CN107271960A - Aerial vehicle position system and its localization method - Google Patents
Aerial vehicle position system and its localization method Download PDFInfo
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- CN107271960A CN107271960A CN201710387569.1A CN201710387569A CN107271960A CN 107271960 A CN107271960 A CN 107271960A CN 201710387569 A CN201710387569 A CN 201710387569A CN 107271960 A CN107271960 A CN 107271960A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/501—Structural aspects
- H04B10/503—Laser transmitters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/501—Structural aspects
- H04B10/503—Laser transmitters
- H04B10/504—Laser transmitters using direct modulation
Abstract
A kind of Aerial vehicle position system and its localization method, system includes optical signal launcher, the optical signal launcher includes scanning Optical Transmit Unit, including carrying out 360 ° of two linear laser sources rotating, positioned at diverse location with angular velocity omega, first scanning light of the transmitting with the first modulated signal and the second scanning light with the second modulated signal are respectively used to；Optical signal acquisition equipment is located on aircraft, for capturing the first scanning light and the second scanning light respectively, and demodulates the first modulated signal and the second demodulated signal respectively and is launched to control device；Control device, for sending a control signal to scanning Optical Transmit Unit, scans light and the second scanning light, while recording transmission time t to control it to launch first0；It is additionally operable to the time t that record receives the first modulated signal1With the time t for receiving the second modulated signal2；Control device is according to angular velocity omega, time t0、t1And t2Complete the positioning of the aircraft.The present invention can be achieved to be accurately positioned aircraft.
Description
Technical field
The invention belongs to technical field of visible light communication, relate more specifically to a kind of Aerial vehicle position system and its positioning side
Method.
Background technology
With continuing to develop for science and technology, many advantages, such as LED is saved with it, luminous efficiency is high progressively replaces other to shine
Mingguang City source, as main flow lighting source on the market.Meanwhile, laser has fabulous temporal coherence and spatial coherence, it
It is similar to radio wave, it is easy to modulate, and the very high frequency of light wave, the capacity of energy transmission information is very big, furthermore the hair of laser beam
Scattered angle is small, luminous energy high concentration, can transmit relatively at a distance, be easy to secrecy again.The High Speed Modulation characteristic of LED and laser makes
Obtain them and can apply to the communication technology, form visible light communication technology (VLC).
At present, the alignment system or method of aircraft include inertial navigation system and GPS navigation system, wherein inertial navigation
System have in short-term precision it is high, can continuously outgoing position, speed, attitude information, and outstanding advantages such as entirely autonomous, but
It can be with time integral there is also itself unsurmountable shortcoming, i.e. error, and this has a strong impact on its prolonged location requirement.
It is difficult that stable, accurately positioning service is provided in some complex environments although GPS positioning system strong interference immunity.
The content of the invention
Based on problem above, it is a primary object of the present invention to propose a kind of Aerial vehicle position system and its localization method,
For solving at least one of above technical problem.
To achieve these goals, as one aspect of the present invention, the present invention proposes a kind of Aerial vehicle position system, bag
Include：
Optical signal launcher, the optical signal launcher includes：
Scan Optical Transmit Unit, including with angular velocity omega carry out 360 ° of rotations, linearly swash positioned at two of diverse location
Light source, is respectively used to first scanning light of the transmitting with the first modulated signal and the second scanning light with the second modulated signal；
Optical signal acquisition equipment, on aircraft, for capturing the first scanning light and the second scanning light, Yi Jifen respectively
The first modulated signal and the second demodulated signal are not demodulated and are launched to control device；
Control device, for sending a control signal to scanning Optical Transmit Unit, light and the are scanned to control it to launch first
Two scanning light, while recording transmission time t0；It is additionally operable to the time t that record receives the first modulated signal1Believe with the second modulation is received
Number time t2；
Control device is according to the angular velocity omega, time t0、t1And t2Complete the positioning of the aircraft.
In some embodiments of the invention, above-mentioned control device is according to the angular velocity omega and t1-t0Obtain the first scanning
The direction of propagation of light；According to angular velocity omega and t2-t0The direction of propagation of the second scanning light is obtained, according to the propagation of the first scanning light
Direction and the direction of propagation of the second scanning light determine the position of aircraft.
In some embodiments of the invention, above-mentioned optical signal launcher also includes：
Benchmark Optical Transmit Unit, for launching the reference light with reference modulation signal；And
Optical signal acquisition equipment is additionally operable to capture the reference light, and demodulates the reference modulation signal and launched to control
Device processed；Control device sends a control signal to scanning Optical Transmit Unit while reference modulation signal is received.
In some embodiments of the invention, said reference Optical Transmit Unit includes：
LED/light source, for launching the reference light with reference modulation signal；
Modulation circuit, for applying reference modulation signal to the LED/light source；
Drive circuit, for driving LED/light source.
In some embodiments of the invention, above-mentioned scanning Optical Transmit Unit also includes：
Two driving platforms, are respectively used to carry two linear laser sources；Two driving platforms are revolved with angular velocity omega
Turn, to drive two linear laser sources to be rotated with angular velocity omega；
Two stepper motors, are respectively used to two driving platforms of driving and are rotated with angular velocity omega.
In some embodiments of the invention, above-mentioned scanning Optical Transmit Unit also includes：
Drive circuit, for driving two linear laser sources；
Modulation circuit, for applying the first modulated signal and the second modulated signal respectively to two linear laser sources.
In some embodiments of the invention, above-mentioned optical signal acquisition equipment includes：
Optical signal capturing unit, light and the second scanning light are scanned for capturing first, and demodulation obtains the first modulation letter
Number and the second modulated signal；
Transmitter unit, for launching the first modulated signal and the second modulated signal to control device.
In some embodiments of the invention, above-mentioned optical signal capturing unit includes：
Photodiode, scans light and the second scanning light, and the first scanning light and second are scanned into light for capturing first
It is respectively converted into the first electric current and the second electric current；
Amplifying circuit, for amplifying the first electric current and the second electric current；
Demodulator circuit, for demodulating the first electric current and the second electric current after amplification, obtains the first modulated signal and second and adjusts
Signal processed；
Wherein, photodiode is the photodiode that entrance half-angle is 90 °.
In some embodiments of the invention, above-mentioned control device includes：
Receiving unit, for receiving the first modulated signal and the second modulated signal；
Timing unit, for recording time t0、t1And t2；
Central control unit, for sending a control signal to scanning Optical Transmit Unit, and according to angular velocity omega, time t0、t1
And t2Complete the positioning of aircraft.
To achieve these goals, as another aspect of the present invention, the present invention proposes a kind of Aerial vehicle position method,
Using above-mentioned Aerial vehicle position system, comprise the following steps：
Step 1, control device send control signal to the scanning Optical Transmit Unit of optical signal launcher, and record simultaneously
The time t of control signal0；
Step 2, scan two linear laser sources of Optical Transmit Unit under control of the control signal, transmitting is with the respectively
First scanning light of one modulated signal and the second scanning light with the second modulated signal；
Step 3, optical signal acquisition equipment capture the first scanning light and the second scanning light respectively, and demodulation first is adjusted respectively
Signal processed and the second modulated signal are simultaneously launched to control device；
Step 4, control device receive the first modulated signal and the second modulated signal respectively, and record receives the first tune respectively
The time t of signal processed1With the time t for receiving the second modulated signal2；
Step 5, control device are according to angular velocity omega, time t0、t1And t2Complete the positioning of the aircraft.
In some embodiments of the invention, in the Aerial vehicle position system of use, optical signal launcher also includes base
Quasi-optical transmitter unit；Above-mentioned Aerial vehicle position method is further comprising the steps of before step 1：
Control device penetrates unit to the reference light of optical signal launcher and sends control signal, and reference modulation is carried to launch
The reference light of signal；
Optical signal acquisition equipment captures reference light, and demodulates reference modulation signal and send it to control device；
Control device receives reference modulation signal, and carries out step 1 simultaneously.
Aerial vehicle position system proposed by the present invention and its localization method, have the advantages that：
1st, due to using with 360 ° of rotations of angular velocity omega progress, positioned at two linear laser sources of diverse location to flight
Device is scanned, then captures the time of linear lasing light emitter according to carry-on optical signal acquisition equipment and linear laser source starts
The time of work, you can learn the direction of propagation of the scanning light beam of capture, because the position in two linear laser sources is different, then two
The captured scanning light beam of individual linear laser source transmitting is not parallel, must intersect at a vertical line, then the vertical line and level
The intersection point in face is the horizontal level of aircraft this moment, then with reference to the flying height of aircraft, you can learn aircraft this moment
Position；, can by rotation because the scanning light beam that linear laser source is launched has fabulous temporal coherence and spatial coherence
Any position in basic covering space, and beam divergence angle is small, luminous energy high concentration, it is adaptable to long-distance transmissions, therefore can be real
Now aircraft is accurately positioned；
2nd, the time received due to the light beam using benchmark light emitting units emitting determines to ask during benchmark, base therein
Quasi-optical transmitter unit includes LED/light source again, therefore can further improve the positioning precision to aircraft, at the same there is energy-conservation, it is simultaneous
Has the advantage of illumination；
3rd, because the continuity and control device of scanning light are launched to time and the accurate meter of angle in linear laser source
Calculate, alignment system can be made to eliminate the influence that accumulated error is brought, real-time location tracking is realized.
Description of reference numerals
Fig. 1 is the structural representation of Aerial vehicle position system proposed by the present invention；
Fig. 2 is the flow chart of Aerial vehicle position method proposed by the present invention；
Fig. 3 is the structural representation for the Aerial vehicle position system that one embodiment of the invention is proposed；
Fig. 4 is the flow chart for the Aerial vehicle position method that one embodiment of the invention is proposed；
Fig. 5 is the schematic diagram in kind for the Aerial vehicle position system that another embodiment of the present invention is proposed；
Fig. 6 is the fundamental diagram for the Aerial vehicle position system that another embodiment of the present invention is proposed.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
As shown in figure 1, the invention discloses a kind of Aerial vehicle position system, including：
Optical signal launcher, the optical signal launcher includes：
Scan Optical Transmit Unit, including with angular velocity omega carry out 360 ° of rotations, linearly swash positioned at two of diverse location
Light source, is respectively used to first scanning light of the transmitting with the first modulated signal and the second scanning light with the second modulated signal；
Optical signal acquisition equipment, on aircraft, for capturing the first scanning light and the second scanning light, Yi Jifen respectively
The first modulated signal and the second demodulated signal are not demodulated and are launched to control device；
Control device, for sending a control signal to scanning Optical Transmit Unit, light and the are scanned to control it to launch first
Two scanning light, while recording transmission time t0；It is additionally operable to the time t that record receives the first modulated signal1Believe with the second modulation is received
Number time t2；
Control device is according to the angular velocity omega, time t0、t1And t2Complete the positioning of the aircraft.
Specifically, it is being rotated with angular velocity omega, aircraft is scanned positioned at two linear laser sources of diverse location,
The time that the time of linear lasing light emitter and linear laser source are started working then is captured according to carry-on optical signal acquisition equipment,
The direction of propagation of the scanning light beam of capture can be learnt, because the position in two linear laser sources is different, then two linear lasers
The captured scanning light beam of source transmitting is not parallel, must intersect at a vertical line, then the intersection point of the vertical line and horizontal plane is
For the horizontal level of aircraft this moment, then with reference to the flying height of aircraft, you can learn the position of aircraft this moment.
Because the scanning light beam that linear laser source is launched has fabulous temporal coherence and spatial coherence, pass through rotation
Any position in space can be covered substantially, and beam divergence angle is small, luminous energy high concentration, it is adaptable to long-distance transmissions, therefore can
Realization is accurately positioned to aircraft.
In some embodiments of the invention, above-mentioned control device is according to angular velocity omega and t1-t0Obtain the first scanning light
The direction of propagation；According to angular velocity omega and t2-t0The direction of propagation of the second scanning light is obtained, according to the direction of propagation of the first scanning light
The position of aircraft is determined with the direction of propagation of the second scanning light.Wherein control device is sending a control signal to scanning light transmitting
Before unit, it is prerecorded with scanning the initial position and initial angle in two linear laser sources in Optical Transmit Unit, so that
Control device is according to angular velocity omega, time t0、t1And t2When being positioned, using initial position and initial angle as reference, accurately
The direction of propagation of the first scanning light and the second scanning light is determined, so as to accurately determine the position of aircraft.
In some embodiments of the invention, above-mentioned optical signal launcher also includes：
Benchmark Optical Transmit Unit, for launching the reference light with reference modulation signal；And
Optical signal acquisition equipment is additionally operable to capture the reference light, and demodulates reference modulation signal and launched to control
Device；Control device sends a control signal to scanning Optical Transmit Unit while reference modulation signal is received.
The time that the present embodiment is received using the light beam of benchmark light emitting units emitting determines fiducial time t0, can enter
One step improves the positioning precision to aircraft.
In some embodiments of the invention, said reference Optical Transmit Unit includes：
LED/light source, for launching the reference light with reference modulation signal；
Modulation circuit, for applying reference modulation signal to the LED/light source；
Drive circuit, for driving LED/light source.
Because the benchmark Optical Transmit Unit in the present embodiment includes LED/light source, therefore the Aerial vehicle position dress of the present embodiment
Putting has the advantages that energy-conservation；Again because the luminous efficiency of LED/light source is high, therefore it can accurately determine to capture reference light
Time, improve the positioning precision to aircraft.
In some embodiments of the invention, above-mentioned scanning Optical Transmit Unit also includes：
Two driving platforms, are respectively used to place two linear laser sources；Two driving platforms are revolved with angular velocity omega
Turn, to drive two linear laser sources to carry out 360 ° of rotations with angular velocity omega；
Two stepper motors, are respectively used to two driving platforms of driving and are rotated with angular velocity omega.
In some embodiments of the invention, above-mentioned scanning Optical Transmit Unit also includes：
Drive circuit, for driving two linear laser sources；
Modulation circuit, for applying the first modulated signal and the second modulated signal respectively to two linear laser sources.
So that the first scanning light and the second scanning light belt have different modulated signals, capturing unit is swept according to capture
Retouch the modulated signal of light, you can know now capture obtain be first scanning light or second scanning light, so as to it is accurate must
To time t1And t2, realize the precise positioning to aircraft.
In some embodiments of the invention, above-mentioned optical signal acquisition equipment includes：
Optical signal capturing unit, light and the second scanning light are scanned for capturing first, and demodulation obtains the first modulated signal
With the second modulated signal；
Transmitter unit, for launching the first modulated signal and the second modulated signal to control device.
The transmitter unit of the present embodiment can be the transmitting terminal of radio communication.
In some embodiments of the invention, above-mentioned optical signal capturing unit includes：
Photodiode, scans light and the second scanning light, and the first scanning light and second are scanned into light for capturing first
It is respectively converted into the first electric current and the second electric current；
Amplifying circuit, for amplifying the first electric current and the second electric current；
Demodulator circuit, for demodulating the first electric current and the second electric current after amplification, obtains the first modulated signal and second and adjusts
Signal processed；
Wherein, photodiode is the photodiode that entrance half-angle is 90 °, is located at so that this photodiode can be captured
The optical signal of any position below aircraft, it is confessedly to capture the first scanning light, the second scanning light and reference light.
In some embodiments of the invention, above-mentioned control device includes：
Receiving unit, for receiving the first modulated signal and the second modulated signal；
Timing unit, for recording time t0、t1And t2；
Central control unit, for sending a control signal to scanning Optical Transmit Unit, and according to angular velocity omega, time t0、t1
And t2Complete the positioning of aircraft.
The receiving unit of the present embodiment can be the receiving terminal of radio communication, be sent for receiving radio communication transmitting terminal
Modulated signal, because wireless communication speeds are exceedingly fast, therefore, control device receives the first modulated signal, the second modulated signal
It is equal to the capture of optical signal capturing unit with the time of reference modulation signal and obtains the first scanning light, the second scanning light and reference light
Time, therefore t herein0、t1And t2Reference light, first are captured equivalent to positioned at carry-on optical signal capturing unit
Scan the time of light and the second scanning light.
The t recorded according to timing unit0、t1And t2, you can the angle that two linear light sorurces are turned over is learnt respectively, so as to
The the first scanning light captured and the direction of propagation of the second scanning light, because the position in two linear laser sources is different, therefore
t1And t2It is unequal, and the transmitting of two linear laser sources two beams it is captured scanning light beam it is not parallel, must intersect at one it is vertical
Line, then the intersection point of the vertical line and horizontal plane is the horizontal level of aircraft this moment, then with reference to the flying height of aircraft, i.e.,
The position of aircraft this moment can be learnt；Again because the movement velocity of aircraft is for the light velocity, it can be neglected, therefore can
Think during the entire process of positioning, aircraft is actionless, therefore whole position fixing process fast accurate.
Based on above-mentioned Aerial vehicle position system, as shown in Fig. 2 the invention also discloses a kind of Aerial vehicle position method,
Comprise the following steps：
Step 1, control device send control signal to the scanning Optical Transmit Unit of optical signal launcher, and record simultaneously
The time t of control signal0；
Step 2, scan two linear laser sources of Optical Transmit Unit under control of the control signal, transmitting is with the respectively
First scanning light of one modulated signal and the second scanning light with the second modulated signal；
Step 3, optical signal acquisition equipment capture the first scanning light and the second scanning light respectively, and demodulation first is adjusted respectively
Signal processed and the second modulated signal are simultaneously launched to control device；
Step 4, control device receive the first modulated signal and the second modulated signal respectively, and record receives the first tune respectively
The time t of signal processed1With the time t for receiving the second modulated signal2；
Step 5, control device are according to angular velocity omega, time t0、t1And t2Complete the positioning of the aircraft.
In some embodiments of the invention, in the Aerial vehicle position system of use, optical signal launcher also includes base
Quasi-optical transmitter unit；The time received using the light beam of benchmark light emitting units emitting determines fiducial time t0, then it is above-mentioned
Aerial vehicle position method it is further comprising the steps of before step 1：
Control device penetrates unit to the reference light of optical signal launcher and sends control signal, and reference modulation is carried to launch
The reference light of signal；
Optical signal acquisition equipment captures reference light, and demodulates the reference modulation signal and send it to control signal；
Control signal receives reference modulation signal, and carries out step 1 simultaneously.
In some embodiments of the invention, after above-mentioned Aerial vehicle position system is once positioned in completion, control device
Control optical signal launcher is stopped, and it is initial as what is positioned next time to record the position of now two linear lasers
Position, so as to so that the influence that alignment system elimination accumulated error is brought, realizes real-time location tracking.
In some embodiments of the invention, a kind of Aerial vehicle position system based on VLC is proposed, the system mainly includes
Positioned light source emitter, seek light-seeking device and the part of control terminal three.Positioned light source emitter is sent out including spherical LED light
Penetrate unit and two laser scanning positioning units；Seeking light-seeking part includes optical signal capturing unit and wireless communication unit, light
Signal capture unit is arranged on aircraft bottom, can capture light source (including the LED after modulation of optional position below aircraft
Light source and linear laser)；Control terminal includes wireless communication unit and time counter unit.Laser scanning positioning unit bag
Include and control driving platform and linear laser emitter, set up two at intervals interior respectively.Wherein linear laser
Device is arranged on control driving platform, can send the linear laser rotated by a fixed angular speed, and two linear lasers
Send respectively and different id information (r are carried after ovennodulation1And r2) linear laser.The transmitting terminal of wireless communication unit is installed on
On aircraft, receiving terminal is installed on control terminal, and the time for each optical signal that can receive aircraft is sent to control
Terminal.
Wherein spherical LED Optical Transmit Unit is the start-up portion that whole system function is realized, mainly one can launch
The spherical LED light source of light is modulated, the LED light signal after optical signal capturing unit installed in aircraft bottom captures modulation
When, time counter unit as time reference starts timing at the time of receiving LED/light source using aircraft termination, now control terminal
Two laser scanning positioning units of control start rotation, and record-setting flight device receives two times of linear laser respectively.According to
The time interval of the two time points and initial time can draw the angle of laser scanning position portion rotation, and then can lead to
The intersection of this two parts angle elongated surfaces is crossed, with reference to the flying height of aircraft, the position of now aircraft is drawn.
Below by way of specific embodiment, by taking unmanned plane as an example, Aerial vehicle position system and method proposed by the present invention is entered
Row is described in detail.
Embodiment 1
As shown in figure 3, the present embodiment proposes a kind of Aerial vehicle position system, including optical signal launcher 10, optical signal
Acquisition equipment 20 and control device 30.Aircraft in the present embodiment is using unmanned plane as representative.
Wherein, optical signal launcher 10 includes benchmark Optical Transmit Unit 110 and scanning Optical Transmit Unit 120, optical signal
Acquisition equipment 20 includes optical signal capturing unit 210 and transmitter unit 220, and control device 30 includes central control unit 310, connect
Receive unit 320 and timing unit 330.
Further, benchmark Optical Transmit Unit 110 includes LED/light source 111, the first modulation circuit 112 and the first driving electricity
Road 113；Benchmark Optical Transmit Unit 110 drives LED/light source 111 under the control of control device 30 by the first drive circuit 113
Launch the LED light as reference light, wherein the first modulation circuit 112 applies exclusive modulated signal to LED/light source 111, quite
In the id information of LED/light source 111.
Scanning Optical Transmit Unit 120 includes two driving platforms 121 (the first driving platform 121-1 and the second driving platform
121-2), two linear laser sources 122 (the first linear lasing light emitter 122-1 and the second linear laser source 122-2), two stepping electricity
Machine 123 (the first stepper motor 123-1 and the second stepper motor 123-2), two (the second drive circuit 124-1 of drive circuit 124
With the 3rd drive circuit 124-2) and two modulation circuits 125 (the second modulation circuit 125-1 and the 3rd modulation circuit 125-2),
It is two groups to scan 120 points of Optical Transmit Unit, is individually placed to two positions with certain distance, is believed in the control of control device 30
Under number effect, two stepper motors 123 drive two driving platforms 121 to carry out 360 ° of rotations with angular velocity omega, and two linear to swash
Light source 122 also carries out 360 ° of rotations positioned at two driving platforms 121 respectively, and two drive circuits 124 drive two linear lasers
The laser beam as the first scanning light and the second scanning light is launched in source 122 respectively, and two modulation circuits 125 are in control signal
Under effect, different modulated signals are applied to two linear laser sources 122, that is, the ID letters in two linear laser sources 122
Breath, light, the second scanning light and reference light are scanned for distinguishing first.
Optical signal capturing unit 210 and transmitter unit 220 are fixed on the bottom of unmanned plane, and optical signal capturing unit 210 is wrapped
Photodiode 211, amplifying circuit 212 and demodulator circuit 213 are included, the entrance half-angle of photodiode 211 is 90 °, so as to
Capture is located at the optical signal from any position below unmanned plane, and reference light, the first scanning light and the second scanning can be captured respectively
Light, and the optical signal received is converted into electric signal transmission to amplifying circuit 212, amplifying circuit 212 amplifies what is now received
Electric signal is simultaneously transferred to demodulator circuit 213, and demodulator circuit 213 obtains modulated signal according to the electric signal after amplification, then basis should
Modulated signal can learn light, the first scanning light or the second scanning light on the basis of the optical signal now captured, and this is adjusted
Signal processed is sent to transmitter unit 220.Wherein, transmitting terminal of the transmitter unit 220 equivalent to radio communication.
Receiving terminal of the receiving unit 320 equivalent to radio communication of control unit 30, receives the tune from transmitter unit 220
Signal processed, timing unit 330 records reference light, the first scanning light and second and swept respectively under the control of central control unit 310
Retouch the capture time t of light0、t1And t2.Central control unit 310 is with t0On the basis of the time, with this moment first driving platform 121-1
With angle on the basis of the second driving platform 121-2 angle, according to t1And t2It can obtain the corresponding driving platform of moment first 121-
1 and second driving platform 121-2 angle, θ1And θ2, so as to learn the biography of the corresponding scanning light of moment first and the second scanning light
Broadcast direction, due to two linear laser sources 122 be located at certain distance diverse location, and unmanned plane speed relative to light
Speed is negligible, therefore the intersection of two beam scanning optical propagation directions in the coordinate points of the height and position of unmanned plane is unmanned plane
Position in position fixing process.
Specifically, as shown in figure 4, the localization method of above-mentioned unmanned plane alignment system comprises the following steps：
Step S1, control device send control signal to the benchmark Optical Transmit Unit of optical signal launcher, with transmitting band
There is the reference light of reference modulation signal；
Step S2, optical signal acquisition equipment capture and demodulate reference light, obtain and while send reference modulation signal to control
Device processed；
Step S3, control device receive reference modulation signal, while to the scanning Optical Transmit Unit of optical signal launcher
Control signal is sent, and records the time t of control signal0；
Step S4, two linear laser sources of scanning Optical Transmit Unit are launched under control of the control signal, respectively to be carried
First scanning light of the first modulated signal and the second scanning light with the second modulated signal；
Step S5, optical signal acquisition equipment capture the first scanning light and the second scanning light respectively, and demodulate first respectively
Modulated signal and the second modulated signal are simultaneously launched to control device；
Step S6, control device receive the first modulated signal and the second modulated signal respectively, and record receives first respectively
The time t of modulated signal1With the time t for receiving the second modulated signal2；
Step S7, control device are according to angular velocity omega, time t0、t1And t2Complete the positioning of unmanned plane.
Embodiment 2
As shown in figure 5, the present embodiment proposes a kind of unmanned plane alignment system based on VLC, mainly including positioned light source
Launch, seek optical module and the part of control terminal three.Positioned light source emitting portion includes a spherical LED Optical Transmit Unit and two
Laser scanning positioning unit；Seek light-seeking part and be erected at unmanned generator terminal, including optical signal capturing unit and wireless communication unit,
Wherein optical signal capturing unit is arranged on unmanned motor spindle；Control terminal includes wireless communication unit and time counter unit.
Laser scanning positioning unit includes control driving platform and linear laser emitter.LED/light source is erected at certain point in space, and
Launch the sphere light after ovennodulation.Control driving platform sets up two groups at intervals interior, mainly includes master control electricity
Road, one group of stepper motor and its drive device, the whole plateau levels rotation of driving stepper motor；Two linear laser emitters
R1、R2It is respectively erected on control driving platform, it is possible to which, with control driving platform rotation, two linear lasers are sent out respectively
Different id information (r are carried after warp let-off ovennodulation1And r2) linear laser.Optical signal capturing unit is arranged on unmanned motor spindle, by
One entrance half-angle is 90 ° of photodiode, signal processing circuit and demodulator circuit composition, can be captured under unmanned plane
The light source of square optional position.The optical signal received is mainly converted to electric signal by photodiode, because signal is very micro-
Weak, it is necessary to which signal processing circuit is amplified, demodulator circuit can demodulate the id information loaded in light source, for determining
What is received is the light which light source is sent.The transmitting terminal of radio communication device is installed on unmanned plane, and receiving terminal is installed on control
Terminal processed.The optical signal acquisition equipment of unmanned plane captures the time point t of LED light0Control is sent to by radio communication device
Terminal, and it regard this time point as time reference.Its operation principle is as shown in fig. 6, two linear lasers separated by a distance
Device LD1, LD2 are separately mounted on two control driving platforms, when control terminal is in t0Reception is sent to unmanned generator terminal
During the information come, two laser scanning positioning units of control start to carry out on 360 ° of rotations, unmanned plane with certain angular velocity omega
Optical signal capturing unit receive the time point respectively t of two linear lasers1And t2, and send it to control terminal.
Control terminal software can be according to two time difference t1-t0、t2-t0And control driving platform angular velocity of rotation ω show that two are put down
The angle, θ that platform is rotated through1、θ2, the laser of two angle lower linear laser beam emitting devices transmitting intersects at a line in space,
Then intersect at a point L with the height of unmanned plane, and L coordinate position is the position of this moment unmanned plane.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, it should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc. should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. a kind of Aerial vehicle position system, including：
Optical signal launcher, the optical signal launcher includes：
Optical Transmit Unit is scanned, including 360 ° of two linear laser sources rotating, positioned at diverse location are carried out with angular velocity omega,
It is respectively used to first scanning light of the transmitting with the first modulated signal and the second scanning light with the second modulated signal；
Optical signal acquisition equipment, on the aircraft, for capturing the first scanning light and the second scanning light respectively, with
And demodulate first modulated signal and the second demodulated signal respectively and launched to control device；
Control device, for sending a control signal to the scanning Optical Transmit Unit, to control it to launch the first scanning light
Light is scanned with second, while recording transmission time t0；It is additionally operable to the time t that record receives first modulated signal1With receive the
The time t of two modulated signals2；
The control device is according to the angular velocity omega, time t0、t1And t2Complete the positioning of the aircraft.
2. Aerial vehicle position system as claimed in claim 1, wherein, the control device is according to the angular velocity omega and t1-t0
Obtain the direction of propagation of the first scanning light；According to the angular velocity omega and t2-t0Obtain the propagation side of the second scanning light
To determining the position of the aircraft according to the direction of propagation of the direction of propagation of the described first scanning light and the second scanning light.
3. Aerial vehicle position system as claimed in claim 1, wherein, the optical signal launcher also includes：
Benchmark Optical Transmit Unit, for launching the reference light with reference modulation signal；And
The optical signal acquisition equipment is additionally operable to capture the reference light, and demodulates the reference modulation signal and launched
To the control device；The control device sends a control signal to described sweep while the reference modulation signal is received
Retouch Optical Transmit Unit.
4. Aerial vehicle position system as claimed in claim 3, wherein, the benchmark Optical Transmit Unit includes：
LED/light source, for launching the reference light with reference modulation signal；
Modulation circuit, for applying the reference modulation signal to the LED/light source；
Drive circuit, for driving the LED/light source.
5. Aerial vehicle position system as claimed in claim 1, wherein, the scanning Optical Transmit Unit also includes：
Two driving platforms, are respectively used to carry described two linear laser sources；Two driving platforms are revolved with angular velocity omega
Turn, to drive described two linear laser sources to be rotated with angular velocity omega；
Two stepper motors, are respectively used to drive described two driving platforms to rotate with angular velocity omega；
Drive circuit, for driving described two linear laser sources；
Modulation circuit, for applying the first modulated signal and the second modulated signal respectively to described two linear laser sources.
6. Aerial vehicle position system as claimed in claim 1, wherein, the optical signal acquisition equipment includes：
Optical signal capturing unit, first modulation is obtained for capturing the first scanning light and the second scanning light, and demodulating
Signal and the second modulated signal；
Transmitter unit, for launching first modulated signal and the second modulated signal to the control device.
7. Aerial vehicle position system as claimed in claim 4, wherein, the optical signal capturing unit includes：
Photodiode, sweeps for capturing the first scanning light and the second scanning light, and by the described first scanning light and second
Retouch light and be respectively converted into the first electric current and the second electric current；
Amplifying circuit, for amplifying first electric current and the second electric current；
Demodulator circuit, for demodulating first electric current and the second electric current after amplification, obtains first modulated signal and the
Two modulated signals；
Wherein, the photodiode is the photodiode that entrance half-angle is 90 °.
8. Aerial vehicle position system as claimed in claim 1, wherein, the control device includes：
Receiving unit, for receiving first modulated signal and the second modulated signal；
Timing unit, for recording the time t0、t1And t2；
Central control unit, for sending a control signal to the scanning Optical Transmit Unit, and according to the angular velocity omega, time
t0、t1And t2Complete the positioning of the aircraft.
9. a kind of Aerial vehicle position method, using the Aerial vehicle position system as any one of claim 1 to 8, including
Following steps：
Step 1, control device send control signal to the scanning Optical Transmit Unit of optical signal launcher, and record simultaneously described
The time t of control signal0；
Step 2, scan two linear laser sources of Optical Transmit Unit under the control of said control signal, transmitting is with the respectively
First scanning light of one modulated signal and the second scanning light with the second modulated signal；
Step 3, optical signal acquisition equipment capture the first scanning light and the second scanning light respectively, and demodulate described the respectively
One modulated signal and the second modulated signal are simultaneously launched to control device；
Step 4, control device receive first modulated signal and the second modulated signal respectively, and record receives described the respectively
The time t of one modulated signal1With the time t for receiving the second modulated signal2；
Step 5, control device are according to the angular velocity omega, time t0、t1And t2Complete the positioning of the aircraft.
10. Aerial vehicle position method as claimed in claim 9, wherein：
In the Aerial vehicle position system used, the optical signal launcher also includes benchmark Optical Transmit Unit；
The Aerial vehicle position method is further comprising the steps of before the step 1：
Control device penetrates unit to the reference light of optical signal launcher and sends control signal, and reference modulation signal is carried to launch
Reference light；
Optical signal acquisition equipment captures the reference light, and demodulates the reference modulation signal and send it to control dress
Put；
Control device receives the reference modulation signal, and carries out the step 1 simultaneously.
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