CN107110977A - 一种无人机飞行器、导航方法及系统 - Google Patents

一种无人机飞行器、导航方法及系统 Download PDF

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Publication number
CN107110977A
CN107110977A CN201580065133.XA CN201580065133A CN107110977A CN 107110977 A CN107110977 A CN 107110977A CN 201580065133 A CN201580065133 A CN 201580065133A CN 107110977 A CN107110977 A CN 107110977A
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CN
China
Prior art keywords
module
controller
data
measurement
measurement module
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Pending
Application number
CN201580065133.XA
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English (en)
Inventor
于云
宋健宇
潘国秀
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SZ DJI Technology Co Ltd
Shenzhen Dajiang Innovations Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN107110977A publication Critical patent/CN107110977A/zh
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining 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
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining 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
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0077—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements using redundant signals or controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining 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
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems

Abstract

一种无人机飞行器、导航方法及系统，其利用冗余拓扑结构实现冗余导航的技术思路，在该技术思路的基础上提出了利用冗余结构的测量模块实现冗余导航，这种结构的导航系统在工作时，利用冗余结构的测量模块能够保证测量数据的可靠性，进而为控制器提供对导航有价值的数据，最终控制器利用冗余结构的测量模块传送的数据进行导航，就能够保证导航精度；另外，无人机飞行器利用这种的导航系统能够提高飞行的安全性和可靠性。

Description

PCT国内申请，说明书已公开。

Claims (62)

  1. PCT国内申请，权利要求书已公开。
CN201580065133.XA 2015-11-18 2015-11-18 一种无人机飞行器、导航方法及系统 Pending CN107110977A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2015/094914 WO2017084045A1 (zh) 2015-11-18 2015-11-18 一种无人机飞行器、导航方法及系统。

Publications (1)

Publication Number Publication Date
CN107110977A true CN107110977A (zh) 2017-08-29

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CN201580065133.XA Pending CN107110977A (zh) 2015-11-18 2015-11-18 一种无人机飞行器、导航方法及系统

Country Status (3)

Country Link
US (2) US10825347B2 (zh)
CN (1) CN107110977A (zh)
WO (1) WO2017084045A1 (zh)

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CN111247452A (zh) * 2019-01-24 2020-06-05 深圳市大疆创新科技有限公司 一种定位信息融合方法、装置及智能终端
CN112863250A (zh) * 2020-08-13 2021-05-28 上海交通大学 多平台航空电子控制系统及方法

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CN108303080A (zh) * 2017-12-27 2018-07-20 广州安云电子科技有限公司 一种无人飞行器的定位装置
GB2582842B (en) * 2019-08-19 2021-06-09 Drone Evolution Ltd Unmanned aerial vehicle for transporting a payload

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Publication number Publication date
US20180261108A1 (en) 2018-09-13
US10825347B2 (en) 2020-11-03
WO2017084045A1 (zh) 2017-05-26
US20210035456A1 (en) 2021-02-04

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Application publication date: 20170829