CN106681356A - Unmanned aerial vehicle system for guiding landing through remote control over UWB - Google Patents
Unmanned aerial vehicle system for guiding landing through remote control over UWB Download PDFInfo
- Publication number
- CN106681356A CN106681356A CN201710004170.0A CN201710004170A CN106681356A CN 106681356 A CN106681356 A CN 106681356A CN 201710004170 A CN201710004170 A CN 201710004170A CN 106681356 A CN106681356 A CN 106681356A
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- Prior art keywords
- uwb
- processor
- modules
- remote control
- sends
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/913—Radar or analogous systems specially adapted for specific applications for traffic control for landing purposes
Abstract
The invention discloses an unmanned aerial vehicle system for guiding landing through remote control over UWB. The system comprises a remote control end, an unmanned aerial vehicle and an unmanned aerial vehicle flight control system. The flight control system is connected with a processor. An image module, a communication module and an UWB module are also connected with the processor. When the unmanned aerial vehicle flies in an assigned landing area under the control of the remote control end, the image module is started, environment images of a landing site surrounding the unmanned aerial vehicle are sent to the remote control end through the processor and the communication module, the remote control end selects an appropriate landing point on the basis of the received environment images and sends a control signal to control the UWB module to position the landing point, positioning information is sent to the processor after positioning is completed by the UWB module, and the processor controls the flight control system to enable the unmanned aerial vehicle to land according to the positioning information. The advantages of the system are that the unmanned aerial vehicle is high in adaptability and high in reliability in an unknown environment.
Description
Technical field
The present invention relates to a kind of unmanned plane landing system, and in particular to a kind of unmanned plane of remotely control UWB guiding landing
System.
Background technology
Location technology, refers to the technology for entering row positional information measure to measuring target.With the development of science and technology, in each neck
In domain, need the target being accurately positioned more and more, especially dynamic mobile target is accurately positioned, be increasingly becoming each
The key issue of industry concern.UWB location technologies have high bandwidth, low-power consumption, strong antijamming capability, transfer rate height, frequency spectrum
The features such as utilization rate is high, power system capacity is big, multi-path resolved rate is high, can carry out real-time positioning to dynamic object, and can ensure positioning
Precision, to realize that the automated management that material factory goods is loaded provides reliable technical support.
The accuracy method of depopulated helicopter generally has two kinds.The first is real under the instruction of GPS geo-location system
Existing accuracy.Helicopter landing is guided using GPS, is current most common method.However, due to gps signal penetration power it is poor,
Easily affected by above ground structure and grove and failed.Additionally, GPS is controlled by US military, also can lose under special circumstances
Effect.Therefore, there is drawback and hidden danger using GPS guiding helicopter landings.It two is using vision guided navigation device, according to paving in advance
If the instruction of signal cloth on the ground, helicopter landing is guided.Because vision guided navigation must realize identification using optical signalling, and
The optical signalling of signal cloth is very big by surrounding environment influence.Therefore, in the case of illumination deficiency, the identification of vision guided navigation device
Rate can be reduced seriously, or even None- identified signal cloth.Especially at night, vision guided navigation device must be by the irradiation of external light source
Could normal work.Further, since signal cloth is laid generally before helicopter landing, and cannot in the landing mission of helicopter
It is mobile.Thus cannot be according to real flight conditions, the landing position of real-time change depopulated helicopter.Therefore, both the above method
There is a certain degree of deficiency.
Because GPS guiding is controlled by US military, and GPS guiding cannot be positioned exactly to mobile platform, while
Battlefield surroundings are complicated and changeable, and according to the map information carries out landing dangerous higher, and continuing one kind can be flexible according to surrounding
Select the UAS of landing point.
The content of the invention
The technical problem to be solved is flexibly to select landing point to aid in UAV Landing according to landing field environment,
Purpose is to provide a kind of UAS of remotely control UWB guiding landing, is solved because US military control is received in GPS guiding
Make, and GPS guiding cannot be positioned exactly to mobile platform, while battlefield surroundings are complicated and changeable, according to the map information is entered
Row landing is dangerous higher, continues a kind of problem of the UAS that landing point can be flexibly selected according to surrounding.
The present invention is achieved through the following technical solutions：
A kind of UAS of remotely control UWB guiding landing, including remote control terminal, unmanned plane and its winged control system
System, is also associated with processor, connection also image module, communication module and UWB modules on a processor in flight control system；
Processor：The ambient image that image module sends is received, ambient image is sent to into communication module；Receive long-range control
The control signal that end processed sends, sends control signals to UWB modules after process；The location information that UWB modules send is received, according to
Location information is controlled to flight control system；
Image module：Ambient image around collection unmanned plane, by image information processor is sent to；
Communication module：The ambient image that receiving processor sends, by ambient image remote control terminal is sent to；Receive long-range
The control signal that control end sends, sends control signals to processor；
UWB modules：The control signal that receiving processor sends, transmitting UWB is positioned, and location information is sent to into process
Device.Unmanned plane opens image module when according to the control of remote control terminal flight to specified touchdown area, around unmanned plane
The ambient image of landing field is sent to remote control terminal by processor, communication module, and remote control terminal is according to the ring for receiving
The suitable landing point of border image selection, sends control signal control UWB modules and the point that lands is positioned, and UWB is completed after positioning
Location information is sent to into processor, processor controls flight control system and completes UAV Landing according to location information.
The UWB modules include UWB transmitter modules and UWB receiver modules；
UWB transmitter modules：UWB is irradiated to appointed place according to the control signal that processor sends；
UWB receiver modules：UWB points of irradiation on detection ground, position to point of irradiation, and location information is sent to into place
Reason device.UWB transmitter modules to expect landing point irradiation UWB after, the Airborne UWB receiver module on unmanned plane according to TOA, TDOA,
RSS and AOA technologies determine the position relationship of point of irradiation and unmanned plane.During UAV Landing, remote control terminal is more
After changing the point of irradiation of UWB transmitter, the expectation landing point of unmanned plane is also changed to immediately new point of irradiation.In the landing of helicopter
During, it is possible to use UWB transmitter modules easily change target position, after changing the point of irradiation of UWB transmitter modules, nothing
Airborne UWB receiver module on man-machine captures new point of irradiation, and according to new point of irradiation processor is output signals to.
Described image module adopts high-definition camera.It is easy to gather unmanned function collection using high-definition camera apparent
Ambient image, is easy to remote control terminal to select suitable landing point.
The communication module is communicated using TD-LTE.TD-LTE is wrapped as the important opportunity of communications industry Transformation Period
Patent containing a large amount of China, it is leading by China, while having obtained extensive international support, become international standard；While upper network speed
Degree is fast, can reach tens times of TD-SCDMA technology, is possibly realized ubiquitous high speed Internet access, is convenient for high definition figure
The data transfer of picture.
The present invention compared with prior art, has the following advantages and advantages：
1st, a kind of UAS of remotely control UWB guiding landing of the invention, remote control terminal can be passed according to unmanned plane
The image remote control UAV Landing for returning, strong adaptability；
2nd, a kind of UAS of remotely control UWB guiding landing of the invention, is guided using UWB, and reliability is high.
Description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is present system structural representation.
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and the exemplary embodiment of the present invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment
As shown in figure 1, a kind of UAS of remotely control UWB guiding landing of the invention, including remote control terminal, nothing
Man-machine and its flight control system, is also associated with processor, connection also image module, communication mould on a processor in flight control system
Block and UWB modules, the processor adopts S12MagniV；Unmanned plane according to the control of remote control terminal flight to specifying
Image module is opened during the region of land, the ambient image of landing field around unmanned plane is sent to far by processor, communication module
Process control end, remote control terminal selects suitable landing point according to the ambient image for receiving, and sends control signal control UWB moulds
Block is positioned to the point that lands, and UWB completes that location information is sent to into processor after positioning, and processor is according to location information control
Flight control system completes UAV Landing.The UWB modules include UWB transmitter modules and UWB receiver modules, and UWB sending modules are adopted
FREESCALE XS110 are used, UWB receiver modules are using the serial radars of NOVELDA 6100；UWB transmitter modules are to expectation landing point
After irradiation UWB, the Airborne UWB receiver module on unmanned plane determines point of irradiation and nothing according to TOA, TDOA, RSS and AOA technology
Man-machine position relationship.During UAV Landing, after the point of irradiation of remote control terminal change UWB transmitter, unmanned plane
Expectation landing point be also changed to new point of irradiation immediately.In the landing mission of helicopter, it is possible to use UWB transmitter module sides
Just target position is changed, the Airborne UWB receiver module capture after changing the point of irradiation of UWB transmitter modules, on unmanned plane
New point of irradiation, according to new point of irradiation processor is output signals to.Described image module adopts high-definition camera.Using high definition
Photographic head is easy to gather the apparent ambient image of unmanned function collection, is easy to remote control terminal to select suitable landing point.Institute
State communication module to be communicated using TD-LTE.TD-LTE as communications industry Transformation Period important opportunity, comprising a large amount of China
Patent, it is leading by China, at the same obtained it is extensive it is international support, become international standard；Simultaneously networking speed is fast, Neng Gouda
To tens times of TD-SCDMA technology, it is possibly realized ubiquitous high speed Internet access, the data for being convenient for high-definition image are passed
It is defeated.
Processor：The ambient image that image module sends is received, ambient image is sent to into communication module；Receive long-range control
The control signal that end processed sends, sends control signals to UWB modules after process；The location information that UWB modules send is received, according to
Location information is controlled to flight control system；
Image module：Ambient image around collection unmanned plane, by image information processor is sent to；
Communication module：The ambient image that receiving processor sends, by ambient image remote control terminal is sent to；Receive long-range
The control signal that control end sends, sends control signals to processor；
UWB modules：The control signal that receiving processor sends, transmitting UWB is positioned, and location information is sent to into process
Device；
UWB transmitter modules：UWB is irradiated to appointed place according to the control signal that processor sends；
UWB receiver modules：UWB points of irradiation on detection ground, position to point of irradiation, and location information is sent to into place
Reason device.
Above-described specific embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the specific embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc. all should include
Within protection scope of the present invention.
Claims (4)
1. the UAS that a kind of remotely control UWB guiding is landed, including remote control terminal, unmanned plane and its flight control system,
Characterized in that, be also associated with processor in flight control system, connection on a processor also have image module, communication module and
UWB modules；
Processor：The ambient image that image module sends is received, ambient image is sent to into communication module；Receive remote control terminal
The control signal of transmission, sends control signals to UWB modules after process；The location information that UWB modules send is received, according to positioning
Information is controlled to flight control system；
Image module：Ambient image around collection unmanned plane, by image information processor is sent to；
Communication module：The ambient image that receiving processor sends, by ambient image remote control terminal is sent to；Receive remotely control
The control signal that end sends, sends control signals to processor；
UWB modules：The control signal that receiving processor sends, transmitting UWB is positioned, and location information is sent to into processor.
2. the UAS that a kind of remotely control UWB guiding according to claim 1 is landed, it is characterised in that described
UWB modules include UWB transmitter modules and UWB receiver modules；
UWB transmitter modules：UWB is irradiated to appointed place according to the control signal that processor sends；
UWB receiver modules：UWB points of irradiation on detection ground, position to point of irradiation, and location information is sent to into process
Device.
3. the UAS that a kind of remotely control UWB guiding according to claim 1 is landed, it is characterised in that described
Image module adopts high-definition camera.
4. the UAS that a kind of remotely control UWB guiding according to claim 1 is landed, it is characterised in that described
Communication module is communicated using TD-LTE.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710004170.0A CN106681356A (en) | 2017-01-04 | 2017-01-04 | Unmanned aerial vehicle system for guiding landing through remote control over UWB |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710004170.0A CN106681356A (en) | 2017-01-04 | 2017-01-04 | Unmanned aerial vehicle system for guiding landing through remote control over UWB |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106681356A true CN106681356A (en) | 2017-05-17 |
Family
ID=58849822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710004170.0A Pending CN106681356A (en) | 2017-01-04 | 2017-01-04 | Unmanned aerial vehicle system for guiding landing through remote control over UWB |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817488A (en) * | 2017-09-28 | 2018-03-20 | 西安电子科技大学昆山创新研究院 | The unmanned plane obstacle avoidance apparatus and barrier-avoiding method merged based on millimetre-wave radar with vision |
| CN107957732A (en) * | 2017-11-29 | 2018-04-24 | 重庆固恒通信设备有限公司 | Unmanned plane lands redundant pilot system automatically |
| CN108303995A (en) * | 2018-03-02 | 2018-07-20 | 三峡大学 | A kind of substation inspection unmanned plane during flying security system |
| CN109283521A (en) * | 2018-10-18 | 2019-01-29 | 广州市海林电子科技发展有限公司 | It blocks the method for unmanned plane and blocks the anti-UAV system of formula |
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| CN106054903A (en) * | 2016-07-27 | 2016-10-26 | 中南大学 | Multi-rotor unmanned aerial vehicle self-adaptive landing method and system |
| CN206411519U (en) * | 2017-01-04 | 2017-08-15 | 四川克瑞斯航空科技有限公司 | A kind of UAS of video control landing |
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Patent Citations (4)
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| CN103914076A (en) * | 2014-03-28 | 2014-07-09 | 浙江吉利控股集团有限公司 | Cargo transferring system and method based on unmanned aerial vehicle |
| CN106054903A (en) * | 2016-07-27 | 2016-10-26 | 中南大学 | Multi-rotor unmanned aerial vehicle self-adaptive landing method and system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817488A (en) * | 2017-09-28 | 2018-03-20 | 西安电子科技大学昆山创新研究院 | The unmanned plane obstacle avoidance apparatus and barrier-avoiding method merged based on millimetre-wave radar with vision |
| CN107957732A (en) * | 2017-11-29 | 2018-04-24 | 重庆固恒通信设备有限公司 | Unmanned plane lands redundant pilot system automatically |
| CN108303995A (en) * | 2018-03-02 | 2018-07-20 | 三峡大学 | A kind of substation inspection unmanned plane during flying security system |
| CN108303995B (en) * | 2018-03-02 | 2023-08-25 | 三峡大学 | Substation inspection unmanned aerial vehicle flight safety system and use method |
| CN109283521A (en) * | 2018-10-18 | 2019-01-29 | 广州市海林电子科技发展有限公司 | It blocks the method for unmanned plane and blocks the anti-UAV system of formula |
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Application publication date: 20170517 |