CN106569237A - Positioning system and positioning method for unmanned aerial vehicle - Google Patents
Positioning system and positioning method for unmanned aerial vehicle Download PDFInfo
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- CN106569237A CN106569237A CN201610970295.4A CN201610970295A CN106569237A CN 106569237 A CN106569237 A CN 106569237A CN 201610970295 A CN201610970295 A CN 201610970295A CN 106569237 A CN106569237 A CN 106569237A
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- China
- Prior art keywords
- location data
- location
- locating module
- way
- positioning
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and discloses a positioning system for an unmanned aerial vehicle. The system comprises a positioning module group and a positioning data acquisition module. The positioning module group comprises two or more positioning modules. The two or more positioning modules are respectively connected with the positioning data acquisition module. Among all positioning data obtained by the above two or more positioning modules, only the positioning data of one positioning module are outputted by the positioning data acquisition module. When the above positioning module with the positioning data thereof to be outputted stops outputting positioning data, the positioning data acquisition module outputs one path of positioning data among the positioning data of all the rest positioning modules. Based on the positioning system and the positioning method for the unmanned aerial vehicle, the positioning safety and the positioning reliability are improved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of unmanned plane alignment system and method.
Background technology
Unmanned flight's device is widely used in the various aspects of productive life, greatly facilitates productive life.Particularly work
The unmanned plane of industry level is beaten and performs each generic operation in all kinds of professional equipments, greatly improves operating efficiency and reliability.
Simultaneously as its various kinds of equipment carried is often costly, therefore flight safety is particularly important；Flight
The acquisition and control of parameters is required for possessing good safety and reliability.Wherein, flight location data is exactly a class
Very important flight parameter, is generally obtained in real time by locating module, such as GPS module.
Inevitably, during unmanned plane during flying, as environment or the fuselage equipment failure of itself may be led
Locating module disabler is caused, or even loses function completely；Unmanned plane during flying is caused seriously to be threatened safely.
The content of the invention
The present invention provides a kind of unmanned plane alignment system and method, and in solving prior art, flight location data obtains failure
Or the technical problem of location data disappearance.
To solve above-mentioned technical problem, the invention provides a kind of unmanned plane alignment system, including：Locating module group and
Location data acquisition module；
The locating module group includes：Two or more locating module；
Described two or plural locating module is connected with the location data acquisition module respectively；
Wherein, in the location data that described two or plural locating module is obtained, the location data is obtained
The location data of one locating module is only exported by delivery block；
When the locating module that the location data for being used is located stops output location data, the location data obtains mould
Location data all the way in the location data of the remaining locating module of block output.
Further, it is when the locating module quantity in the locating module group is three or more than three, described fixed
Position system also includes：Arbitration modules；
The arbitration modules input is connected with three or three the above locating modules, is obtained and locating module number
Measure corresponding location data；
The outfan of the arbitration modules is connected with the location data acquisition module, exports a location data；
Wherein, when the arbitration modules are obtained in the location data, the failure of location data all the way or lack
Afterwards, the arbitration modules filter out location data all the way in remaining location data, are sent to the location data and obtain mould
Block.
Further, the location data includes：The positioning precision factor and latitude and longitude information.
Further, in the arbitration modules, and if only if location data all the way failure or lack after, it is described
Arbitration modules filter out the minimum location data all the way of the positioning precision factor in remaining location data, are sent to the positioning
Data acquisition module.
Further, the locating module adopts GPS module.
A kind of unmanned plane localization method, including：
Two-way or two-way above location data are obtained by two or more airborne locating module；
Location data using a locating module output is used as location information output valve；
When orientate as data failure or disappearance when, in remaining location data, filter out
According to output.
Further, when the quantity of locating module is three or more than three, and three tunnels or three tunnels positioning number are exported
According to when, the localization method also includes：Arbitration step；
The arbitration step includes：
When location data all the way failure or lack when, sieve in remaining location data in the arbitration modules
The location data all the way of positioning precision factor minimum all the way is selected as location information output valve；
Wherein, location data includes：The positioning precision factor and latitude and longitude information.
Further, methods described also includes：Location information preferred steps；
All location datas are compared in real time；
The minimum circuit-switched data of the positioning precision factor is exported as location information output valve；
Repeat the above steps, determine location information output valve.
Further, methods described also includes：Location information output valve compensation process；
The location information output valve compensation process includes：
When the source of location information output valve, posterior location data B all the way is switched to by first location data A all the way
When, calculate location data B of data exchange that time and difference E of location data A；
With location data BtDifference with difference E is location information output valve.
Further, methods described also includes：Location information output valve aligning step；
The location information output valve aligning step includes：
Difference E is reduced according to fixed amplitude so that the location information output valve is intended to adopted positioning number
According to value.
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
The unmanned plane alignment system provided in the embodiment of the present application and method, there is provided the side that multiple locating modules are positioned jointly
Formula, is used online with the location information of one of locating module, and remaining locating module is used as positioning preparation；When occurring in use
Locating module failure or positioning function lack when, remaining locating module performs positioning so that the peace of flying quality
Full property is protected.
Further, when the locating module preparation for occurring two or more is stand-by, by arbitration, screening
Go out ready-made one of positioning precision factor minimum, i.e. location data reliability to use as substitute, lift Information Security
While improve data precision and reliability.Meanwhile, the minimum data of the factor are positioned in screening all location datas in real time and is entered
Row switching so that it is last good that location information output valve is always reliability, greatly improves flight safety.
Further, by output valve compensation process so that the location information before and after switching can be seamlessly transitted, it is to avoid go out
, there is situation about moving in similar wink, fully ensures that the steady and safety of flight in the saltus step of existing location information output valve.Meanwhile, lead to
The change of overcompensation value enables location information output valve to level off to the measured value of locating module, further lifts location information
Reliability, reduce error.
Description of the drawings
Fig. 1 is the structural representation of unmanned plane alignment system provided in an embodiment of the present invention；
Fig. 2 is unmanned plane localization method flow chart provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present application solves flight positioning number in prior art by providing a kind of unmanned plane alignment system and method
According to the technical problem for obtaining failure or location data disappearance；Reach and lifted flight location data reliability and flight safety
Technique effect.
To solve above-mentioned technical problem, the general thought that the embodiment of the present application provides technical scheme is as follows：
By arranging multiple locating modules, failure alternating pattern is realized；And further, selecting positioning by screening strategy can
By property preferably, precision highest alternate data source, it is ensured that while flight location data safety, lifts positioning precision.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application skill
The detailed description of art scheme, rather than the restriction to technical scheme, in the case where not conflicting, the embodiment of the present application
And the technical characteristic in embodiment can be mutually combined.
Referring to Fig. 1, a kind of unmanned plane alignment system provided in an embodiment of the present invention, including：Locating module group and positioning
Data acquisition module；
The locating module group includes：Two or more locating module；
Described two or plural locating module is connected with the location data acquisition module respectively.
Wherein, in the location data that described two or plural locating module is obtained, the location data is obtained
The location data of one locating module is only exported by delivery block；
When the locating module that the location data for being used is located stops output location data, the location data obtains mould
Location data all the way in the location data of the remaining locating module of block output.
Specifically, but arrange two locating modules as location data structure, based on one, initially realize positional operand
Make；On the one hand another collect backup location data information as preparation location structure；On the other hand, when positioning mould
When block failure causes location data failure or lacks, incision performs positioning action to prepared locating module at once, improves winged
The safety of row location data, and ensure that flight safety.
Further, it is when the locating module quantity in the locating module group is three or more than three, described fixed
Position system also includes：Arbitration modules.
When there are three or more locating modules, the locating module preparation that there is two or the above is stand-by, when going out
When now switching substitutes operation, which selects need logical operationss as location data source.
Specifically, the arbitration modules input is connected with three or three the above locating modules, obtain with
The corresponding location data of locating module quantity；
The outfan of the arbitration modules is connected with the location data acquisition module, exports a location data.It is i.e. secondary
Cut out module and collect all of location data simultaneously, and in this, as basis for estimation, same time value exports a circuit-switched data to flight
Data acquisition module, and it is sent to then flight controller.
Wherein, when the arbitration modules are obtained in the location data, the failure of location data all the way or lack
Afterwards, the arbitration modules filter out location data all the way in remaining location data, are sent to the location data and obtain mould
Block.
Specific screening strategy, it is varied, had differences according to different use environments and type.
The present embodiment specifically provides a kind of attribute based on location data reliability itself as basis for estimation.
The location data includes：The positioning precision factor and latitude and longitude information.
In the arbitration modules, and if only if location data all the way failure or lack after, the arbitration modules
The minimum location data all the way of the positioning precision factor is filtered out in remaining location data, the location data is sent to and is obtained
Module.
That is, using the positioning precision factor this positioning properties as basis for estimation, which describes orientation range precision.Cause
This, when its value is less, positioning precision is higher.
Further, the locating module adopts GPS module.
Referring to Fig. 2, the present embodiment also provides a kind of localization method based on above-mentioned many locating module forms.
A kind of unmanned plane localization method, including：
Two-way or two-way above location data are obtained by two or more airborne locating module；
Location data using a locating module output is used as location information output valve；It is sent to flight controller.
When orientate as data failure or disappearance when, that is, position output valve data source locating module dysfunction
Or stop, and when cannot provide effective location data, in remaining location data, filter out location data all the way defeated
Go out, as location information output valve.
When location data only has two-way, once data source failure when, remaining switching direct all the way, it is fixed to perform
Bit manipulation, sends location data to flight controller.
It is when the quantity of locating module is three or more than three, and when exporting three tunnels or three tunnel location datas, described
Localization method also includes：Arbitration step.A work is selected in remaining two or more locating module maincenter for sieve
For location data source.
The arbitration step includes：
When location data all the way failure or lack when, sieve in remaining location data in the arbitration modules
The location data all the way of positioning precision factor minimum all the way is selected as location information output valve；
Wherein, location data includes：The positioning precision factor and latitude and longitude information.
That is, regioselective dilution of precision is minimum, that is, positioning precision highest locating module, using which as data source.
The latitude and longitude information of its output is selected to be sent to flight controller.
Further, the localization method also includes：Location information preferred steps；
All location datas are compared in real time；
The minimum circuit-switched data of the positioning precision factor is exported as location information output valve；
Repeat the above steps, determine location information output valve.
So that the location information for switching in real time, is all that relative reliability is best, positioning precision highest.
It should be noted that when there is multiple data sources, switching action causes location information to be likely to moment
Conversion, that is, the situation that similar wink moves, the instantaneous abrupt change of this location information are unfavorable for flight control, have a strong impact on flight
Safety.
Further, methods described also includes：Location information output valve compensation process.For overcoming location information saltus step
Problem so that the smooth movement of location information.
The location information output valve compensation process includes：
When the source of location information output valve, posterior location data B all the way is switched to by first location data A all the way
When, calculate location data B of data exchange that time and difference E of location data A；
With location data BtDifference with difference E is location information output valve.
Specifically, when data source switching is performed, the positioning number at the last moment that the data source of previous utilization is exported
According to the data source for being assigned to after be, as its initial alignment value.
Obviously both have differences, when switching to posterior location data B all the way by first location data A all the way, meter
Calculate location data B of data exchange that time and difference E of location data A.
Location data B of posterior data source outputtDeduct difference E and obtain location information output valve；So as to reality
Show location data in the case of location data source switching, seamlessly transitted, lift reliability of positioning and precision, lift positioning ginseng
Several safeties and flight safety.
It is necessary explanation, saltus step can be effectively overcome by offset, but with the switching of data source, positions
Module output location data is close to location information output valve all the more.
Further, methods described also includes：Location information output valve aligning step；For lifting compensating operation to data
The impact of precision.
The location information output valve aligning step includes：
Difference E is reduced according to fixed amplitude so that the location information output valve is intended to adopted positioning number
According to value.
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
The unmanned plane alignment system provided in the embodiment of the present application and method, there is provided the side that multiple locating modules are positioned jointly
Formula, is used online with the location information of one of locating module, and remaining locating module is used as positioning preparation；When occurring in use
Locating module failure or positioning function lack when, remaining locating module performs positioning so that the peace of flying quality
Full property is protected.
Further, when the locating module preparation for occurring two or more is stand-by, by arbitration, screening
Go out ready-made one of positioning precision factor minimum, i.e. location data reliability to use as substitute, lift Information Security
While improve data precision and reliability.Meanwhile, the minimum data of the factor are positioned in screening all location datas in real time and is entered
Row switching so that it is last good that location information output valve is always reliability, greatly improves flight safety.
Further, by output valve compensation process so that the location information before and after switching can be seamlessly transitted, it is to avoid go out
, there is situation about moving in similar wink, fully ensures that the steady and safety of flight in the saltus step of existing location information output valve.Meanwhile, lead to
The change of overcompensation value enables location information output valve to level off to the measured value of locating module, further lifts location information
Reliability, reduce error.
It should be noted last that, above specific embodiment only to illustrate technical scheme and unrestricted,
Although being described in detail to the present invention with reference to example, it will be understood by those within the art that, can be to the present invention
Technical scheme modify or equivalent, without deviating from the spirit and scope of technical solution of the present invention, which all should be covered
In the middle of scope of the presently claimed invention.
Claims (10)
1. a kind of unmanned plane alignment system, it is characterised in that include：Locating module group and location data acquisition module；
The locating module group includes：Two or more locating module；
Described two or plural locating module is connected with the location data acquisition module respectively；
Wherein, in the location data that described two or plural locating module is obtained, the location data obtains mould
The location data of one locating module is only exported by block；
When the locating module that the location data for being used is located stops output location data, the location data acquisition module is defeated
The location data all the way gone out in the location data of remaining locating module.
2. unmanned plane alignment system as claimed in claim 1, it is characterised in that the locating module in the locating module group
When quantity is three or more than three, the alignment system also includes：Arbitration modules；
The arbitration modules input is connected with three or three the above locating modules, is obtained and locating module quantity pair
The location data answered；
The outfan of the arbitration modules is connected with the location data acquisition module, exports a location data；
Wherein, when the arbitration modules are obtained in the location data, the failure of location data all the way or after lacking, institute
State arbitration modules and location data all the way is filtered out in remaining location data, be sent to the location data acquisition module.
3. unmanned plane alignment system as claimed in claim 2, it is characterised in that the location data includes：Positioning precision because
Son and latitude and longitude information.
4. unmanned plane alignment system as claimed in claim 3, it is characterised in that：In the arbitration modules, and if only if with
Location data all the way failure or lack after, the arbitration modules filter out the positioning precision factor in remaining location data
Minimum location data all the way, is sent to the location data acquisition module.
5. the unmanned plane alignment system as described in any one of Claims 1 to 4, it is characterised in that：The locating module adopts GPS
Module.
6. a kind of unmanned plane localization method, it is characterised in that include：
Two-way or two-way above location data are obtained by two or more airborne locating module；
Location data using a locating module output is used as location information output valve；
When orientate as data failure or disappearance when, in remaining location data, filter out location data all the way defeated
Go out.
7. unmanned plane localization method as claimed in claim 6, it is characterised in that when the quantity of locating module is three or three
More than individual, and when exporting three tunnels or three tunnel location datas, the localization method also includes：Arbitration step；
The arbitration step includes：
When location data all the way failure or lack when, filter out in remaining location data in the arbitration modules
The minimum location data all the way of the positioning precision factor is used as location information output valve all the way；
Wherein, location data includes：The positioning precision factor and latitude and longitude information.
8. unmanned plane localization method as claimed in claim 7, it is characterised in that methods described also includes：Location information is preferred
Step；
All location datas are compared in real time；
The minimum circuit-switched data of the positioning precision factor is exported as location information output valve；
Repeat the above steps, determine location information output valve.
9. unmanned plane localization method as claimed in claim 8, it is characterised in that methods described also includes：Location information is exported
Value compensation process；
The location information output valve compensation process includes：
When the source of location information output valve, when switching to posterior location data B all the way by first location data A all the way,
Calculate location data B of data exchange that time and difference E of location data A；
With location data BtDifference with difference E is location information output valve.
10. unmanned plane localization method as claimed in claim 9, it is characterised in that methods described also includes：Location information is exported
Value aligning step；
The location information output valve aligning step includes：
Difference E is reduced according to fixed amplitude so that the location information output valve is intended to adopted location data value.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610970295.4A CN106569237A (en) | 2016-10-28 | 2016-10-28 | Positioning system and positioning method for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610970295.4A CN106569237A (en) | 2016-10-28 | 2016-10-28 | Positioning system and positioning method for unmanned aerial vehicle |
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| CN106569237A true CN106569237A (en) | 2017-04-19 |
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ID=58541532
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610970295.4A Pending CN106569237A (en) | 2016-10-28 | 2016-10-28 | Positioning system and positioning method for unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109186684A (en) * | 2018-10-15 | 2019-01-11 | 上海交大智邦科技有限公司 | Unmanned plane equipment monitoring system and method |
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| CN105372681A (en) * | 2015-12-08 | 2016-03-02 | 南京信息工程大学 | Dangerous chemical substance transportation vehicle positioning monitoring system |
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| CN201910852U (en) * | 2010-12-08 | 2011-07-27 | 惠州Tcl移动通信有限公司 | Mobile phone capable of adaptively selecting GPS (global positioning system) antenna |
| CN102176040A (en) * | 2011-02-18 | 2011-09-07 | 长江南京航道局 | Dual-GPS (Global Positioning System) positioned interface device of high-precision beacon |
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Application publication date: 20170419 |