CN106772338B - Unmanned aerial vehicle positioning device, method and system - Google Patents
Unmanned aerial vehicle positioning device, method and system Download PDFInfo
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- CN106772338B CN106772338B CN201611051583.6A CN201611051583A CN106772338B CN 106772338 B CN106772338 B CN 106772338B CN 201611051583 A CN201611051583 A CN 201611051583A CN 106772338 B CN106772338 B CN 106772338B
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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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Abstract
The invention provides an unmanned aerial vehicle positioning device, method and system, and relates to the field of unmanned aerial vehicles. According to the positioning device, the positioning method and the positioning system for the unmanned aerial vehicle, after the unmanned aerial vehicle is detected in a target area through a radar system, the azimuth angle and the distance value of the unmanned aerial vehicle relative to the radar system and the geographic position information of the radar system are sent to the background server, the background server controls the optical monitoring system to scan the unmanned aerial vehicle and record the current pitch angle of the unmanned aerial vehicle according to the information, and a computing unit of the background server can calculate the geographic position information of the unmanned aerial vehicle according to the azimuth angle, the distance value, the pitch angle and the geographic position information of the radar system. The positioning device, the positioning method and the positioning system for the unmanned aerial vehicle are not limited by the conditions of the unmanned aerial vehicle, can record the flight track in a target area, solve the problem that a radar system cannot accurately detect the position of a low-slow small target, and improve the reliability of positioning the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle positioning device, method and system.
Background
The unmanned plane is called unmanned plane for short, and is called UAV in English, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. Unmanned aerial vehicles are widely used in military, agricultural, photographic and other fields, for example, unmanned aerial vehicles are used for reconnaissance, pesticide spraying, aerial photography and the like.
At present, the recording of the flight track of the unmanned aerial vehicle mainly depends on the position information (GPS coordinates and altitude) actively reported by the unmanned aerial vehicle, and the flight track of the unmanned aerial vehicle can be obtained by recording the position information through a computer software system. There are two limitations to this recording method: 1. the unmanned aerial vehicle must have the capability of actively reporting the position information; 2. the computer software system must have access to the communications network of the drone. The above-mentioned limitations lead to a poor applicability of the process, with the main disadvantages as follows: 1. the communication message of the unmanned aerial vehicle may be encrypted, and the position information reported by the unmanned aerial vehicle is unavailable to a computer software system which cannot be accessed to the unmanned aerial vehicle communication network; 2. some cheaper drones may not have the capability of reporting location information; 3. the reliability of the accuracy of the position information reported by the unmanned aerial vehicle is not high.
Disclosure of Invention
In view of this, an object of the embodiments of the present invention is to provide a positioning apparatus, method and system for an unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle positioning apparatus, where the unmanned aerial vehicle positioning apparatus includes:
the information receiving unit is used for receiving an azimuth angle and a distance value of the unmanned aerial vehicle relative to the radar system and geographical position information of the radar system, which are sent by the radar system;
the calculation unit is used for calculating focal length data according to the azimuth angle, the distance value and the geographic position information of the radar system;
the control instruction generating unit is used for generating a control instruction according to the azimuth angle, the distance value and the geographic position information of the radar system;
the information sending unit is used for sending the focal length data and the control command to an optical monitoring system;
the information receiving unit is further used for receiving the pitch angle of the unmanned aerial vehicle sent by the optical monitoring system according to the focal length data and the control instruction;
the calculation unit is further configured to calculate geographic position information of the unmanned aerial vehicle according to the azimuth angle, the distance value, geographic position information of the radar system, and the pitch angle.
In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle positioning method, where the unmanned aerial vehicle positioning method includes:
receiving azimuth angle and distance values of an unmanned aerial vehicle relative to a radar system and geographical position information of the radar system, wherein the azimuth angle and distance values are sent by the radar system;
calculating focal length data and generating a control instruction according to the azimuth angle, the distance value and the geographic position information of the radar system;
sending the focal length data and the control instruction to an optical monitoring system;
receiving the pitch angle of the unmanned aerial vehicle sent by the optical monitoring system according to the focal length data and the control instruction;
and calculating the geographical position information of the unmanned aerial vehicle according to the azimuth angle, the distance value, the pitch angle and the geographical position information of the radar system.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle positioning system, where the unmanned aerial vehicle positioning system includes a radar system, a background server, and an optical monitoring system, where the radar system, the background server, and the optical monitoring system are communicatively connected,
the radar system is used for detecting a target area and sending an azimuth angle and a distance value of the unmanned aerial vehicle relative to the radar system and geographical position information of the radar system to the background server when the unmanned aerial vehicle is detected;
the background server comprises:
the information receiving unit is used for receiving the azimuth angle, the distance value and the geographic position information of the radar system which are sent by the radar system;
the computing unit is used for computing focal length data according to the azimuth angle and the distance value;
the control instruction generating unit is used for generating a control instruction according to the azimuth angle and the distance value;
the information sending unit is used for sending the focal length data and the control instruction to the optical monitoring system;
the optical monitoring system is used for receiving the control instruction and the focal length data sent by the information sending unit, focusing according to the focal length data, determining a scanning area according to the control instruction, searching for the unmanned aerial vehicle in the scanning area, recording the current pitch angle of the unmanned aerial vehicle when the unmanned aerial vehicle is searched, and sending the pitch angle to the information receiving unit;
the information receiving unit is further used for receiving the pitch angle of the unmanned aerial vehicle sent by the optical monitoring system according to the focal length data and the control instruction;
the calculation unit is further configured to calculate geographic position information of the unmanned aerial vehicle according to the azimuth angle, the distance value, the pitch angle, and geographic position information of the radar system.
Compared with the prior art, according to the positioning device, the positioning method and the positioning system for the unmanned aerial vehicle, after the unmanned aerial vehicle is detected in the target area through the radar system, the azimuth angle and the distance value of the unmanned aerial vehicle relative to the radar system and the geographic position information of the radar system are sent to the background server, the background server controls the optical monitoring system to scan the unmanned aerial vehicle and record the current pitch angle of the unmanned aerial vehicle according to the information, and the computing unit of the background server can calculate the geographic position information of the unmanned aerial vehicle according to the azimuth angle, the distance value, the pitch angle and the geographic position information of the radar system. The positioning device, the positioning method and the positioning system for the unmanned aerial vehicle are not limited by the conditions of the unmanned aerial vehicle, can record the flight track in a target area, solve the problem that a radar system cannot accurately detect the position of a low-slow small target, and improve the reliability of positioning the unmanned aerial vehicle.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of interaction among an unmanned aerial vehicle, a radar system, a background server, and an optical monitoring system provided in an embodiment of the present invention;
fig. 2 is a block diagram of a background server according to an embodiment of the present invention;
fig. 3 is a schematic diagram of functional modules of a positioning device of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a flowchart of a positioning method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a circuit connection block diagram of the digital high-definition camera according to the embodiment of the present invention.
Icon: 100-unmanned aerial vehicle; 200-a radar system; 300-background server; 400-an optical monitoring system; 201-unmanned aerial vehicle positioning means; 202-a memory; 203-a memory controller; 204-a processor; 205-peripheral interface; 301-an information receiving unit; 302-a computing unit; 303-a control instruction generation unit; 304-an information transmitting unit; 305-a flight trajectory drawing unit; 501-a controller; 502-a wireless communication module; 503-motor drive assembly; 504-digital high definition camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The positioning device, method and system for the unmanned aerial vehicle provided by the preferred embodiment of the invention can be applied to the application environment as shown in fig. 1. As shown in fig. 1, the drone 100, the radar system 200, the background server 300, and the optical monitoring system 400 are located in the wireless communication network, the radar system 200 is configured to scan the drone 100 through electromagnetic waves, and the background server 300 performs data interaction with the radar system 200 and the optical monitoring system 400, respectively.
Fig. 2 shows a block diagram of a background server 300 according to an embodiment of the present invention. As shown in fig. 2, the backend server 300 includes a drone positioning device 201, a memory 202, a storage controller 203, one or more processors (only one shown) 204, a peripheral interface 205, and the like. These components communicate with each other via one or more communication buses/signal lines. The drone positioning device 201 includes at least one software function module that may be stored in the memory 202 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the backend server 300.
The memory 202 may be configured to store software programs and modules, such as program instructions/modules corresponding to the positioning apparatus and method for a drone in an embodiment of the present invention, and the processor 204 executes various functional applications and data processing by running the software programs and modules stored in the memory 202, such as the positioning method for a drone provided in an embodiment of the present invention.
The memory 202 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. Access to the memory 202 by the processor 204 and possibly other components may be under the control of the memory controller 203.
The peripheral interface 205 couples various input/output devices to the processor 204 as well as to the memory 202. In some embodiments, the peripheral interface 205, the processor 204, and the memory controller 203 may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.
It will be appreciated that the configuration shown in FIG. 2 is merely illustrative, and that backend server 300 may also include more or fewer components than shown in FIG. 2, or have a different configuration than shown in FIG. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 3, an embodiment of the present invention provides an unmanned aerial vehicle positioning apparatus 201, where the unmanned aerial vehicle positioning apparatus 201 includes an information receiving unit 301, a calculating unit 302, a control instruction generating unit 303, an information sending unit 304, and a flight trajectory drawing unit 305.
The information receiving unit 301 is configured to receive an azimuth angle and a distance value of the drone 100 relative to the radar system 200, and geographical location information of the radar system 200, which are sent by a radar system 200.
Radar systems, which use radio methods to find objects and determine their spatial position. Therefore, radar is also referred to as "radiolocation". Radars are electronic devices that detect objects using electromagnetic waves. The radar emits electromagnetic waves to irradiate the target and receives echoes of the electromagnetic waves, so that information such as the distance from the target to an electromagnetic wave emission point, the distance change rate (radial speed), the direction, the altitude and the like is obtained, in addition, the radar system 200 also stores geographical position information of the radar system 200, the geographical position information of the radar system 200 comprises the longitude, the latitude and the altitude of the geographical position where the radar system 200 is located, and the radar system 200 can also send the signal intensity of the reflected electromagnetic waves and the measured moving speed information of the unmanned aerial vehicle 100 to the information receiving unit 301.
The calculation unit 302 is configured to calculate focal distance data according to the azimuth, the distance value, and the geographic location information of the radar system 200.
The calculation unit 302 can derive the approximate azimuth of the drone 100 through the azimuth, the distance value and the geographic location information of the radar system 200, so that the optical monitoring system 400 can obtain the focal length data that the drone 100 needs to be focused on.
The control instruction generating unit 303 is configured to generate a control instruction according to the azimuth, the distance value, and the geographic position information of the radar system 200.
In this embodiment, the control command carries the azimuth angle and the distance value of the drone 100 and the geographical location information of the radar system 200.
The information sending unit 304 is configured to send the focal length data and the control command to an optical monitoring system 400.
The information receiving unit 301 is further configured to receive the pitch angle of the unmanned aerial vehicle 100 sent by the optical monitoring system 400 according to the focal length data and the control instruction.
In this embodiment, the optical monitoring system 400 focuses according to the focal length data, determines a scanning area according to the azimuth angle and the distance value of the drone 100 carried by the control instruction and the geographic position information of the radar system 200, searches for the drone 100 in the scanning area, records the current pitch angle of the drone 100 when the drone 100 is searched, and sends the pitch angle to the information receiving unit 301.
The calculating unit 302 is further configured to calculate the geographic position information of the drone 100 according to the azimuth, the distance value, the geographic position information of the radar system 200, and the pitch angle.
Specifically, the calculating unit 302 is configured to calculate longitude, latitude, and altitude of the drone 100 to obtain the geographical location information of the drone 100 according to the formulas S1, C1+ D × cos (β) × cos (θ), S2, C2+ D × cos (β) × sin (θ), and G, H + D × sin (β), where C1 is the longitude of the radar system 200, C2 is the latitude of the radar system 200, H is the altitude of the radar system 200, θ is the azimuth of the drone 100, β is the pitch angle of the drone 100, S1 is the longitude of the drone 100, S2 is the latitude of the drone 100, G is the altitude of the drone 100, and D is the distance value.
The flight path drawing unit 305 is configured to draw the flight path of the drone 100 according to the time information and the geographic position information of the drone 100.
Referring to fig. 4, an embodiment of the present invention provides a method for positioning an unmanned aerial vehicle, and it should be noted that the basic principle and the generated technical effects of the method for positioning an unmanned aerial vehicle provided in this embodiment are the same as those of the above embodiment, and for brief description, reference may be made to corresponding contents in the above embodiment for the part not mentioned in this embodiment. The unmanned aerial vehicle positioning method comprises the following steps:
step S401: the azimuth and range values of the drone 100 relative to the radar system 200 and the geographic location information of the radar system 200 sent by a radar system 200 are received by the background server 300.
It is understood that step S401 is performed by the information receiving unit 301.
Step S402: the background server 300 calculates focal length data and generates a control command according to the azimuth angle, the distance value and the geographic position information of the radar system 200.
It is understood that step S402 is performed by the computing unit 302.
Step S403: the background server 300 sends the focal length data and the control command to an optical monitoring system 400.
It is understood that step S403 is performed by the information transmitting unit 304.
Step S404: the background server 300 receives the pitch angle of the unmanned aerial vehicle 100 sent by the optical monitoring system 400 according to the focal length data and the control instruction.
It is understood that step S404 is performed by the information receiving unit 301.
Step S405: the background server 300 calculates the geographical location information of the drone 100 according to the azimuth, the distance value, the pitch angle, and the geographical location information of the radar system 200.
It is understood that step S405 is performed by the calculation unit.
Specifically, step S405 includes: according to the formula S1, C1+ D × cos (β) × cos (θ), S2 is C2+ D × cos (β) × sin (θ), and G is H + D × sin (β), the longitude, latitude, and altitude of the drone 100 are calculated respectively to obtain the geographical location information of the drone 100, where C1 is the longitude of the radar system 200, C2 is the latitude of the radar system 200, H is the altitude of the radar system 200, θ is the azimuth of the drone 100, β is the pitch angle of the drone 100, S1 is the longitude of the drone 100, S2 is the latitude of the drone 100, G is the altitude of the drone 100, and D is the distance value.
Step S406: the background server 300 draws the flight trajectory of the drone 100 according to the time information and the geographical location information of the drone 100.
As can be appreciated, step S406 is performed according to the flight trajectory mapping unit 305.
Referring to fig. 1, an embodiment of the present invention further provides an unmanned aerial vehicle positioning system, and it should be noted that the basic principle and the generated technical effects of the unmanned aerial vehicle positioning system provided in this embodiment are the same as those of the above embodiment, and for brief description, reference may be made to corresponding contents in the above embodiment for parts that are not mentioned in this embodiment. Unmanned aerial vehicle positioning system includes radar system 200, backend server 300 and optical monitoring system 400, radar system 200, backend server 300 and establish communication connection between the optical monitoring system 400.
The radar system 200 is configured to detect a target area, and when detecting the drone 100, send an azimuth and a range value of the drone 100 relative to the radar system 200 and geographic location information of the radar system 200 to the background server 300, where the background server 300 includes:
an information receiving unit 301, configured to receive the azimuth angle, the distance value, and the geographic location information of the radar system 200 sent by the radar system 200.
A calculating unit 302, configured to calculate focal length data according to the azimuth angle and the distance value.
A control instruction generating unit 303, configured to generate a control instruction according to the azimuth angle and the distance value.
An information sending unit 304, configured to send the focal length data and the control instruction to the optical monitoring system 400.
The optical monitoring system 400 is configured to receive the control instruction and the focal length data sent by the information sending unit 304, focus according to the focal length data, determine a scanning area according to the control instruction, search for the unmanned aerial vehicle 100 in the scanning area, record a current pitch angle of the unmanned aerial vehicle 100 when the unmanned aerial vehicle 100 is searched, and send the pitch angle to the information receiving unit 301.
Specifically, in order to avoid recording the track of the moving target (such as birds, balloons and the like) that the whole unmanned aerial vehicle positioning system interferes with, the optical monitoring system 400 is used for collecting the video data of the searched flying target when searching for the flying target, and identifies whether the flying target is the unmanned aerial vehicle 100 according to the collected video data, if so, records the current pitch angle of the unmanned aerial vehicle 100, and sends the pitch angle to the information receiving unit 301, thereby avoiding the unmanned aerial vehicle positioning system from recording the track of the moving target that interferes with.
Further, the optical monitoring system 400 includes a base, a wireless communication module 502, a controller 501, a motor driving assembly 503, a camera stand assembly, and a digital high definition camera 504. The motor driving assembly 503 and the camera shooting rack assembly are both arranged on the base, and the digital high-definition camera 504 is arranged on the camera shooting rack assembly. As shown in fig. 5, the controller 501 is electrically connected to the wireless communication module 502, the motor driving assembly 503 and the digital high-definition camera 504, and the controller 501 is configured to receive the control instruction and the focal length data sent by the information sending unit 304 through the wireless communication module 502, control the digital high-definition camera 504 to zoom according to the focal length data, lock the scanning area according to the control instruction, and control the motor driving assembly 503 to drive the digital high-definition camera 504 to rotate so as to scan the scanning area. The digital high-definition camera 504 collects video data of the flying target after the flying target is searched in the scanning area, and transmits the video data to the controller 501, and the controller 501 is configured to identify whether the flying target is the unmanned aerial vehicle 100 according to the video data.
The information receiving unit 301 is further configured to receive the pitch angle of the unmanned aerial vehicle 100 sent by the optical monitoring system 400 according to the focal length data and the control instruction.
The calculating unit 302 is further configured to calculate geographic position information of the drone 100 according to the azimuth, the distance value, the pitch angle, and geographic position information of the radar system 200.
Specifically, the calculating unit 302 is configured to calculate longitude, latitude, and altitude of the drone 100 to obtain the geographical location information of the drone 100 according to the formulas S1, C1+ D × cos (β) × cos (θ), S2, C2+ D × cos (β) × sin (θ), and G, H + D × sin (β), where C1 is the longitude of the radar system 200, C2 is the latitude of the radar system 200, H is the altitude of the radar system 200, θ is the azimuth of the drone 100, β is the pitch angle of the drone 100, S1 is the longitude of the drone 100, S2 is the latitude of the drone 100, G is the altitude of the drone 100, and D is the distance value.
A flight trajectory drawing unit 305, configured to draw a flight trajectory of the drone 100 according to the time information and the geographic position information of the drone 100.
In this embodiment, the background server 300 is further configured to receive the signal intensity of the reflected electromagnetic wave sent by the radar system 200 and measure the moving speed information of the unmanned aerial vehicle 100; and receiving video data information obtained by shooting by the optical monitoring system 400, and storing the signal intensity of the reflected electromagnetic wave, the moving speed information of the unmanned aerial vehicle 100 and the video data information, so as to conveniently inquire and backtrack the flight state of the unmanned aerial vehicle 100.
According to the positioning device, method and system for the unmanned aerial vehicle provided by the embodiment of the invention, after the radar system 200 detects the unmanned aerial vehicle 100 in the target area, the azimuth angle and distance value of the unmanned aerial vehicle 100 relative to the radar system 200 and the geographic position information of the radar system 200 are sent to the background server 300, the background server 300 controls the optical monitoring system 400 to scan the unmanned aerial vehicle 100 according to the information and records the current pitch angle of the unmanned aerial vehicle 100, and the calculation unit 302 of the background server 300 can calculate the geographic position information of the unmanned aerial vehicle 100 according to the azimuth angle, the distance value, the pitch angle and the geographic position information of the radar system 200. The positioning device, the method and the system for the unmanned aerial vehicle 100 are not limited by the conditions of the unmanned aerial vehicle 100, the flight track in a target area can be recorded, the problem that the radar system 200 cannot accurately detect the position of a low-slow small target is solved, the reliability of positioning the unmanned aerial vehicle is improved, in addition, the optical monitoring system 400 can collect and search the video data of the flight target, and identify whether the flight target is the unmanned aerial vehicle 100 or not according to the collected video data, if so, the current pitch angle of the unmanned aerial vehicle 100 is recorded, and the pitch angle is sent to the information receiving unit 301, so that the unmanned aerial vehicle positioning system is prevented from recording the track of an interfering moving target, and the reliability of positioning the unmanned aerial vehicle is further improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. The utility model provides an unmanned aerial vehicle positioner, its characterized in that, unmanned aerial vehicle positioner includes:
the information receiving unit is used for receiving an azimuth angle and a distance value of the unmanned aerial vehicle relative to the radar system and geographical position information of the radar system, which are sent by the radar system;
the calculation unit is used for calculating focal length data according to the azimuth angle, the distance value and the geographic position information of the radar system;
the control instruction generating unit is used for generating a control instruction according to the azimuth angle, the distance value and the geographic position information of the radar system;
the information sending unit is used for sending the focal length data and the control command to an optical monitoring system so that the optical monitoring system focuses according to the focal length data, then determines a scanning area according to the control command, searches for the unmanned aerial vehicle in the scanning area, records the pitch angle of the unmanned aerial vehicle when the unmanned aerial vehicle is searched, and sends the pitch angle to the information receiving unit; the information receiving unit is further used for receiving the pitch angle of the unmanned aerial vehicle sent by the optical monitoring system according to the focal length data and the control instruction;
the calculation unit is further configured to calculate geographic position information of the unmanned aerial vehicle according to the azimuth angle, the distance value, geographic position information of the radar system, and the pitch angle.
2. The apparatus according to claim 1, wherein the computing unit is configured to compute longitude, latitude, and altitude of the drone according to the formulas S1 ═ C1+ D × cos (β) × cos (θ), S2 ═ C2+ D × cos (β) × sin (θ), and G ═ H + D × sin (β), respectively, to obtain the geographic position information of the drone, where C1 is the longitude of the radar system, C2 is the latitude of the radar system, H is the altitude of the radar system, θ is the azimuth of the drone, β is the pitch angle of the drone, S1 is the longitude of the drone, S2 is the latitude of the drone, G is the altitude of the drone, and D is the distance value.
3. The drone positioning device of claim 1, further comprising:
and the flight track drawing unit is used for drawing the flight track of the unmanned aerial vehicle according to the time information and the geographical position information of the unmanned aerial vehicle.
4. A positioning method of an unmanned aerial vehicle is characterized by comprising the following steps:
receiving azimuth angle and distance values of an unmanned aerial vehicle relative to a radar system and geographical position information of the radar system, wherein the azimuth angle and distance values are sent by the radar system;
calculating focal length data and generating a control instruction according to the azimuth angle, the distance value and the geographic position information of the radar system;
the focal length data and the control instruction are sent to an optical monitoring system, so that the optical monitoring system focuses according to the focal length data, determines a scanning area according to the control instruction, searches for the unmanned aerial vehicle in the scanning area, records the pitch angle of the unmanned aerial vehicle when the unmanned aerial vehicle is searched, and sends the pitch angle to the information receiving unit;
receiving the pitch angle of the unmanned aerial vehicle sent by the optical monitoring system according to the focal length data and the control instruction; and calculating the geographical position information of the unmanned aerial vehicle according to the azimuth angle, the distance value, the pitch angle and the geographical position information of the radar system.
5. The method of claim 4, wherein the step of calculating the geolocation information of the drone based on the azimuth, the range value, the pitch angle, and the geolocation information of the radar system comprises:
according to the formula S1, C1+ D × cos (β) × cos (θ), S2 is C2+ D × cos (β) × sin (θ), and G is H + D × sin (β), the longitude, latitude, and altitude of the drone are calculated respectively to obtain the geographical location information of the drone, where C1 is the longitude of the radar system, C2 is the latitude of the radar system, H is the altitude of the radar system, θ is the azimuth angle of the drone, β is the pitch angle of the drone, S1 is the longitude of the drone, S2 is the latitude of the drone, G is the altitude of the drone, and D is the distance value.
6. The drone positioning method of claim 4, further comprising:
and drawing the flight track of the unmanned aerial vehicle according to the time information and the geographical position information of the unmanned aerial vehicle.
7. An unmanned aerial vehicle positioning system is characterized by comprising a radar system, a background server and an optical monitoring system, wherein communication connection is established among the radar system, the background server and the optical monitoring system,
the radar system is used for detecting a target area and sending an azimuth angle and a distance value of the unmanned aerial vehicle relative to the radar system and geographical position information of the radar system to the background server when the unmanned aerial vehicle is detected;
the background server comprises:
the information receiving unit is used for receiving the azimuth angle, the distance value and the geographic position information of the radar system which are sent by the radar system;
the computing unit is used for computing focal length data according to the azimuth angle and the distance value;
the control instruction generating unit is used for generating a control instruction according to the azimuth angle and the distance value;
the information sending unit is used for sending the focal length data and the control instruction to the optical monitoring system;
the optical monitoring system is used for receiving the control instruction and the focal length data sent by the information sending unit, focusing according to the focal length data, determining a scanning area according to the control instruction, searching for the unmanned aerial vehicle in the scanning area, recording the current pitch angle of the unmanned aerial vehicle when the unmanned aerial vehicle is searched, and sending the pitch angle to the information receiving unit;
the information receiving unit is further used for receiving the pitch angle of the unmanned aerial vehicle sent by the optical monitoring system according to the focal length data and the control instruction;
the calculation unit is further configured to calculate geographic position information of the unmanned aerial vehicle according to the azimuth angle, the distance value, the pitch angle, and geographic position information of the radar system.
8. The drone positioning system according to claim 7, wherein the computing unit is configured to compute longitude, latitude, and altitude of the drone according to the formulas S1 ═ C1+ D × cos (β) × cos (θ), S2 ═ C2+ D × cos (β) × sin (θ), and G ═ H + D × sin (β), respectively, to obtain the geographic position information of the drone, where C1 is the longitude of the radar system, C2 is the latitude of the radar system, H is the altitude of the radar system, θ is the azimuth of the drone, β is the pitch angle of the drone, S1 is the longitude of the drone, S2 is the latitude of the drone, G is the altitude of the drone, and D is the distance value.
9. The unmanned aerial vehicle positioning system of claim 7, wherein the optical monitoring system is configured to, when a flying target is searched, collect video data of the searched flying target, identify whether the flying target is an unmanned aerial vehicle according to the collected video data, and if so, record a current pitch angle of the unmanned aerial vehicle and send the pitch angle to the information receiving unit.
10. The drone positioning system of claim 7, wherein the optical monitoring system includes a base, a wireless communication module, a controller, a motor drive assembly, a camera rig assembly, and a digital high definition camera, the motor driving component and the shooting frame component are both arranged on the base, the digital high-definition camera is arranged on the shooting frame component, the controller is electrically connected with the wireless communication module, the motor driving component and the digital high-definition camera, the controller is used for receiving the control instruction and the focal length data sent by the information sending unit through the wireless communication module, controlling the digital high-definition camera to zoom according to the focal length data, and locking a scanning area according to a control instruction, and controlling the motor driving assembly to drive the digital high-definition camera to rotate so as to scan the scanning area.
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