CN106908820A - A kind of unmanned plane high-accuracy position system and method - Google Patents

A kind of unmanned plane high-accuracy position system and method Download PDF

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Publication number
CN106908820A
CN106908820A CN201510967316.2A CN201510967316A CN106908820A CN 106908820 A CN106908820 A CN 106908820A CN 201510967316 A CN201510967316 A CN 201510967316A CN 106908820 A CN106908820 A CN 106908820A
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CN
China
Prior art keywords
positioning
aircraft
signal
coordinate
control terminal
Prior art date
Application number
CN201510967316.2A
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Chinese (zh)
Inventor
吕振义
宋文刚
寇崇晓
朱琪
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深圳市科卫泰实业发展有限公司
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Application filed by 深圳市科卫泰实业发展有限公司 filed Critical 深圳市科卫泰实业发展有限公司
Priority to CN201510967316.2A priority Critical patent/CN106908820A/en
Publication of CN106908820A publication Critical patent/CN106908820A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40Correcting position, velocity or attitude
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/45Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type

Abstract

The invention discloses a kind of unmanned plane high-accuracy position system and method, including:Ground control terminal is synchronous with aircraft to obtain the framing signal from satellite;Ground control terminal parses own coordinate, and output calibration data signal to aircraft according to the framing signal for obtaining;Aircraft carries out positioning correcting to own coordinate according to the framing signal and correction data signal that obtain, and exports the coordinate after positioning correcting to flying vehicles control end.The present invention receives satellite positioning signal by the way that ground control terminal is synchronous with aircraft, parsing current position coordinates, and GNSS control informations are sent to aircraft by ground control terminal, the satellite positioning signal and control information that receive are combined by aircraft, flight control mechanism is supplied to export high-precision location information, calculating coordinate and attitude algorithm are participated in, so as to realize high accuracy positioning.

Description

A kind of unmanned plane high-accuracy position system and method

Technical field:

The invention belongs to unmanned plane field, and in particular to be a kind of unmanned plane high-accuracy position system and Method.

Background technology:

Unmanned plane as load video acquiring and transmission system equipment, movies-making, news interview, The occasions such as scene evidence taking, air patrol have a wide range of applications.Unmanned plane perform task process in, High-precision location data participates in attitude algorithm, and for the stability of unmanned plane during flying, reliability has non- Often important effect, it is possible to achieve the unmanned plane of high accuracy positioning fly in itself it is more reliable and stable, separately Outer high-precision location data also plays a very important role to load or application, such as aerial survey purposes, It is determined that the coordinate taken pictures a little, fire position function, coordinates photoelectric nacelle to realize precision distance measurement for another example. So, can high accuracy positioning orientation unmanned plane device can improve unmanned plane reliability in itself, it is also possible to expand Open up the scene of unmanned plane application.

But, traditional approach unmanned plane positioning uses single mode GNSS system, and antenna is generally single mode day Line, comparatively precision is poor for the positioning method of this single mode single antenna, under normal circumstances positioning precision It is 2.5m.This positioning method is difficult to provide high-precision location data, therefore, it is difficult to meet user's Various use demands.

The content of the invention:

Therefore, it is an object of the invention to provide a kind of unmanned plane high-accuracy position system and method, with Improve unmanned plane and perform the positioning precision of task process.

To achieve the above object, the present invention is mainly adopted the following technical scheme that:

A kind of unmanned plane high-accuracy position system, including:

Ground control terminal, the ground control terminal is provided with the first locating module and the first positioning antenna, First locating module is connected with the first positioning antenna, and the first positioning antenna comes from for reception The framing signal of satellite is simultaneously sent to the first locating module;First locating module is used for basis and comes from The framing signal parsing own coordinate of satellite, and output calibration data signal is to aircraft;

Aircraft, is connected with the ground control terminal, and the second locating module is provided with the aircraft Antenna is positioned with second, second locating module is connected with the second positioning antenna, second positioning Antenna is used to receive the framing signal from satellite and be sent to the second locating module;Second positioning Module is used for according to the framing signal from the second positioning antenna and the correction number from the first locating module It is believed that number carrying out positioning correcting to own coordinate, and export the coordinate after positioning correcting to flying vehicles control End.

Further, the first positioning antenna installed in the ground control terminal is one or two;Institute It is one or two to state the second positioning antenna installed on aircraft.

Further, first locating module, the second locating module are GNSS positioning modules;The One positioning antenna, the second positioning antenna are GNSS antenna.

Further, the ground control terminal by way of wired or wireless connection by correction data Signal is sent to aircraft.

Further, the ground control terminal is believed correction data by way of the general radio station of 3G 4G Number it is sent to aircraft.

Further, the framing signal includes ranging code signal, navigation message signals and carrier signal.

In addition, present invention also offers a kind of unmanned plane high-precision locating method, including:

Ground control terminal is synchronous with aircraft to obtain the framing signal from satellite;

Ground control terminal parses own coordinate, and output calibration data signal according to the framing signal for obtaining To aircraft;

Aircraft carries out positioning school according to the framing signal and correction data signal that obtain to own coordinate Just, and the coordinate after positioning correcting to flying vehicles control end is exported.

Further, the ground control terminal obtains satellite positioning signal simultaneously by a GNSS antenna Own coordinate is parsed by GNSS locating modules, the direction of motion is then calculated according to historical movement track;

Or ground control terminal obtains satellite positioning signal and passes through GNSS by two GNSS antennas Locating module parses itself real-time location coordinates and determines the direction of motion according to real-time location coordinates;

The aircraft is obtained satellite positioning signal and is positioned by GNSS by a GNSS antenna Module parses own coordinate, then calculates the direction of motion according to historical movement track;

Or aircraft is obtained satellite positioning signal and is positioned by GNSS by two GNSS antennas Module calculates the coordinate of itself real time position and determines the direction of motion according to real-time location coordinates.

Further, the ground control terminal parses own coordinate according to the framing signal for obtaining, and leads to Cross wired or 3G 4G general radio station mode output calibration data signal to aircraft.

Further, the aircraft by wired or 3G 4G obtain by way of general radio station come Carried out from the correction data signal of ground control terminal and by the satellite positioning signal that GNSS antenna is obtained With reference to calculating, positioning correcting is carried out to own coordinate, and export the coordinate after positioning correcting to aircraft Control end.

The present invention receives satellite positioning signal by the way that ground control terminal is synchronous with aircraft, parses present bit Coordinate is put, and GNSS control informations are sent to aircraft by ground control terminal, by aircraft pair The satellite positioning signal and control information for receiving are combined, and are carried with exporting high-precision location information Supply flight control mechanism, participates in calculating coordinate and attitude algorithm, so as to realize high accuracy positioning.

Brief description of the drawings:

Fig. 1 is the theory diagram of unmanned plane high-accuracy position system of the present invention;

Fig. 2 is the schematic flow sheet of unmanned plane high-precision locating method of the present invention.

Identifier declaration in figure:Aircraft 100, GNSS modules 101, the control of GNSS antenna 102, ground End processed 200, GNSS modules 201, GNSS antenna 202.

Specific embodiment:

To illustrate thought of the invention and purpose, below in conjunction with the drawings and specific embodiments to the present invention It is described further.

Shown in Figure 1, Fig. 1 is the theory diagram of unmanned plane high-accuracy position system of the present invention. The invention provides a kind of unmanned plane high-accuracy position system, it mainly includes aircraft 100 and ground Face control end 200.

Can be by wired or wirelessly wherein between aircraft 100 and ground control terminal 200 Connection.Wired mode is used to be tethered at the UAS of pattern, and wireless mode is used for the nothing of free flight Man-machine system.

First locating module and the first positioning antenna are installed, described first determines in ground control terminal 200 Position module is connected with the first positioning antenna, and the first positioning antenna is used to receive the positioning from satellite Signal is simultaneously sent to the first locating module;First locating module is used for according to the positioning from satellite Signal resolution own coordinate, and output calibration data signal is to aircraft.

It should be noted that ground control terminal can parse own coordinate according to the framing signal for obtaining, and Wired or 3G 4G by way of general radio station output calibration data signal to aircraft.If flown Row device 100 is the UAS of the pattern that is tethered at, then directly by wired mode output calibration data Signal is to aircraft;If aircraft 100 is the UAS that wireless mode is used for free flight, Then need 3G 4G by way of the antenna such as general radio station output calibration data signal to aircraft.This The 3G at place 4G the antenna such as general radio station and the first positioning antenna it is independent mutually.

The the first positioning antenna installed in ground control terminal is one or two;If the first positioning antenna It it is one, then ground control terminal obtains satellite positioning signal and passes through by a GNSS antenna GNSS locating modules parse own coordinate, then calculate the direction of motion according to historical movement track.Such as Really the first positioning antenna is two, then ground control terminal obtains satellite fix by two GNSS antennas Signal simultaneously parses itself real-time location coordinates and true according to real-time location coordinates by GNSS locating modules Motion orientation.It should be noted that using two positioning antennas except high accuracy positioning can be realized Outward, while orientating function can be realized, that is, course of the aircraft with respect to real north is determined.And it is guarantor Card obtains high accuracy course, is also required to keep certain baseline length, base between two GNSS antennas Line length determines the precision of orientation.

The first locating module herein is GNSS modules 201, and the first positioning antenna is GNSS antenna 202, and GNSS modules 201 are connected with GNSS antenna 202.

GNSS antenna 202 is arranged on the top in ground control terminal, high-quality to guarantee capture Framing signal, while the inside configuration of ground control terminal is provided with communication means (TCP/IP, NTRIP Wired connection or 3G 4G general radio antenna), to send correction data to aircraft, complete essence Determine bit function.

Aircraft 100 includes flying vehicles control end, the second locating module and the second positioning antenna, wherein Flying vehicles control end, the second locating module are built in aircraft 100, and the second positioning antenna is arranged on The top of aircraft 100.

Second locating module is connected with the second positioning antenna, and the second positioning antenna is used to receive from satellite Framing signal and be sent to the second locating module;Second locating module is used for according to from the second positioning The framing signal of antenna and the correction data signal from the first locating module are positioned to own coordinate Correction, and the coordinate after positioning correcting to flying vehicles control end is exported, flying vehicles control end is according to correction Coordinate control aircraft flight.

Wherein the second locating module is GNSS modules 101, and the second positioning antenna is GNSS antenna 102, For GNSS modules 101 are connected with GNSS antenna 102.

The the second positioning antenna installed on aircraft is one or two, if one, then aircraft Obtain satellite positioning signal and itself is parsed by GNSS locating modules by a GNSS antenna and sit Mark, then calculates the direction of motion according to historical movement track;If two, then aircraft is by two Individual GNSS antenna obtains satellite positioning signal and calculates itself real time position by GNSS locating modules Coordinate and determine the direction of motion according to real-time location coordinates.It should be noted that using two positioning Antenna while orientating function can be realized, that is, determines aircraft in addition to it can realize high accuracy positioning With respect to the course of real north.And be to ensure to obtain high accuracy course, between two GNSS antennas Need to keep certain baseline length, baseline length that the precision of orientation is determined.

Above is the explanation to unmanned plane high-accuracy position system of the present invention, below in conjunction with 2 pairs, accompanying drawing Unmanned plane high-precision locating method of the present invention is further described.

As shown in Fig. 2 Fig. 2 is the schematic flow sheet of unmanned plane high-precision locating method of the present invention.This Invention additionally provides a kind of unmanned plane high-precision locating method, and it includes having the following steps:

S1, ground control terminal are synchronous with aircraft to obtain the framing signal from satellite;

Due to being fitted with GNSS antenna and GNSS positioning modules in ground control terminal and aircraft, Framing signal from satellite can synchronously be obtained by GNSS antenna.

If a GNSS antenna is all only provided with ground control terminal and aircraft, by one GNSS antenna obtains satellite positioning signal, can only now calculate the direction of motion.

If two GNSS antennas are fitted with ground control terminal and aircraft, by two GNSS antenna obtains satellite positioning signal, now can in real time determine the direction of motion.

S2, ground control terminal parse own coordinate, and output calibration data according to the framing signal for obtaining Signal is to aircraft;

Ground control terminal is obtained satellite positioning signal and is positioned by GNSS by a GNSS antenna Module parses own coordinate, then calculates the direction of motion according to historical movement track;Or ground control End obtains satellite positioning signal and parses itself by GNSS locating modules by two GNSS antennas Real-time location coordinates simultaneously determine the direction of motion according to real-time location coordinates.

Aircraft obtains satellite positioning signal and passes through GNSS locating modules by a GNSS antenna Parsing own coordinate, then calculates the direction of motion according to historical movement track;Or aircraft passes through two Individual GNSS antenna obtains satellite positioning signal and calculates itself real time position by GNSS locating modules Coordinate and determine the direction of motion according to real-time location coordinates.

Can be by wired or wirelessly connect between aircraft 100 and ground control terminal 200. Wired mode is used to be tethered at the UAS of pattern, and wireless mode is used for the unmanned plane system of free flight System.When wired connection between aircraft 100 and ground control terminal 200, now ground control terminal root Own coordinate is parsed according to the framing signal for obtaining, and by wired output calibration data signal to aircraft. And when wireless connection between aircraft 100 and ground control terminal 200, now ground control terminal according to The framing signal parsing own coordinate of acquisition, and 3G 4G output calibration number by way of general radio station It is believed that number to aircraft

S3, aircraft are positioned according to the framing signal and correction data signal that obtain to own coordinate Correction, and export the coordinate after positioning correcting to flying vehicles control end.

Aircraft by wired or 3G 4G obtain from ground control terminal by way of general radio station Correction data signal and by GNSS antenna obtain satellite positioning signal be combined calculatings, to oneself Body coordinate carries out positioning correcting, and exports the coordinate after positioning correcting to flying vehicles control end or loading The 3rd equipment (such as video camera) on board the aircraft.

After flying vehicles control end gets the coordinate after correction, the state of flight for adjusting aircraft can be corresponded to, Keep the stability of flight.

By way of air-ground combination, ground control terminal sends GNSS control informations to flight to the present invention Device, the airborne GNSS modules of aircraft combine the base-line check information for receiving, and export high-precision Location information is supplied to flight control mechanism, participates in calculating coordinate and attitude algorithm, high-precision so as to realize Degree positioning.

Above is having been carried out in detail to a kind of unmanned plane high-accuracy position system provided by the present invention and method Thin introduction, specific case used herein is carried out to structural principle of the invention and implementation method Illustrate, above example is only intended to help and understands the method for the present invention and its core concept;Meanwhile, For those of ordinary skill in the art, according to thought of the invention, in specific embodiment and application Be will change in scope, in sum, this specification content should not be construed as to of the invention Limitation.

Claims (10)

1. a kind of unmanned plane high-accuracy position system, it is characterised in that including:
Ground control terminal, the ground control terminal is provided with the first locating module and the first positioning antenna, First locating module is connected with the first positioning antenna, and the first positioning antenna is used to receive next From the framing signal of satellite and it is sent to the first locating module;First locating module is used for basis Framing signal parsing own coordinate from satellite, and output calibration data signal is to aircraft;
Aircraft, is connected with the ground control terminal, and the second positioning mould is provided with the aircraft Block and the second positioning antenna, second locating module are connected with the second positioning antenna, and described second Positioning antenna is used to receive the framing signal from satellite and be sent to the second locating module;Described Two locating modules are used for according to the framing signal from the second positioning antenna and from the first locating module Correction data signal positioning correcting is carried out to own coordinate, and export the coordinate after positioning correcting and arrive Flying vehicles control end.
2. unmanned plane high-accuracy position system as claimed in claim 1, it is characterised in that described The the first positioning antenna installed in ground control terminal is one or two;Installed on the aircraft Second positioning antenna is one or two.
3. unmanned plane high-accuracy position system as claimed in claim 2, it is characterised in that described First locating module, the second locating module are GNSS positioning modules;First positioning antenna, second Positioning antenna is GNSS antenna.
4. unmanned plane high-accuracy position system as claimed in claim 3, it is characterised in that described Ground control terminal high-ranking officers' positive data signal by way of wired or wireless connection is sent to flight Device.
5. unmanned plane high-accuracy position system as claimed in claim 4, it is characterised in that described Ground control terminal 3G 4G by way of general radio station high-ranking officers' positive data signal be sent to aircraft.
6. unmanned plane high-accuracy position system as claimed in claim 5, it is characterised in that described Framing signal includes ranging code signal, navigation message signals and carrier signal.
7. a kind of unmanned plane high-precision locating method, it is characterised in that including:
Ground control terminal is synchronous with aircraft to obtain the framing signal from satellite;
Ground control terminal parses own coordinate according to the framing signal for obtaining, and output calibration data is believed Number to aircraft;
Aircraft carries out positioning school according to the framing signal and correction data signal that obtain to own coordinate Just, and the coordinate after positioning correcting to flying vehicles control end is exported.
8. unmanned plane high-precision locating method as claimed in claim 7, it is characterised in that
The ground control terminal obtains satellite positioning signal and passes through by a GNSS antenna GNSS locating modules parse own coordinate, then calculate the direction of motion according to historical movement track;
Or ground control terminal obtains satellite positioning signal and passes through by two GNSS antennas GNSS locating modules parse itself real-time location coordinates and determine motion side according to real-time location coordinates To;
The aircraft is obtained satellite positioning signal and is determined by GNSS by a GNSS antenna Position module parsing own coordinate, then calculates the direction of motion according to historical movement track;
Or aircraft is obtained satellite positioning signal and is determined by GNSS by two GNSS antennas Position module calculates the coordinate of itself real time position and determines the direction of motion according to real-time location coordinates.
9. unmanned plane high-precision locating method as claimed in claim 8, it is characterised in that described Ground control terminal according to obtain framing signal parse own coordinate, and by wired or 3G 4G The mode output calibration data signal in general radio station is to aircraft.
10. unmanned plane high-precision locating method as claimed in claim 9, it is characterised in that institute State aircraft by wired or 3G 4G obtain from ground control terminal by way of general radio station Correction data signal and by GNSS antenna obtain satellite positioning signal be combined calculating, it is right Own coordinate carries out positioning correcting, and exports the coordinate after positioning correcting to flying vehicles control end.
CN201510967316.2A 2015-12-22 2015-12-22 A kind of unmanned plane high-accuracy position system and method CN106908820A (en)

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Cited By (3)

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WO2020082349A1 (en) * 2018-10-26 2020-04-30 深圳市大疆创新科技有限公司 High-precision unmanned aerial vehicle flight path measurement system and machine-readable storage medium
CN111309053A (en) * 2020-05-15 2020-06-19 南京嘉谷初成通信科技有限公司 Unmanned aerial vehicle control method, unmanned aerial vehicle return control method, unmanned aerial vehicle, medium and control system
WO2020132989A1 (en) * 2018-12-26 2020-07-02 深圳市大疆创新科技有限公司 Data processing method, control device, system and storage medium

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CN111309053A (en) * 2020-05-15 2020-06-19 南京嘉谷初成通信科技有限公司 Unmanned aerial vehicle control method, unmanned aerial vehicle return control method, unmanned aerial vehicle, medium and control system
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Application publication date: 20170630