CN106371463B - More gyroplane earth stations position infrared beacon system - Google Patents
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- CN106371463B CN106371463B CN201610780018.7A CN201610780018A CN106371463B CN 106371463 B CN106371463 B CN 106371463B CN 201610780018 A CN201610780018 A CN 201610780018A CN 106371463 B CN106371463 B CN 106371463B
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Abstract
This patent belongs to fields of measurement, specifically discloses more gyroplane earth station positioning infrared beacon systems, comprising: more rotor machine control systems, earth station and the receiver being mounted on more gyroplanes；Earth station includes: first processor, I/O module, infrared transmission module；I/O module, infrared transmission module with first processor data connection；Receiver includes: second processor, adjustment seat, camera, electronic compass, projection module and beacon induction module；Camera, electronic compass, projection module, adjustment seat and beacon induction module with second processor data connection, are successively fixed with beacon induction module, camera and projection module in adjustment seat, beacon induction module, camera and projection module are coaxial.The present invention is directed in the case where GPS missing, and more gyroplane positioning accuracies of appearance are insufficient, or even the technology that can not position and can not provide a kind of more gyroplane earth station positioning infrared beacon systems the problem of accurate independent landing.
Description
Technical field
The present invention relates to fields of measurement, and in particular to a kind of more gyroplane earth stations positioning infrared beacon systems.
Background technique
Before 2010, no matter fixed-wing and helicopter are taking photo by plane or model plane Sports Field, substantially occupy absolutely
The status of mainstream.However, because of excellent handling, more rotors rapidly become to take photo by plane and move with model plane in several years later
The nova in field.Because more gyroplanes significantly reduce the difficulty and cost taken photo by plane, liking for the vast consumer group is obtained,
Between short 2 years later, emerge one after another around news such as multi-rotor aerocraft correlation intention, technology, product, application and investments.
Currently, more rotors have become the mainstream of Small and micro-satellite or model plane.
For current more rotor products, generally divide semi-autonomous control mode and full autonomous control mode.Semi-autonomous controlling party
Formula refers to that the control algolithm of automatic pilot is able to maintain attitude stabilization (or fixed point) of multi-rotor aerocraft etc., but aircraft is also
It is to need through personnel's remote operation.Under this control method, more rotors belong to model plane.Full autonomous control mode refers to automatically
The control algolithm of pilot can complete multi-rotor aerocraft way point to the position control of way point and automatic lifting stick etc..?
Under this control mode, more rotors belong to unmanned plane, and ground staff carries out the planning of task level at this time.It is more as unmanned plane
Rotor craft can complete complicated airflight task under conditions of unmanned and carry various loading commissions, can be by
Regard " air-robot " as.
At the beginning of 2012, great Jiang company releases spirit Phantom all-in-one machine.Phantom has certain wind resistance, determines
Bit function and lifting capacity can also carry compact camera.Even to this day, the moving camera shooting limit is carried using Phantom to transport
Dynamic to have become the fashion that American-European young man competitively chases, Phantom all-in-one machine is just much more popular rapidly once releasing.
With popularizing for small-sized more gyroplanes, more and more more gyroplanes be used to move with clapping.Occur in the market
Many has automatically with more gyroplanes of the functions such as bat, automatic landing.However this kind of function is all very relied on for earth station
Precisely hold；Great requirement is suffered from for positioning accuracy, positioning refresh rate.
Existing more gyroplanes are mostly positioned by GPS, and the positioning principle of GPS is that earth station is come from by receiving
The signal of multiple satellites realizes positioning to calculate the mode of current location.But when user is in motion process, with
Bat, positioning function by factors such as GPS refresh rate, satellite signal strengths due to being influenced, and can not timely update ground erect-position
Set data so that with clapping, function it is unsatisfactory, especially when user some GPS signals it is poor, cannot even search
There is the case where GPS missing in the place of GPS signal, it may appear that and the positioning accuracy of more gyroplanes is insufficient, or even can not position
Situation.
Therefore, it is badly in need of one kind now in the case where GPS missing, the pinpoint more gyroplanes of more gyroplanes can be allowed
Face is stood firm an infrared beacon system.
Summary of the invention
The present invention is directed in the case where GPS missing, and more gyroplane positioning accuracies of appearance are insufficient, or even can not position
Technical problem provides a kind of more gyroplane earth station positioning infrared beacon systems.
The base case that this programme provides are as follows: more gyroplane earth stations position infrared beacon system, comprising: more gyroplane controls
System, earth station and the receiver being mounted on more gyroplanes processed；
Earth station includes: first processor, I/O module, infrared transmission module；I/O module, infrared transmission module are with
The connection of one processor data；
The infrared transmission module launches outward infrared ray；
The working condition of the first processor control infrared transmission module；
The I/O module is first processor and external interface；
Receiver includes: second processor, adjustment seat, camera, electronic compass, projection module and beacon induction mould
Block；Camera, electronic compass, projection module, adjustment seat and beacon induction module with second processor data connection, are adjusted
Beacon induction module, camera and projection module are successively fixed on seat, beacon induction module, camera and projection module are same
Axis, beacon induction module are fixed on camera；
The intensity of the beacon induction module detection infrared ray, and the intensity-conversion for the infrared ray that will test is believed at number
Number pass to second processor；
The direction of the adjustment seat adjustment beacon induction module, the orientation information of adjustment seat itself are fed back to second processing
Device；
The camera projects image onto projection module；
The projection module will pass to second processor after image pixelization processing；
The electronic compass detection direction signal is simultaneously fed back to second processor；
The second processor receives the signal for the infra-red intensity that beacon induction module detects, second processor adjustment
The direction towards face infrared transmission module of adjustment seat；
Second processor and more rotor machine control system data connections.
The working principle of this programme:
Measuring receiver and earth station's angle:
Infrared transmission module emits infrared ray around, and infrared ray is electromagnetism of the wavelength between microwave and visible light
Wave, wavelength at 760 nanometers (nm) between 1 millimeter (mm), the non-visible light longer than feux rouges.Infrared ray, which has, penetrates cloud and mist ability
Strong physical property.Beacon induction module receives infrared ray, and since infrared ray is one kind of electromagnetic wave, beacon induction module exists
When detecting the intensity of infrared ray, the intensity for the infrared ray that when beacon induction module face infrared transmission module detects is most strong.
The strength transfer for the infrared ray that beacon induction module will test can be adjusted to second processor, second processor
Save the direction of seat.After the direction of adjustment seat changes, the intensity for the infrared ray that beacon induction module detects is influenced whether.If
The intensity of the infrared ray detected declines, then adjustment seat reversely changes direction；If the intensity of the infrared ray detected rises,
Adjustment seat forward direction changes direction.The infra-red intensity and last moment infra-red intensity that second processor receives current time
Comparison, each moment all adjust the direction of adjustment seat.When adjustment seat is during towards changing, infra-red intensity declines, i.e.,
It can obtain last moment beacon induction module face (angle between adjustment seat and infrared transmission module is right angle) infrared emission
Module.
When obtaining last moment adjustment seat face infrared transmission module, the direction of adjustment seat itself also can be in last moment
Second processor is fed back, second processor just can determine that the drift angle (α) of last moment adjustment seat.Drift angle (α) is more rotors
The pitch angle of machine.The interval of current time and last moment depend on the refreshing frequency of beacon induction module and second processor
(i.e. sample frequency), sample frequency is higher, and obtained angle is more accurate.The sample frequency for such as using 60Hz, then beacon sense
It answers detect module each second 60 times, is divided between current time and last moment 1/60 second.The angulation change amount (△ α) of adjustment seat
It is smaller, in one second 60 times samplings, the number that can obtain correct adjustment seat drift angle (α) will be more, i.e., at second
The number for the valid data that reason device obtains is more, then the relative position of obtained more gyroplanes and earth station is more accurate.
The linear distance of measuring receiver and earth station:
Mode one: for camera by the image projection to projection module taken, projection module handles image pixel,
Image is processed into pixel.Since the size of infrared transmission module is fixed and known, the focal length and scaling times of camera
Number be it is known, the spacing of projection module and camera is fixed；Therefore the size of infrared transmission module can basis in image
The spacing of pixel obtains, can obtain the linear distance between infrared transmission module and camera according to the spacing of pixel.With
Distance increase infrared transmission module the imaging of projection module can smaller and smaller, therefore this distance measuring method for 1000 meters with
Interior use.In adjustment seat towards in known situation, in ranging process, according to known angle, to infrared transmission module
Size carries out angle compensation, avoids camera and shoots infrared transmission module from different perspectives, and leads to infrared transmission module
The uncertain situation of size.
Mode two: first processor controls the working frequency of infrared transmission module, the i.e. flicker frequency of infrared transmission module,
Therefore first processor (can be lighted to the flicker frequency of infrared transmission module progress binary coding and represent 1,0) closing represents.
The flicker frequency of infrared transmission module is encoded, receiver only identifies the infrared ray after coding, it is seen that light optical filter
Using can be to avoid the interference of other light sources (such as sun, artificial light).Believed by I/O module to first processor input coding
Breath, second sensor can receive the information after coding by detection beacon induction module or video camera, in this way in the first sensing
Unidirectional data transmission is established between device and second sensor.
Before more gyroplanes take off, make infrared transmission module and beacon induction module close, then first processor controls
Infrared transmission module passes out the signal of clock alignment, keeps first processor synchronous with the clock of second processor.First processing
Device and second processor agreement: first processor can be spaced a set time can control infrared transmission module launch ranging letter
Number (Flag), i.e. pulse signal.Second processor can receive distance measuring signal (Flag) by of short duration delay (t).This prolongs
(t) includes the delays in work (t1) of beacon induction module and second processor itself and when signal transmits required in the medium late
Between (△ t).Since the delays in work (t1) of beacon induction module and second processor itself is a fixed constant.
When infrared transmission module and beacon induction module are closer, signal transmits required time (△ in the medium
T) it is approximately equal to zero.More gyroplanes start to take off, and beacon induction module controls infrared hair far from infrared transmission module, first processor
One set time transmitting distance measuring signal of modular spacing is penetrated, due to the agreement of first processor and second processor, second processing
Device can carry out the preparation for receiving distance measuring signal after being spaced this set time, but distance measuring signal will be by signal in the medium
Time (△ t) needed for transmitting could be identified by beacon induction module, and pass through beacon induction module and second processor sheet
After the delays in work (t1) of body, it could be identified by second processor.It can thus be concluded that when signal transmits required in the medium out
Between (△ t), then transmitting the required time (△ t) in the medium with signal is multiplied by speed that signal transmits in the medium (about etc.
In the light velocity), it can obtain the distance between infrared transmission module and beacon induction module.Since the light velocity is very fast, this distance measuring method
It is used above for 1000 meters.
The measurement of sensor orientation:
It the heading of more gyroplanes is converted into electric signal by electronic compass passes to second processor and obtain.
The calculating in orientation:
Using infrared transmission module as origin, X-axis establishes a space from east orientation west, Z axis from south orientation north, Y-axis straight up
Coordinate system, it may be determined that the distance between infrared transmission module and beacon induction module (r), pitch angle (α).Electronic compass measurement
The directions of more gyroplanes can calculate more gyroplane azimuths (φ) (herein being related to simple solid geometry, repeat no more).
Available space polar coordinate system represents the coordinate (r, α, φ) of beacon induction module, that is, the orientation of more gyroplanes has been determined, realizes
In the case where GPS missing, the positioning of more gyroplanes.
Preferred embodiment one: as the preferred embodiment of basic scheme, the optical filter of dark visible light has been installed outside camera additional.It should
Optical filter is usually used in the infrared receiver mouth of electric appliance, can be effectively reduced the light wave bring interference of other frequency ranges.
Preferred embodiment two: preferably one preferred embodiment: infrared transmission module includes at least two infrared arrays,
Infrared array includes at least two infrared diodes, the infrared diode close-packed arrays in each infrared array, infrared array it
Between be alternatively arranged.Infrared diode close-packed arrays at infrared array can be improved transmitting infrared ray intensity, increase light-emitting surface
Product receives convenient for beacon induction module and camera.
Preferred embodiment three: preferably two preferred embodiment: each infrared array of first processor independent control
Working condition is independent of each other between infrared array.Each infrared array can transmit different information to second processor respectively,
Infrared array can transmit respective positions and (perhaps number) information since infrared array is that position (or number) is solid simultaneously
Fixed, camera is received and is projected on projection module, and projection module passes information to second processor.Infrared array point
Not Fa Song information, second processor can be allowed preferably to identify the orientation of receiver and earth station.Such as: different by identifying
Infrared array, then the angle of further identification receiver and different infrared arrays, can assist achieving the effect that auxiliary positioning,
More reference quantities, improve the accuracy of positioning during positioning.
Preferred embodiment four: the preferred embodiment as scheme three: beacon induction module includes at least three infrared inductions, two pole
Pipe, infrared induction diode are in that polygons is waited to be fixed on camera periphery, and infrared induction diode is coaxial with camera and passes through
Noise reduction amplifying circuit is connected with second processor.At least three infrared induction diodes are compared with single infrared induction diode
It can be improved the precision of beacon induction module.Single infrared induction diode, induction infrared ray intensity and feed back to the
The precision of two processors is lower, and the infra-red intensity comparison at last moment and current time is not strong enough, and in adjustment seat tune
During section, due to the error of the algorithm of adjustment seat adjustment drift angle (α), it will lead to drift angle (α) and error occur, at least three is red
Outer sense diode can reduce because of design defect bring error, and the side of the adjusting drift angle (α) to subsequent time adjustment seat
To more Accurate Prediction is made, enable adjustment seat preferably face infrared transmission module.Noise reduction amplifying circuit is able to ascend red
Outer induction diode signal-to-noise ratio, so that the signal that infrared induction diode receives is more accurate.
Preferred embodiment five: preferably four preferred embodiment: further including noise reduction and amplification module, noise reduction and amplification mould
Block is connected between projection module and second processor, the input terminal and projection module data connection of noise reduction module, noise reduction module
Output end and second processor data connection.The image data that noise reduction module is collected into projection module, carry out gray processing or
The processing such as person's binaryzation, reduces the interference of the light of other frequency ranges.
Preferred embodiment six: preferably five preferred embodiment: the shape of infrared transmission module is hat body.Infrared emission
The shape of module is hat body, avoids the error that camera shoots generation from different perspectives.
Prioritization scheme seven: preferably six preferred embodiment: video camera is to eliminate the infrared of infrared fileter to take the photograph
Camera (Raspberry pi NOIR Camera).This camera has the characteristics that infrared ray responsive and can be with highest
The rate of 120fps shoots video.
Detailed description of the invention
Fig. 1 is the flow chart of the more gyroplane earth station positioning infrared beacon system embodiments of the present invention；
Fig. 2 is the schematic diagram of thermal camera and infrared induction diode location relationship in embodiment；
Fig. 3 is the simplified diagram that positive direction is demarcated in embodiment 2.
Specific embodiment
Below by specific embodiment, the present invention is described in further detail:
Appended drawing reference in Figure of description includes: thermal camera 1, infrared induction diode 2, remaining infrared array
4, positive direction calibration 5.
Embodiment 1
More gyroplane earth stations position infrared beacon systems, comprising: more rotor machine control systems, earth station and are mounted on more
Receiver on gyroplane；
Earth station includes: MCU, I/O module, four infrared arrays；I/O module, infraluminescence diode with MCU data
Connection；
Infrared array is sphere, is subsequently secured together by multiple infraluminescence diode close-packed arrays.
MCU controls the working condition of each infrared array, flicker frequency respectively；
The I/O module is MCU and external interface, facilitates user by coding input into MCU, MCU is to 38kHZ
Carrier wave drives infraluminescence diode according to specific coding with " frequency shift keying (FSK) " signal.
Receiver includes: BCM2837, adjustment seat, filter (noise reduction module), (the Raspberry pi of thermal camera 1
NOIR Camera), electronic compass (HMC5883L), CCD and five infrared induction diode 2；Thermal camera 1, electronics refer to
Compass, CCD, adjustment seat and infrared induction diode 2 with second processor data connection, are successively fixed in adjustment seat infrared
Video camera 1 and CCD, five rounded arrays of infrared induction diode 2 are fixed at the camera of thermal camera 1 (such as Fig. 2 institute
Show), thermal camera 1 and CCD are coaxial；Filter is mounted between CCD and BCM2837.
BCM2837 (being equipped on Raspberry pi 3model B) is a kind of using 4 core 1.2GHz, 64 A53 frameworks
CPU。
The characteristics of electronic compass (HMC5883L): 1, digital output: I2C digital-quantity output interface, design use non-
It is often convenient.2, size is small: 3x3x0.9mm LCC encapsulation is suitble to scale of mass production to use.
CCD:Charge-coupled Device, Chinese name: charge coupled cell.It is properly termed as ccd image sensing
Device is also image controller.CCD is a kind of semiconductor devices, optical image can be converted into electric signal.It is implanted on CCD
Small photoactive substance is referred to as pixel (Pixel).As soon as the pixel number for including on piece CCD is more, the screen resolution provided
It is higher.CCD to act like film the same, but it is that optical signal is converted into charge signal.Marshalling there are many CCD is upper
Photodiode can incude light, and convert optical signals into electric signal, convert through external sampling amplification and analog to digital conversion circuit
At data image signal.
Adjustment seat adjusts the direction of itself, and the orientation information of adjustment seat itself is fed back to BCM2837；
Thermal camera 1 projects image on CCD, and thermal camera 1 eliminates infrared fileter, and having installed dark color additional can
Light-exposed optical filter；
CCD will pass to BCM2837 after image pixelization processing；
Electronic compass detection direction signal is simultaneously fed back to BCM2837；
BCM2837 receives the signal of the intensity for the infrared ray that infrared induction diode 2 detects, BCM2837 adjustment is adjusted
The direction towards face infrared array of seat；
Second processor and more rotor machine control system data connections.Entire workflow is as shown in Figure 1.
When specifically used: before more gyroplanes take off, make infrared transmission module and beacon induction module close, then first
Processor control infrared transmission module passes out the signal of clock alignment, and first processor is synchronous with the clock of second processor.
Then the instruction started by I/O module to MCU, will by controlling the flashing of infrared array after MCU encodes enabled instruction
Enabled instruction is sent to infrared induction diode 2, and then BCM2837 receives enabled instruction, and then BCM2837 controls more rotors
Machine control system makes more gyroplanes take off.
During more gyroplanes take off, infrared induction diode 2 can incude the flashing frequency of infrared array in real time
Rate prestores distance measuring instruction in the instruction of MCU.Infrared array meeting fixed intervals emit pulse signal, and receiver passes through identification
The time difference for receiving pulse signal obtains the distance between earth station and receiver.
BCM2837 controls to adjust seat by pid control algorithm, is the direction of adjustment seat always in a small-scale shifting
It is dynamic, keep a thermal camera 1 to shoot the stability of image.And keep infrared array at the center of image as far as possible.
Then the image that CCD shoots thermal camera 1, pixelation processing are carrying out gray processing processing, then filter
Noise reduction process is carried out to it again, final image signal is input into BCM2837.The size of infrared array is fixed and known
, the focal length of thermal camera 1 and scaling multiple be it is known, the size of infrared transmission module can be according to pixel in image
Spacing obtains, therefore, can obtain infrared transmission module and camera according to the size (or perhaps number of quantity) of pixel
Distance.
In descent, more gyroplanes, which first revolve, is stopped at certain distance above earth station, moves under adjustment seat horizontal direction
State (i.e. alignment infrared array) slowly land and is directed at infrared battle array by constantly adjustment fuselage positions in descent again
Column, which are finally completed, accurately to land.
Embodiment 2 (as shown in Figure 3)
Compared with Example 1, it the difference is that only, an infrared array in four infrared arrays is calibration array,
The direction of calibration array is defined as positive direction.When more gyroplanes need to land: 1. first identify bid from four infrared arrays
Determine array.Four infrared arrays of second processor independent control, four communicable information of infrared array (flicker frequency) are mutual not
It is identical, thus can arbitrarily choose an infrared array be positive direction calibration 5, remaining infrared array 4 respectively to other directions into
Rower is fixed.
In descent, more gyroplanes, which first revolve, is stopped at certain distance above earth station, and beacon sensor is adjusted to water
It equals downward state and locks.Then keep yaw axis YAW axis (i.e. Z axis) motionless again after adjustment posture alignment positive direction calibration 5
Slowly land and made in descent by being horizontally moved fuselage alignment landing point beacon be finally completed accurately
Landing.
What has been described above is only an embodiment of the present invention, and the common sense such as well known specific structure and characteristic are not made herein in scheme
Excessive description.It, without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art
Several modifications and improvements are made, these also should be considered as protection scope of the present invention, these all will not influence what the present invention was implemented
Effect and patent practicability.The scope of protection required by this application should be based on the content of the claims, in specification
The records such as specific embodiment can be used for explaining the content of claim.
Claims (7)
1. the earth station of gyroplane more than positions infrared beacon system characterized by comprising more rotor machine control systems, earth station
With the receiver being mounted on more gyroplanes；
Earth station includes: first processor, I/O module, infrared transmission module；I/O module, infrared transmission module with first at
Manage device data connection；
The infrared transmission module launches outward infrared ray；
The working condition of the first processor control infrared transmission module；
The I/O module is first processor and external interface；
Receiver includes: second processor, adjustment seat, camera, electronic compass, projection module and beacon induction module；It takes the photograph
As head, electronic compass, projection module, adjustment seat and beacon induction module with second processor data connection, in adjustment seat
It is successively fixed with beacon induction module, camera and projection module, beacon induction module, camera and projection module are coaxial, letter
Mark induction module is fixed on camera；
The intensity of the beacon induction module detection infrared ray, and the intensity-conversion for the infrared ray that will test is passed at digital signal
Pass second processor；
The direction of the adjustment seat adjustment beacon induction module, the orientation information of adjustment seat itself are fed back to second processor；
The camera projects image onto projection module；
The projection module will pass to second processor after image pixelization processing；
The electronic compass detection direction signal is simultaneously fed back to second processor；
The second processor receives the signal for the infra-red intensity that beacon induction module detects, second processor adjustment is adjusted
The direction of seat, second processor mouse beacon induction module face infrared transmission module；
Second processor and more rotor machine control system data connections；
Wherein, the spacing of projection module and camera is fixed, and video camera is the thermal camera for eliminating infrared fileter.
2. more gyroplane earth stations according to claim 1 position infrared beacon system, which is characterized in that camera is additional
The optical filter of dark visible light is filled.
3. more gyroplane earth stations according to claim 2 position infrared beacon system, which is characterized in that infrared emission mould
Block includes at least two infrared arrays, and infrared array includes at least two infrared diodes, infrared by two in each infrared array
Pole pipe close-packed arrays are alternatively arranged between infrared array.
4. more gyroplane earth stations according to claim 3 position infrared beacon system, which is characterized in that first processor
The working condition of each infrared array of independent control is independent of each other between infrared array.
5. more gyroplane earth stations according to claim 4 position infrared beacon system, which is characterized in that beacon incudes mould
Block includes at least three infrared induction diodes, and infrared induction diode is in that polygons is waited to be fixed on camera periphery, infrared sense
It answers diode coaxial with camera and is connected by noise reduction amplifying circuit with second processor.
6. more gyroplane earth stations according to claim 5 position infrared beacon system, which is characterized in that further include noise reduction
Module, noise reduction module are connected between projection module and second processor, and the input terminal and projection module data of noise reduction module connect
It connects, the output end and second processor data connection of noise reduction module.
7. more gyroplane earth stations according to claim 5 position infrared beacon system, which is characterized in that infrared emission mould
The shape of block is hat body.
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