CN106483499B - Unmanned aerial vehicle positioning system and unmanned aerial vehicle take-off and landing method - Google Patents
Unmanned aerial vehicle positioning system and unmanned aerial vehicle take-off and landing method Download PDFInfo
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- CN106483499B CN106483499B CN201610838850.8A CN201610838850A CN106483499B CN 106483499 B CN106483499 B CN 106483499B CN 201610838850 A CN201610838850 A CN 201610838850A CN 106483499 B CN106483499 B CN 106483499B
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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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
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Abstract
The invention provides an unmanned aerial vehicle positioning system and an unmanned aerial vehicle take-off and landing method, comprising an unmanned aerial vehicle, a wireless positioning base station, a ground station, a wireless positioning tag and a position correction module, wherein when the unmanned aerial vehicle enters and exits the range of the wireless positioning base station, the wireless positioning tag receives positioning radio waves sent by the ground station and replies wireless pulse signals, the wireless positioning base station captures the wireless pulse signals and sends information of the wireless pulse signals and time points thereof to the ground station, the ground station processes the wireless pulse signals and the time points thereof into three-dimensional coordinate information of the unmanned aerial vehicle relative to a first base station and sends the three-dimensional coordinate information to the unmanned aerial vehicle in real time, and the position correction module corrects the position of the unmanned aerial vehicle in real time through the three-dimensional coordinate information sent by the ground station so as to realize accurate positioning. The unmanned aerial vehicle positioning system solves the technical problems of inaccurate positioning in the take-off and landing stages of the unmanned aerial vehicle, and has the advantages of low cost, strong applicability, strong anti-interference capability and accurate positioning.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle positioning system and an unmanned aerial vehicle take-off and landing method.
Background
The unmanned aerial vehicle usually comprises three stages of take-off, line flight and landing, most of the civil unmanned aerial vehicles currently use GPS or Beidou satellite positioning navigation modes, the precision is usually about 5-10 m, and the three stages use the positioning modes. Because the route area is relatively clear, a positioning error of 5 m-10 m is allowed in the middle route flight stage, and the route is relatively busy in the take-off and landing stages, so that the route needs to be accurately landed at a specified point or taken off from the specified route. However, the existing positioning accuracy is difficult to ensure that the unmanned aerial vehicle lands at a designated point, and the unmanned aerial vehicle easily deviates from the route during take-off.
Disclosure of Invention
The invention mainly aims to provide an unmanned aerial vehicle positioning system, which aims to solve the technical problem of inaccurate positioning in the take-off and landing stages of an unmanned aerial vehicle.
In order to achieve the above object, the present invention provides an unmanned aerial vehicle positioning system, comprising an unmanned aerial vehicle, a wireless positioning base station, and a ground station, wherein the unmanned aerial vehicle comprises a wireless positioning tag and a position correction module, wherein,
the wireless positioning tag receives positioning radio waves sent by the ground station and replies a wireless pulse signal;
the wireless positioning base station captures the wireless pulse signal and transmits the wireless pulse signal and the information of the time point thereof to the ground station;
the ground station processes the wireless pulse signals and the time point information thereof into three-dimensional coordinate information of the unmanned aerial vehicle relative to the first base station and sends the three-dimensional coordinate information to the unmanned aerial vehicle in real time;
and the position correction module corrects the position of the unmanned aerial vehicle according to the three-dimensional coordinate information.
Further, the wireless positioning base stations are provided with a plurality of wireless positioning base stations, and the first base station is a calibrated No. 1 wireless positioning base station.
Further, a communication link is further arranged between the unmanned aerial vehicle and the ground station and used for data information interaction between the unmanned aerial vehicle and the ground station.
Further, the unmanned aerial vehicle further includes:
and the display module is used for displaying the position information and the flight state information of the unmanned aerial vehicle.
Further, the ground station includes:
the alarm module is used for alarming when the unmanned aerial vehicle deviates from a preset coordinate threshold range and starting automatic position correction;
and the manual correction module corrects the position of the unmanned aerial vehicle when the unmanned aerial vehicle loses the automatic position correction capability.
Further, the frequency band of the wireless pulse signal is 6.8GHz.
Further, the positioning accuracy of the unmanned aerial vehicle positioning system is 10-30 cm.
Another object of the present invention is to provide an unmanned aerial vehicle accurate landing method using the positioning system, which includes the following steps:
the unmanned aerial vehicle enters the range of the wireless positioning base station, and the wireless positioning tag receives positioning radio waves sent by the ground station and replies wireless pulse signals;
the wireless positioning base station captures the wireless pulse signal and transmits the wireless pulse signal and the information of the time point thereof to the ground station;
the ground station processes the wireless pulse signals and the time point information thereof into three-dimensional coordinate information of the unmanned aerial vehicle relative to the first base station, and sends the three-dimensional coordinate information to the unmanned aerial vehicle in real time;
and the unmanned aerial vehicle corrects the position of the unmanned aerial vehicle through the three-dimensional coordinate information, so as to finish landing.
The invention also aims at providing an unmanned aerial vehicle accurate take-off method applying the positioning system, which comprises the following steps:
the wireless positioning tag of the unmanned aerial vehicle receives positioning radio waves sent by the ground station and replies a wireless pulse signal;
the wireless positioning base station captures the wireless pulse signal and transmits the wireless pulse signal and the information of the time point thereof to the ground station;
the ground station processes the wireless pulse signals and the time point information thereof into three-dimensional coordinate information of the unmanned aerial vehicle relative to the first base station, and sends the three-dimensional coordinate information to the unmanned aerial vehicle in real time;
and the unmanned aerial vehicle corrects the position of the unmanned aerial vehicle through the three-dimensional coordinate information, so as to finish take-off.
Further, the unmanned aerial vehicle corrects the position thereof through the three-dimensional coordinate information, and after the step of taking off is completed, the unmanned aerial vehicle further comprises:
the unmanned aerial vehicle flies out of the range of the wireless positioning base station and is switched to a single GPS positioning mode.
The unmanned aerial vehicle positioning system comprises an unmanned aerial vehicle, a wireless positioning base station and a ground station, wherein the unmanned aerial vehicle comprises a wireless positioning tag and a position correction module, when the unmanned aerial vehicle enters and exits the range of the wireless positioning base station, the wireless positioning tag receives positioning radio waves sent by the ground station and replies wireless pulse signals, the wireless positioning base station captures the wireless pulse signals and sends the wireless pulse signals and time point information thereof to the ground station, the ground station processes the wireless pulse signals and time point information thereof into three-dimensional coordinate information of the unmanned aerial vehicle relative to a first base station and sends the three-dimensional coordinate information of the unmanned aerial vehicle to the unmanned aerial vehicle in real time, and the position correction module corrects the position of the unmanned aerial vehicle in real time through the three-dimensional coordinate information sent by the ground station, so that accurate positioning is realized. The unmanned aerial vehicle positioning system solves the technical problems of inaccurate positioning in the take-off and landing stages of the unmanned aerial vehicle, and has the advantages of low cost, strong applicability, strong anti-interference capability and accurate positioning.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a functional block diagram of an embodiment of a positioning system for a drone of the present invention;
FIG. 2 is a flow chart of an embodiment of a method for unmanned aerial vehicle landing according to the present invention;
FIG. 3 is a flow chart of one embodiment of a method for takeoff of an unmanned aerial vehicle according to the present invention;
fig. 4 is a schematic diagram of a coordinate system QXYZ constructed in accordance with an embodiment of the present invention.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the name |
| 10 | Unmanned plane | 31 | Display module |
| 11 | Wireless positioning module | 32 | Alarm module |
| 12 | Position correction module | 33 | Manual correction module |
| 20 | Wireless positioning base station | 40 | Communication link |
| 30 | Ground station |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Referring to fig. 1, fig. 1 is a functional block diagram of an embodiment of a drone positioning system of the present invention, in which the drone positioning system includes a drone 10, a wireless positioning base station 20, and a ground station 30, the drone 10 includes a wireless positioning tag 11, and a position correction module 12, wherein,
a wireless positioning tag 11 for receiving positioning radio waves transmitted from the ground station 30 and replying a wireless pulse signal;
a wireless positioning base station 20 capturing the wireless pulse signal and transmitting the wireless pulse signal and the information of the time point thereof to a ground station 30;
the ground station 30 processes the wireless pulse signal and the information of the time point thereof into three-dimensional coordinate information of the unmanned aerial vehicle 10 relative to the first base station, and sends the three-dimensional coordinate information to the unmanned aerial vehicle 10 in real time;
the position correction module 12 corrects the position of the unmanned aerial vehicle 10 according to the three-dimensional coordinate information.
The unmanned aerial vehicle positioning system of this embodiment, including unmanned aerial vehicle 10, wireless location basic station 20, and ground station 30, fuse the positioning data that unmanned aerial vehicle 10 was used for the navigation when unmanned aerial vehicle 10 business turn over wireless location basic station 20 scope, adopt GPS location and the mode that radio location combines this moment, unmanned aerial vehicle 10 adopts GPS navigation location in the navigation phase, when descending phase, when detecting to get into wireless location basic station 20 scope, unmanned aerial vehicle 10 combines radio location mode voluntarily, after unmanned aerial vehicle 10 flies out wireless location basic station 20 scope in the stage of taking off, along with the distance is more and more far away, wireless location tag 11 hardly receives the location radio wave that ground station 30 sent again, therefore can not reply wireless pulse signal again, radio location weakens gradually, unmanned aerial vehicle 10 automatic switch to single GPS location mode.
The radio positioning of the unmanned aerial vehicle 10 mainly depends on a wireless positioning tag 11 arranged on the unmanned aerial vehicle 10, the unmanned aerial vehicle 10 can receive positioning radio waves sent by a ground station 30 in real time by the wireless positioning tag 11 to reply wireless pulse signals outwards, a wireless positioning base station 20 can capture the wireless pulse signals emitted by the wireless positioning tag 11 and send information of infinite pulse signals and time point information sent by the infinite pulse signals to the ground station 30 in real time, the wireless positioning base station 20 is provided with a plurality of wireless positioning base stations, the number and distribution of the wireless positioning base stations can be adjusted according to the size of an airport, each wireless positioning base station 20 is marked with a serial number of 1-n, a first base station is a No. 1 wireless positioning base station, a second base station is a No. 2 wireless positioning base station, and the like. Only one set of wireless positioning base station 20 is required to be installed on a take-off or landing site, the cost is 20000RMB, only one wireless positioning tag 11 is required to be placed on the unmanned aerial vehicle 10, one set of wireless positioning base station 20 can accommodate thousands of wireless positioning tags 11, the cost of the wireless positioning tags 11 is low, and the cost of the system is reduced.
The ground station 30 is a monitoring and data processing center arranged on the ground, is connected with the wireless positioning base station 20 in a wired or wireless manner, and is mainly used for processing wireless pulse signals and time point information thereof sent by the wireless positioning base station 20 in real time into three-dimensional coordinate information of a No. 1 wireless positioning base station calibrated in the unmanned aerial vehicle relative to the wireless positioning base station 20, and sending the three-dimensional coordinate information to the unmanned aerial vehicle 10 in real time, wherein the No. 1 wireless positioning base station is a landing destination assumed by the unmanned aerial vehicle 10, so that the wireless positioning base station is set as a first base station, and in other embodiments, when the unmanned aerial vehicle 10 selects other destinations, the wireless positioning base station 20 with other labels can also be selected as the first base station.
After the ground station 30 sends the three-dimensional coordinate information of the unmanned aerial vehicle 10 relative to the first base station to the unmanned aerial vehicle 10, the position correction module 12 carried by the unmanned aerial vehicle 10 corrects the deviation value of the unmanned aerial vehicle 10 relative to the three-dimensional coordinate information at the moment according to the three-dimensional coordinate information sent by the ground station 30, so as to realize accurate positioning of the unmanned aerial vehicle 10.
The unmanned aerial vehicle positioning system of this embodiment, including unmanned aerial vehicle 10, wireless location basic station 20 and ground station 30, unmanned aerial vehicle 10 includes wireless location label 11, and position correction module 12, and unmanned aerial vehicle 10 is when business turn over wireless location basic station scope, and wireless location label 11 receives the location radio wave that ground station 30 sent, replying wireless pulse signal, wireless location basic station 20 catches wireless pulse signal to send the information of wireless pulse signal and time point to ground station 30, ground station 30 will wireless pulse signal and time point's information processing becomes unmanned aerial vehicle 10 for the three-dimensional coordinate information of first basic station, and sends to unmanned aerial vehicle 10 in real time, position correction module 12 carries out real-time correction to unmanned aerial vehicle 10 position through the three-dimensional coordinate information that ground station 30 sent, realizes accurate location. The unmanned aerial vehicle positioning system of this embodiment has solved unmanned aerial vehicle and has taken off and the stage of descending, fixes a position inaccurate technical problem, with low costs, the suitability is strong, interference killing feature is strong, fix a position accurately.
Further, referring to fig. 1, a communication link 40 is also provided between the drone 10 and the ground station 30 for data information interaction therebetween.
The unmanned aerial vehicle positioning system of this embodiment still is equipped with communication link 40 between unmanned aerial vehicle 10 and the ground station 30 to realize the quick interaction of big data information between unmanned aerial vehicle 10 and the storefront station 30.
Further, referring to fig. 1, the ground station 30 includes:
a display module 31 for displaying positional information and flight state information of the unmanned aerial vehicle 10;
the alarm module 32 alarms when the unmanned aerial vehicle 10 deviates from a preset coordinate threshold range and starts automatic position correction;
the manual correction module 33 corrects the position of the unmanned aerial vehicle 10 when it loses the position automatic correction capability.
In the unmanned aerial vehicle positioning system of the embodiment, the ground station 30 comprises a display module 31, an alarm module 32 and a manual correction module 33, and the ground station 30 is used as a ground monitoring and data processing center of the unmanned aerial vehicle 10, and needs to monitor navigation information of the unmanned aerial vehicle 10 in real time, so that the display module 31 is arranged to display real-time position information and flight state information of the unmanned aerial vehicle 10; in order to ensure safe navigation of the unmanned aerial vehicle 32, the ground station 30 is further provided with an alarm module 32, the unmanned aerial vehicle 10 may deviate from a preset route due to influences of wind speed, air flow and the like in the flight process, so that a maximum threshold value which can deviate from a preset coordinate is set, as long as the coordinate position deviated by the unmanned aerial vehicle 10 is within the preset threshold value range, all the unmanned aerial vehicle belongs to safe flight, but some emergency situations can be met, so that the unmanned aerial vehicle 10 deviates from the preset coordinate threshold value range, the alarm module 32 is required to alarm, the unmanned aerial vehicle operator is reminded to pay attention, the automatic position correction function of the unmanned aerial vehicle is started, and under the condition that the unmanned aerial vehicle 10 is seriously damaged and the automatic position correction capability is lost, the unmanned aerial vehicle operator is required to start the manual correction module 33 to correct the position coordinate of the unmanned aerial vehicle, so that safe flight or safe landing of the unmanned aerial vehicle is ensured as much as possible.
Further, the frequency band of the wireless pulse signal is 6.8GHz.
According to the unmanned aerial vehicle positioning system, the frequency band of the wireless pulse signal emitted by the wireless positioning tag 11 is 6.8GHz, the frequency band of the wireless pulse signal is greatly different from that of common civil radio equipment, the wireless pulse signal is not easily affected by the civil radio frequency band, light, dust and fog are avoided, and the anti-interference capability is strong.
Further, the positioning accuracy of the unmanned aerial vehicle positioning system is 10-30 cm.
According to the unmanned aerial vehicle system, the positioning accuracy is 10-30 cm, the positioning accuracy of cm level is achieved, and compared with other positioning modes, the unmanned aerial vehicle system can achieve accurate navigation of an unmanned aerial vehicle.
Referring to fig. 1 and 2, in this embodiment, the present invention proposes an unmanned aerial vehicle landing method using the above positioning system, which includes the following steps:
s10: the unmanned aerial vehicle 10 enters the range of the wireless positioning base station 20, the wireless positioning tag 11 receives positioning radio waves sent by the ground station 30, and replies a wireless pulse signal;
s11: the wireless positioning base station 20 captures the wireless pulse signal and transmits the wireless pulse signal and information of the time point thereof to the ground station 30;
s12: the ground station 30 processes the wireless pulse signal and the time point information thereof into three-dimensional coordinate information of the unmanned aerial vehicle 10 relative to the first base station, and sends the three-dimensional coordinate information to the unmanned aerial vehicle 10 in real time;
s13: the unmanned aerial vehicle 10 corrects the position of the unmanned aerial vehicle by the three-dimensional coordinate information, and landing is completed.
According to the unmanned aerial vehicle landing method of the embodiment, based on the unmanned aerial vehicle positioning system, in the unmanned aerial vehicle landing stage, after the unmanned aerial vehicle 10 enters the range of the wireless positioning base station 20, the positioning mode of the unmanned aerial vehicle 10 can be in a mode of combining a GPS positioning mode or an inertial navigation positioning mode used in the unmanned aerial vehicle 10 navigation stage with a radio positioning mode, meanwhile, the ground station 30 emits radio waves for positioning, the wireless positioning tag 11 immediately replies a corresponding wireless pulse signal after receiving the radio waves, after the wireless positioning base station 20 captures the wireless pulse signal, the wireless pulse signal and the time point thereof are sent to the ground station 30, the ground station 30 receives the wireless pulse signal and the time point thereof, processes the wireless pulse signal into three-dimensional coordinate information of the unmanned aerial vehicle 10 relative to the first base station and sends the three-dimensional coordinate information to the unmanned aerial vehicle 10 in real time, and the position correction module 12 corrects the actual coordinates of the unmanned aerial vehicle 10 according to the three-dimensional coordinate information after receiving the three-dimensional coordinate information, so that the unmanned aerial vehicle 10 lands along a preset line accurately.
The processing procedure of the three-dimensional coordinate information of the unmanned aerial vehicle 10 relative to the first base station is as follows, four wireless positioning base stations 20 are set A, B, C, D, Q are set as the unmanned aerial vehicle 10, a coordinate system QXYZ is established, and as shown in fig. 4, the positions of the four wireless positioning base stations 20 and the distances from the unmanned aerial vehicle 10 are d respectively AQ 、d BQ 、d CQ 、d DQ V is the speed of light, i.e. the speed of electromagnetic waves.
When the positioning system starts to operate, the wireless positioning base station 20 always transmits radio waves and records each transmission time T 1 When the unmanned aerial vehicle 10 enters the range of the wireless positioning base station 20, the wireless positioning tag 11 transmits a corresponding wireless pulse response signal after receiving the positioning radio transmitted by the ground station, and the moment when the wireless positioning base station receives the wireless pulse response signal is recorded as T 2 The wireless location tag 11 replies a wireless pulse signal for a time length T after receiving the location radio wave 0 The distance d between the wireless location tag 11 and the wireless location base station 20 can be found as: d=v ((T) 2 -T 1 )-T 0 )/2。
The coordinates of the base station point a are a (x A ，y A ，z A ) A is a distance d from the unmanned aerial vehicle AQ The coordinates of the base station B point are B (x B ，y B ，z B ) B is d from the unmanned aerial vehicle BQ The coordinates of the C point of the base station are C (x C ，y C ，z C ) C is a distance d from the unmanned plane CQ The coordinates of the base station D point are D (x D ，y D ，z D ) D is a distance D from the unmanned aerial vehicle DQ The unmanned plane Q point has a coordinate Q (x Q ，y Q ，z Q ) Calculating d from the distance formula AQ 、d BQ 、d CQ 、d DQ The simultaneous equations are thus as follows:
recording device
Solving the above equation set to obtain:
x＝-(dAQ^2*y2*z3-dAQ^2*y3*z2-dAQ^2*y2*z4+dAQ^2*y4*z2+dAQ^2*y3*z4-dAQ^2*y4*z3-dBQ^2*y1*z3+dBQ^2*y3*z1+dBQ^2*y1*z4-dBQ^2*y4*z1-dBQ^2*y3*z4+dBQ^2*y4*z3+dCQ^2*y1*z2-dCQ^2*y2*z1-dCQ^2*y1*z4+dCQ^2*y4*z1+dCQ^2*y2*z4-dCQ^2*y4*z2-dDQ^2*y1*z2+dDQ^2*y2*z1+dDQ^2*y1*z3-dDQ^2*y3*z1-dDQ^2*y2*z3+dDQ^2*y3*z2-lA^2*y2*z3+lA^2*y3*z2+lA^2*y2*z4-lA^2*y4*z2-lA^2*y3*z4+lA^2*y4*z3+lB^2*y1*z3-lB^2*y3*z1-lB^2*y1*z4+lB^2*y4*z1+lB^2*y3*z4-lB^2*y4*z3-lC^2*y1*z2+lC^2*y2*z1+lC^2*y1*z4-lC^2*y4*z1-lC^2*y2*z4+lC^2*y4*z2+lD^2*y1*z2-lD^2*y2*z1-lD^2*y1*z3+lD^2*y3*z1+lD^2*y2*z3-lD^2*y3*z2)/(2*(x1*y2*z3-x1*y3*z2-x2*y1*z3+x2*y3*z1+x3*y1*z2-x3*y2*z1-x1*y2*z4+x1*y4*z2+x2*y1*z4-x2*y4*z1-x4*y1*z2+x4*y2*z1+x1*y3*z4-x1*y4*z3-x3*y1*z4+x3*y4*z1+x4*y1*z3-x4*y3*z1-x2*y3*z4+x2*y4*z3+x3*y2*z4-x3*y4*z2-x4*y2*z3+x4*y3*z2))
y＝(dAQ^2*x2*z3-dAQ^2*x3*z2-dAQ^2*x2*z4+dAQ^2*x4*z2+dAQ^2*x3*z4-dAQ^2*x4*z3-dBQ^2*x1*z3+dBQ^2*x3*z1+dBQ^2*x1*z4-dBQ^2*x4*z1-dBQ^2*x3*z4+dBQ^2*x4*z3+dCQ^2*x1*z2-dCQ^2*x2*z1-dCQ^2*x1*z4+dCQ^2*x4*z1+dCQ^2*x2*z4-dCQ^2*x4*z2-dDQ^2*x1*z2+dDQ^2*x2*z1+dDQ^2*x1*z3-dDQ^2*x3*z1-dDQ^2*x2*z3+dDQ^2*x3*z2-lA^2*x2*z3+lA^2*x3*z2+lA^2*x2*z4-lA^2*x4*z2-lA^2*x3*z4+lA^2*x4*z3+lB^2*x1*z3-lB^2*x3*z1-lB^2*x1*z4+lB^2*x4*z1+lB^2*x3*z4-lB^2*x4*z3-lC^2*x1*z2+lC^2*x2*z1+lC^2*x1*z4-lC^2*x4*z1-lC^2*x2*z4+lC^2*x4*z2+lD^2*x1*z2-lD^2*x2*z1-lD^2*x1*z3+lD^2*x3*z1+lD^2*x2*z3-lD^2*x3*z2)/(2*(x1*y2*z3-x1*y3*z2-x2*y1*z3+x2*y3*z1+x3*y1*z2-x3*y2*z1-x1*y2*z4+x1*y4*z2+x2*y1*z4-x2*y4*z1-x4*y1*z2+x4*y2*z1+x1*y3*z4-x1*y4*z3-x3*y1*z4+x3*y4*z1+x4*y1*z3-x4*y3*z1-x2*y3*z4+x2*y4*z3+x3*y2*z4-x3*y4*z2-x4*y2*z3+x4*y3*z2))
z＝-(dAQ^2*x2*y3-dAQ^2*x3*y2-dAQ^2*x2*y4+dAQ^2*x4*y2+dAQ^2*x3*y4-dAQ^2*x4*y3-dBQ^2*x1*y3+dBQ^2*x3*y1+dBQ^2*x1*y4-dBQ^2*x4*y1-dBQ^2*x3*y4+dBQ^2*x4*y3+dCQ^2*x1*y2-dCQ^2*x2*y1-dCQ^2*x1*y4+dCQ^2*x4*y1+dCQ^2*x2*y4-dCQ^2*x4*y2-dDQ^2*x1*y2+dDQ^2*x2*y1+dDQ^2*x1*y3-dDQ^2*x3*y1-dDQ^2*x2*y3+dDQ^2*x3*y2-lA^2*x2*y3+lA^2*x3*y2+lA^2*x2*y4-lA^2*x4*y2-lA^2*x3*y4+lA^2*x4*y3+lB^2*x1*y3-lB^2*x3*y1-lB^2*x1*y4+lB^2*x4*y1+lB^2*x3*y4-lB^2*x4*y3-lC^2*x1*y2+lC^2*x2*y1+lC^2*x1*y4-lC^2*x4*y1-lC^2*x2*y4+lC^2*x4*y2+lD^2*x1*y2-lD^2*x2*y1-lD^2*x1*y3+lD^2*x3*y1+lD^2*x2*y3-lD^2*x3*y2)/(2*(x1*y2*z3-x1*y3*z2-x2*y1*z3+x2*y3*z1+x3*y1*z2-x3*y2*z1-x1*y2*z4+x1*y4*z2+x2*y1*z4-x2*y4*z1-x4*y1*z2+x4*y2*z1+x1*y3*z4-x1*y4*z3-x3*y1*z4+x3*y4*z1+x4*y1*z3-x4*y3*z1-x2*y3*z4+x2*y4*z3+x3*y2*z4-x3*y4*z2-x4*y2*z3+x4*y3*z2))
let Z again BD ＝-Z DB ＝Z B -Z D ，Z CA ＝-Z AC ＝Z C -Z A And so on, the above formula is simplified as:
finally, the three-dimensional coordinates Q (x Q ，y Q ，z Q )。
Referring to fig. 1 and 3, in this embodiment, the present invention proposes an unmanned aerial vehicle takeoff method using the above positioning system, which includes the following steps:
s20: the wireless positioning tag 11 of the unmanned aerial vehicle 10 receives positioning radio waves sent by the ground station 30 and replies wireless pulse signals;
s21: the wireless positioning base station 20 captures the wireless pulse signal and transmits the wireless pulse signal and information of the time point thereof to the ground station 30;
s22: the ground station 30 processes the wireless pulse signal and the time point information thereof into three-dimensional coordinate information of the unmanned aerial vehicle 10 relative to the first base station, and sends the three-dimensional coordinate information to the unmanned aerial vehicle 10 in real time;
s23: the unmanned aerial vehicle 10 corrects the position of the unmanned aerial vehicle through the three-dimensional coordinate information, and takes off is completed;
s24: the drone flies out of the range of the wireless location base station 20 and switches to single GPS location mode.
According to the unmanned aerial vehicle take-off method of the embodiment, based on the unmanned aerial vehicle positioning system, in the unmanned aerial vehicle take-off stage, the ground station 30 transmits positioned radio waves, the wireless positioning tag 11 immediately replies a corresponding wireless pulse signal after receiving the radio waves, after capturing the wireless pulse signal, the wireless positioning base station 20 sends the wireless pulse signal and the time point thereof to the ground station 30 in real time, the ground station 30 receives the wireless pulse signal and the time point information thereof, processes the wireless pulse signal into three-dimensional coordinate information of the unmanned aerial vehicle 10 relative to the first base station, sends the three-dimensional coordinate information to the unmanned aerial vehicle 10 in real time, the unmanned aerial vehicle 10 receives the three-dimensional coordinate information (obtained according to the method), the position correction module 12 corrects the actual coordinates of the unmanned aerial vehicle 10 according to the three-dimensional coordinate information, so that the unmanned aerial vehicle 10 takes off along a preset route, after the unmanned aerial vehicle 10 flies out of the range of the wireless positioning base station 20, the wireless positioning tag 11 hardly receives the positioning radio waves sent by the ground station 30 along with the longer and longer distance, therefore the wireless pulse signal cannot be replied again, the wireless positioning is weakened gradually, and the unmanned aerial vehicle 10 is automatically switched to a single GPS positioning mode.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent modifications made by the present invention and the accompanying drawings, or direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (10)
1. The unmanned aerial vehicle positioning system comprises an unmanned aerial vehicle, a wireless positioning base station and a ground station, and is characterized in that the unmanned aerial vehicle comprises a wireless positioning tag and a position correction module, wherein,
the wireless positioning tag receives positioning radio waves sent by the ground station and replies a wireless pulse signal;
the wireless positioning base station is arranged on a take-off or landing site, captures the wireless pulse signals and sends the wireless pulse signals and time point information thereof to the ground station, and the wireless positioning base station has a range, and an unmanned aerial vehicle cannot reply the wireless pulse signals outside the range;
the ground station is a monitoring and data processing center arranged on the ground, processes the wireless pulse signals and the time point information thereof into three-dimensional coordinate information of the unmanned aerial vehicle relative to the first base station, and sends the three-dimensional coordinate information to the unmanned aerial vehicle in real time;
and the position correction module corrects the position of the unmanned aerial vehicle according to the three-dimensional coordinate information.
2. The unmanned aerial vehicle positioning system of claim 1, wherein the wireless positioning base station is provided in plurality, and the first base station is a calibrated wireless positioning base station No. 1.
3. The unmanned aerial vehicle positioning system of claim 1, wherein a communication link is further provided between the unmanned aerial vehicle and the ground station for data information interaction therebetween.
4. The unmanned aerial vehicle positioning system of claim 3, wherein the unmanned aerial vehicle further comprises:
and the display module is used for displaying the position information and the flight state information of the unmanned aerial vehicle.
5. The unmanned aerial vehicle positioning system of claim 4, wherein the ground station comprises:
the alarm module is used for alarming when the unmanned aerial vehicle deviates from a preset coordinate threshold range and starting automatic position correction;
and the manual correction module corrects the position of the unmanned aerial vehicle when the unmanned aerial vehicle loses the automatic position correction capability.
6. The unmanned aerial vehicle positioning system of claim 1, wherein the wireless pulse signal has a frequency band of 6.8GHz.
7. The unmanned aerial vehicle positioning system of claim 1, wherein the positioning accuracy of the unmanned aerial vehicle positioning system is 10-30 cm.
8. A method of unmanned aerial vehicle landing using the positioning system of any of claims 1-7, comprising the steps of:
the unmanned aerial vehicle enters the range of the wireless positioning base station, and the wireless positioning tag receives positioning radio waves sent by the ground station and replies wireless pulse signals;
the wireless positioning base station captures the wireless pulse signal and transmits the wireless pulse signal and the information of the time point thereof to the ground station;
the ground station processes the wireless pulse signals and the time point information thereof into three-dimensional coordinate information of the unmanned aerial vehicle relative to the first base station, and sends the three-dimensional coordinate information to the unmanned aerial vehicle in real time;
and the unmanned aerial vehicle corrects the position of the unmanned aerial vehicle through the three-dimensional coordinate information, so as to finish landing.
9. A method of unmanned aerial vehicle takeoff using a positioning system according to any of claims 1-7, characterized by the steps of:
the wireless positioning tag of the unmanned aerial vehicle receives positioning radio waves sent by the ground station and replies a wireless pulse signal;
the wireless positioning base station captures the wireless pulse signal and transmits the wireless pulse signal and the information of the time point thereof to the ground station;
the ground station processes the wireless pulse signals and the time point information thereof into three-dimensional coordinate information of the unmanned aerial vehicle relative to the first base station, and sends the three-dimensional coordinate information to the unmanned aerial vehicle in real time;
and the unmanned aerial vehicle corrects the position of the unmanned aerial vehicle through the three-dimensional coordinate information, so as to finish take-off.
10. The unmanned aerial vehicle takeoff method according to claim 9, wherein after the unmanned aerial vehicle corrects its own position by the three-dimensional coordinate information, further comprising:
the unmanned aerial vehicle flies out of the range of the wireless positioning base station and is switched to a single GPS positioning mode.
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| CN113625743A (en) * | 2020-05-08 | 2021-11-09 | 丰鸟航空科技有限公司 | Intelligent control method for unmanned aerial vehicle, related device and storage medium |
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