CN105572638A - Inertial attitude and ultrasonic ranging-based three-dimensional positioning method and device - Google Patents
Inertial attitude and ultrasonic ranging-based three-dimensional positioning method and device Download PDFInfo
- Publication number
- CN105572638A CN105572638A CN201610081788.2A CN201610081788A CN105572638A CN 105572638 A CN105572638 A CN 105572638A CN 201610081788 A CN201610081788 A CN 201610081788A CN 105572638 A CN105572638 A CN 105572638A
- Authority
- CN
- China
- Prior art keywords
- module
- location
- ultrasonic wave
- ultrasonic
- value
- 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
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- 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
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention provides an inertial attitude and ultrasonic ranging-based three-dimensional positioning method and device. According to the method and device, a ground positioning reference module includes an ultrasonic transmitting unit and a wireless synchronization unit; a to-be-positioned target module includes an inertial unit, ultrasonic receiving units and a wireless synchronization unit; based on at least three ultrasonic distance values from the ground reference module and the to-be-positioned target module, the three-dimensional coordinate values of the to-be-positioned target module are calculated according to the attitude data of the to-be-positioned target module. The method and device of the invention are applied to a four-axis aircraft. With the four-axis aircraft adopted, only one ground device is required to be carried, so that all-weather and all-terrain precise flight control on the four-axis aircraft can be realized. The method and device are especially suitable for body-close aerial camera shooting application.
Description
The present invention relates to a kind of three-dimensional localization techniques, particularly a kind of 3-D positioning method based on inertial attitude and ultrasonic ranging and device.
Background technology
In navigator fix technology, outdoor generally adopts Satellite Navigation Technique, and this technology is widely used, and brings the facility that our daily life is very large, but this technology can only be applied in outdoor outdoor place, and precision is at meter level, has many limitation; In we see that indoor are fixed again, have wifi, bluetooth and infrared confirming orientation technology, these location technology positioning precisioies also at meter level or decimeter grade, and generally all need to lay multiple beacon in advance; Ultrasonic ranging then relatively above-mentioned ranging technology precision is higher, have on the net and find two patent documents that open application number is 201310492699.3,201510590604.0, these two public technologies all have employed ultrasound wave, but bar none, all want ground on the scene to lay multiple quantity in advance and specify the beacon apparatus in orientation, wherein the former patent document also uses inertial technology, but the employing of this technology is inertia integration location, is different from the inertial attitude described in this technology; Indoor positioning also has the most popular light stream location at present, but positioning result relies on light intensity and ground texture, and reliability is not high, the large boundary spirit 3 of such as unmanned plane mainstream model, and online open test and appraisal just have this shortcoming to report; Accordingly, current location technology or be that positioning precision is not high, or be that will to lay multiple beacon in advance inconvenient, or be too strong to the selectivity of environment.
Summary of the invention
In view of the foregoing, the invention provides a kind of new location technology, content is as follows:
Based on a 3 D locating device for inertial attitude and ultrasonic ranging, comprise location with reference to module and object module to be positioned.
Location comprises with reference to module:
First radio-cell, can carry out wireless telecommunications with object module to be positioned, transmitting-receiving management steering order and status information;
Ultrasonic transmitting element, according to the instruction of the first radio-cell, sends ultrasonic signal.
Object module to be positioned comprises: Inertial Measurement Unit, the second radio-cell, three ultrasonic wave receive unit and microprocessor unit.
Inertial Measurement Unit comprises gyro sensor, acceleration transducer, can be used for calculating the attitude information of object module to be positioned, comprise roll angle, the angle of pitch, position angle.
Second radio-cell can carry out wireless telecommunications with location with reference to module.
Ultrasonic wave receive unit can receive the ultrasonic signal that location sends with reference to module.
Microprocessor unit management controls other unit and module, has following functions:
(1) utilize wireless receiving and dispatching signal synchronous, calculate ultrasound wave and send out and the interval time of receiving, compute location is with reference to the distance of each ultrasonic wave receive unit in module to object module to be positioned.
(2) utilize location with reference to the distance value of three ultrasonic wave receive unit in module to object module to be positioned, and the fixed range value between three ultrasonic wave receive unit, need the attitude value of localizing objects module, calculating and obtaining object module to be positioned relative to initial point is the earth D coordinates value of location with reference to module.
Alternatively, described Inertial Measurement Unit also comprises magnetic sensor, and the position angle be used in correction attitude value is to magnetic azinuth.
Preferred version is, described three ultrasonic wave receive unit are dispensed on the position that in object module to be positioned, mutual distance is far away as far as possible.
Alternatively, 4th ultrasonic wave receive unit is also installed above described object module to be positioned, and be not arranged in plane that aforementioned three receiving elements are formed, this unit is used for comparing with aforementioned three distance values with reference to the distance of module with location, is used for compute location to be positioned at top or the bottom of the plane that aforementioned three receiving elements are formed with reference to module.
Alternatively, be also provided with at least one ultrasonic wave receive unit in addition above described object module to be positioned, this ultrasound unit measured value is used for replacing or correct the measured value of other ultrasonic wave receive unit.
Alternatively, described location is provided with battery with reference to above module; Described location is connected with there being soft power lead between object module to be positioned with reference to module, and location is transmitted electric power to object module to be positioned by this power lead with reference to module; Described object module to be positioned is also provided with rotorcraft applications.
Alternatively, described object module to be positioned is provided with rotorcraft applications, and this equipment comprises electricity tune, motor, screw propeller, and is no less than four covers; Described object module to be positioned is provided with camera, and this camera can operated by telecommand.
Based on a 3-D positioning method for inertial attitude and ultrasonic ranging, comprise the steps:
Obtain the distance value of location with reference to three ultrasonic wave receive unit in module to object module to be positioned;
Obtain the attitude value of inertance element in object module to be positioned, this attitude value comprises roll angle, the angle of pitch, position angle;
Utilize location with reference to the distance value of three ultrasonic wave receive unit in module to object module to be positioned, and the fixed range value between three ultrasonic wave receive unit, need the attitude value of localizing objects module, calculating and obtaining object module to be positioned relative to initial point is the earth D coordinates value of location with reference to module.
Optional method, obtains magnetic sensor measured value in object module to be positioned, corrects position angle in described attitude value to magnetic azinuth.
Optional method, obtain the 4th ultrasonic wave receive unit and the distance value of location with reference to module, compare with first three ultrasonic distance value according to this distance value, judge to locate with reference to module be positioned at first three ultrasound wave acceptance point form top or the bottom of plane.
Optional method, obtains a ultrasonic wave receive unit and the distance value of location with reference to module at least again, this ultrasonic distance value, is used for replacing or correcting other ultrasonic distance value.
Location technology of the present invention, except object module to be positioned, only has one to locate with reference to module, and this module can design very easyly to carry and placement; The range finding of this technology using ultrasound ripple and inertial attitude, the three-dimensional localization result calculated, can reach the locating effect of centimetre-sized; In this technology, seldom need other environment fit applications, substantially can accomplish the application of wall-weather and all-region.
Accompanying drawing explanation
Fig. 1 is the four-axle aircraft location schematic diagram of the embodiment of the present invention.
Fig. 2 is that the four-axle aircraft of the embodiment of the present invention strengthens location schematic diagram.
Fig. 3 is that the elements of a fix of the present invention rotate schematic diagram.
Embodiment
For enabling above-mentioned purpose of the present invention, feature and advantage more become apparent, below in conjunction with accompanying drawing to the present invention
Concrete enforcement be described in detail.
The present embodiment is four axle unmanned vehicle schemes.
Wherein location is embodied as a register control with reference to module, comprise ultrasonic transmitting element, wireless transmit/receive units and battery unit, wherein namely wireless transmit/receive units drives ultrasonic transmitting element to launch ultrasonic signal once receive synchronizing signal, this register control we can take, also can be placed on ground conveniently, also can be placed on the vehicle of advance, as long as allow the ultrasound wave transmit direction of controller be four-axle aircraft to be controlled, portability is extremely strong.
Wherein object module to be positioned is this time embodied as a four-axle aircraft.
Ultrasonic wave receive unit is all installed in four angles of four-axle aircraft, these four receiving elements are on same surface level, because four-axle aircraft itself stops ultrasonic signal transmission, so may have a ultrasound unit Received signal strength serious distortion, but final location Calculation only can need use three signals.
Four-axle aircraft is provided with inertia device, mpu9150 chip is used in this enforcement, this chipset three-axis gyroscope sensor, 3-axis acceleration sensor, magnetic sensor are in one, and from this chip technology parameter, this sensor chip directly can export the attitude information of four-axle aircraft; For ease of calculating, it is all parallel with the diagonal line of four axles to install the X-axis of three axles in described chip, Y-axis.
Four-axle aircraft is also provided with radio-cell, is used for carrying out wireless telecommunications with register control.
Four-axle aircraft is also provided with battery, and being used for provides flight electric power to four axles.
Four-axle aircraft is also provided with microprocessor, and management controls other device on aircraft, has following function:
By the radio-cell on four-axle aircraft, transmit synchronizing signal to register control, start ultrasound wave and launch.
After calculating synchronizing signal sends, on four axles, each ultrasonic wave receive unit receives the time delay of signal, and then calculates the distance value of each ultrasonic wave receive unit on four axle register controls to four-axle aircraft.
Calculate the D coordinates value of four-axle aircraft, as shown in Figure 1, in figure, KZQ is register control, X, Y, Z are three-dimensional coordinate axially signal, M is the ultrasonic receiver that all there is installation at aircraft four shaft position places, for obtaining the data of ultrasonic ranging best in quality, we select from three nearest ultrasonic receivers of register control, and the connection distance of these three receivers and register control is illustrated as X1, X2, X3; Two catercorner lengths of the four-axle aircraft of embodiment are equal simultaneously, and diagram L is the length of this connecting line; We first suppose that four-axle aircraft is level, and position angle is 0, and in diagram, the D coordinates value of the center relative positioning controller of four-axle aircraft is SX, SY, SZ, and the computing method of this D coordinates value can be tried to achieve by following way:
SX=((X1*X1+X2*X2)*0.5-X3*X3)/L
SY=(X1*X1-X2*X2)/(L*2)
SZ=SQRT((X1*X1+X2*X2)*0.5-L*L*0.25-SX*SX-SY*SY)
Under normal circumstances, four axles are not aloft levels, position angle also can often change, so our four-axle aircraft is provided with Inertial Measurement Unit, is used for the attitude angle of detection four axle, we carry out three times to above-mentioned D coordinates value according to attitude angle and rotate, the i.e. removable attitude angle error effect of locating four axles, rotates and once affects two coordinate figures, as shown in Figure 2, if attitude angle is a, then postrotational new coordinate figure can be tried to achieve with following formula:
SX1=SX*cos(a)-SZ*sin(a)
SZ1=SX*sin(a)+SZ*cos(a)
All the other twice rotations, can obtain with reference to this method, herein no longer Ao Shu.
Being noted that when calculating attitude orientation angle, Magnetic Sensor can not had to participate in, but the northern parallactic angle now in result of calculation supposes, will have difference, and have gentle drift with the magnetic north of reality.
So far, our four-axle aircraft has completed basic fixed position and has calculated, but because ultrasonic ranging result is scalar, None-identified goes out top or the bottom that four axis controllers are positioned at four axial planes, in order to apply in all directions, as shown in Figure 3, a ultrasonic wave receive unit M5 is installed below four axles, the distance of this receiving element and four axis controllers is X5, we calculate the distance value X0 of four axle central points to four axis controllers by ultrasonic distance value X1, X2, relatively X0, X5 size, thus can judge that four axis controllers are positioned at the bottom of four-axle aircraft.
In embodiments of the invention, four-axle aircraft is also provided with camera, takes pictures, make a video recording and transmit shadow data with wifi remote pilot, use WIFI to transmit four axle control commands, control the various actions of four-axle aircraft.
Due in four axle flight courses, a large amount of electric power need be consumed, four axle overwhelming majority flights are on the market caused to be no more than half an hour, people can not be met well to travel the demand of taking pictures, so in this embodiment, register control is furnished with high capacity cell, spare interface is connected with four-axle aircraft by the soft electric power connection line of about five meters, transferring electric power, to four-axle aircraft, makes fly photo opporunity of leaving a blank of four-axle aircraft exceed half an hour; Can certainly line be disconnected, use the Power supply on four axles, complete the task of taking pictures of leaving a blank in half an hour.
By above embodiment, those skilled in the art can produce the air suspension nearly body auto heterodyne travelling camera of a registration, but the restriction not to the technology of the present invention, rights protection still contained by claims of the present invention.
Claims (11)
1., based on a 3 D locating device for inertial attitude and ultrasonic ranging, it is characterized in that comprising location with reference to module and object module to be positioned,
Described location comprises with reference to module:
First radio-cell, can carry out wireless telecommunications with object module to be positioned, transmitting-receiving management steering order and status information;
Ultrasonic transmitting element, according to the instruction of the first radio-cell, sends ultrasonic signal;
Described object module to be positioned comprises: inertance element, the second radio-cell, three ultrasonic wave receive unit and microprocessor unit;
Inertance element comprises gyro sensor, acceleration transducer, can be used for calculating the attitude information of object module to be positioned, comprise roll angle, the angle of pitch, position angle;
Second radio-cell can carry out wireless telecommunications with location with reference to module;
Ultrasonic wave receive unit can be used for receiving the ultrasonic signal of locating and sending with reference to module;
Microprocessor unit management controls other unit and module, has following functions:
(1) utilize wireless receiving and dispatching signal synchronous, calculate ultrasound wave and send out and the interval time of receiving, compute location is with reference to the distance of each ultrasonic wave receive unit in module to object module to be positioned;
(2) utilize location with reference to the distance value of three ultrasonic wave receive unit in module to object module to be positioned, and the fixed range value between three ultrasonic wave receive unit, need the attitude value of localizing objects module, calculating and obtaining object module to be positioned relative to initial point is the earth D coordinates value of location with reference to module.
2. device according to claim 1, is characterized in that: described Inertial Measurement Unit also comprises magnetic sensor, and the position angle be used in attitude value described in correction claim 1 is to magnetic azinuth.
3. device according to claim 1 and 2, is characterized in that: described three ultrasonic wave receive unit are dispensed on the position that in object module to be positioned, mutual distance is far away as far as possible.
4. the device according to claim arbitrary in claims 1 to 3, it is characterized in that: the 4th ultrasonic wave receive unit is also installed above described object module to be positioned, and be not arranged in plane that aforementioned three receiving elements are formed, this unit carries out calculating with the distance of location reference module with aforementioned three distance values and compares, and is used for determining to locate the top or the bottom that are positioned at the plane that aforementioned three receiving elements are formed with reference to module.
5. the device according to claim arbitrary in Claims 1-4, it is characterized in that: be also provided with at least one ultrasonic wave receive unit in addition above described object module to be positioned, this ultrasound unit measured value is used for replacing or correct the measured value of other ultrasonic wave receive unit.
6. the device according to claim arbitrary in claim 1 to 5, is characterized in that: described location is provided with battery with reference to above module; Described location is connected with there being soft power lead between object module to be positioned with reference to module, and location is transmitted electric power to object module to be positioned by this power lead with reference to module; Described object module to be positioned is also provided with rotorcraft applications.
7. device according to claim arbitrary in claim 1 to 6, is characterized in that: described object module to be positioned is provided with rotorcraft applications, and this equipment comprises electricity tune, motor, screw propeller, and is no less than four covers; Described object module to be positioned is provided with camera, and this camera can operated by telecommand.
8., based on the localization method of described a kind of 3 D locating device based on inertial attitude and ultrasonic ranging arbitrary in claim 1 to 7, it is characterized in that comprising the steps:
Obtain the distance value of location with reference to three ultrasonic wave receive unit in module to object module to be positioned;
Obtain the attitude value of inertance element in object module to be positioned, this attitude value comprises roll angle, the angle of pitch, position angle;
Utilize location with reference to the distance value of three ultrasonic wave receive unit in module to object module to be positioned, and the fixed range value between three ultrasonic wave receive unit, need the attitude value of localizing objects module, calculating and obtaining object module to be positioned relative to initial point is the earth D coordinates value of location with reference to module.
9. method as claimed in claim 8, is characterized in that: obtain magnetic sensor measured value in object module to be positioned, corrects position angle in described attitude value to magnetic azinuth.
10. method as claimed in claim 8 or 9, it is characterized in that: obtain the 4th ultrasonic wave receive unit and the distance value of location with reference to module, compare with first three ultrasonic distance value according to this distance value, judge to locate with reference to module be positioned at first three ultrasonic wave receive unit be linked to be top or the bottom of plane.
11. as described in arbitrary in claim 8 to 10 method, it is characterized in that: obtain a ultrasonic wave receive unit and the distance value of location with reference to module at least again, this ultrasonic distance value, be used for replacing or correcting other ultrasonic distance value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610081788.2A CN105572638A (en) | 2016-02-06 | 2016-02-06 | Inertial attitude and ultrasonic ranging-based three-dimensional positioning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610081788.2A CN105572638A (en) | 2016-02-06 | 2016-02-06 | Inertial attitude and ultrasonic ranging-based three-dimensional positioning method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105572638A true CN105572638A (en) | 2016-05-11 |
Family
ID=55882987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610081788.2A Pending CN105572638A (en) | 2016-02-06 | 2016-02-06 | Inertial attitude and ultrasonic ranging-based three-dimensional positioning method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105572638A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106908083A (en) * | 2017-03-24 | 2017-06-30 | 安徽大学 | Inertial acceleration indoor positioning error calibration method based on ultrasonic positioning technology |
| CN106950976A (en) * | 2017-02-28 | 2017-07-14 | 北京天恒长鹰科技股份有限公司 | Indoor airship 3 D locating device and method based on Kalman and particle filter |
| CN107102749A (en) * | 2017-04-23 | 2017-08-29 | 吉林大学 | A kind of three-dimensional pen type localization method based on ultrasonic wave and inertial sensor |
| CN108089187A (en) * | 2016-11-21 | 2018-05-29 | 宏达国际电子股份有限公司 | Positioner and localization method |
| CN108680895A (en) * | 2018-03-21 | 2018-10-19 | 京信通信系统（中国）有限公司 | The upper method and device for measuring examination is carried out to positioning system |
| CN116539148A (en) * | 2023-07-04 | 2023-08-04 | 中国电力科学研究院有限公司 | Noise measurement device, method and system |
-
2016
- 2016-02-06 CN CN201610081788.2A patent/CN105572638A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108089187A (en) * | 2016-11-21 | 2018-05-29 | 宏达国际电子股份有限公司 | Positioner and localization method |
| CN108089187B (en) * | 2016-11-21 | 2020-08-25 | 宏达国际电子股份有限公司 | Positioning device and positioning method |
| CN106950976A (en) * | 2017-02-28 | 2017-07-14 | 北京天恒长鹰科技股份有限公司 | Indoor airship 3 D locating device and method based on Kalman and particle filter |
| CN106908083A (en) * | 2017-03-24 | 2017-06-30 | 安徽大学 | Inertial acceleration indoor positioning error calibration method based on ultrasonic positioning technology |
| CN107102749A (en) * | 2017-04-23 | 2017-08-29 | 吉林大学 | A kind of three-dimensional pen type localization method based on ultrasonic wave and inertial sensor |
| CN107102749B (en) * | 2017-04-23 | 2019-11-08 | 吉林大学 | A kind of three-dimensional pen type localization method based on ultrasonic wave and inertial sensor |
| CN108680895A (en) * | 2018-03-21 | 2018-10-19 | 京信通信系统（中国）有限公司 | The upper method and device for measuring examination is carried out to positioning system |
| CN108680895B (en) * | 2018-03-21 | 2020-09-01 | 京信通信系统（中国）有限公司 | Method and device for performing uplink test on positioning system |
| CN116539148A (en) * | 2023-07-04 | 2023-08-04 | 中国电力科学研究院有限公司 | Noise measurement device, method and system |
| CN116539148B (en) * | 2023-07-04 | 2023-09-26 | 中国电力科学研究院有限公司 | Noise measurement device, method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105572638A (en) | Inertial attitude and ultrasonic ranging-based three-dimensional positioning method and device | |
| US10648809B2 (en) | Adaptive compass calibration based on local field conditions | |
| US10444751B2 (en) | Surveying system | |
| US8594862B2 (en) | Method for the intuitive piloting of a drone by means of a remote control | |
| CN110926468B (en) | Communication-in-motion antenna multi-platform navigation attitude determination method based on transfer alignment | |
| CN101319902B (en) | Low-cost combination type positioning and orienting device and combined positioning method | |
| KR100556103B1 (en) | Method for aerial photogrammetry using computer controlled navigation and photographing system | |
| CN104698486B (en) | A kind of distribution POS data processing computer system real-time navigation methods | |
| CN102901977B (en) | Method for determining initial attitude angle of aircraft | |
| CN104729497A (en) | Ultra-small dual-duct unmanned plane combined navigation system and dual-mode navigation method | |
| KR20130093526A (en) | Determining spatial orientation information of a body from multiple electromagnetic signals | |
| CN102707725A (en) | Fixed-wing automatic navigation flight control system and using method thereof | |
| RU2439497C1 (en) | Automated system of navigation and survey control | |
| CN110249281B (en) | Position processing device, flight object, and flight system | |
| CN106005455B (en) | A kind of two axis Towed bird systems for being directed toward control based on geographic coordinate system | |
| KR20110082904A (en) | Method for producing 3-dimensional virtual realistic digital map using model plane and gps | |
| JP6934116B1 (en) | Control device and control method for controlling the flight of an aircraft | |
| CN202771262U (en) | Fixed-wing automatic navigation flight control system | |
| CN107329160A (en) | A kind of unmanned plane antenna direction tracing system positioned based on the Big Dipper | |
| CN110837095B (en) | Method for calibrating orientation zero offset of telemetering equipment based on small unmanned aerial vehicle and RTK | |
| CN103543434A (en) | Indoor positioning system, indoor positioning cell phone and indoor positioning method | |
| CN110081882A (en) | Quadrotor drone heading measure device and control method | |
| CN105928515A (en) | Navigation system for unmanned plane | |
| CN107024206A (en) | A kind of integrated navigation system based on GGI/GPS/INS | |
| CN106705931A (en) | Method, device and system for automatically obtaining azimuth angle of base station antenna |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160511 |
|
| WD01 | Invention patent application deemed withdrawn after publication |