CN106093865A - A kind of four rotor wing unmanned aerial vehicle indoor positioning device and methods - Google Patents
A kind of four rotor wing unmanned aerial vehicle indoor positioning device and methods Download PDFInfo
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- CN106093865A CN106093865A CN201610538663.8A CN201610538663A CN106093865A CN 106093865 A CN106093865 A CN 106093865A CN 201610538663 A CN201610538663 A CN 201610538663A CN 106093865 A CN106093865 A CN 106093865A
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- ultrasonic wave
- wave module
- unmanned aerial
- wing unmanned
- rotor wing
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- 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
-
- 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
- G01C21/165—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 combined with non-inertial navigation instruments
Abstract
The invention discloses the indoor positioning device of a kind of four rotor wing unmanned aerial vehicles, this device includes four rotor wing unmanned aerial vehicles, ultrasonic wave module, gyroscope, described ultrasonic wave module is distributed 5 ultrasonic wave module at upper strata plectane, wherein 4 ultrasonic wave module the most adjacent two in 90 °, another ultrasonic wave module is at the center of upper strata plectane and opening direction upwards, on lower floor's plectane, a ultrasonic wave module is placed in center, its opening direction is downwards and with ultrasonic wave module on same vertical, gyroscope is fixed on the plectane of upper strata, make its X-direction parallel with one of them rotor shaft, Y-axis is parallel at adjacent rotor axle.A kind of four rotor wing unmanned aerial vehicle indoor orientation methods, the method has processing ease, calculates simply, calculating resource requirement for Real-time System is low, in the case of there is no GPS, realize the location that four rotor wing unmanned aerial vehicles are indoor, and advantage of lower cost, it is easier to realize four rotor wing unmanned aerial vehicles in indoor positioning precision.
Description
Technical field
The present invention relates to unmanned plane indoor positioning neighborhood, particularly relate to a kind of four rotor wing unmanned aerial vehicle indoor positioning device and sides
Method.
Background technology
In recent years, four rotor wing unmanned aerial vehicles obtain at ground reconnaissance and supervision, information, the surface conditions after high-voltage line, earthquake
Check, take photo by plane and the effect of the aspect such as imaging is more and more obvious, and four rotor wing unmanned aerial vehicles to be one have four inputs and six
The front drive system of individual degree of freedom, its structure is compacter, and frame for movement is simpler, and the four of four rotor wing unmanned aerial vehicles rotations
Can be cancelled each other between the wing moment of torsion, just can realize the control to attitude and track by controlling the rotating speed of motor.But, right
Little in the research of four rotor wing unmanned aerial vehicle indoor positioning, due to indoor gps signal compared to outdoor want weak a lot, cause four
Rotor wing unmanned aerial vehicle cannot utilize GPS to position in indoor, is unfavorable for realizing four rotor wing unmanned aerial vehicles in indoor scouting, monitor with
And the monitoring etc. of the environment of indoor.
Summary of the invention
In view of problem set forth above, it is an object of the invention to propose a kind of four rotor wing unmanned aerial vehicle indoor positioning devices
And method, it is a kind of four rotor wing unmanned aerial vehicle indoor orientation methods based on ultrasonic sensor, for solving four rotor wing unmanned aerial vehicles
Indoor positioning problem.
The present invention is to solve that the problems referred to above adopt the following technical scheme that
A kind of four rotor wing unmanned aerial vehicle indoor positioning devices, including four rotor wing unmanned aerial vehicles (1), ultrasonic wave module (2), ultrasound wave
Module (4), ultrasonic wave module (5), ultrasonic wave module (6), ultrasonic wave module (7), ultrasonic wave module (8), gyroscope (3), institute
State ultrasonic wave module (2), ultrasonic wave module (4), ultrasonic wave module (6), (7) four modules of ultrasonic wave module are fixed on four rotors
On plectane (10) position, unmanned plane upper strata, and each two adjacent ultrasonic mode block is in 90 °, and ultrasonic wave module (5), (8) are solid respectively
Being scheduled on upper strata plectane (10) and lower floor's plectane (9) on center, its opening direction is distinguished the most upwards, downwards and is hung down same
In straight plane, gyroscope (3) is fixed on upper strata plectane (10) so that it is X-direction is parallel with one of them rotor shaft, Y-axis and
Adjacent rotor axle is parallel.
A kind of four rotor wing unmanned aerial vehicle indoor orientation methods, it is characterised in that be wherein distributed in the ultrasonic of upper strata plectane (10)
Mode block (2), (4), (6), (7) in the position of indoor ground level, are distributed in upper strata plectane for location four rotor wing unmanned aerial vehicles (1)
(10) ultrasonic wave module (5) and on lower floor's plectane (9), (8) are perpendicular to the position of ground level for location, to reach four rotors
Location in unmanned plane (1) interior space, gyroscope (3) can guarantee that flight attitude and the ultrasound wave of four rotor wing unmanned aerial vehicles (1)
The direction of modules acquiring data, the steps include:
1) gather in upper a pair ultrasonic wave module (4) parallel with gyroscope (3) X-direction of upper strata plectane (10), (7)
The data that data are defined as in X-direction a pair ultrasonic wave module (2) parallel with gyroscope (3) Y direction, (6) gather
Data are defined as the ultrasonic wave module (5) on the data in Y direction, upper strata plectane (10) and lower floor's plectane (9), (8) gather
The data that are defined as on Z axis of data.
2) distance that ultrasonic wave module (4), (7) gather is L5, L6, the distance that ultrasonic wave module (2), (6) gather be L1,
L2, the distance that ultrasonic wave module (5), (8) gather is L4, L3, can set up according to the data that above-mentioned collection comes with certain corner
For the interior space coordinate system of initial point, i.e. indoor length is respectively as follows: L1+L2, L5+L6, L3+L4, interior space coordinate
Axle is set up on the basis of the X, Y-axis of gyroscope (3), after establishing coordinate system, it can be deduced that four rotor wing unmanned aerial vehicles (1) are at indoor sky
Between coordinate be (L5, L1, L3).
Advantages of the present invention:
1, for the indoor positioning of four rotor wing unmanned aerial vehicles, the method has processing ease, calculates simply.
2, the computer resource for Real-time System requires low such that it is able to effectively transmit data on host computer,
The display current location information real-time to reach four rotor wing unmanned aerial vehicles.
3, in the case of there is no GPS, it is achieved the location that four rotor wing unmanned aerial vehicles are indoor.
4, this four rotor wing unmanned aerial vehicles positioner is low compared to other four rotor wing unmanned aerial vehicles indoor positioning installation cost, and
And it is easier to realize the positioning precision of four rotor wing unmanned aerial vehicles.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings and embodiment the present invention is further detailed explanation:
Fig. 1 is four rotor wing unmanned aerial vehicle structural representations.
Fig. 2 is the gyroscope location drawing in four rotor wing unmanned aerial vehicles.
Fig. 3 is four rotor wing unmanned aerial vehicle indoor positioning computational methods figures.
Fig. 4 is four rotor wing unmanned aerial vehicle indoor locations real-time displaying principle figure.
Detailed description of the invention
Seeing Fig. 1 and Fig. 2, a kind of four rotor wing unmanned aerial vehicle indoor positioning devices, including four rotor wing unmanned aerial vehicles (1), ultrasound wave
Module (2), ultrasonic wave module (4), ultrasonic wave module (5), ultrasonic wave module (6), ultrasonic wave module (7), ultrasonic wave module
(8), gyroscope (3), described ultrasonic wave module (2), ultrasonic wave module (4), ultrasonic wave module (6), ultrasonic mode
(7) four modules of block are fixed on four plectane (10) positions, rotor wing unmanned aerial vehicle upper strata, and each two adjacent ultrasonic ripple
Module is in 90 °, and ultrasonic wave module (5), (8) are separately fixed on upper strata plectane (10) and the upper center of lower floor's plectane (9), its
Opening direction respectively the most upwards, downwards and on same vertical plane, gyroscope (3) is fixed on upper strata plectane (10) so that it is X-axis
Direction is parallel with one of them rotor shaft, and Y-axis is parallel with adjacent rotor axle.
See shown in Fig. 1, Fig. 2, Fig. 3, a kind of four rotor wing unmanned aerial vehicle indoor orientation methods, it is characterised in that be wherein distributed
Ultrasonic wave module (2) in upper strata plectane (10), (4), (6), (7) are used for location four rotor wing unmanned aerial vehicles (1) at indoor ground level
Position, be distributed in the ultrasonic wave module (5) on upper strata plectane (10) and lower floor's plectane (9), (8) and be perpendicular to Horizon for location
The position in face, to reach the location in four rotor wing unmanned aerial vehicles (1) interior space, gyroscope (3) can guarantee that four rotor wing unmanned aerial vehicles (1)
Flight attitude and ultrasonic wave module gather data direction, the steps include:
1) gather in upper a pair ultrasonic wave module (4) parallel with gyroscope (3) X-direction of upper strata plectane (10), (7)
The data that are defined as in X-direction of data a pair ultrasonic wave module (2) parallel with gyroscope (3) Y direction, (6) gather
The data that are defined as in Y direction of data, ultrasonic wave module (5), (8) on upper strata plectane (10) and lower floor's plectane (9) are adopted
The data that the data of collection are defined as on Z axis.
2) distance that ultrasonic wave module (4), (7) gather is L5, L6, the distance that ultrasonic wave module (2), (6) gather be L1,
L2, the distance that ultrasonic wave module (5), (8) gather is L4, L3, can set up according to the data that above-mentioned collection comes with certain corner
For the interior space coordinate system of initial point, i.e. indoor length is respectively as follows: L1+L2, L5+L6, L3+L4,
Interior space coordinate axes is set up on the basis of the X, Y-axis of gyroscope (3), after establishing coordinate system, it can be deduced that four rotations
Wing unmanned plane (1) is (L5, L1, L3) in indoor space coordinates.
Shown in Figure 4, four rotor wing unmanned aerial vehicle indoor locations real-time displaying principle figure, described four rotor wing unmanned aerial vehicles fly to control plate
The controller used is STM32F103VCT6 single-chip microcomputer, for controlling the attitude of four rotor wing unmanned aerial vehicles, the process of data, data
The transmission of information and reception；Electricity mode transfer block completes the driving operating of four rotor wing unmanned aerial vehicle brushless electric machines；Inertial navigation module is by adding
Velometer module, gyro module, electrical compass module form, and complete the attitude measurement of four rotor wing unmanned aerial vehicles, steadily fly for it
Row offer information is fed back；Ultrasonic wave module measures the positional information that four rotor wing unmanned aerial vehicles are current in indoor；Wireless communication module is adopted
With NRF24L01, this module is passed through SPI communication modes and microcontroller communication, can the data that ultrasonic wave module collection comes be transferred to
Receiver module on host computer, by carrying out data process to receiving the data that come on host computer, with reach four rotors without
Man-machine indoor location Dynamic Announce in real time.
Claims (2)
1. a four rotor wing unmanned aerial vehicle indoor positioning device, including four rotor wing unmanned aerial vehicles (1), ultrasonic wave module (2), ultrasonic mode
Block (4), ultrasonic wave module (5), ultrasonic wave module (6), ultrasonic wave module (7), ultrasonic wave module (8), gyroscope (3), described
Ultrasonic wave module (2), ultrasonic wave module (4), ultrasonic wave module (6), (7) four modules of ultrasonic wave module be fixed on four rotors without
On plectane (10) position, man-machine upper strata, and each two adjacent ultrasonic mode block becomes 90, and ultrasonic wave module (5), (8) are separately fixed at
On the upper center of upper strata plectane (10) and lower floor's plectane (9), its opening direction the most upwards, downwards and at same vertical plane
On, gyroscope (3) is fixed on upper strata plectane (10) so that it is X-direction is parallel with one of them rotor shaft, Y-axis and adjacent rotation
Wing axle is parallel.
2. a rotor wing unmanned aerial vehicle indoor orientation method, it is characterised in that be wherein distributed in the ultrasound wave of upper strata plectane (10)
Module (2), (4), (6), (7) in the position of indoor ground level, are distributed in upper strata plectane for location four rotor wing unmanned aerial vehicles (1)
(10) ultrasonic wave module (5) and on lower floor's plectane (9), (8) are perpendicular to the position of ground level for location, to reach four rotors
Location in unmanned plane (1) interior space, gyroscope (3) can guarantee that flight attitude and the ultrasound wave of four rotor wing unmanned aerial vehicles (1)
The direction of modules acquiring data, the steps include:
1) data gathered in upper a pair ultrasonic wave module (4) parallel with gyroscope (3) X-direction of upper strata plectane (10), (7)
The data that the data being defined as in X-direction a pair ultrasonic wave module (2) parallel with gyroscope (3) Y direction, (6) gather
The number that ultrasonic wave module (5) on the data being defined as in Y direction, upper strata plectane (10) and lower floor's plectane (9), (8) gather
According to the data being defined as on Z axis；
2) distance that ultrasonic wave module (4), (7) gather is L5, L6, and the distance that ultrasonic wave module (2), (6) gather is L1, L2,
The distance that ultrasonic wave module (5), (8) gather is L4, L3, and it is former that the data come according to above-mentioned collection can be set up with certain corner
The interior space coordinate system of point, i.e. indoor length is respectively as follows: L1+L2, L5+L6, L3+L4, interior space coordinate axes with
Set up on the basis of the X of gyroscope (3), Y-axis, after establishing coordinate system, it can be deduced that four rotor wing unmanned aerial vehicles (1) are sat in indoor space
It is designated as (L5, L1, L3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610538663.8A CN106093865A (en) | 2016-07-08 | 2016-07-08 | A kind of four rotor wing unmanned aerial vehicle indoor positioning device and methods |
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| CN201610538663.8A CN106093865A (en) | 2016-07-08 | 2016-07-08 | A kind of four rotor wing unmanned aerial vehicle indoor positioning device and methods |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108303088A (en) * | 2017-01-12 | 2018-07-20 | 日之阳（北京）仪器制造有限公司 | A kind of positioning system for multi-rotor aerocraft |
| CN110307845A (en) * | 2018-03-27 | 2019-10-08 | 深圳市神州云海智能科技有限公司 | A kind of method and robot of robot localization |
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| CN103853156A (en) * | 2014-02-07 | 2014-06-11 | 中山大学 | Small four-rotor aircraft control system and method based on airborne sensor |
| CN103941750A (en) * | 2014-04-30 | 2014-07-23 | 东北大学 | Device and method for composition based on small quad-rotor unmanned aerial vehicle |
| CN105352505A (en) * | 2015-12-08 | 2016-02-24 | 北京健德乾坤导航系统科技有限责任公司 | Indoor unmanned aerial vehicle navigation method and unmanned aerial vehicle |
| CN105629996A (en) * | 2016-03-22 | 2016-06-01 | 昆明天龙经纬电子科技有限公司 | Unmanned aerial vehicle fixed-point landing guiding method and system |
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- 2016-07-08 CN CN201610538663.8A patent/CN106093865A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103853156A (en) * | 2014-02-07 | 2014-06-11 | 中山大学 | Small four-rotor aircraft control system and method based on airborne sensor |
| CN103941750A (en) * | 2014-04-30 | 2014-07-23 | 东北大学 | Device and method for composition based on small quad-rotor unmanned aerial vehicle |
| CN105352505A (en) * | 2015-12-08 | 2016-02-24 | 北京健德乾坤导航系统科技有限责任公司 | Indoor unmanned aerial vehicle navigation method and unmanned aerial vehicle |
| CN105629996A (en) * | 2016-03-22 | 2016-06-01 | 昆明天龙经纬电子科技有限公司 | Unmanned aerial vehicle fixed-point landing guiding method and system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108303088A (en) * | 2017-01-12 | 2018-07-20 | 日之阳（北京）仪器制造有限公司 | A kind of positioning system for multi-rotor aerocraft |
| CN110307845A (en) * | 2018-03-27 | 2019-10-08 | 深圳市神州云海智能科技有限公司 | A kind of method and robot of robot localization |
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Application publication date: 20161109 |