CN107402581A - Express delivery unmanned plane landing guiding system and bootstrap technique based on wireless ultraviolet light - Google Patents
Express delivery unmanned plane landing guiding system and bootstrap technique based on wireless ultraviolet light Download PDFInfo
- Publication number
- CN107402581A CN107402581A CN201710622822.7A CN201710622822A CN107402581A CN 107402581 A CN107402581 A CN 107402581A CN 201710622822 A CN201710622822 A CN 201710622822A CN 107402581 A CN107402581 A CN 107402581A
- Authority
- CN
- China
- Prior art keywords
- mrow
- msub
- msubsup
- express delivery
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- 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
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
Abstract
Express delivery unmanned plane landing guiding system disclosed by the invention based on wireless ultraviolet light, including signal transmitter, in addition to the signal receiver being installed on express delivery unmanned plane；Express delivery unmanned plane landing bootstrap technique disclosed by the invention, including installation beacon guide device, sweep phase, acquisition phase etc.；The landing of the express delivery unmanned plane based on the wireless ultraviolet light guiding system of the present invention solves the problems, such as that existing guiding system in real time, can not be realized fast and accurately and evades the barriers such as power transmission line, high building, aircraft and do not influenceed by Changes in weather, using above-mentioned guiding system carry out express delivery unmanned plane landing bootstrap technique cause each barrier of the unmanned function active dodge of express delivery and can all-weather safety guiding, dispensing goods being pinpointed for express delivery unmanned plane a kind of effective approach being provided, a kind of effective technological means is provided for following unmanned plane delivery industry.
Description
Technical field
The invention belongs to optoelectronic information technical field, is related to a kind of express delivery unmanned plane landing guiding based on wireless ultraviolet light
System, the invention further relates to the bootstrap technique that express delivery unmanned plane landing is carried out using the guiding system.
Background technology
Chinese express delivery industry creates the first in the world with the amplification almost per year over 50%, and express delivery amount has leapt to the world within 2014
It is the first.But ending logistics rely primarily on manpower dispensing at present, dispensing cost is high, efficiency is low, shuttles in the express delivery in streets and lanes
Tricycle not only causes traffic congestion, also becomes potential traffic safety hidden danger.In future, express delivery is carried out using unmanned plane
Launch the developing direction as modern delivery industry.
Now, unmanned plane is used for emergency management and rescue after demonstration flight, electric power line inspection, land mapping, police and calamity.Due to
Unmanned plane during flying performance is more in densely populated area, and due to misoperation, contingency easily occurs, and causes casualties and property
Loss.
The control mode of unmanned plane has two kinds, and one kind is that unmanned plane during flying operator is controlled/managed by ground control station
Unmanned plane during flying, i.e. manual control mode；Second is by using airborne computer, communication link and to ensure unmanned plane peace
Any other auxiliary equipment required for row for the national games carries out autonomous flight, i.e. autonomous control mode.In recent years, landing guidance worked
All the time it is one of emphasis of unmanned plane research, common method has global positioning system (GPS) navigation, inertial navigation technology
And the airmanship based on machine vision etc. (INS).Because GPS costs dearly, wartime is unavailable, by ground in local region
Shape condition has a great influence, and easily by electromagnetic interference；INS error continues to increase over time, and cumulative errors are larger；
The data volume of machine vision navigation technical finesse is larger.So above-mentioned a few class methods are all difficult to meet unmanned plane in landing guidance
Required precision.At present, unmanned plane ranging and collision-proof method rely primarily on laser radar, laser radar have high resolution,
The advantages that good concealment, active jamming rejection ability are strong, low-altitude detection performance is good, but it is bigger by weather and atmospheric effect, typically
Decay in bright day gas smaller, farther out, and in the bad weather such as heavy rain, dense smoke, thick fog, decay drastically adds propagation distance
Greatly, propagation distance can be affected.The coming years, unmanned plane quantity can significantly increase, and flight safety will become increasingly
Sternness, how in real time, fast and accurately realize and evade the barriers such as power transmission line, high building, aircraft and not by the shadow of Changes in weather
Sound turns into urgent problem to be solved.
The content of the invention
It is an object of the invention to provide a kind of express delivery unmanned plane landing guiding system based on wireless ultraviolet light, solve
Existing guiding system, which in real time, can not be realized fast and accurately, evades the barriers such as power transmission line, high building, aircraft and not by weather
The problem of change influences.
It is another object of the present invention to provide a kind of express delivery unmanned plane landing bootstrap technique so that the unmanned function of express delivery
The each barrier of active dodge and can all-weather safety guiding.
The technical solution adopted in the present invention is the express delivery unmanned plane landing guiding system based on wireless ultraviolet light, including
Signal transmitter, signal transmitter include beacon guide device, and being provided with electric signal in beacon guide device is sequentially connected
Modulation module, drive circuit and ultraviolet LED；Also include the signal receiver being installed on express delivery unmanned plane, signal receiver
Including PMT, power measurement module and the computing module being sequentially connected by electric signal, three axles biography is installed in power measurement module
Sensor.
The features of the present invention also resides in：
Ultraviolet LED in beacon guide device arranges in parallel and warp.
The wavelength that each ultraviolet LED uses is 200~280nm, luminous power 0.3mW.
Signal receiver uses the PMT of R7154 types, and PMT gain is 107。
Another technical scheme of the present invention is express delivery unmanned plane landing bootstrap technique,
Specifically implement according to following steps：
Step 1, beacon guide device is installed：Beacon guide device is installed on express delivery release platform, emergency materials are thrown
When putting, the beacon guide device is installed on interim release position；
Step 2, sweep phase：After the completion of step 1, initiation beacon guide device is scanned, and waits express delivery unmanned plane to arrive
Come；
Step 3, acquisition phase：Express delivery unmanned plane orbitings beacon signal in descent, believes when capturing beacon
After number, prepare landing；
Step 4, the adjusting stage：The express delivery unmanned plane that modules in signal receiver calculate is relative to express delivery
The real time position and pitching angle information of release platform or interim release position adjusts pose, close to beacon guide device；
Step 5, landing phases：When express delivery unmanned plane is in directly over the central point of express delivery release platform or interim release position
And when being not more than 30cm with the height directly over the central point of express delivery release platform or interim release position, start Autonomous landing；
Step 6, the stage is launched, after the completion of landing, parcel is launched and completed in specified location, guiding.
Ultraviolet LED in beacon guide device is scanned according to weft direction and the alternate mode of warp direction.
Express delivery unmanned plane is relative to the assay method of express delivery release platform or the real time position of interim release position using four sections
Point location algorithm.
Four node locating algorithms are specially：
Step 4.1, it is fixed on express delivery release platform or interim using four beacon guide devices as four anchor nodes first
At the corner that " H " is identified on release position, and the coordinate of known four anchor nodes is respectively A1(x1,y1,z1), B1(x2,y2,z2), C1
(x3,y3,z3), D1(x4,y4,z4)；
Step 4.2, using express delivery unmanned plane as unknown node M, unknown node M is calculated respectively to four anchor nodes
A1、B1、C1、D1Distance r, the distance r is respectively d1、d2、d3、d4；
Wherein, d1For M to A1Distance, d2For M to B1Distance, d3For M to C1Distance, d4For M to D1Distance；
Step 4.3, if unknown node M coordinate is (xm,ym,zm), then the coordinate calculation formula for trying to achieve unknown node M is：
Step 4.4, express delivery unmanned plane is finally calculated relative to express delivery release platform or the real time position of interim release position.
According to lambertw functions, distance r of unknown node M to four anchor node in the case of direct-view calculation formula
For：
Unknown node M to four anchor node it is non-straight optionally under distance r calculation formula be：
Wherein, lambertw functions are f (w)=w*exp (w) inverse functions, i.e. w=lambertw (f (w)), wherein exp
(w) it is exponential function, w is any plural number.
In formula (2) and (3), PrIt is received optical power；PtIt is transmit power；ArIt is the area of receiving aperture on PMT；R is
Unknown node M and four anchor nodes communication distance；KeIt is atmosphere attenuation coefficien, by scattering coefficient KsWith atmosphere absorbance Ka
Form (Ke=Ks+Ka)；Scattering coefficient KsIncluding Rayleigh scattering coefficients KSRWith Mie scattering coefficients KSM(Ks=KSM+KSR)；It is public
In formula (3), PsIt is Scattering Phase Function, θ1It is the elevation angle of signal transmitter；θ2It is the elevation angle of signal receiver；φ1It is transmitting light beam
Angular aperture；φ2It is the field of view of receiver angle of signal receiver.
In formula (2), Pt, ArAnd KeIt is known quantity, received optical power PrDrawn by power measurement module, r pass through by
Formula (2) imports computing module and calculated；In formula (3), Pt, Ar, Ke, Ps, φ1, φ2And KsIt is known quantity, receives light
Power PrDrawn by power measurement module, θ1、θ2Measured by the three-axis sensor being installed in power measurement module, r passes through
Formula (3) importing computing module is calculated.
The beneficial effects of the invention are as follows：
Express delivery unmanned plane landing guiding system of the present invention based on wireless ultraviolet light utilizes ultraviolet communication technology, solves
Existing guiding system, which in real time, can not be realized fast and accurately, evades the barriers such as power transmission line, high building, aircraft and not by weather
The problem of change influences, the guiding system have the advantages that strong antijamming capability, good concealment, portable, wide visual field receive, energy
All weather operations is enough carried out, being accurately positioned for express delivery unmanned plane can be realized in the place of no gps signal, realize unmanned plane
Safe falling guides；
The bootstrap technique that express delivery unmanned plane landing is carried out using above-mentioned guiding system causes the unmanned function active dodge of express delivery
Each barrier and can all-weather safety guiding, for express delivery unmanned plane fixed point launch goods a kind of effective approach is provided, be not
Carry out unmanned plane delivery industry and a kind of effective technological means is provided.
Brief description of the drawings
Fig. 1 is that express delivery unmanned plane fixed point delivers goods schematic diagram in express delivery unmanned plane landing bootstrap technique of the present invention；
Fig. 2 is express delivery unmanned plane auxiliary guiding schematic diagram in express delivery unmanned plane landing bootstrap technique of the present invention；
Fig. 3 is the ultraviolet LED warp direction scanning of beacon guide device in express delivery unmanned plane landing bootstrap technique of the present invention
Schematic diagram；
Fig. 4 is the ultraviolet LED weft direction scanning of beacon guide device in express delivery unmanned plane landing bootstrap technique of the present invention
Schematic diagram；
Fig. 5 is four node locating algorithm schematic diagrames in express delivery unmanned plane landing bootstrap technique of the present invention；
Fig. 6 is that guiding system is non-straight regards ultraviolet communication single for express delivery unmanned plane landing of the present invention based on wireless ultraviolet light
Scattering model；
Fig. 7 is that the ultraviolet ligh-ranging work in express delivery unmanned plane landing guiding system of the present invention based on wireless ultraviolet light is former
Reason figure.
In figure, 1. signal transmitters, 1-1. modulation modules, 1-2. drive circuits, 1-3. ultraviolet LEDs, 2. signal receivers,
2-1.PMT, 2-2. power measurement module, 2-3. computing modules.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
Express delivery unmanned plane landing guiding system of the present invention based on wireless ultraviolet light, as shown in figure 1, including signal transmitter
1, signal transmitter 1 includes beacon guide device, and the modulation mould that electric signal is sequentially connected is provided with beacon guide device
Block 1-1, drive circuit 1-2 and ultraviolet LED 1-3；Also include the signal receiver 2 being installed on express delivery unmanned plane, signal receives
Machine 2 includes PMT2-1, power measurement module 2-2 and the computing module 2-3 being sequentially connected by electric signal, power measurement module 2-
Three-axis sensor is installed in 3.
Ultraviolet LED 1-3 in beacon guide device arranges in parallel and warp.
Preferably, for the wavelength that each ultraviolet LED 1-3 is used for 200~280nm, typical luminous power is 0.3mW.
Signal receiver 2 uses the PMT2-1 of R7154 types, and PMT2-1 typical gains are 107。
The method that the present invention carries out the landing guiding of express delivery unmanned plane using above-mentioned guiding system, the system are sent including signal
Machine 1, signal transmitter 1 include beacon guide device, the modulation that electric signal is sequentially connected are provided with beacon guide device
Module 1-1, drive circuit 1-2 and ultraviolet LED 1-3；Also include the signal receiver 2 being installed on express delivery unmanned plane, signal connects
Receipts machine 2 includes PMT2-1, power measurement module 2-2 and the computing module 2-3 being sequentially connected by electric signal, power measurement module
Three-axis sensor is installed in 2-3；As shown in Fig. 2 in express delivery unmanned plane descent, beacon guide device is sent out by signal
Machine 1 is sent to send required various information to signal receiver 2, express delivery unmanned plane obtains the slope of the position of signal transmitter 1
The information such as degree, angle, distance, position, help express delivery unmanned plane to judge drop conditions, finally realize the accurate throwing of courier packages
Put；The realization of four node locating algorithms, the electricity that the gradient is carried by signal transmitter 1 are located through in express delivery unmanned plane descent
Sub- gradient measurer is measured, and signal receiver 2 is sent to by ultraviolet light.
Specifically implement according to following steps：
Step 1, beacon guide device is installed：Beacon guide device is installed on express delivery release platform；Met an urgent need
When goods and materials are launched, beacon guide device is installed on interim release position；
Beacon guide device is installed on express delivery release platform or interim release position, for the accurate fixed of express delivery unmanned plane
Position guiding, break through the bottleneck of " last 10 meters " of express delivery unmanned plane logistics field so that express delivery unmanned plane automatically sends logistics with charge free
Parcel is possibly realized；
Step 2, sweep phase：After the completion of step 1, initiation beacon guide device is scanned, and waits express delivery unmanned plane to arrive
Come；
Ultraviolet LED 1-3 in beacon guide device is scanned according to weft direction and the alternate mode of warp direction；
Ultraviolet LED 1-3 scans according to warp direction as shown in figure 3, the three-axis sensor on power measurement module 2-2 records
LED pitching angle theta corresponding to the optical signal received1And θ2；Ultraviolet LED 1-3 scans as shown in Figure 4 according to weft direction.
Step 3, acquisition phase：Express delivery unmanned plane orbitings beacon signal in descent, believes when capturing beacon
After number, prepare landing；
Step 4, the adjusting stage：The express delivery unmanned plane that modules in signal receiver 2 calculate is relative to fast
Real time position and the pitching angle information of release platform or interim release position are passed to adjust pose, it is close to beacon guide device；Step
Express delivery unmanned plane is determined relative to the assay method of express delivery release platform or the real time position of interim release position using four nodes in rapid 4
Position algorithm, as shown in figure 5, in four node locating algorithms, it is only necessary to know four anchor nodes and unknown point to four anchor nodes
Distance, it becomes possible to obtain the position coordinates of unknown point；Express delivery unmanned plane is equivalent to unknown point, and beacon guide device is equivalent to anchor
Node；Four node locating algorithms are specially：
Step 4.1, it is fixed on express delivery release platform or interim using four beacon guide devices as four anchor nodes first
At the corner that " H " is identified on release position, and the coordinate of known four anchor nodes is respectively A1(x1,y1,z1), B1(x2,y2,z2), C1
(x3,y3,z3), D1(x4,y4,z4)；
Step 4.2, using express delivery unmanned plane as unknown node M, unknown node M is calculated respectively to four anchor nodes
A1、B1、C1、D1Distance r, the distance r is respectively d1、d2、d3、d4；
Wherein, d1For M to A1Distance, d2For M to B1Distance, d3For M to C1Distance, d4For M to D1Distance；
Due to scattering properties of the ultraviolet light in propagation in atmosphere so that wireless ultraviolet light can be operated in direct-view situation and can
Enough be operated in it is non-straight optionally, two terminals in communication remained able under the stop of barrier complete communication；Non-
It is secondary or multiple ignoring because the energy that signal receiver 2 receives is essentially from the scattering,single of photon during direct-view communication
In the case that scattering influences, the channel model of ultra-violet light transmission, as shown in Figure 6；Because wireless ultraviolet light has non-direct-view communication
The characteristics of, thus can using wireless ultraviolet light carry out ranging, the present invention using it is non-straight optionally under formula enter row distance meter
Calculate.
Wireless power attenuation of the ultraviolet light direct depending on link in air free space exponentially decays.Damage in free space path
Consumption and r2It is inversely proportional i.e.Atmospheric attenuation is represented byThe reception gain of detector isIn the case of direct-view
Wirelessly the expression formula of the received optical power of ultraviolet communication link isAccording to lambertw functions, unknown section
Distance r of point M to four anchor node in the case of direct-view calculation formula is：
According to it is non-straight optionally under wireless ultraviolet light received optical power expression formula, derive unknown node M to four anchor section
Point it is non-straight optionally under distance r calculation formula be：
Wherein, lambertw functions are f (w)=w*exp (w) inverse functions, i.e. w=lambertw (f (w)), wherein exp
(w) it is exponential function, w is any plural number.
In formula (2) and (3), PrIt is received optical power；PtIt is transmit power；ArIt is the area of receiving aperture on PMT2-1；
R is the distance of unknown node M and four anchor nodes；KeIt is atmosphere attenuation coefficien, by scattering coefficient KsWith atmosphere absorbance KaGroup
Into (Ke=Ks+Ka)；Scattering coefficient KsIncluding Rayleigh scattering coefficients KSRWith Mie scattering coefficients KSM(Ks=KSM+KSR)；Formula
(3) in, PsIt is Scattering Phase Function, θ1It is the elevation angle of signal transmitter 1；θ2It is the elevation angle of signal receiver 2；φ1It is transmitting light beam
Angular aperture；φ2It is the field of view of receiver angle of signal receiver 2.
In formula (2), Pt, ArAnd KeIt is known quantity, received optical power PrShow that r leads to by power measurement module 2-2
Cross and calculated formula (2) importing computing module 2-3；
In formula (3), the Pt, Ar, Ke, Ps, φ1, φ2And KsIt is known quantity, received optical power PrPass through power measurement
Module 2-2 draws, θ1、θ2Measured by the three-axis sensor being installed in power measurement module 2-2, r is by the way that formula (3) is led
Enter computing module 2-3 to be calculated.
From look at straight and it is non-straight optionally under distance calculation formula, in transmission power PtEtc. premise known to parameter
Under, it is only necessary to obtain the luminous power P of the reception of signal receiver 2rAnd the θ that three-axis sensor measures1、θ2, it becomes possible to obtain direct-view feelings
Under condition with the non-straight distance for optionally descending beacon guide device to express delivery unmanned plane, the express delivery of the invention based on wireless ultraviolet light
Range measurement principle in unmanned plane landing guiding system is as shown in Figure 7.
Step 4.3, if unknown node M coordinate is (xm,ym,zm), then the coordinate calculation formula for trying to achieve unknown node M is：
Step 4.4, express delivery unmanned plane is finally calculated relative to express delivery release platform or the real time position of interim release position.
Step 5, landing phases：When express delivery unmanned plane is in directly over the central point of express delivery release platform or interim release position
And when being not more than 30cm with the height directly over the central point of express delivery release platform or interim release position, start Autonomous landing；
Step 6, the stage is launched, after the completion of landing, parcel is launched and completed in specified location, guiding.
By the above-mentioned means, express delivery unmanned plane landing guiding system of the present invention based on wireless ultraviolet light is led to using ultraviolet light
Letter technology, solve existing guiding system and can not in real time, fast and accurately realize and evade the obstacles such as power transmission line, high building, aircraft
Thing and the problem of do not influenceed by Changes in weather, the guiding system has strong antijamming capability, good concealment, portable, wide visual field
The advantages that reception, all weather operations can be carried out, the accurate fixed of express delivery unmanned plane can be realized in the place of no gps signal
Position, realize the safe falling guiding of unmanned plane；The bootstrap technique that express delivery unmanned plane landing is carried out using above-mentioned guiding system is caused
The each barrier of the unmanned function active dodge of express delivery and can all-weather safety guiding, for express delivery unmanned plane fixed point dispensing goods provide
A kind of effective approach, a kind of effective technological means is provided for following unmanned plane delivery industry.
Claims (9)
1. the express delivery unmanned plane landing guiding system based on wireless ultraviolet light, it is characterised in that including signal transmitter (1), institute
Stating signal transmitter (1) includes beacon guide device, is provided with what electric signal was sequentially connected in the beacon guide device
Modulation module (1-1), drive circuit (1-2) and ultraviolet LED (1-3)；The signal for also including being installed on express delivery unmanned plane receives
Machine (2), signal receiver (2) include PMT (2-1), power measurement module (2-2) and the computing mould being sequentially connected by electric signal
Block (2-3), three-axis sensor is installed in the power measurement module (2-3).
2. the express delivery unmanned plane landing guiding system based on wireless ultraviolet light as claimed in claim 1, it is characterised in that described
Ultraviolet LED (1-3) in beacon guide device arranges in parallel and warp.
3. the express delivery unmanned plane landing guiding system based on wireless ultraviolet light as claimed in claim 2, it is characterised in that each
The wavelength that the ultraviolet LED (1-3) uses is 200~280nm, luminous power 0.3mW.
4. the express delivery unmanned plane landing guiding system based on wireless ultraviolet light as claimed in claim 1, it is characterised in that described
Signal receiver (2) uses the PMT (2-1) of R7154 types, and the PMT (2-1) gain is 107。
5. the method for express delivery unmanned plane landing guiding is carried out using the guiding system described in claim 1, it is characterised in that
Specifically implement according to following steps：
Step 1, beacon guide device is installed：Beacon guide device is installed on express delivery release platform, when emergency materials are launched,
The beacon guide device is installed on interim release position；
Step 2, sweep phase：After the completion of step 1, initiation beacon guide device is scanned, and waits express delivery unmanned plane to arrive；
Step 3, acquisition phase：Express delivery unmanned plane orbitings beacon signal in descent, when capturing beacon signal
Afterwards, landing is prepared；
Step 4, the adjusting stage：The express delivery unmanned plane that modules in signal receiver (2) calculate is relative to express delivery
The real time position and pitching angle information of release platform or interim release position adjusts pose, close to beacon guide device；
Step 5, landing phases：When express delivery unmanned plane be in directly over the central point of express delivery release platform or interim release position and with
When height directly over the central point of express delivery release platform or interim release position is not more than 30cm, start Autonomous landing；
Step 6, the stage is launched, after the completion of landing, parcel is launched and completed in specified location, guiding.
The bootstrap technique 6. express delivery unmanned plane as claimed in claim 5 lands, it is characterised in that in the beacon guide device
Ultraviolet LED (1-3) is scanned according to weft direction and the alternate mode of warp direction.
The bootstrap technique 7. express delivery unmanned plane as claimed in claim 5 lands, it is characterised in that express delivery described in step 4 nobody
Machine uses four node locating algorithms relative to the assay method of express delivery release platform or the real time position of interim release position.
The bootstrap technique 8. express delivery unmanned plane as claimed in claim 7 lands, it is characterised in that the four node locating algorithms tool
Body is：
Step 4.1, it is fixed on express delivery release platform or interim using four beacon guide devices as four anchor nodes first
At the corner that " H " is identified on release position, and the coordinate of known four anchor nodes is respectively A1(x1,y1,z1), B1(x2,y2,z2), C1
(x3,y3,z3), D1(x4,y4,z4)；
Step 4.2, using express delivery unmanned plane as unknown node M, unknown node M is calculated respectively to four anchor node A1、
B1、C1、D1Distance r, the distance r is respectively d1、d2、d3、d4；
Wherein, d1For M to A1Distance, d2For M to B1Distance, d3For M to C1Distance, d4For M to D1Distance；
Step 4.3, if the coordinate of the unknown node M is (xm,ym,zm), then the coordinate calculation formula for trying to achieve unknown node M is：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>x</mi>
<mi>m</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>y</mi>
<mi>m</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>z</mi>
<mi>m</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<msup>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>4</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>4</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>2</mn>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mn>4</mn>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>*</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>x</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>x</mi>
<mn>1</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>y</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>y</mi>
<mn>1</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>z</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>z</mi>
<mn>1</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>d</mi>
<mn>1</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>d</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>x</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>x</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>y</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>y</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>z</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>z</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>d</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>d</mi>
<mn>2</mn>
<mn>2</mn>
</msubsup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msubsup>
<mi>x</mi>
<mn>4</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>x</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>y</mi>
<mn>4</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>y</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>z</mi>
<mn>4</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>z</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
<mo>+</mo>
<msubsup>
<mi>d</mi>
<mn>3</mn>
<mn>2</mn>
</msubsup>
<mo>-</mo>
<msubsup>
<mi>d</mi>
<mn>4</mn>
<mn>2</mn>
</msubsup>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Step 4.4, express delivery unmanned plane is finally calculated relative to express delivery release platform or the real time position of interim release position.
The bootstrap technique 9. express delivery unmanned plane as claimed in claim 8 lands, it is characterised in that according to asking for lambertw functions
Anti- rule, distance r of unknown node M to four anchor node in the case of direct-view calculation formula are：
<mrow>
<mi>r</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mn>2</mn>
<mi>l</mi>
<mi>a</mi>
<mi>m</mi>
<mi>b</mi>
<mi>e</mi>
<mi>r</mi>
<mi>t</mi>
<mi>w</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mn>1</mn>
<mn>4</mn>
</mfrac>
<msqrt>
<mfrac>
<mrow>
<msub>
<mi>P</mi>
<mi>t</mi>
</msub>
<msub>
<mi>A</mi>
<mi>r</mi>
</msub>
<msubsup>
<mi>K</mi>
<mi>e</mi>
<mn>2</mn>
</msubsup>
</mrow>
<mrow>
<msub>
<mi>&pi;P</mi>
<mi>r</mi>
</msub>
</mrow>
</mfrac>
</msqrt>
<mo>)</mo>
</mrow>
</mrow>
<msub>
<mi>K</mi>
<mi>e</mi>
</msub>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Unknown node M to four anchor node it is non-straight optionally under distance r calculation formula be：
<mrow>
<mi>r</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>l</mi>
<mi>a</mi>
<mi>m</mi>
<mi>b</mi>
<mi>e</mi>
<mi>r</mi>
<mi>t</mi>
<mi>w</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>P</mi>
<mi>t</mi>
</msub>
<msub>
<mi>A</mi>
<mi>r</mi>
</msub>
<msub>
<mi>K</mi>
<mi>s</mi>
</msub>
<msub>
<mi>P</mi>
<mi>s</mi>
</msub>
<msub>
<mi>&phi;</mi>
<mn>2</mn>
</msub>
<msubsup>
<mi>&phi;</mi>
<mn>1</mn>
<mn>2</mn>
</msubsup>
<msub>
<mi>K</mi>
<mi>e</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>sin&theta;</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>sin&theta;</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>P</mi>
<mi>r</mi>
</msub>
<mn>32</mn>
<msup>
<mi>&pi;</mi>
<mn>3</mn>
</msup>
<msub>
<mi>sin&theta;</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mfrac>
<msub>
<mi>&phi;</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
</mrow>
<mfrac>
<mrow>
<msub>
<mi>K</mi>
<mi>e</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>sin&theta;</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>sin&theta;</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>&theta;</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mfrac>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Lambertw functions are f (w)=w*exp (w) inverse functions, i.e. w=lambertw (f (w)), wherein exp (w) are indexes
Function, w are any plural numbers.
In formula (2) and (3), PrIt is received optical power；PtIt is transmit power；ArIt is the area of receiving aperture on PMT (2-1)；r
It is the distance of unknown node M and four anchor nodes；KeIt is atmosphere attenuation coefficien, by scattering coefficient KsWith atmosphere absorbance KaGroup
Into (Ke=Ks+Ka)；Scattering coefficient KsIncluding Rayleigh scattering coefficients KSRWith Mie scattering coefficients KSM(Ks=KSM+KSR)；Formula
(3) in, PsIt is Scattering Phase Function, θ1It is the elevation angle of signal transmitter (1)；θ2It is the elevation angle of signal receiver (2)；φ1It is transmitting
Beam angle；φ2It is the field of view of receiver angle of signal receiver (2).
In formula (2), the Pt, ArAnd KeIt is known quantity, the received optical power is drawn by power measurement module (2-2),
The r is calculated by the way that formula (2) is imported into computing module (2-3)；
In formula (3), the Pt, Ar, Ke, Ps, φ1, φ2And KsIt is known quantity, the received optical power PrPass through power measurement
Module (2-2) draws, the θ1、θ2Measured by the three-axis sensor being installed in power measurement module (2-2), the r passes through
Formula (3) is imported into computing module (2-3) to be calculated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710622822.7A CN107402581B (en) | 2017-07-27 | 2017-07-27 | Express unmanned aerial vehicle landing guiding system and guiding method based on wireless ultraviolet light |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710622822.7A CN107402581B (en) | 2017-07-27 | 2017-07-27 | Express unmanned aerial vehicle landing guiding system and guiding method based on wireless ultraviolet light |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107402581A true CN107402581A (en) | 2017-11-28 |
| CN107402581B CN107402581B (en) | 2020-12-18 |
Family
ID=60402443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710622822.7A Active CN107402581B (en) | 2017-07-27 | 2017-07-27 | Express unmanned aerial vehicle landing guiding system and guiding method based on wireless ultraviolet light |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107402581B (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108053635A (en) * | 2017-12-15 | 2018-05-18 | 杭州莱宸科技有限公司 | A kind of unmanned plane is automatically positioned kilowatt meter reading-out system |
| CN108646783A (en) * | 2018-06-13 | 2018-10-12 | 西安理工大学 | Pesticide spraying unmanned plane guiding system based on wireless ultraviolet light and bootstrap technique |
| CN108873932A (en) * | 2018-06-13 | 2018-11-23 | 西安理工大学 | Unmanned plane bee colony attack guidance system and bootstrap technique based on wireless ultraviolet light |
| CN109521787A (en) * | 2018-09-28 | 2019-03-26 | 易瓦特科技股份公司 | Method and device for aircraft mark landing |
| CN109866938A (en) * | 2019-02-19 | 2019-06-11 | 西安理工大学 | A kind of unmanned machine aided drop system of the wireless ultraviolet light in warship face and its help drop bootstrap technique |
| CN109911232A (en) * | 2019-03-28 | 2019-06-21 | 大连民族大学 | A kind of unmanned plane roof air-drop indicating means of city roof installation |
| CN109911237A (en) * | 2019-04-02 | 2019-06-21 | 赵嘉睿 | Based on ultraviolet light to the unmanned machine aided drop and guidance system and application of empty coded beacons |
| CN110203087A (en) * | 2019-05-17 | 2019-09-06 | 西安理工大学 | Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G |
| CN110310520A (en) * | 2019-06-14 | 2019-10-08 | 西安理工大学 | The aerial virtual fence method of the wireless ultraviolet light on unmanned plane recharging level ground |
| CN110456813A (en) * | 2019-04-16 | 2019-11-15 | 西安理工大学 | The unmanned plane of wireless ultraviolet light guidance is formed into columns the method that optimal sub-clustering formation is kept |
| CN110456818A (en) * | 2019-07-30 | 2019-11-15 | 恒大智慧科技有限公司 | Goods delivery method, apparatus, unmanned plane and storage medium based on unmanned plane |
| CN110879617A (en) * | 2019-12-30 | 2020-03-13 | 湖南星空机器人技术有限公司 | Infrared-guided unmanned aerial vehicle landing method and device |
| CN111077910A (en) * | 2020-01-07 | 2020-04-28 | 西安理工大学 | Unmanned aerial vehicle swarm anti-collision system, device and method based on ultraviolet light guidance |
| CN111082863A (en) * | 2019-12-24 | 2020-04-28 | 西安工程大学 | Ultraviolet light mobile ad hoc network bilateral node positioning method |
| CN111093147A (en) * | 2019-12-24 | 2020-05-01 | 西安工程大学 | Ultraviolet light ad hoc network three-dimensional node positioning method |
| CN111123964A (en) * | 2019-12-24 | 2020-05-08 | 浙江大学 | Unmanned aerial vehicle landing method and device and computer readable medium |
| CN111698641A (en) * | 2020-05-27 | 2020-09-22 | 西安理工大学 | Wireless ultraviolet light assisted 5G networked unmanned aerial vehicle landing assisting and electricity supply method |
| CN111752293A (en) * | 2019-03-27 | 2020-10-09 | 北京外号信息技术有限公司 | Method and electronic device for guiding a machine capable of autonomous movement |
| CN111882928A (en) * | 2020-06-28 | 2020-11-03 | 西安工程大学 | Ultraviolet light-based line patrol unmanned aerial vehicle anti-collision system and method |
| CN112034877A (en) * | 2020-09-28 | 2020-12-04 | 中国电子科技集团公司第五十四研究所 | Laser-assisted unmanned aerial vehicle autonomous take-off and landing terminal, system and method |
| CN113556672A (en) * | 2020-04-23 | 2021-10-26 | 湖南韬讯航空科技有限公司 | Anti-interference cluster unmanned aerial vehicle system and communication and positioning method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2373488A (en) * | 2001-03-21 | 2002-09-25 | Bae Systems Plc | Launching, refuelling and recovering an aircraft |
| CN103569372A (en) * | 2013-10-12 | 2014-02-12 | 西安理工大学 | Wireless ultraviolet light-based helicopter landing boosting system and landing boosting method |
| CN103895871A (en) * | 2014-03-21 | 2014-07-02 | 西安理工大学 | Helicopter guiding system and guiding method based on wireless ultraviolet light and multi-dimensional codes |
| CN104803001A (en) * | 2015-04-15 | 2015-07-29 | 西安理工大学 | Communication method for guiding landing assisting of helicopter based on grading fountain codes |
| CN105044707A (en) * | 2015-06-25 | 2015-11-11 | 西安理工大学 | Helicopter distance measuring and anti-collision method based on wireless ultraviolet light |
| CN205302011U (en) * | 2015-12-07 | 2016-06-08 | 浙江大学 | Unmanned aerial vehicle bootstrap system that independently lands based on day blind area ultraviolet imagery |
| US20160364989A1 (en) * | 2015-06-15 | 2016-12-15 | ImageKeeper LLC | Unmanned aerial vehicle management |
| CN106663380A (en) * | 2014-07-31 | 2017-05-10 | 埃米特·法里斯 | System and method for controlling drone delivery |
-
2017
- 2017-07-27 CN CN201710622822.7A patent/CN107402581B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2373488A (en) * | 2001-03-21 | 2002-09-25 | Bae Systems Plc | Launching, refuelling and recovering an aircraft |
| CN103569372A (en) * | 2013-10-12 | 2014-02-12 | 西安理工大学 | Wireless ultraviolet light-based helicopter landing boosting system and landing boosting method |
| CN103895871A (en) * | 2014-03-21 | 2014-07-02 | 西安理工大学 | Helicopter guiding system and guiding method based on wireless ultraviolet light and multi-dimensional codes |
| CN106663380A (en) * | 2014-07-31 | 2017-05-10 | 埃米特·法里斯 | System and method for controlling drone delivery |
| CN104803001A (en) * | 2015-04-15 | 2015-07-29 | 西安理工大学 | Communication method for guiding landing assisting of helicopter based on grading fountain codes |
| US20160364989A1 (en) * | 2015-06-15 | 2016-12-15 | ImageKeeper LLC | Unmanned aerial vehicle management |
| CN105044707A (en) * | 2015-06-25 | 2015-11-11 | 西安理工大学 | Helicopter distance measuring and anti-collision method based on wireless ultraviolet light |
| CN205302011U (en) * | 2015-12-07 | 2016-06-08 | 浙江大学 | Unmanned aerial vehicle bootstrap system that independently lands based on day blind area ultraviolet imagery |
Non-Patent Citations (6)
| Title |
|---|
| KUO-HSIEN HSIA: "Height Estimation via Stereo Vision System for Unmanned Helicopt", 《2010 INTERNATIONAL SYMPOSIUM ON COMPUTER, COMMUNICATION, CONTROL AND AUTOMATION (3CA)》 * |
| PENG SONG: "Multi-user interference in a non-line-of-sight", 《IET COMMUNICATIONS》 * |
| 吕照顺: "近地层直视与非直视紫外光通信系统关键技术研究", 《红外技术》 * |
| 宋鹏: "非直视紫外光在非共面通信系统中的脉冲展宽效应", 《光学学报》 * |
| 王兴亮: "现代通信系统新技术", 《西安电子科技大学出版社》 * |
| 黄鑫: "无线紫外光信标引导直升机降落驾驶辅助系统", 《电子设计工程》 * |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108053635A (en) * | 2017-12-15 | 2018-05-18 | 杭州莱宸科技有限公司 | A kind of unmanned plane is automatically positioned kilowatt meter reading-out system |
| CN108646783A (en) * | 2018-06-13 | 2018-10-12 | 西安理工大学 | Pesticide spraying unmanned plane guiding system based on wireless ultraviolet light and bootstrap technique |
| CN108873932A (en) * | 2018-06-13 | 2018-11-23 | 西安理工大学 | Unmanned plane bee colony attack guidance system and bootstrap technique based on wireless ultraviolet light |
| CN108646783B (en) * | 2018-06-13 | 2021-02-12 | 西安理工大学 | Pesticide spraying unmanned aerial vehicle guiding system and method based on wireless ultraviolet light |
| CN109521787A (en) * | 2018-09-28 | 2019-03-26 | 易瓦特科技股份公司 | Method and device for aircraft mark landing |
| CN109866938A (en) * | 2019-02-19 | 2019-06-11 | 西安理工大学 | A kind of unmanned machine aided drop system of the wireless ultraviolet light in warship face and its help drop bootstrap technique |
| CN111752293A (en) * | 2019-03-27 | 2020-10-09 | 北京外号信息技术有限公司 | Method and electronic device for guiding a machine capable of autonomous movement |
| CN109911232B (en) * | 2019-03-28 | 2022-12-06 | 国网浙江省电力有限公司台州供电公司 | Unmanned aerial vehicle roof airdrop indicating method for urban roof installation |
| CN109911232A (en) * | 2019-03-28 | 2019-06-21 | 大连民族大学 | A kind of unmanned plane roof air-drop indicating means of city roof installation |
| CN109911237A (en) * | 2019-04-02 | 2019-06-21 | 赵嘉睿 | Based on ultraviolet light to the unmanned machine aided drop and guidance system and application of empty coded beacons |
| CN109911237B (en) * | 2019-04-02 | 2022-03-22 | 赵嘉睿 | Unmanned aerial vehicle landing assisting and guiding system based on ultraviolet air coding beacon and application |
| CN110456813B (en) * | 2019-04-16 | 2022-08-12 | 西安理工大学 | Wireless ultraviolet light guided method for maintaining optimal clustering formation of unmanned aerial vehicle formation |
| CN110456813A (en) * | 2019-04-16 | 2019-11-15 | 西安理工大学 | The unmanned plane of wireless ultraviolet light guidance is formed into columns the method that optimal sub-clustering formation is kept |
| CN110203087A (en) * | 2019-05-17 | 2019-09-06 | 西安理工大学 | Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G |
| CN110310520A (en) * | 2019-06-14 | 2019-10-08 | 西安理工大学 | The aerial virtual fence method of the wireless ultraviolet light on unmanned plane recharging level ground |
| CN110456818A (en) * | 2019-07-30 | 2019-11-15 | 恒大智慧科技有限公司 | Goods delivery method, apparatus, unmanned plane and storage medium based on unmanned plane |
| CN111093147A (en) * | 2019-12-24 | 2020-05-01 | 西安工程大学 | Ultraviolet light ad hoc network three-dimensional node positioning method |
| CN111123964A (en) * | 2019-12-24 | 2020-05-08 | 浙江大学 | Unmanned aerial vehicle landing method and device and computer readable medium |
| CN111123964B (en) * | 2019-12-24 | 2021-07-06 | 浙江大学 | Unmanned aerial vehicle landing method and device and computer readable medium |
| CN111082863A (en) * | 2019-12-24 | 2020-04-28 | 西安工程大学 | Ultraviolet light mobile ad hoc network bilateral node positioning method |
| CN110879617A (en) * | 2019-12-30 | 2020-03-13 | 湖南星空机器人技术有限公司 | Infrared-guided unmanned aerial vehicle landing method and device |
| CN111077910A (en) * | 2020-01-07 | 2020-04-28 | 西安理工大学 | Unmanned aerial vehicle swarm anti-collision system, device and method based on ultraviolet light guidance |
| CN111077910B (en) * | 2020-01-07 | 2023-11-14 | 西安理工大学 | Anti-collision method for unmanned aerial vehicle bee colony based on ultraviolet light guidance |
| CN113556672A (en) * | 2020-04-23 | 2021-10-26 | 湖南韬讯航空科技有限公司 | Anti-interference cluster unmanned aerial vehicle system and communication and positioning method thereof |
| CN113556672B (en) * | 2020-04-23 | 2022-10-11 | 湖南韬讯航空科技有限公司 | Anti-interference cluster unmanned aerial vehicle system and communication and positioning method thereof |
| CN111698641A (en) * | 2020-05-27 | 2020-09-22 | 西安理工大学 | Wireless ultraviolet light assisted 5G networked unmanned aerial vehicle landing assisting and electricity supply method |
| CN111882928A (en) * | 2020-06-28 | 2020-11-03 | 西安工程大学 | Ultraviolet light-based line patrol unmanned aerial vehicle anti-collision system and method |
| CN112034877A (en) * | 2020-09-28 | 2020-12-04 | 中国电子科技集团公司第五十四研究所 | Laser-assisted unmanned aerial vehicle autonomous take-off and landing terminal, system and method |
| CN112034877B (en) * | 2020-09-28 | 2024-03-15 | 中国电子科技集团公司第五十四研究所 | Laser-assisted unmanned aerial vehicle autonomous take-off and landing terminal, system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107402581B (en) | 2020-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107402581A (en) | Express delivery unmanned plane landing guiding system and bootstrap technique based on wireless ultraviolet light | |
| US10665116B2 (en) | Drone encroachment avoidance monitor | |
| US10082803B2 (en) | Method and system for providing route of unmanned air vehicle | |
| CN109911237A (en) | Based on ultraviolet light to the unmanned machine aided drop and guidance system and application of empty coded beacons | |
| Teng et al. | Mini-UAV LiDAR for power line inspection | |
| CN106896828B (en) | A kind of unmanned plane automated wireless charging method and system | |
| CN108181635A (en) | A kind of laser point cloud sorting technique for transmission line of electricity scissors crossing analysis | |
| CN103135550A (en) | Multiple obstacle-avoidance control method of unmanned plane used for electric wire inspection | |
| CN103116360A (en) | Unmanned aerial vehicle obstacle avoidance controlling method | |
| CN106950989B (en) | A kind of unmanned plane fixed point location method and system | |
| CN107783545A (en) | Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system based on OODA ring multi-sensor information fusions | |
| RU2471209C1 (en) | Method of monitoring atmospheric air | |
| CN107783119A (en) | Apply the Decision fusion method in obstacle avoidance system | |
| CN105468018A (en) | Unmanned aerial vehicle target characteristic simulation system | |
| CN107065027A (en) | Detection system, method, device and the equipment of source of leaks | |
| CN106556559A (en) | A kind of monitoring method of cloud/aerosol, device and system | |
| Baca et al. | Timepix radiation detector for autonomous radiation localization and mapping by micro unmanned vehicles | |
| CN202421491U (en) | Multilateral positioning system based on distributed clocks | |
| TWI745153B (en) | Method, device and system of ultra-wideband localization | |
| RU2282867C1 (en) | Method for determination of object spatial attitude | |
| US11687072B2 (en) | Automatic UAV landing pad | |
| Ni et al. | Design of regional logistics system based on unmanned aerial vehicle | |
| CN107561526A (en) | A kind of unmanned plane target identification and localization method based on radar network | |
| CN105044707B (en) | Based on wireless ultraviolet light helicopter ranging and collision-proof method | |
| CN110274596B (en) | Intelligent obstacle avoidance method based on time nodes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |