CN107300704A - Unmanned vehicle indoor orientation method and device - Google Patents
Unmanned vehicle indoor orientation method and device Download PDFInfo
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- CN107300704A CN107300704A CN201710339740.1A CN201710339740A CN107300704A CN 107300704 A CN107300704 A CN 107300704A CN 201710339740 A CN201710339740 A CN 201710339740A CN 107300704 A CN107300704 A CN 107300704A
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- 230000005540 biological transmission Effects 0.000 claims description 12
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- 230000008054 signal transmission Effects 0.000 claims description 6
- 238000002604 ultrasonography Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 108010001267 Protein Subunits Proteins 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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Classifications
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/101—Particularities of the measurement of distance
-
- 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
Abstract
The present invention provides a kind of unmanned vehicle indoor orientation method and device.The unmanned vehicle indoor orientation method includes：Unmanned vehicle transmitting ultrasonic signal and assist in synchronization positioning signal, are recorded as initial time T0 described in S1；When S2 common timer receives the assist in synchronization positioning signal, start time T1 is recorded as；The N number of receivers located at indoor diverse location of S3 receive the ultrasonic signal, respectively record end moment T2, T3 ... TN+1；S4 obtains finish time T2, T3 ... TN+1 and moment T1 time difference, calculates the distance between the unmanned vehicle and each described receiver respectively afterwards；S5 positions the current location of the unmanned vehicle according to each distance value.Unmanned vehicle indoor orientation method and device that the present invention is provided, in the case of no gps signal or GPS location signal difference, the position for accurately positioning unmanned vehicle is realized using lower cost.
Description
Technical field
The present invention relates to unmanned vehicle technical field, more particularly to a kind of unmanned vehicle indoor orientation method and dress
Put.
Background technology
Unmanned plane is that one kind is dynamic, controllable, can carry multiple-task equipment, performs multiple-task and can reuse
Aircraft.The not manned vehicle that can be controlled using wireless remote control device and the control device of itself, for example nobody
Helicopter, unmanned fixed-wing aircraft, unmanned parasol etc..The unmanned plane can be used for carry filming apparatus, for taking photo by plane, surveying
Paint, investigate etc..
At present, as unmanned plane application is increasingly popularized, occur in that more boats rapidly degree faster, flying height it is higher, more
The unmanned vehicle that add operation is flexible, volume is smaller.And being continuously increased with flying speed and flying height, add aircraft
Body is less and less, to the performance requirement of aircraft also more and more higher in itself.In the prior art, most unmanned vehicles are using complete
Ball global position system（GPS）To be positioned.GPS（GPS）Application be based on satellite emission signal to
Positioning end, after positioning end receives the satellite-signal of more than 4 simultaneously, its current institute is calculated further according to related location algorithm
Locate three-dimensional coordinate, speed and time of position etc..However, the premise of this positioning principle is to receive satellite-signal, this
Just the use of GPS module is limited in outdoor and in the environment of can receiving good satellite-signal.Satellite letter is waited indoors
Under number some bad environment, we can not receive satisfactory satellite-signal, or not receive signal completely, and
And the error of the GPS position information of this signal generation becomes very large, it is virtually impossible to use.
Specifically, the lifting of unmanned vehicle flying speed and height, will cause aircraft to be realized according to manipulation request
The difficulty of hovering is improved；Small aircraft indoors or space more hidden local flight when due to satellite fix can not be realized
Or satellite fix low precision, and the problems such as can not realize spot hover, avoiding obstacles, above mentioned problem will cause unmanned vehicle
In the presence of certain potential safety hazard, while for manipulator, can not also experience good flight manipulation effect.
Documents 1（CN104932523A）A kind of localization method of unmanned vehicle is disclosed, and this method is flown by nobody
Camera on row device obtains video streaming image information, obtains characteristic point information according to parsing video image information and height is believed
Breath and attitude information, obtain the drift bearing and drift distance of aircraft, are fused into video flowing location information, then defend by obtaining
Star positioning signal, satellite positioning signal and video flowing positioning signal are carried out after fusion treatment, the location information of precision is obtained.
In addition, also having some on unmanned plane indoor positioning technologies, such as light stream location technology, inertial equipment are surveyed with excusing from death ripple
Location technology is contrasted away from location technology, camera image combination radar obstacle avoidance system location technology and camera image is combined
Deng.Although these methods can preferably be used for unmanned plane indoor positioning to a certain extent, but still having some limitations property.Such as
Using light stream or camera image location technology, not only cost is higher, and also needs to the image processing algorithm of complexity；And use
Inertia measurement device etc., then positioning precision can be subject to certain restrictions；Meanwhile, high-precision radar is then needed using radar avoidance
Scanning system, it is expensive, complicated.
The content of the invention
The present invention is based on the one or more problems of the above, and there is provided a kind of unmanned vehicle indoor orientation method and dress
Put, to solve in the prior art unmanned vehicle indoors etc. occasion receive GPS location signal it is not good when, position with high costs
And the inaccurate technical problem of positioning precision.
The present invention provides a kind of unmanned vehicle indoor orientation method, the unmanned vehicle indoor orientation method include with
Lower step：
Unmanned vehicle transmitting ultrasonic signal and assist in synchronization positioning signal, are recorded as initial time T described in S10；
When S2 common timer receives the assist in synchronization positioning signal, start time T is recorded as1；
The N number of receivers located at indoor diverse location of S3 receive the ultrasonic signal, respectively record end moment T2、T3…
TN+1, wherein N is the integer more than or equal to 3；
S4 obtains the finish time T2、T3…TN+1With the start time T1Time difference, calculate respectively afterwards it is described nobody
The distance between aircraft and each receiver；
S5 positions the current location of the unmanned vehicle according to each distance value.
Preferably, the assist in synchronization positioning signal be infrared signal, laser signal, radiofrequency signal three at least it
One.
Preferably, also include between step S2 and step S3：
S6 is when launching ultrasonic signal and assist in synchronization positioning signal, the infrared instruction letter of unmanned vehicle synchronized transmission
Number.
Preferably, step S1 includes：
S11 opens a common timing while unmanned vehicle launches ultrasonic signal and assist in synchronization positioning signal
Device catches the assist in synchronization positioning signal.
Preferably, the step S2 further comprises：
S21 opens the timer of each receiver, record when the common timer captures the assist in synchronization positioning signal
The start time T1。
Preferably, step S21 further comprises：
When common timer described in S211 catches the assist in synchronization positioning signal, the assist in synchronization positioning signal is judged
Validity, determination methods are as follows：High pulse width and low-level pulse width that the unmanned vehicle is sent are received, the height is judged
Whether level pulsewidth is consistent with default level width with the level width of the low-level pulse width, if unanimously, opening each receive
The timer of device, then be recorded as the start time T1, according to the start time T1With the initial time T0Between time
Difference is used as the correction value for correcting the ultrasound signal transmission time.
Preferably, step S3 further comprises：
When each receiver receives the ultrasonic signal, the current time of the timer of each receiver is read, as
The finish time T2、T3…TN+1。
The present invention also provides a kind of unmanned vehicle indoor positioning device, the unmanned vehicle indoor positioning device bag
Include：
Initial time logging modle, when launching ultrasonic signal and assist in synchronization positioning signal for the unmanned vehicle, note
Record as initial time T0；
Start time logging modle, when receiving the assist in synchronization positioning signal for common timer, when being recorded as starting
Carve T1；
Finish time logging modle, receives the ultrasonic signal for N number of receiver located at indoor diverse location, remembers respectively
Record finish time T2、T3…TN+1, wherein N is the integer more than or equal to 3；
Distance calculation module, for obtaining the finish time T2、T3…TN+1With the start time T1Time difference, Zhi Houfen
The distance between the unmanned vehicle and each described receiver are not calculated；
Locating module, the current location for positioning the unmanned vehicle according to each distance value.
Preferably, the original records module further comprises:
Common timer opening unit, for launching ultrasonic signal and assist in synchronization positioning signal in the unmanned vehicle
Meanwhile, open a common timer and catch the assist in synchronization positioning signal；
The start time logging modle further comprises：
Timer is opened and recording unit, for when the common timer captures the assist in synchronization positioning signal, opening
The timer of each receiver is opened, the start time T is recorded1。
Preferably, the timer is opened and also included with recording unit：
Judgment sub-unit, when catching the assist in synchronization positioning signal for the common timer, judges the assist in synchronization
The validity of positioning signal is specific to judge as follows：High pulse width and low-level pulse width that the unmanned vehicle is sent are received,
Judge whether the high pulse width is consistent with default level width with the level width of the low-level pulse width, if unanimously,
The timer of each receiver is opened, then is recorded as the start time T1, according to the start time T1With the initial time T0
Between time difference be used as the correction value of amendment ultrasound signal transmission time.
Unmanned vehicle indoor orientation method and device that the present invention is provided, in no gps signal or GPS location signal
In the case of difference, by using ultrasonic wave and assist in synchronization positioning signal under the production cost of low cost, realize high-precision
The position of degree ground positioning unmanned vehicle.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the unmanned vehicle indoor orientation method of embodiment of the present invention one；
Fig. 2 is the structural representation of the unmanned vehicle indoor positioning device of embodiment of the present invention two.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.If it should be noted that do not conflicted, this hair
Each feature in bright embodiment and embodiment can be combined with each other, within protection scope of the present invention.
Embodiment one
As shown in figure 1, the present invention provides a kind of unmanned vehicle indoor orientation method, the unmanned vehicle indoor orientation method
Comprise the following steps：
Unmanned vehicle transmitting ultrasonic signal and assist in synchronization positioning signal, are recorded as initial time T described in S10；
When S2 common timer receives the assist in synchronization positioning signal, start time T is recorded as1；
The N number of receivers located at indoor diverse location of S3 receive the ultrasonic signal, respectively record end moment T2、T3…
TN+1, wherein N is the integer more than or equal to 3；
S4 obtains the finish time T2、T3…TN+1With the moment T1Time difference, calculate the unmanned flight respectively afterwards
The distance between device and each receiver；
S5 positions the current location of the unmanned vehicle according to each distance value.
The unmanned vehicle indoor orientation method that the present invention is provided, in the feelings without gps signal or GPS location signal difference
Under condition, by using ultrasonic wave and assist in synchronization positioning signal under the production cost of low cost, it is accurately fixed to realize
The position of position unmanned vehicle.
Preferably, the assist in synchronization positioning signal be infrared signal, laser signal, radiofrequency signal three at least it
One.
Preferably, also include between step S2 and step S3：
S6 is when launching ultrasonic signal and assist in synchronization positioning signal, the infrared instruction letter of unmanned vehicle synchronized transmission
Number.
Preferably, step S1 includes：
S11 opens a common timing while unmanned vehicle launches ultrasonic signal and assist in synchronization positioning signal
Device catches the assist in synchronization positioning signal.
Preferably, the step S2 further comprises：
S21 opens the timer of each receiver, record when the common timer captures the assist in synchronization positioning signal
The start time T1。
Preferably, step S21 further comprises：
When common timer described in S211 catches the assist in synchronization positioning signal, the assist in synchronization positioning signal is judged
Validity, determination methods are as follows：High pulse width and low-level pulse width that the unmanned vehicle is sent are received, the height is judged
Whether level pulsewidth is consistent with default level width with the level width of the low-level pulse width, if unanimously, opening each receive
The timer of device, then be recorded as the start time T1, according to the start time T1With the initial time T0Between time
Difference is used as the correction value for correcting the ultrasound signal transmission time.The present invention can be modified to the time difference in time, to enter
One step ensures the accuracy of positioning.
Preferably, step S3 further comprises：
When each receiver receives the ultrasonic signal, the current time of the timer of each receiver is read, as
The finish time T2、T3…TN+1。
Embodiment two
The present invention also provides a kind of unmanned vehicle indoor positioning device, and the unmanned vehicle indoor positioning device includes：
Initial time logging modle 10, when launching ultrasonic signal and assist in synchronization positioning signal for the unmanned vehicle,
It is recorded as initial time T0；
Start time logging modle 20, when receiving the assist in synchronization positioning signal for common timer, is recorded as starting
Moment T1；
Finish time logging modle 30, receives the ultrasonic signal, respectively for N number of receiver located at indoor diverse location
Record end moment T2、T3…TN+1；
Distance calculation module 40, for obtaining the finish time T2、T3…TN+1With the moment T1Time difference, distinguish afterwards
Calculate the distance between the unmanned vehicle and each described receiver；
Locating module 50, the current location for positioning the unmanned vehicle according to each distance value.
The unmanned vehicle indoor positioning device that the present invention is provided, in the feelings without gps signal or GPS location signal difference
Under condition, by using ultrasonic wave and assist in synchronization positioning signal under the production cost of low cost, it is accurately fixed to realize
The position of position unmanned vehicle.
Preferably, the original records module further comprises:
Common timer opening unit, for launching ultrasonic signal and assist in synchronization positioning signal in the unmanned vehicle
Meanwhile, open a common timer and catch the assist in synchronization positioning signal；
The start time logging modle further comprises：
Timer is opened and recording unit, for when the common timer captures the assist in synchronization positioning signal, opening
The timer of each receiver is opened, the start time T is recorded1。
Preferably, the timer is opened and also included with recording unit：
Judgment sub-unit, when catching the assist in synchronization positioning signal for the common timer, judges the assist in synchronization
The validity of positioning signal is specific to judge as follows：High pulse width and low-level pulse width that the unmanned vehicle is sent are received,
Judge whether the high pulse width is consistent with default level width with the level width of the low-level pulse width, if unanimously,
The timer of each receiver is opened, then is recorded as the start time T1, according to the start time T1With the initial time T0
Between time difference be used as the correction value of amendment ultrasound signal transmission time.
Variant embodiment 1
Specifically, variant embodiment 1 of the present invention is deformed on the basis of above-mentioned embodiment one and two, the room proposed
Interior locating device includes unmanned vehicle emitting portion and is disposed in the interior the receiving portion of diverse location, and emitting portion is mainly wrapped
Include：Infrared transmission module, ultrasonic wave transmitter module, LED module, AccessPort module, time delay module and 915 MHz are wirelessly transferred
Module（Referred to as RF915 digital transmission modules）.And each self-corresponding communication interface.
Receiving portion mainly includes：Infrared receiving module, ultrasonic wave receiving module, LED module, timer module, positioning
Algoritic module, Ublox protocol modules, AccessPort module, time delay module and RF915 digital transmission modules.And each self-corresponding connect
Mouthful.
The emitting portion of unmanned vehicle indoor positioning device proposed by the invention, the basic function statement of each module is such as
Under：
（1）Infrared transmission module：With infrared emission signal primarily as synchronizing signal, for auxiliary ultrasonic ranging, it is ensured that
The signal of receiving portion ranging is accurate.Launch ultrasonic signal immediately when launching infrared signal.
（2）Ultrasonic wave module：Using a ultrasonic transmitter, after transmitting infrared synchronous signal, sent to data
Partial ultrasonic receiver transmitting ultrasonic signal.
（3）LED module：Primarily as the indicator lamp of infrared signal.Switch dispaly state after infrared emission signal,
Represent that infrared signal is emitted.Because infrared signal is invisible, infrared letter can be visually judged very much using indicator lamp
Number general tranmitting frequency whether launched and launched, so as to reduce the problem of infrared ray is invisible triggered, and then helps to open
Hair personnel intuitively judge that infrared signal launches situation, greatly reduce workload, and also a kind of aesthetic.
（4）AccessPort module：It is mainly used for print data during code debugging, auxiliary development personnel's debugging routine.Make
Whether the code that can visually see with serially printing data meets expected effect, facilitates developer's debugging code.
（5）Time delay module：For the delay in program process, such as emitting portion is circulated always when program,
But there must be certain intervals between circulation.
（6）RF915 digital transmission modules：It is mainly used in being wirelessly transferred for data.Here the distribution of data emission part is mainly received
The unmanned vehicle location data gone out.
For receiving portion, the basic function of each module is expressed as follows：
（1）Infrared receiving module：With infrared emission signal primarily as synchronizing signal, for auxiliary ultrasonic ranging, it is ensured that
The signal of receiving portion ranging is accurate.When capturing infrared signal, start ultrasonic wave and carry out ranging（All ultrasonic waves connect
Module is received simultaneously to start）.
（2）Ultrasonic wave receiving module：It is mainly used in received ultrasonic signal, and then measures unmanned vehicle apart from each super
The distance of sound wave module.
（3）LED module：For making the indicator lamp of infrared signal, when successfully capturing infrared signal, change the aobvious of LED
Show state.
（4）Timer module：It is divided into 4 parts；
Part I：The infrared signal of infrared emission part transmitting is caught using timer TIM5 capture function；
Part II：Timing during for ultrasonic wave ripple ranging.When ultrasonic wave receives signal, start corresponding timer,
With TIM2 in the present embodiment, TIM3, TIM4 exemplified by tetra- timers of TIM6, Counter Value are reset, in some ultrasonic wave mould
When block receives signal completion, the value of its corresponding timer is read, for calculating unmanned vehicle apart from the ultrasonic wave module
Distance；Certainly be here by taking four timers as an example, in practice can be according to needing to set the timer of more than four；
Part III：For realizing stop watch function, the time of calculation procedure operation, and filling ublox data protocols are some
；
Part IV：Located in connection data are sent to the time interval of unmanned vehicle for setting.
（5）Location algorithm module：Unmanned vehicle is obtained to after the distance of four ultrasonic wave modules, four ultrasonic waves are utilized
The relative coordinate of module, calculates the space coordinate residing for unmanned vehicle.
（6）Ublox modules：By spatial data residing for obtained unmanned vehicle, with a kind of unmanned vehicle（Fly
Control）The form that can be recognized is packaged.Here Ublox protocol formats are used, Ublox four packets are have chosen：NAV-
SOL, NAV-STATUS, NAV-POSLLH and NAV-VELNED, corresponding position is filled into by the current information of unmanned vehicle,
Then the flight controller of unmanned vehicle is sent to by RF915 digital transmission modules.
（7）Serial port module：For assistant adjustment program.
（8）RF915 digital transmission modules：RF915 function is mainly used as being wirelessly transferred.Here mainly by the related nothing of acquisition
The location data information of people's aircraft is launched, and data are received for the digital transmission module of unmanned vehicle flight control aspect.
Indoor positioning device proposed by the invention ultrasonic wave receiving module first it is to be understood that send ultrasonic wave it is initial when
Between T1, then according to the time T received2, time difference T could be obtained2-T1, i.e. flight time of unmanned vehicle（time of
flight）, then according to formula S=V*T（The meter per second of v=334, due to for our measurement, the change of environment temperature
It is a slow process, so influence of the temperature to speed can be ignored）, the distance of ultrasonic propagation is calculated, that is,
The distance between 2 points.
Indoor positioning device proposed by the invention is using the infrared synchronizing signal as ultrasonic ranging method, and it is by one kind
40 KHz infrared carrier waves, obtain infrared signal through ovennodulation and are used as the synchronizing signal of ultrasonic ranging.
The poor environment of the gps signals such as interior is used in due to the present invention, and receiving terminal is located on ceiling, commonly
Light, the sunshine of light fixture be all earthward throw light, the infrared ray after diffusing reflection becomes very faint, and through ovennodulation
Processing obtains synchronizing signal, can tackle above-mentioned interference, so that the present invention can avoid the infrared ray of artificial light sources from disturbing.
Realize that synchronous general principle can be expressed as：Ultrasonic wave transmitting terminal, before starting to send ultrasonic wave, first using red
Outer transmitting tube, it is that to send a time after Ta high pulse widths be Tb low-level pulse widths to send a time, when receiving terminal is received
To the two Ta, Tb pulse signals, judge whether the width of the two level legal afterwards, if legal, will now as
Synchronization point, opens timer internal, starts timing TRa, and after ultrasonic wave is received, records current time TRb, terminates meter
When, ultrasonic wave flight time T=TRb-TRa+Tx is obtained, wherein Tx is the correction value of time.Therefore, the distance of point-to-point transmission can be with
It is expressed as S=V*（TRb-TRa+Tx）, the velocity of sound herein can set according to temperature, be typically set at the meter per second of V=334.
Above to a kind of unmanned vehicle indoor orientation method and device provided by the present invention, it is described in detail,
Specific case used herein is set forth to the principle and embodiment of the present invention, and the explanation of above example is to use
Understand the method and its core concept of the present invention in help；Simultaneously for those of ordinary skill in the art, according to the present invention's
Thought, will change in specific embodiments and applications, in summary, and this specification content is only the present invention
Embodiment, be not intended to limit the scope of the invention, what every utilization description of the invention and accompanying drawing content were made
Equivalent structure or equivalent flow conversion, or other related technical fields are directly or indirectly used in, similarly it is included in this hair
In bright scope of patent protection.It should not be construed as limiting the invention.
Claims (10)
1. a kind of unmanned vehicle indoor orientation method, it is characterised in that the unmanned vehicle indoor orientation method include with
Lower step：
Unmanned vehicle transmitting ultrasonic signal and assist in synchronization positioning signal, are recorded as initial time T described in S10；
When S2 common timer receives the assist in synchronization positioning signal, start time T is recorded as1；
The N number of receivers located at indoor diverse location of S3 receive the ultrasonic signal, respectively record end moment T2、T3…
TN+1, wherein N is the integer more than or equal to 3；
S4 obtains the finish time T2、T3…TN+1With the start time T1Time difference, calculate respectively afterwards it is described nobody
The distance between aircraft and each receiver；
S5 positions the current location of the unmanned vehicle according to each distance value.
2. unmanned vehicle indoor orientation method as claimed in claim 1, it is characterised in that the assist in synchronization positioning signal
For at least one of infrared signal, laser signal, radiofrequency signal three.
3. unmanned vehicle indoor orientation method as claimed in claim 2, it is characterised in that between step S2 and step S3
Also include：
S6 is when launching ultrasonic signal and assist in synchronization positioning signal, the infrared instruction letter of unmanned vehicle synchronized transmission
Number.
4. unmanned vehicle indoor orientation method as claimed in claim 1, it is characterised in that step S1 includes：
S11 opens a common timing while unmanned vehicle launches ultrasonic signal and assist in synchronization positioning signal
Device catches the assist in synchronization positioning signal.
5. unmanned vehicle indoor orientation method as claimed in claim 4, it is characterised in that the step S2 is further wrapped
Include：
S21 opens the timer of each receiver, record when the common timer captures the assist in synchronization positioning signal
The start time T1。
6. unmanned vehicle indoor orientation method as claimed in claim 5, it is characterised in that step S21 further comprises：
When common timer described in S211 captures the assist in synchronization positioning signal, the assist in synchronization positioning signal is judged
Validity, determination methods are as follows：High pulse width and low-level pulse width that the unmanned vehicle is sent are received, is judged described
Whether high pulse width is consistent with default level width with the level width of the low-level pulse width, if unanimously, unlatching respectively connects
The timer of device is received, then is recorded as the start time T1, according to the start time T1With the initial time T0Between when
Between difference as amendment ultrasound signal transmission time correction value.
7. unmanned vehicle indoor orientation method as claimed in claim 6, it is characterised in that step S3 further comprises：
When each receiver receives the ultrasonic signal, the current time of the timer of each receiver is read, as
The finish time T2、T3…TN+1。
8. a kind of unmanned vehicle indoor positioning device, it is characterised in that the unmanned vehicle indoor positioning device includes：
Initial time logging modle, when launching ultrasonic signal and assist in synchronization positioning signal for the unmanned vehicle, note
Record as initial time T0；
Start time logging modle, when receiving the assist in synchronization positioning signal for common timer, when being recorded as starting
Carve T1；
Finish time logging modle, receives the ultrasonic signal for N number of receiver located at indoor diverse location, remembers respectively
Record finish time T2、T3…TN+1, wherein N is the integer more than or equal to 3；
Distance calculation module, for obtaining the finish time T2、T3…TN+1With the start time T1Time difference, Zhi Houfen
The distance between the unmanned vehicle and each described receiver are not calculated；
Locating module, the current location for positioning the unmanned vehicle according to each distance value.
9. unmanned vehicle indoor positioning device as claimed in claim 9, it is characterised in that the original records module is further
Including:
Common timer opening unit, for launching ultrasonic signal and assist in synchronization positioning signal in the unmanned vehicle
Meanwhile, open a common timer and catch the assist in synchronization positioning signal；
The start time logging modle further comprises：
Timer is opened and recording unit, for when the common timer captures the assist in synchronization positioning signal, opening
The timer of each receiver is opened, the start time T is recorded1。
10. unmanned vehicle indoor positioning device as claimed in claim 9, it is characterised in that the timer is opened and note
Record unit also includes：
Judgment sub-unit, when catching the assist in synchronization positioning signal for the common timer, judges the assist in synchronization
The validity of positioning signal is specific to judge as follows：High pulse width and low-level pulse width that the unmanned vehicle is sent are received,
Judge whether the high pulse width is consistent with default level width with the level width of the low-level pulse width, if unanimously,
The timer of each receiver is opened, then is recorded as the start time T1, according to the start time T1With the initial time T0
Between time difference be used as the correction value of amendment ultrasound signal transmission time.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710339740.1A CN107300704B (en) | 2017-05-15 | 2017-05-15 | Indoor positioning method and device for unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710339740.1A CN107300704B (en) | 2017-05-15 | 2017-05-15 | Indoor positioning method and device for unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN107300704A true CN107300704A (en) | 2017-10-27 |
| CN107300704B CN107300704B (en) | 2020-07-28 |
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| CN113820695A (en) * | 2021-09-17 | 2021-12-21 | 深圳市睿联技术股份有限公司 | Ranging method and apparatus, terminal system, and computer-readable storage medium |
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