CN106772338A - Unmanned machine positioning device, method and system - Google Patents
Unmanned machine positioning device, method and system Download PDFInfo
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- CN106772338A CN106772338A CN201611051583.6A CN201611051583A CN106772338A CN 106772338 A CN106772338 A CN 106772338A CN 201611051583 A CN201611051583 A CN 201611051583A CN 106772338 A CN106772338 A CN 106772338A
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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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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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
- 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
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a kind of unmanned machine positioning device, method and system, it is related to unmanned plane field.The unmanned machine positioning device, method and system, by radar system after unmanned plane is detected in target area, geographical location information of the unmanned plane relative to the azimuth of the radar system and distance value and the radar system is sent to the background server, background server scans unmanned plane and records the current angle of pitch of unmanned plane according to above-mentioned information control optical monitoring system, the computing unit of background server can be according to the azimuth, the distance value, the geographical location information of the angle of pitch and the radar system calculates the geographical location information of the unmanned plane.The condition of the unmanned machine positioning device, method and system to the positioning of unmanned plane not by unmanned plane in itself is limited, flight path in recordable target area, improve radar system cannot the low slow Small object of accurately detecting position problem, improve to unmanned plane positioning reliability.
Description
Technical field
The present invention relates to unmanned plane field, in particular to a kind of unmanned machine positioning device, method and system.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and providing for oneself
The not manned aircraft that presetting apparatus is manipulated.Unmanned plane is widely used in the fields such as military, agricultural, photography, for example, using nothing
Man-machine scouting, spray insecticide and take photo by plane etc..
The record to the flight path of unmanned plane depends on positional information (the GPS seats of unmanned plane active reporting at present
Mark and height above sea level), it is the flight path that can obtain unmanned plane by computer software record position information.The record side
There are two restrictive conditions in method：1st, unmanned plane must possess the ability of active reporting positional information；2nd, computer software must
The communication network of unmanned plane must have been accessed.The practicality that above-mentioned restrictive condition result in the method is poor, and major defect is such as
Under：1st, the communication message of unmanned plane is probably encrypted, the positional information that now unmanned plane is reported, to that cannot access unmanned plane
The computer software of communication network is unavailable；2nd, some more cheap unmanned planes may not possess the energy of reporting position information
Power；3rd, the reliability of the degree of accuracy of the positional information that unmanned plane is reported is not high.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of unmanned machine positioning device, method and system.
In a first aspect, the embodiment of the invention provides a kind of unmanned machine positioning device, the unmanned machine positioning device includes：
Information receiving unit, for receiving orientation of the unmanned plane relative to the radar system that a radar system sends
The geographical location information at angle, distance value and the radar system；
Computing unit, for the geographical location information according to the azimuth, the distance value and the radar system
Calculate focal length data；
Control instruction generation unit, for the geography according to the azimuth, the distance value and the radar system
Positional information generates control instruction；
Information transmitting unit, for focal length data, the control instruction to be sent to an optical monitoring system；
Described information receiving unit is additionally operable to receive the optical monitoring system and refers to according to the focal length data, the control
Make the angle of pitch of the unmanned plane for sending；
The computing unit is additionally operable to believe according to the geographical position of the azimuth, the distance value, the radar system
Breath and the angle of pitch calculate the geographical location information of the unmanned plane.
Second aspect, the embodiment of the present invention additionally provides a kind of unmanned plane localization method, the unmanned plane localization method bag
Include：
The unmanned plane of radar system transmission is received relative to the azimuth of the radar system and distance value and described
The geographical location information of radar system；
Focal length data is calculated according to the geographical location information at the azimuth, the distance value and the radar system
With generation control instruction；
The focal length data, the control instruction are sent to an optical monitoring system；
Receive the pitching of the unmanned plane that the optical monitoring system sends according to the focal length data, the control instruction
Angle；
According to the geographical location information meter of the azimuth, the distance value, the angle of pitch and the radar system
Calculate the geographical location information of the unmanned plane.
The third aspect, the embodiment of the present invention additionally provides a kind of unmanned plane alignment system, the unmanned plane alignment system bag
Include radar system, background server and optical monitoring system, the radar system, the background server and the optics
Communication connection is set up between monitoring system,
The radar system be used for a target area is detected, when unmanned plane is detected send unmanned plane relative to
The geographical location information of the azimuth of the radar system and distance value and the radar system is to the background server；
The background server includes：
Information receiving unit, for receiving the azimuth, the distance value that the radar system sends and described
The geographical location information of radar system；
Computing unit, for calculating focal length data according to the azimuth, the distance value；
Control instruction generation unit, for according to the azimuth, distance value generation control instruction；
Information transmitting unit, for the focal length data and the control instruction to be sent to the optical monitoring system
System；
The optical monitoring system is used to receive the control instruction and focal length data of described information transmitting element transmission, according to
Focused on according to the focal length data, then determine the unmanned plane in scanning area and search sweep region according to the control instruction,
Record unmanned plane current angle of pitch when searching unmanned plane, and send the angle of pitch to described information receiving unit；
Described information receiving unit is additionally operable to receive the optical monitoring system and refers to according to the focal length data, the control
Make the angle of pitch of the unmanned plane for sending；
The computing unit is additionally operable to according to the azimuth, the distance value, the angle of pitch and the radar system
The geographical location information of system calculates the geographical location information of the unmanned plane.
Compared with prior art, the present invention is provided unmanned machine positioning device, method and system, by radar system in mesh
Mark regionally detecting is to after unmanned plane, sending unmanned plane relative to the azimuth of the radar system and distance value and the radar
The geographical location information of system to the background server, background server is swept according to above-mentioned information control optical monitoring system
Retouch unmanned plane and record the current angle of pitch of unmanned plane, the computing unit of background server can be according to the azimuth, described
The geographical location information of distance value, the angle of pitch and the radar system calculates the geographical position letter of the unmanned plane
Breath.The condition of the unmanned machine positioning device, method and system to the positioning of unmanned plane not by unmanned plane in itself is limited, and can record mesh
Mark region in flight path, improve radar system cannot the low slow Small object of accurately detecting position problem, it is right to improve
The reliability of unmanned plane positioning.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Present invention implementation generally described and illustrated in accompanying drawing herein
The component of example can be arranged and designed with a variety of configurations.Therefore, reality of the invention below to providing in the accompanying drawings
The detailed description for applying example is not intended to limit the scope of claimed invention, but is merely representative of selected implementation of the invention
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
Every other embodiment, belongs to the scope of protection of the invention.
Unmanned plane that Fig. 1 is provided for this bright embodiment, between radar system, background server and optical monitoring system
Interaction schematic diagram；
Fig. 2 is the structured flowchart of background server provided in an embodiment of the present invention；
The high-level schematic functional block diagram of the unmanned machine positioning device that Fig. 3 inventive embodiments are provided；
Fig. 4 is the program flow diagram of unmanned plane localization method provided in an embodiment of the present invention；
Fig. 5 is the circuit connection block diagram of digital high-definition camera provided in an embodiment of the present invention.
Icon：100- unmanned planes；200- radar systems；300- background servers；400- optical monitoring systems；201- nobody
Machine positioning device；202- memories；203- storage controls；204- processors；205- Peripheral Interfaces；301- information receives single
Unit；302- computing units；303- control instruction generation units；304- information transmitting units；305- flight path drawing units；
501- controllers；502- wireless communication modules；503- motor drive components；504- digital high-definition cameras.
Specific embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be arranged and designed with a variety of configurations herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of selected embodiment of the invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
Unmanned machine positioning device that present pre-ferred embodiments are provided, method and system can be applied to as shown in Figure 1
In applied environment.As shown in figure 1, unmanned plane 100, radar system 200, background server 300, optical monitoring system 400 are located at
In cordless communication network, radar system 200 be used for by electromagnetic wave scanning unmanned plane 100, background server 300 respectively with radar
System 200, optical monitoring system 400 carry out data interaction.
Fig. 2 shows the structured flowchart of the background server 300 in the embodiment of the present invention.As shown in Fig. 2 background server
300 include unmanned machine positioning device 201, memory 202, storage control 203, one or more (one is only shown in figure) places
Reason device 204, Peripheral Interface 205 etc..These components are mutually communicated by one or more communication bus/holding wire.It is described nobody
During machine positioning device 201 can be stored in the memory 202 including at least one in the form of software or firmware (firmware)
Or it is solidificated in the software function module in the operating system of the background server 300 (operating system, OS).
Memory 202 can be used to store software program and module, the unmanned machine positioning device such as in the embodiment of the present invention
And programmed instruction/the module corresponding to method, processor 204 by run software program of the storage in memory 202 and
Module, so that various function application and data processing are performed, such as unmanned plane localization method provided in an embodiment of the present invention.
Memory 202 may include high speed random access memory, may also include nonvolatile memory, such as one or more magnetic
Property storage device, flash memory or other non-volatile solid state memories.Processor 204 and other possible components are to storage
The access of device 202 can be carried out under the control of storage control 203.
Various input/output devices are coupled to processor 204 and memory 202 by Peripheral Interface 205.In some implementations
In example, Peripheral Interface 205, processor 204 and storage control 203 can be realized in one single chip.In some other reality
In example, they can be realized by independent chip respectively.
It is appreciated that the structure shown in Fig. 2 be only illustrate, background server 300 may also include it is more more than shown in Fig. 2 or
The less component of person, or with the configuration different from shown in Fig. 2.Each component shown in Fig. 2 can using hardware, software or
Its combination is realized.
Fig. 3 is referred to, a kind of unmanned machine positioning device 201, the unmanned machine positioning device is the embodiment of the invention provides
201 include information receiving unit 301, computing unit 302, control instruction generation unit 303, information transmitting unit 304 and fly
Row track drawing unit 305.
Described information receiving unit 301 is used to receive the unmanned plane 100 of the transmission of a radar system 200 relative to the radar
The geographical location information at the azimuth, distance value and the radar system 200 of system 200.
Radar system, finds target and determines their locus using the method for radio.Therefore, radar also by
Referred to as " radio position finding radio directional bearing ".Radar is using the electronic equipment of electromagnetic wave detection target.Radar emission electromagnetic wave is carried out to target
Irradiate and receive its echo, be derived from target to the distance of electromagnetic emission point, range rate (radial velocity), orientation,
The information such as height, the geographical location information of itself in addition, radar system 200 is also stored with, the geographical position letter of radar system 200
Breath includes longitude, latitude and the height of the geographic location of radar system 200, and radar system 200 can also instead
The signal intensity of radio magnetic wave and measure the translational speed information of unmanned plane 100 and send to information receiving unit 301.
The computing unit 302 is used for according to the geography at the azimuth, the distance value and the radar system 200
Positional information calculation goes out focal length data.
The geographical location information that computing unit 302 passes through the azimuth, the distance value and the radar system 200
The general orientation of unmanned plane 100 can be drawn, is needed such that it is able to show that optical monitoring system 400 can photograph unmanned plane 100
The focal length data to be focused on.
The control instruction generation unit 303 is used for according to the azimuth, the distance value and the radar system
200 geographical location information generation control instruction.
In the present embodiment, control instruction carries the ground at the azimuth, distance value and radar system 200 of unmanned plane 100
Reason positional information.
Described information transmitting element 304 is used to send focal length data, the control instruction to an optical monitoring system
400。
Described information receiving unit 301 is additionally operable to receive the optical monitoring system 400 according to the focal length data, described
The angle of pitch of the unmanned plane 100 that control instruction sends.
In the present embodiment, optical monitoring system 400 is focused on according to the focal length data, then is carried according to the control instruction
The geographical location information at azimuth, distance value and radar system 200 of unmanned plane 100 determine scanning area and search sweep
Unmanned plane 100 in region, the current angle of pitch of unmanned plane 100 is recorded when unmanned plane 100 is searched, and send the angle of pitch extremely
Described information receiving unit 301.
The computing unit 302 be additionally operable to according to the azimuth, the distance value, the radar system 200 geography
Positional information and the angle of pitch calculate the geographical location information of the unmanned plane 100.
Specifically, the computing unit 302 is used for according to formula S1=C1+D × cos (β) × cos (θ), and S2=C2+D ×
Cos (β) × sin (θ), G=H+D × sin (β) calculate longitude, latitude and the height of unmanned plane 100 to obtain nobody respectively
The geographical location information of machine 100, wherein, C1 is the longitude of the radar system 200, and C2 is the latitude of the radar system 200,
H is the height of the radar system 200, and θ is the azimuth of unmanned plane 100, and the angle of pitch of β unmanned planes 100, S1 is unmanned plane
100 longitude, S2 is the latitude of unmanned plane 100, and G is the height of unmanned plane 100, and D is the distance value.
The flight path drawing unit 305 is used for according to the geographical position letter of temporal information and the unmanned plane 100
Breath draws out the flight path of the unmanned plane 100.
Fig. 4 is referred to, a kind of unmanned plane localization method is the embodiment of the invention provides, it is necessary to explanation, the present embodiment
The technique effect of the unmanned plane localization method for being provided, its general principle and generation is identical with above-described embodiment, to briefly describe,
The present embodiment part does not refer to part, refers to corresponding contents in the above embodiments.The unmanned plane localization method includes：
Step S401：The unmanned plane 100 of the transmission of a radar system 200 is received relative to described using background server 300
The azimuth of radar system 200 and the geographical location information of distance value and the radar system 200.
It is to be appreciated that performing step S401 according to information receiving unit 301.
Step S402：Background server 300 is according to the azimuth, the distance value and the radar system 200
Geographical location information calculates focal length data with generation control instruction.
It is to be appreciated that performing step S402 according to computing unit 302.
Step S403：Background server 300 sends to an optical monitoring system focal length data, the control instruction
400。
It is to be appreciated that performing step S403 according to information transmitting unit 304.
Step S404：Background server 300 receives the optical monitoring system 400 according to the focal length data, the control
The angle of pitch of the unmanned plane 100 that system instruction sends.
It is to be appreciated that performing step S404 according to information receiving unit 301.
Step S405：Background server 300 is according to the azimuth, the distance value, the angle of pitch and the thunder
Geographical location information up to system 200 calculates the geographical location information of the unmanned plane 100.
It is to be appreciated that performing step S405 according to computing unit.
Specifically, step S405 includes：According to formula S1=C1+D × cos (β) × cos (θ), S2=C2+D × cos (β)
× sin (θ), G=H+D × sin (β) calculate longitude, latitude and the height of unmanned plane 100 to obtain unmanned plane 100 respectively
Geographical location information, wherein, C1 is the longitude of the radar system 200, and C2 is the latitude of the radar system 200, and H is institute
The height of radar system 200 is stated, θ is the azimuth of unmanned plane 100, and the angle of pitch of β unmanned planes 100, S1 is the warp of unmanned plane 100
Degree, S2 is the latitude of unmanned plane 100, and G is the height of unmanned plane 100, and D is the distance value.
Step S406：Background server 300 is drawn according to the geographical location information of temporal information and the unmanned plane 100
Go out the flight path of the unmanned plane 100.
It is to be appreciated that performing step S406 according to flight path drawing unit 305.
Fig. 1 is referred to, the embodiment of the present invention additionally provides a kind of unmanned plane alignment system, it is necessary to explanation, this implementation
The technique effect of the unmanned plane alignment system that example is provided, its general principle and generation is identical with above-described embodiment, is briefly to retouch
State, the present embodiment part does not refer to part, refers to corresponding contents in the above embodiments.The unmanned plane alignment system includes
Radar system 200, background server 300 and optical monitoring system 400, the radar system 200, the background server
Communication connection is set up between 300 and the optical monitoring system 400.
The radar system 200 is used to detect a target area, and unmanned plane is sent when unmanned plane 100 is detected
100 relative to the azimuth of the radar system 200 and distance value and the radar system 200 geographical location information to institute
Background server 300 is stated, the background server 300 includes：
Information receiving unit 301, for receive the radar system 200 transmission the azimuth, the distance value with
And the geographical location information of the radar system 200.
Computing unit 302, for calculating focal length data according to the azimuth, the distance value.
Control instruction generation unit 303, for according to the azimuth, distance value generation control instruction.
Information transmitting unit 304, for the focal length data and the control instruction to be sent to the optical monitoring
System 400.
The optical monitoring system 400 is used to receive the control instruction and focal length of the transmission of described information transmitting element 304
Data, focus on according to the focal length data, then determine the nothing in scanning area and search sweep region according to the control instruction
Man-machine 100, the current angle of pitch of unmanned plane 100 is recorded when unmanned plane 100 is searched, and sends the angle of pitch to described information and connect
Receive unit 301.
Specifically, the rail of the mobile target (such as birds, balloon) in order to avoid whole unmanned plane alignment system to disturbing
Mark is recorded, and the optical monitoring system 400 is for when airbound target is searched, gathering regarding for the airbound target for searching
Frequency evidence, and recognize whether the airbound target is unmanned plane 100 according to the video data for collecting, if it is, recording nobody
The current angle of pitch of machine 100, and the angle of pitch is sent to described information receiving unit 301, so as to avoid unmanned plane positioning system
The track of the mobile target to disturbing of uniting records.
Further, the optical monitoring system 400 includes that pedestal, wireless communication module 502, controller 501, motor drive
Dynamic component 503, shooting frame component and digital high-definition camera 504.Motor drive component 503, shooting frame component are mounted on
Pedestal, digital high-definition camera 504 is installed on shooting frame component.As shown in figure 5, controller 501 and wireless communication module 502,
Motor drive component 503 and digital high-definition camera 504 are electrically connected, and controller 501 is used to pass through wireless communication module 502
Control instruction and focal length data that receive information transmitting element 304 sends, digital high-definition camera is controlled according to focal length data
504 zooms, and according to control instruction park scan region, and control the motor drive component 503 to drive the digital high-definition
Video camera 504 rotates to scan the scanning area.Digital high-definition camera 504 is right after scanning area searches airbound target
The video data of airbound target is gathered, and by video data transmission to controller 501, controller 501 is used for according to the video
Whether data identification airbound target is unmanned plane 100.
Described information receiving unit 301 is additionally operable to receive the optical monitoring system 400 according to the focal length data, described
The angle of pitch of the unmanned plane 100 that control instruction sends.
The computing unit 302 is additionally operable to according to the azimuth, the distance value, the angle of pitch and the radar
The geographical location information of system 200 calculates the geographical location information of the unmanned plane 100.
Specifically, the computing unit 302 is used for according to formula S1=C1+D × cos (β) × cos (θ), and S2=C2+D ×
Cos (β) × sin (θ), G=H+D × sin (β) calculate longitude, latitude and the height of unmanned plane 100 to obtain nobody respectively
The geographical location information of machine 100, wherein, C1 is the longitude of the radar system 200, and C2 is the latitude of the radar system 200,
H is the height of the radar system 200, and θ is the azimuth of unmanned plane 100, and the angle of pitch of β unmanned planes 100, S1 is unmanned plane
100 longitude, S2 is the latitude of unmanned plane 100, and G is the height of unmanned plane 100, and D is the distance value.
Flight path drawing unit 305, paints for the geographical location information according to temporal information and the unmanned plane 100
Make the flight path of the unmanned plane 100.
In the present embodiment, the signal that background server 300 is additionally operable to receive the reflection electromagnetic wave that radar system 200 sends is strong
Spend and measure the translational speed information of unmanned plane 100；And receive optical monitoring system 400 shoot the video counts that obtain it is believed that
Breath, and by the storage of the signal intensity of reflection electromagnetic wave, the translational speed information of unmanned plane 100 and video data information, with side
Just the state of flight of unmanned plane 100 is inquired about and is recalled.
Unmanned machine positioning device provided in an embodiment of the present invention, method and system, by radar system 200 in target area
After detecting unmanned plane 100, unmanned plane 100 is sent relative to the azimuth of the radar system 200 and distance value and described
The geographical location information of radar system 200 to the background server 300, background server 300 is controlled according to above-mentioned information
Optical monitoring system 400 scans unmanned plane 100 and records the current angle of pitch of unmanned plane 100, the calculating list of background server 300
Unit 302 can believe according to the geographical position of the azimuth, the distance value, the angle of pitch and the radar system 200
Breath calculates the geographical location information of the unmanned plane 100.The unmanned machine positioning device, method and system are to unmanned plane 100
By unmanned plane 100, the condition of itself is not limited positioning, can record the flight path in target area, and improve radar system
200 cannot the low slow Small object of accurately detecting position problem, improve the reliability to unmanned plane positioning, in addition optical monitoring
The video data of the airbound target that system 400 can be searched to collection, and recognize the flight mesh according to the video data for collecting
Whether mark is unmanned plane 100, if it is, the current angle of pitch of record unmanned plane 100, and the angle of pitch is sent to described information
Receiving unit 301, so as to the track for avoiding mobile target of the unmanned plane alignment system to disturbing records, further
Improve the reliability to unmanned plane positioning.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is also possible to pass through
Other modes are realized.Device embodiment described above is only schematical, for example, flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments of the invention, the architectural framework in the cards of method and computer program product,
Function and operation.At this point, each square frame in flow chart or block diagram can represent one the one of module, program segment or code
Part a, part for the module, program segment or code is used to realize holding for the logic function for specifying comprising one or more
Row instruction.It should also be noted that at some as in the implementation replaced, the function of being marked in square frame can also be being different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially be performed substantially in parallel, they are sometimes
Can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart
The combination of the square frame in individual square frame and block diagram and/or flow chart, can use the function or the special base of action for performing regulation
Realized in the system of hardware, or can be realized with the combination of computer instruction with specialized hardware.
In addition, each functional module in each embodiment of the invention can integrate to form an independent portion
Divide, or modules individualism, it is also possible to which two or more modules are integrated to form an independent part.
If the function is to realize in the form of software function module and as independent production marketing or when using, can be with
Storage is in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used to so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply these entities or there is any this reality between operating
The relation or order on border.And, term " including ", "comprising" or its any other variant be intended to the bag of nonexcludability
Contain, so that process, method, article or equipment including a series of key elements are not only including those key elements, but also including
Other key elements being not expressly set out, or it is this process, method, article or the intrinsic key element of equipment also to include.
In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including the key element
Process, method, article or equipment in also there is other identical element.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, then it is not required in subsequent accompanying drawing
It is further defined and is explained.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating
In any this actual relation or order.And, term " including ", "comprising" or its any other variant be intended to
Nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.
Claims (10)
1. a kind of unmanned machine positioning device, it is characterised in that the unmanned machine positioning device includes：
Information receiving unit, for receive a radar system send unmanned plane relative to the radar system azimuth, away from
From value and the geographical location information of the radar system；
Computing unit, calculates for the geographical location information according to the azimuth, the distance value and the radar system
Go out focal length data；
Control instruction generation unit, for the geographical position according to the azimuth, the distance value and the radar system
Information generates control instruction；
Information transmitting unit, for focal length data, the control instruction to be sent to an optical monitoring system；
Described information receiving unit is additionally operable to receive the optical monitoring system according to the focal length data, control instruction hair
The angle of pitch of the unmanned plane for sending；
The computing unit be additionally operable to according to the azimuth, the distance value, the radar system geographical location information with
And the angle of pitch calculates the geographical location information of the unmanned plane.
2. unmanned machine positioning device according to claim 1, it is characterised in that the computing unit is used for according to formula S1
=C1+D × cos (β) × cos (θ), S2=C2+D × cos (β) × sin (θ), G=H+D × sin (β) calculate nobody respectively
The longitude of machine, latitude and height to obtain the geographical location information of unmanned plane, wherein, C1 is the longitude of the radar system,
C2 is the latitude of the radar system, and H is the height of the radar system, and θ is the azimuth of unmanned plane, the pitching of β unmanned planes
Angle, S1 is the longitude of unmanned plane, and S2 is the latitude of unmanned plane, and G is the height of unmanned plane, and D is the distance value.
3. unmanned machine positioning device according to claim 1, it is characterised in that the unmanned machine positioning device also includes：
Flight path drawing unit, the nothing is drawn out for the geographical location information according to temporal information and the unmanned plane
Man-machine flight path.
4. a kind of unmanned plane localization method, it is characterised in that the unmanned plane localization method includes：
The unmanned plane of radar system transmission is received relative to the azimuth of the radar system and distance value and the radar
The geographical location information of system；
Focal length data and life are calculated according to the geographical location information at the azimuth, the distance value and the radar system
Into control instruction；
The focal length data, the control instruction are sent to an optical monitoring system；
Receive the angle of pitch of the unmanned plane that the optical monitoring system sends according to the focal length data, the control instruction；
Calculated according to the geographical location information of the azimuth, the distance value, the angle of pitch and the radar system
The geographical location information of the unmanned plane.
5. unmanned plane localization method according to claim 4, it is characterised in that it is described according to the azimuth, it is described away from
The geographical location information of the unmanned plane is calculated from the geographical location information of value, the angle of pitch and the radar system
Step includes：
According to formula S1=C1+D × cos (β) × cos (θ), S2=C2+D × cos (β) × sin (θ), G=H+D × sin (β)
Longitude, latitude and the height of unmanned plane are calculated respectively to obtain the geographical location information of unmanned plane, wherein, C1 is the thunder
Up to the longitude of system, C2 is the latitude of the radar system, and H is the height of the radar system, and θ is the azimuth of unmanned plane, β
The angle of pitch of unmanned plane, S1 is the longitude of unmanned plane, and S2 is the latitude of unmanned plane, and G is the height of unmanned plane, and D is the distance
Value.
6. unmanned plane localization method according to claim 4, it is characterised in that the unmanned plane localization method also includes：
The flight path of the unmanned plane is drawn out according to the geographical location information of temporal information and the unmanned plane.
7. a kind of unmanned plane alignment system, it is characterised in that the unmanned plane alignment system includes radar system, background server
And optical monitoring system, communication is set up between the radar system, the background server and the optical monitoring system
Connection,
The radar system is used to detect a target area, and unmanned plane is sent when unmanned plane is detected relative to described
The geographical location information of the azimuth of radar system and distance value and the radar system is to the background server；
The background server includes：
Information receiving unit, for receiving the azimuth, the distance value and the radar that the radar system sends
The geographical location information of system；
Computing unit, for calculating focal length data according to the azimuth, the distance value；
Control instruction generation unit, for according to the azimuth, distance value generation control instruction；
Information transmitting unit, for the focal length data and the control instruction to be sent to the optical monitoring system；
The optical monitoring system is used to receive the control instruction and focal length data of described information transmitting element transmission, according to institute
Focal length data focusing is stated, then determines the unmanned plane in scanning area and search sweep region according to the control instruction, in search
To the current angle of pitch of record unmanned plane during unmanned plane, and send the angle of pitch to described information receiving unit；
Described information receiving unit is additionally operable to receive the optical monitoring system according to the focal length data, control instruction hair
The angle of pitch of the unmanned plane for sending；
The computing unit is additionally operable to according to the azimuth, the distance value, the angle of pitch and the radar system
Geographical location information calculates the geographical location information of the unmanned plane.
8. unmanned plane alignment system according to claim 7, it is characterised in that the computing unit is used for according to formula S1
=C1+D × cos (β) × cos (θ), S2=C2+D × cos (β) × sin (θ), G=H+D × sin (β) calculate nobody respectively
The longitude of machine, latitude and height to obtain the geographical location information of unmanned plane, wherein, C1 is the longitude of the radar system,
C2 is the latitude of the radar system, and H is the height of the radar system, and θ is the azimuth of unmanned plane, the pitching of β unmanned planes
Angle, S1 is the longitude of unmanned plane, and S2 is the latitude of unmanned plane, and G is the height of unmanned plane, and D is the distance value.
9. unmanned plane alignment system according to claim 7, it is characterised in that the optical monitoring system is used in search
During to airbound target, the video data of the airbound target that collection is searched, and recognize the flight according to the video data for collecting
Whether target is unmanned plane, if it is, the current angle of pitch of record unmanned plane, and the angle of pitch is sent to described information reception
Unit.
10. unmanned plane alignment system according to claim 7, it is characterised in that the optical monitoring system include pedestal,
Wireless communication module, controller, motor drive component, shooting frame component and digital high-definition camera, the motor driving group
Part, the shooting frame component are mounted on the pedestal, and the digital high-definition camera is installed on the shooting frame component, described
Controller is electrically connected with the wireless communication module, the motor drive component and digital high-definition camera, the control
Device is used to receive control instruction and the focal length data that described information transmitting element sends, foundation by the wireless communication module
The focal length data controls the digital high-definition camera zoom, and according to control instruction park scan region, and control described
Motor drive component drives the digital high-definition camera to rotate to scan the scanning area.
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