CN106371124A - Micro unmanned aerial vehicle positioning system based on cooperative mode - Google Patents
Micro unmanned aerial vehicle positioning system based on cooperative mode Download PDFInfo
- Publication number
- CN106371124A CN106371124A CN201610885982.6A CN201610885982A CN106371124A CN 106371124 A CN106371124 A CN 106371124A CN 201610885982 A CN201610885982 A CN 201610885982A CN 106371124 A CN106371124 A CN 106371124A
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- Prior art keywords
- satellite
- micro
- base station
- small
- alignment system
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Classifications
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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
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3827—Portable transceivers
- H04B1/3833—Hand-held transceivers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
- H04W88/085—Access point devices with remote components
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to a positioning system, and particularly relates to a micro unmanned aerial vehicle positioning system based on a cooperative mode, which comprises a micro unmanned aerial vehicle provided with a combined positioning and orientation navigation system. The micro unmanned aerial vehicle is also provided with a satellite positioning system receiver and a base station radio signal receiver; the satellite positioning system receiver can receive signals from a navigation satellite; and the base station radio signal receiver can receive signals sent by a public mobile communication base station arranged on the ground. The positioning system also comprises a handheld terminal, the handheld terminal is internally provided with an MCU control module and a built-in antenna, the MCU control module is connected with a cloud server, and the built-in antenna is connected with the public mobile communication base station. Thus, the combined positioning and orientation navigation system can be used for predicting the flight state of the unmanned aerial vehicle in real time according to attitude information, signals sent by the public mobile communication base station can also be used for subsequent positioning, and no-signal random flying of the unmanned aerial vehicle is also avoided.
Description
Technical field
The present invention relates to alignment system, specifically, it is a kind of Small and micro-satellite alignment system based on Cooperative Mode.
Background technology
Alignment system is (to determine be mutually related an aggregation or the device (portion that locus are constituted as target
Part)) refer generally to global positioning system (global positioning system).Briefly, this is one by covering the whole world
24 satellites composition satellite system.This system can ensure that at any time, on the earth, any point can be simultaneously
Observe 4 satellites, with ensure satellite can collect this observation station longitude and latitude and height so that realize navigate, position, awarding
When etc. function.This technology can be used to vector aircraft, ship, vehicle and individual, safely and accurately along selected road
Line, arrives punctually at the destination.Also has autonomous Beidou satellite navigation system of China etc. in addition to the U.S..
Chinese Beidou satellite navigation system (beidou navigation satellite system, bds) be China from
The GPS that row is developed.Chinese Beidou satellite navigation system is continue american global positioning system (gps), Russia
3rd ripe satellite navigation system after GLONASS satellite navigation system (glonass).Beidou satellite navigation system
(bds) it is and U.S. gps, Russian glonass, European Union galileo, the supply of satellite navigation committee of the United Nations identification
Business.
Beidou satellite navigation system is made up of space segment, ground segment and user segment three part, can whole day in the world
Wait, round-the-clock provides high accuracy, highly reliable positioning, navigation, time service service for all types of user, and has short message communication capacity,
Through tentatively possessing area navigation, positioning and time service ability, 10 meters of positioning precision, rate accuracy 0.2 meter per second, time service precision 10 is received
Second.
At present, the flight navigation of unmanned plane is commonly used onboard satellite guider and is combined life with airborne inertial navigation set
Become combination navigation data, there is the advantages of navigation accuracy height, suitable flying for long time, but above-mentioned air navigation aid is to satellite navigation
Dependency is larger and haves the characteristics that easily to be disturbed, and after satellite-signal is interfered, unmanned plane no signal disorderly flies or flies to lose, and
Cause larger economic loss.
Content of the invention
In order to solve the shortcoming of prior art, the present invention provides a kind of alignment system, and specifically a kind of being based on is worked in coordination with
The Small and micro-satellite alignment system of pattern.
The concrete technical scheme of the present invention is as follows:
A kind of Small and micro-satellite alignment system based on Cooperative Mode, including having the small of integrated positioning directed navigation system
Type unmanned plane, Small and micro-satellite is additionally provided with satellite positioning system receiver and base station radio signal receiver, satellite
Position system receiver can receive the signal from aeronautical satellite, and base station radio signal receiver can receive setting public affairs on the ground
The signal being sent with mobile communication base station, this alignment system also includes handheld terminal, and handheld terminal is internally provided with mcu and controls mould
Block and built-in aerial, mcu control module is connected with Cloud Server, and built-in aerial is connected with public mobile communication base station.
Further improvement of the present invention, on Small and micro-satellite, the integrated positioning directed navigation system of setting is by laser gyro
Strap-down inertial, integrated navigation computer, speedometer, altimeter and base station radar system composition.
Further improvement of the present invention, also sets up internal memory draw-in groove in handheld terminal, internal memory draw-in groove is passed through bus and controlled with mcu
Module is connected.
Further improvement of the present invention, is additionally provided with usb interface in handheld terminal, usb interface is passed through bus and controlled with mcu
Module is connected.
Further improvement of the present invention, is additionally provided with display screen outside handheld terminal, display screen is passed through bus and controlled with mcu
Module is connected.
Further improvement of the present invention, on Small and micro-satellite, the satellite positioning system receiver of setting is fixed for big-dipper satellite
Position system receiver.
Beneficial effects of the present invention: the present invention not only carries out being believed according to attitude in real time with integrated positioning directed navigation system
Breath is predicted to flight status, can also by using the signal that sent based on public mobile communication base station to carry out after
Continuous positioning, it is to avoid unmanned plane no signal disorderly flies.
Brief description
Fig. 1 is the structural representation of the present invention.
Specific embodiment
In order to deepen the understanding of the present invention, below in conjunction with drawings and Examples, the present invention is done and retouch in detail further
State, this embodiment is only used for explaining the present invention, protection scope of the present invention is not constituted and limits.
Embodiment: as shown in figure 1, a kind of Small and micro-satellite alignment system based on Cooperative Mode, including having combination
The Small and micro-satellite of position and orientation navigation system, Small and micro-satellite is additionally provided with satellite positioning system receiver and base station
Wireless signal receiver, satellite positioning system receiver can receive the signal from aeronautical satellite, base station radio signal receiver
The signal that setting public mobile communication base station on the ground sends can be received, this alignment system also includes handheld terminal, hand-held
Terminal inner is provided with mcu control module and built-in aerial, and mcu control module is connected with Cloud Server, built-in aerial with public
Mobile communication base station is connected.
In the present embodiment, on Small and micro-satellite, the integrated positioning directed navigation system of setting is used to by laser gyro strap down
Property navigation, integrated navigation computer, speedometer, altimeter and base station radar system composition, real-time closed-loop outgoing position and attitude
Information, provides accurate directional reference and position coordinateses for aircraft, according to attitude information, flight status is entered in real time simultaneously
Row prediction.
In the present embodiment, also set up internal memory draw-in groove in handheld terminal, internal memory draw-in groove passes through bus and mcu control module phase
Even, internal memory draw-in groove is inserted into RAM (random access memory) card for data cached, realizes coordination sharing with the data in Cloud Server；In handheld terminal
It is additionally provided with usb interface, usb interface is connected with mcu control module by bus, and usb interface is easy to extend handheld terminal, with
Other equipment is compatible；It is additionally provided with display screen, display screen is connected with mcu control module by bus, display outside handheld terminal
Screen can be used to show the Real-time and Dynamic of Small and micro-satellite.
In the present embodiment, on Small and micro-satellite, the satellite positioning system receiver of setting is big-dipper satellite alignment system
Receiver is used for receiving the data signal of triones navigation system transmission.
Ultimate principle, principal character and the advantage of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not restricted to the described embodiments, the simply explanation present invention's described in above-described embodiment and description is former
Reason, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes and improvements
Both fall within scope of the claimed invention.Claimed scope is by appending claims and its equivalent circle.
Fixed.
Claims (6)
1. a kind of Small and micro-satellite alignment system based on Cooperative Mode is it is characterised in that include thering is integrated positioning orientation
The Small and micro-satellite of navigation system, described Small and micro-satellite is additionally provided with satellite positioning system receiver and base station radio
Signal receiver, described satellite positioning system receiver can receive the signal from aeronautical satellite, and described base station radio signal connects
Receipts machine can receive the signal that setting public mobile communication base station on the ground sends, and this alignment system also includes handheld terminal,
Described handheld terminal is internally provided with mcu control module and built-in aerial, and described mcu control module is connected with Cloud Server, institute
State built-in aerial to be connected with described public mobile communication base station.
2. the Small and micro-satellite alignment system based on Cooperative Mode according to claim 1 is it is characterised in that described micro-
On SUAV setting integrated positioning directed navigation system by laser gyro strap down inertial navigation, integrated navigation computer,
Speedometer, altimeter and base station radar system composition.
3. the Small and micro-satellite alignment system based on Cooperative Mode according to claim 2 is it is characterised in that described handss
Hold and in terminal, also set up internal memory draw-in groove, described internal memory draw-in groove is connected with described mcu control module by bus.
4. the Small and micro-satellite alignment system based on Cooperative Mode according to claim 3 is it is characterised in that described handss
Hold and in terminal, be additionally provided with usb interface, described usb interface is connected with described mcu control module by bus.
5. the Small and micro-satellite alignment system based on Cooperative Mode according to claim 4 is it is characterised in that described handss
Hold exterior of terminal and be additionally provided with display screen, described display screen is connected with described mcu control module by bus.
6. the Small and micro-satellite alignment system based on Cooperative Mode according to any one of claim 1-5, its feature exists
In on described Small and micro-satellite, the satellite positioning system receiver of setting is big-dipper satellite alignment system receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610885982.6A CN106371124A (en) | 2016-10-11 | 2016-10-11 | Micro unmanned aerial vehicle positioning system based on cooperative mode |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610885982.6A CN106371124A (en) | 2016-10-11 | 2016-10-11 | Micro unmanned aerial vehicle positioning system based on cooperative mode |
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| CN201610885982.6A Pending CN106371124A (en) | 2016-10-11 | 2016-10-11 | Micro unmanned aerial vehicle positioning system based on cooperative mode |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107561526A (en) * | 2017-07-21 | 2018-01-09 | 成都中电锦江信息产业有限公司 | A kind of unmanned plane target identification and localization method based on radar network |
| CN107561525A (en) * | 2017-07-21 | 2018-01-09 | 成都中电锦江信息产业有限公司 | A kind of unmanned plane target monitoring system and method based on communication base station steel tower |
| CN107688177A (en) * | 2017-07-21 | 2018-02-13 | 成都中电锦江信息产业有限公司 | A kind of radar network system and detection method for unmanned plane target detection |
| CN109903589A (en) * | 2019-03-12 | 2019-06-18 | 昆明昊协科技有限公司 | A kind of unmanned plane supervision scheduling controlling plateform system and its method |
| CN110033687A (en) * | 2019-05-14 | 2019-07-19 | 北京鼎赢科技有限公司 | A kind of satellite navigation ground simulator and method |
| CN110138440A (en) * | 2019-04-30 | 2019-08-16 | 中国空间技术研究院 | Space intelligent aircraft cloud side cooperative information processing framework |
| CN111175697A (en) * | 2019-12-31 | 2020-05-19 | 中国电子科技集团公司第三十六研究所 | Unmanned aerial vehicle self-positioning precision evaluation method and device |
| CN113556672A (en) * | 2020-04-23 | 2021-10-26 | 湖南韬讯航空科技有限公司 | Anti-interference cluster unmanned aerial vehicle system and communication and positioning method thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107561526A (en) * | 2017-07-21 | 2018-01-09 | 成都中电锦江信息产业有限公司 | A kind of unmanned plane target identification and localization method based on radar network |
| CN107561525A (en) * | 2017-07-21 | 2018-01-09 | 成都中电锦江信息产业有限公司 | A kind of unmanned plane target monitoring system and method based on communication base station steel tower |
| CN107688177A (en) * | 2017-07-21 | 2018-02-13 | 成都中电锦江信息产业有限公司 | A kind of radar network system and detection method for unmanned plane target detection |
| CN109903589A (en) * | 2019-03-12 | 2019-06-18 | 昆明昊协科技有限公司 | A kind of unmanned plane supervision scheduling controlling plateform system and its method |
| CN110138440A (en) * | 2019-04-30 | 2019-08-16 | 中国空间技术研究院 | Space intelligent aircraft cloud side cooperative information processing framework |
| CN110033687A (en) * | 2019-05-14 | 2019-07-19 | 北京鼎赢科技有限公司 | A kind of satellite navigation ground simulator and method |
| CN111175697A (en) * | 2019-12-31 | 2020-05-19 | 中国电子科技集团公司第三十六研究所 | Unmanned aerial vehicle self-positioning precision evaluation method and device |
| CN111175697B (en) * | 2019-12-31 | 2023-09-19 | 中国电子科技集团公司第三十六研究所 | Unmanned aerial vehicle self-positioning precision evaluation method and device |
| CN113556672A (en) * | 2020-04-23 | 2021-10-26 | 湖南韬讯航空科技有限公司 | Anti-interference cluster unmanned aerial vehicle system and communication and positioning method thereof |
| CN113556672B (en) * | 2020-04-23 | 2022-10-11 | 湖南韬讯航空科技有限公司 | Anti-interference cluster unmanned aerial vehicle system and communication and positioning method thereof |
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Application publication date: 20170201 |