unmanned plane practical flight flight path can be realized.
In addition, by the record to detection time, the image data of differential GPS unit and the comparability of detection data of radar detection unit and the consistance of time can effectively be ensured.Meanwhile, the acquired data storage of differential GPS unit is sent to ground control centre and carries out computing, can solve the problem that load is comparatively large and data acquisition amount is large, process complexity is high of unmanned plane.
Accompanying drawing explanation
The unmanned plane during flying Three-dimensional Track accuracy checking method schematic flow sheet that Fig. 1 provides for the embodiment of the present invention one;
The unmanned plane during flying Three-dimensional Track precision detection system composition schematic diagram that Fig. 2 provides for the embodiment of the present invention two.
Embodiment
For solving in prior art, the practical flight flight path of unmanned plane cannot be detected in prior art, and then the defect of accurate unmanned plane during flying Three-dimensional Track precision cannot be obtained, the invention provides a kind of unmanned plane during flying Three-dimensional Track accuracy checking method and system, below in conjunction with accompanying drawing, the present invention will be further described.
Embodiment one:
With reference to the unmanned plane during flying Three-dimensional Track accuracy checking method schematic flow sheet shown in Fig. 1, concrete steps of the present invention are implemented as follows:
Step S101, carries out Real-time Collection by differential GPS unit airborne in unmanned plane to unmanned plane during flying Three-dimensional Track, obtains the default Three-dimensional Track of unmanned plane during flying;
Differential GPS unit is arranged in the airborne equipment of unmanned plane, and unmanned plane is in flight course, and the first intelligent control unit in airborne equipment controls unmanned plane according to default track flight, and differential GPS module carries out Real-time Collection to the Three-dimensional Track of unmanned plane during flying.
In this step, in order to ensure the one_to_one corresponding of acquisition time and Three-dimensional Track, can also the first timing unit be set in airborne equipment, first intelligent control unit controls the first timing unit, by the first timing unit, to the time of the Real-time Collection of unmanned plane during flying Three-dimensional Track, record is carried out to differential GPS unit, obtain first three-dimensional coordinate corresponding with acquisition time, the three-dimensional coordinate as t is designated as (x t, y t, z t).
In addition, if carry out real-time process to the data collected, the problem that load is comparatively large and data acquisition amount is large, process complexity is high of unmanned plane may be there is.In this corresponding step, the no-manned plane three-dimensional flight path accuracy checking method that on line, real time data acquisition and storage combine with post-flight data overall treatment can be adopted.Concrete, the default Three-dimensional Track of the unmanned plane during flying that differential GPS unit Real-time Collection can be arrived, is stored in the first data memory module of airborne equipment.In addition, can also the first wireless communication unit be set in airborne equipment, for the default Three-dimensional Track of the unmanned plane during flying by described first data memory module storage, be wirelessly sent to ground control centre.The data message of described first data memory module storage can certainly be sent, as time, coordinate, state parameter etc. by alternate manner.
Step S102, measures in real time to the distance of unmanned plane at least three detection radars of radar detection unit, obtains at least three range data;
The theory that radar can realize no-manned plane three-dimensional location is detected according to three, at least three high-precision detection radars can be adopted in this step, hi-Fix is carried out to unmanned plane practical flight flight path, not only effectively can improve the positioning precision of unmanned plane practical flight flight path, the reliability of result of calculation can also be improved.According to the size of the guarded region to unmanned plane, also can select more to detect radar.
Concrete described at least three are detected radar respectively to described unmanned plane transmission measuring-signal, and obtain the range data of this detection radar to unmanned plane according to the feedback signal received.Same, in order to ensure the one_to_one corresponding of acquisition time and Three-dimensional Track, can also the second timing unit be set in radar detection unit, to by the second timing unit, record is carried out to the time detecting radar transmission measuring-signal and receiving feedback signals by the second timing unit, obtain time data.
Same, in described radar detection unit, the second wireless communication unit can also be set, for by described time data and range data, wirelessly be sent to ground control centre.
Correspondingly in ground control centre can be provided with the second data memory module, for storing described time data and described at least three range data.
Step S103, calculates the actual Three-dimensional Track of unmanned plane during flying according to described at least three range data;
First data processing unit of ground control centre, in the multiple range data stored from the second data memory module, Stochastic choice 3, carries out one-time positioning calculating to unmanned plane, can obtain the three-dimensional coordinate of one group of unmanned plane.
In order to improve the accuracy of the actual Three-dimensional Track calculated, in this step, can also be revised coordinate figure by following scheme:
Select at least two group range data to position calculating, obtain the second three-dimensional coordinate of at least two group unmanned planes;
Calculate mean value and the standard deviation of at least two group second D coordinates value of described unmanned plane;
By described standard deviation, mean value is revised, obtain the accurate three-dimensional coordinate of unmanned plane practical flight flight path, to confirm the actual Three-dimensional Track of unmanned plane during flying.
Concrete, n group citing data can obtain group Three-dimensional Track coordinate (is established ), calculate I group no-manned plane three-dimensional coordinate figure mean value (x ' t, y ' t, z ' t), computing formula is as shown in the formula shown in (1):
x t ′ = 1 I Σ i = 1 I x i , y t ′ = 1 I Σ i = 1 I y i , z t ′ = 1 I Σ i = 1 I z i Formula (1);
Calculate the standard deviation (σ of I group no-manned plane three-dimensional coordinate figure x, σ y, σ z), computing formula is as shown in the formula shown in (2):
σ x = 1 I Σ i = 1 I ( x i - x t ′ ) 2 , σ y = 1 I Σ i = 1 I ( y i - y t ′ ) 2 , σ z = 1 I Σ i = 1 I ( z i - z t ′ ) 2 Formula (2);
Then with the standard deviation calculated, average coordinates value is revised, just can obtain t (t=(t 1+ t 2)/2) the accurate three-dimensional coordinate of unmanned plane practical flight flight path namely x ^ t = x t ′ ± σ x , y ^ t = y t ′ ± σ y , z ^ t = z t ′ ± z x .
Step S104, according to described default Three-dimensional Track and actual Three-dimensional Track, calculates unmanned plane during flying Three-dimensional Track precise evaluation parameter.
Obtain on the basis of default Three-dimensional Track and actual Three-dimensional Track respectively in above-mentioned steps, in this step, according to the coordinate figure in default Three-dimensional Track and actual Three-dimensional Track, calculate in setting-up time section or work, the error variance of unmanned plane during flying Three-dimensional Track horizontal level control accuracy, height control accuracy, horizontal level and the error variance of height.
Concrete, computing method can be:
If flight time accumulation is T, the three-dimensional coordinate of t is designated as (x t, y t, z t), the accurate three-dimensional coordinate of unmanned plane practical flight flight path then:
Δ x = 1 T Σ t = 1 T ( x t - x ^ t ) , Δ y = 1 T Σ t = 1 T ( y t - y ^ t ) , Δ z = 1 T Σ t = 1 T ( z t - z t ) .
Wherein: Δ xand Δ yfor unmanned plane during flying Three-dimensional Track horizontal level control accuracy in this workspace, Δ zfor height control accuracy.
ϵ x = 1 T Σ t = 1 T ( x t - x ^ t ) 2 , ϵ y = 1 T Σ t = 1 T ( y t - y ^ t ) 2 , ϵ z = 1 T Σ t = 1 T ( z t - z ^ t ) 2 .
Wherein: ε xand ε yas the error variance of horizontal level, ε zas the error variance of height.
Said method step, by the assessment of flight path precision, mean value and the root-mean-square error of each latitude coordinates value difference is calculated respectively for two groups of data, can as unmanned plane during flying Three-dimensional Track horizontal level in this workspace and accuracy assessment index highly, complete the detection of no-manned plane three-dimensional flight path precision, testing result can be shown by display, adjusts the flight track of unmanned plane for related personnel according to this, and solution unmanned plane pre-set flight flight path and practical flight flight path exist the problem of error.
In such scheme disclosed in the present embodiment, no-manned plane three-dimensional location can be realized by the detection radar increased, hi-Fix can be carried out to unmanned plane practical flight flight path.And the compare of analysis of no-manned plane three-dimensional flight path by detecting with differential GPS, unmanned plane during flying Three-dimensional Track horizontal level control accuracy, height control accuracy, the error variance of horizontal level and the error variance of height can be obtained, obtain accurate unmanned plane during flying Three-dimensional Track precision, the hi-Fix to unmanned plane practical flight flight path can be realized.
In addition, by the record to detection time, the image data of differential GPS unit and the comparability of detection data of radar detection unit and the consistance of time can effectively be ensured.Meanwhile, the acquired data storage of differential GPS unit is sent to ground control centre and carries out computing, can solve the problem that load is comparatively large and data acquisition amount is large, process complexity is high of unmanned plane.
Embodiment two:
Corresponding to the method that embodiment one provides, present embodiments provide a kind of unmanned plane during flying Three-dimensional Track precision detection system, system architecture diagram as shown in Figure 2, this system comprises with lower module:
Differential GPS unit 101, is arranged in the airborne equipment 100 of unmanned plane, for carrying out Real-time Collection to unmanned plane during flying Three-dimensional Track, obtains the default Three-dimensional Track of unmanned plane during flying;
Radar detection unit 201, be arranged in radar sensing system 200, described radar sensing system 200 comprises at least three radar detection unit, each radar detection unit at least comprises one and detects radar 2011, described detection radar 2011, for measuring in real time its distance to unmanned plane, obtains at least three range data;
According to the size of the guarded region to unmanned plane, also more radar detection unit can be selected.
First data processing unit 301, is arranged in ground control centre 300, for calculating the actual Three-dimensional Track of unmanned plane during flying according to described at least three range data;
Described first data processing unit 301, also for according to described default Three-dimensional Track and actual Three-dimensional Track, calculates unmanned plane during flying Three-dimensional Track precise evaluation parameter.
In order to ensure the one_to_one corresponding of acquisition time and Three-dimensional Track, in described airborne equipment 100, can also comprise:
First timing unit 102, the time for the Real-time Collection to differential GPS unit 101 pairs of unmanned plane during flying Three-dimensional Tracks carries out record, obtains first three-dimensional coordinate corresponding with acquisition time.Carry out record by the time of the Real-time Collection of the first timing unit 102 pairs of differential GPS unit 101 pairs of unmanned plane during flying Three-dimensional Tracks, obtain first three-dimensional coordinate corresponding with acquisition time, the three-dimensional coordinate as t is designated as (x t, y t, z t).
If carry out real-time process to the data collected, the problem that load is comparatively large and data acquisition amount is large, process complexity is high of unmanned plane may be there is.Therefore, in described airborne equipment 100, can also comprise:
First data storage cell 103, for storing the default Three-dimensional Track of the unmanned plane during flying that Real-time Collection arrives.
In addition, in described airborne equipment 100, can also comprise:
First wireless communication unit 104, for the default Three-dimensional Track of unmanned plane during flying stored by described first data memory module 103, is wirelessly sent to ground control centre 300.The data message of described first data memory module storage can certainly be sent, as time, coordinate, state parameter etc. by alternate manner.
Same, in order to ensure the one_to_one corresponding of acquisition time and Three-dimensional Track, described detections of radar 200 system, can also comprise:
Second timing unit 2012, is arranged in described radar detection unit 201;
Described detection radar 2011 sends measuring-signal to unmanned plane, and obtains the range data of this detection radar to unmanned plane according to the feedback signal received;
Described second timing unit 2012, carries out record for time detection radar 2011 being sent to measuring-signal and receiving feedback signals, obtains time data.
Same, described radar sensing system 200, also can comprise:
Second wireless communication unit 2013, is arranged in described radar detection unit 201, for by described time data and range data, is wirelessly sent to ground control centre 300.Correspondingly in ground control centre can be provided with the second data memory module 302, for storing described time data and described at least three range data.
In described airborne equipment 100, also comprise:
First intelligent control unit 105, for control unmanned plane by default track flight, control system described differential GPS unit 101 and the first timing unit 102 carries out data acquisition and the first data storage cell 103 carries out data storage.
Described ground control centre 300, can also comprise:
Second intelligent control module 303, for data all types of in ground control centre 300 reception, call and process;
Display module 304, for showing above-mentioned data and result, adjusts the flight track of unmanned plane according to this for related personnel, solution unmanned plane pre-set flight flight path and practical flight flight path exist the problem of error.
Described ground control centre 300, can also comprise:
3rd wireless communication unit 305, for carrying out the transmission of data with described first wireless communication unit 104 and the second wireless communication unit 2013.
In such scheme disclosed in the present embodiment, no-manned plane three-dimensional location can be realized by the detection radar increased, hi-Fix can be carried out to unmanned plane practical flight flight path.And the compare of analysis of no-manned plane three-dimensional flight path by detecting with differential GPS, unmanned plane during flying Three-dimensional Track horizontal level control accuracy, height control accuracy, the error variance of horizontal level and the error variance of height can be obtained, obtain accurate unmanned plane during flying Three-dimensional Track precision, the hi-Fix to unmanned plane practical flight flight path can be realized.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments.The present embodiment is the system embodiment of embodiment of the method one correspondence, and it is part cross-reference roughly the same, repeats no more.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (9)

1. a unmanned plane during flying Three-dimensional Track accuracy checking method, is characterized in that, comprising:
By differential GPS unit airborne in unmanned plane, Real-time Collection is carried out to unmanned plane during flying Three-dimensional Track, obtain the default Three-dimensional Track of unmanned plane during flying;
At least three detection radars of radar detection unit are measured in real time to the distance of unmanned plane, obtains at least three range data;
The actual Three-dimensional Track of unmanned plane during flying is calculated according to described at least three range data;
According to described default Three-dimensional Track and actual Three-dimensional Track, calculate unmanned plane during flying Three-dimensional Track precise evaluation parameter.
2. unmanned plane during flying Three-dimensional Track accuracy checking method according to claim 1, is characterized in that, also comprise:
By the first timing unit, to the time of the Real-time Collection of unmanned plane during flying Three-dimensional Track, record is carried out to differential GPS unit, obtain first three-dimensional coordinate corresponding with acquisition time.
3. unmanned plane during flying Three-dimensional Track accuracy checking method according to claim 1 and 2, is characterized in that, also comprise:
By the default Three-dimensional Track of the unmanned plane during flying that described first data memory module stores, be wirelessly sent to ground control centre.
4. unmanned plane during flying Three-dimensional Track accuracy checking method according to claim 1, is characterized in that, also comprise:
Described detection radar sends measuring-signal to unmanned plane, and obtains the range data of this detection radar to unmanned plane according to the feedback signal received;
By the second timing unit, record is carried out to the time detecting radar transmission measuring-signal and receiving feedback signals, obtain time data.
5. a unmanned plane during flying Three-dimensional Track precision detection system, is characterized in that, comprising:
Differential GPS unit, is arranged in the airborne equipment of unmanned plane, for carrying out Real-time Collection to unmanned plane during flying Three-dimensional Track, obtains the default Three-dimensional Track of unmanned plane during flying;
Radar detection unit, is arranged in radar sensing system, and described radar detection unit comprises at least three and detects radars, and described detection radar is used for measuring in real time its distance to unmanned plane, obtains at least three range data;
First data processing unit, is arranged in ground control centre, for calculating the actual Three-dimensional Track of unmanned plane during flying according to described at least three range data;
Described first data processing unit, also for according to described default Three-dimensional Track and actual Three-dimensional Track, calculates unmanned plane during flying Three-dimensional Track precise evaluation parameter.
6. unmanned plane during flying Three-dimensional Track precision detection system according to claim 5, is characterized in that, in described airborne equipment, also comprise:
First timing unit, for carrying out record to differential GPS unit to the time of the Real-time Collection of unmanned plane during flying Three-dimensional Track, obtains first three-dimensional coordinate corresponding with acquisition time.
7. want the unmanned plane during flying Three-dimensional Track precision detection system described in 5,6 according to right, it is characterized in that, described radar sensing system, also comprises:
Second timing unit, is arranged in described radar detection unit;
Described detection radar sends measuring-signal to unmanned plane, and obtains the range data of this detection radar to unmanned plane according to the feedback signal received;
Described second timing unit, for carrying out record to the time detecting radar transmission measuring-signal and receiving feedback signals, obtains time data.
8., according to the unmanned plane during flying Three-dimensional Track precision detection system that claim 5 is stated, it is characterized in that, in described airborne equipment, also comprise:
First intelligent control unit, for control unmanned plane by default track flight, control system described differential GPS unit and the first timing unit carries out data acquisition and the first data storage cell carries out data storage.
9. unmanned plane during flying Three-dimensional Track precision detection system according to claim 5, it is characterized in that, described ground control centre, also comprises:
Second intelligent control module, for data all types of in ground control centre reception, call and process;
Display module, for showing above-mentioned data and result.
CN201510756087.XA 2015-11-06 2015-11-06 Unmanned plane three-dimensional flight track precision detection method and system Pending CN105445729A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510756087.XA CN105445729A (en) 2015-11-06 2015-11-06 Unmanned plane three-dimensional flight track precision detection method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510756087.XA CN105445729A (en) 2015-11-06 2015-11-06 Unmanned plane three-dimensional flight track precision detection method and system

Publications (1)

Publication Number Publication Date
CN105445729A true CN105445729A (en) 2016-03-30

Family

ID=55556147

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510756087.XA Pending CN105445729A (en) 2015-11-06 2015-11-06 Unmanned plane three-dimensional flight track precision detection method and system

Country Status (1)

Country Link
CN (1) CN105445729A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106226800A (en) * 2016-08-29 2016-12-14 天津航天中为数据系统科技有限公司 A kind of unmanned aerial vehicle flight path accuracy detecting device and detection method
WO2019000299A1 (en) * 2017-06-29 2019-01-03 深圳市大疆创新科技有限公司 Method for detecting positioning apparatus of unmanned aerial vehicle, and unmanned aerial vehicle
CN109188380A (en) * 2018-09-12 2019-01-11 北京机械设备研究所 A kind of key index test macro and method for low slow small detection radar
CN109246571A (en) * 2018-09-03 2019-01-18 广州飞达音响股份有限公司 sound field detection system and method
CN109270506A (en) * 2018-09-29 2019-01-25 北京望远四象科技有限公司 The test macro and test method of radar performance figure
CN109917341A (en) * 2019-03-08 2019-06-21 森思泰克河北科技有限公司 Radar Moving Target tracking capability test method, terminal device and storage medium
CN112558029A (en) * 2021-03-01 2021-03-26 陕西山利科技发展有限责任公司 Equipment and method for detecting accuracy of unmanned aerial vehicle detection system
CN112987785A (en) * 2021-02-26 2021-06-18 深圳市高巨创新科技开发有限公司 Bit supplementing method and terminal for unmanned aerial vehicle formation

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101372257A (en) * 2008-10-14 2009-02-25 江苏科技大学 Method for optimizing and analyzing shipping flight path
CN103163507A (en) * 2011-12-19 2013-06-19 中国人民解放军总参谋部工程兵科研三所 Radar tracking low-altitude small-target dynamic precision calibrating method and device
CN104297746A (en) * 2014-10-29 2015-01-21 佛山市顺德区美的电热电器制造有限公司 Track detection method and system for moving object and electronic device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101372257A (en) * 2008-10-14 2009-02-25 江苏科技大学 Method for optimizing and analyzing shipping flight path
CN103163507A (en) * 2011-12-19 2013-06-19 中国人民解放军总参谋部工程兵科研三所 Radar tracking low-altitude small-target dynamic precision calibrating method and device
CN104297746A (en) * 2014-10-29 2015-01-21 佛山市顺德区美的电热电器制造有限公司 Track detection method and system for moving object and electronic device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
张晓亮 等: ""ARJ-700飞机噪声适航试飞中差分GPS的应用"", 《中国科技信息》 *

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106226800A (en) * 2016-08-29 2016-12-14 天津航天中为数据系统科技有限公司 A kind of unmanned aerial vehicle flight path accuracy detecting device and detection method
WO2019000299A1 (en) * 2017-06-29 2019-01-03 深圳市大疆创新科技有限公司 Method for detecting positioning apparatus of unmanned aerial vehicle, and unmanned aerial vehicle
US11106222B2 (en) 2017-06-29 2021-08-31 SZ DJI Technology Co., Ltd. Method for detecting positioning apparatus of unmanned aerial vehicle, and unmanned aerial vehicle
CN109246571A (en) * 2018-09-03 2019-01-18 广州飞达音响股份有限公司 sound field detection system and method
CN109246571B (en) * 2018-09-03 2021-11-23 广州飞达音响股份有限公司 Sound field detection system and method
CN109188380A (en) * 2018-09-12 2019-01-11 北京机械设备研究所 A kind of key index test macro and method for low slow small detection radar
CN109188380B (en) * 2018-09-12 2021-11-02 北京机械设备研究所 Key index testing system and method for low-slow small detection radar
CN109270506A (en) * 2018-09-29 2019-01-25 北京望远四象科技有限公司 The test macro and test method of radar performance figure
CN109917341A (en) * 2019-03-08 2019-06-21 森思泰克河北科技有限公司 Radar Moving Target tracking capability test method, terminal device and storage medium
CN112987785A (en) * 2021-02-26 2021-06-18 深圳市高巨创新科技开发有限公司 Bit supplementing method and terminal for unmanned aerial vehicle formation
CN112987785B (en) * 2021-02-26 2023-12-19 深圳市高巨创新科技开发有限公司 Position supplementing method and terminal for unmanned aerial vehicle formation
CN112558029A (en) * 2021-03-01 2021-03-26 陕西山利科技发展有限责任公司 Equipment and method for detecting accuracy of unmanned aerial vehicle detection system

Similar Documents

Publication Publication Date Title
CN105445729A (en) Unmanned plane three-dimensional flight track precision detection method and system
CN105372650A (en) Unmanned plane flight track precision detection method and device
CN1940591B (en) System and method of target tracking using sensor fusion
US20140336928A1 (en) System and Method of Automated Civil Infrastructure Metrology for Inspection, Analysis, and Information Modeling
CN206594292U (en) A kind of laser radar range precision automatic checkout system
CN110346758A (en) Ultra wide band positioning and alarming method for power applied to substation inspection personnel
CN104089649B (en) A kind of indoor environment data collecting system and acquisition method
CN108914815A (en) Bridge floor vehicular load identification device, bridge and bridge load are distributed recognition methods
CN107406073A (en) Will be by the method and apparatus for the nominal trajectory that vehicle crosses for the monitoring in terms of collisionless
CN108426535B (en) Real-time deformation monitoring system and method for long and narrow structure
CN105992210A (en) Mobile pseudo base station positioning method and system, positioning device and positioning server
CN207649604U (en) A kind of intelligent landform survey system based on unmanned plane
CN103984355A (en) Routing inspection flying robot and overhead power line distance prediction and maintaining method
CN103737433B (en) Large-size components combined type accuracy measurement method
CN105571636A (en) Target positioning method and measuring equipment
RU2471209C1 (en) Method of monitoring atmospheric air
CN106772412A (en) The measuring method and device of the transmission line of electricity space length of unmanned plane
CN111524394A (en) Method, device and system for improving accuracy of comprehensive track monitoring data of apron
CN113791074A (en) Unmanned aerial vehicle bridge crack inspection system and method based on multi-sensor fusion
Liu et al. A large scale 3D positioning method based on a network of rotating laser automatic theodolites
CN101907461A (en) Measuration data correlation method for passive multisensor based on angle cotangent value
CN114485658A (en) Device and method for precision evaluation of roadside sensing system
CN107356902B (en) WiFi positioning fingerprint data automatic acquisition method
CN110986784B (en) Reference coordinate acquisition method and application thereof
CN111913171A (en) Low-altitude infrared target accurate positioning method and system

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20160330