CN107422297B - Unmanned device localization method, device and system - Google Patents
Unmanned device localization method, device and system Download PDFInfo
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- CN107422297B CN107422297B CN201710255607.8A CN201710255607A CN107422297B CN 107422297 B CN107422297 B CN 107422297B CN 201710255607 A CN201710255607 A CN 201710255607A CN 107422297 B CN107422297 B CN 107422297B
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The present invention relates to a kind of unmanned device localization methods, device and system, it configures teamwork mode for the unmanned device team being made of multiple unmanned devices in advance, information exchange is carried out between each other at each unmanned device, interactive information includes self poisoning information and displacement status information, its method includes: that the unmanned device of residue when determining the current unmanned device lost contact in unmanned device team, into unmanned device team sends interactive information request instruction；Team's interactive information that remaining unmanned device is returned according to interactive information request instruction is received, team's interactive information includes the first location information of the current unmanned device when last time carries out information exchange with current unmanned device and the second location information of speed of service value and remaining unmanned device；The target position information of current unmanned device is determined according to the first location information, speed of service value and the second location information.Using the present invention program, the search difficulty and cost of the unmanned device of lost contact can be reduced.
Description
Technical field
The present invention relates to fields of communication technology, more particularly to a kind of unmanned device localization method, device and system.
Background technique
The communications industry continues to develop, and people have expressed higher expectation to the communication technology, proposed more to communication stability
High requirement.The research of present unmanned device has very big progress, it can be widely applied to water conservancy, traffic, safety and national defence
Equal fields.But some drawbacks are also exposed in the unmanned device course of work, for example, unmanned device may in external world's work
The influence of the factors such as power itself deficiency, external environmental interference is encountered, this may cause the communication of unmanned device and terminal device
Network disconnects, and can not normally be communicated, recycle unmanned device, so that the information that unmanned device obtains can not be transferred to
The danger of terminal device and information leakage.
Currently, the main settling mode of above situation is to be carried out according to unmanned device with the information that terminal device finally communicates
The search in big region；This mode is generally difficult the position of the accurate unmanned device of determining lost contact, searches the unmanned dress of lost contact
The difficulty set is larger, or even the case where will appear the unmanned device that cannot search lost contact, and often needs in search process
It takes a substantial amount of time, human and material resources, i.e. searching cost is also higher.
Summary of the invention
It, can be in order to reducing lost contact the purpose of the present invention is to provide a kind of unmanned device localization method, device and system
Unmanned device search difficulty and searching cost.
On the one hand, a kind of unmanned device localization method is provided, the unmanned device group that will be made of in advance multiple unmanned devices
Team is configured to teamwork mode, wherein each unmanned device carries out between each other when being under the teamwork mode
Information exchange, interactive information include the self poisoning information and displacement status information when carrying out information exchange, method packet
It includes:
It is surplus into the unmanned device team when determining the current unmanned device lost contact in the unmanned device team
Remaining unmanned device sends interactive information request instruction；
Receive team's interactive information that the unmanned device of residue is returned according to the interactive information request instruction, wherein
Team's interactive information includes the first location information in the current unmanned device of object time, the current unmanned dress
Second location information of the speed of service value and the unmanned device of residue set, the object time refer to the current unmanned device
At the time of carrying out information exchange with the unmanned device last time of the residue；
According to first location information, the speed of service value and second location information determine it is described it is current nobody
The target position information of device.
With reference to first aspect, in a kind of possible implementation of first aspect, team's interactive information further includes institute
State object time；
It is described determined according to first location information, the speed of service value and second location information it is described current
The step of target position information of unmanned device includes:
The lost contact duration of the current unmanned device is determined according to the object time and current time；
The current unmanned device and the residue are determined according to first location information and second location information
First distance value between unmanned device, wherein the first distance value refers to the current unmanned dress in the object time
Set the distance between the unmanned device of residue value；
According to the lost contact duration, the first distance value and the speed of service value determine the current unmanned device and
Second distance value between the unmanned device of residue；
The target position letter of the current unmanned device is determined according to the second distance value and second location information
Breath.
With reference to first aspect or above-mentioned certain possible implementations, in a kind of possible implementation of first aspect,
Unmanned device quantity is at least four in the unmanned device team, and the number of the unmanned device in the unmanned device of residue is extremely
It is less three；
It is described that the current unmanned dress is determined according to the lost contact duration, the first distance value and the speed of service value
The step of setting the second distance value between the unmanned device of residue includes: according to Si=Si'+Δ tv works as described in determining respectively
Second distance value between preceding unmanned device and each unmanned device of residue, wherein SiRefer to the current unmanned device and
Second distance value between i-th of remaining unmanned device, Si' refer to the current unmanned device and i-th remaining unmanned device it
Between first distance value, Δ t refers to the lost contact duration, and v refers to the speed of service value；
The target position that the current unmanned device is determined according to the second distance value and second location information
The step of confidence ceases includes: respectively using the corresponding position of second location information of each unmanned device of residue as the center of circle or ball
The heart, corresponding second distance value are that radius determines that each unmanned device of residue is corresponding round or spherical, according to each circle
Either each spherical public intersecting area for determining each round or each spherical shape, by the position of the public intersecting area
Confidence breath is determined as target position information.
With reference to first aspect or above-mentioned certain possible implementations, in a kind of possible implementation of first aspect,
Team's interactive information further includes the environmental factor information of the current unmanned device, and the environmental factor information includes wind-force
Information or/and Resistance Pressure information；
It is described that the current unmanned dress is determined according to the lost contact duration, the first distance value and the speed of service value
The step of setting the second distance value between the unmanned device of residue includes: according to the wind-force information or the resistance
Force information is modified the speed of service value, according to the lost contact duration, the first distance value and revised operation
Velocity amplitude determines the second distance value between the current unmanned device and the unmanned device of residue.
With reference to first aspect or above-mentioned certain possible implementations, in a kind of possible implementation of first aspect,
Team's interactive information further includes the operation azimuth information of the current unmanned device；
It is described that the current unmanned dress is determined according to the lost contact duration, the first distance value and the speed of service value
Setting the second distance value between the unmanned device of residue includes: according to the lost contact duration, the first distance value, described
Speed of service value and the operation azimuth information determine second between the current unmanned device and the unmanned device of residue
Distance value.
Second aspect provides a kind of unmanned device positioning device, the unmanned dress that will be made of in advance multiple unmanned devices
It sets team and is configured to teamwork mode, wherein each unmanned device is mutual when being under the teamwork mode
Information exchange is carried out, interactive information includes the self poisoning information and displacement status information when carrying out information exchange, described
System includes:
Instruction sending unit, for when determining the current unmanned device lost contact in the unmanned device team, Xiang Suoshu
The unmanned device of residue in unmanned device team sends interactive information request instruction；
Information receiving unit, the group returned for receiving the unmanned device of residue according to the interactive information request instruction
Team's interactive information, wherein team's interactive information includes the first positioning letter in the current unmanned device of object time
Breath, the current speed of service value of unmanned device and the second location information of the unmanned device of residue, the object time
At the time of referring to that the current unmanned device and the unmanned device last time of the residue carry out information exchange；
Positioning unit, for true according to first location information, the speed of service value and second location information
The target position information of the fixed current unmanned device.
In conjunction with second aspect, in a kind of possible implementation of second aspect, team's interactive information further includes institute
Object time is stated, the positioning unit includes:
Duration calculation unit, for determining the lost contact of the current unmanned device according to the object time and current time
Duration；
First distance computing unit, for working as according to first location information and second location information determination
First distance value between preceding unmanned device and the unmanned device of residue, wherein the first distance value refers in the target
Current the distance between unmanned device and the unmanned device of the residue value at moment；
Second distance computing unit, for according to the lost contact duration, the first distance value and the speed of service value
Determine the second distance value between the current unmanned device and the unmanned device of residue；
Target position judging unit, it is described current for being determined according to the second distance value and second location information
The target position information of unmanned device.
In conjunction with second aspect or above-mentioned certain possible implementations, in a kind of possible implementation of second aspect,
Unmanned device quantity is at least four in the unmanned device team, and the number of the unmanned device in the unmanned device of residue is extremely
It is less three；
The second distance computing unit is according to Si=Si'+Δ tv determines the current unmanned device and each described respectively
Second distance value between remaining unmanned device, wherein SiRefer between the current unmanned device and i-th of remaining unmanned device
Second distance value, Si' referring to first distance value between the current unmanned device and i-th of remaining unmanned device, Δ t refers to institute
Lost contact duration is stated, v refers to the speed of service value；
The target position judging unit is respectively with the corresponding position of second location information of each unmanned device of residue
It is that radius determines that each unmanned device of residue is corresponding round or spherical for the center of circle or the centre of sphere, corresponding second distance value, according to
Each described round or each spherical public intersecting area for determining each round or each spherical shape, by the public phase
The location information in region is handed over to be determined as target position information.
In conjunction with second aspect or above-mentioned certain possible implementations, in a kind of possible implementation of second aspect,
Team's interactive information further includes the environmental factor information of the current unmanned device, and the environmental factor information includes wind-force
Information or/and Resistance Pressure information；
The second distance computing unit is according to the wind-force information or the Resistance Pressure information to the speed of service
Value is modified, and determines the current nothing according to the lost contact duration, the first distance value and revised speed of service value
Second distance value between people's device and the unmanned device of residue.
In conjunction with second aspect or above-mentioned certain possible implementations, in a kind of possible implementation of second aspect,
Team's interactive information further includes the operation azimuth information of the current unmanned device；
The second distance computing unit according to the lost contact duration, the first distance value, the speed of service value and
The operation azimuth information determines the second distance value between the current unmanned device and the unmanned device of residue.
The third aspect provides a kind of unmanned apparatus positioning system comprising terminal device and is preconfigured to team's work
The unmanned device team of operation mode being made of multiple unmanned devices, the terminal device include that instruction sending unit, information connect
Receive unit and positioning unit；
Each unmanned device carries out information exchange, interactive information packet when being under the teamwork mode between each other
The self poisoning information and displacement status information when carrying out information exchange are included, the system comprises:
Described instruction transmission unit is used for when determining the current unmanned device lost contact in the unmanned device team, to institute
The unmanned device of residue stated in unmanned device team sends interactive information request instruction；
The information receiving unit is returned for receiving the unmanned device of residue according to the interactive information request instruction
Team's interactive information, wherein team's interactive information include object time the current unmanned device it is first fixed
Position information, the current speed of service value of unmanned device and the second location information of the unmanned device of residue, the target
At the time of moment refers to that the current unmanned device and the unmanned device last time of the residue carry out information exchange；
The positioning unit is used for according to first location information, the speed of service value and second location information
Determine the target position information of the current unmanned device.
It is in advance to configure the unmanned device team being made of multiple unmanned devices to according to the scheme of aforementioned present invention
Teamwork mode, each unmanned device carry out information exchange when being under teamwork mode between each other, and interactive information includes
Carry out the self poisoning information and displacement status information when information exchange；Determine in unmanned device team it is current nobody
When device lost contact, the unmanned device of residue into unmanned device team sends interactive information request instruction；Receive remaining unmanned dress
Set according to interactive information request instruction return at the time of carrying out information exchange with current unmanned device last time currently nobody
Second location information of the first location information of device, the speed of service value of current unmanned device and remaining unmanned device；According to
First location information, speed of service value and the second location information determine the target position information of current unmanned device, in this way, can be with
Current unmanned device (the unmanned device of lost contact in other words) is located in a lesser range, current unmanned dress is advantageously reduced
The search difficulty and searching cost set.
Detailed description of the invention
Fig. 1 is the implementation process schematic diagram of the unmanned device localization method in one embodiment；
Fig. 2 is the implementation process schematic diagram of the target position information of settled preceding unmanned device really in one embodiment；
Fig. 3 is the information exchange signal of the unmanned device team being under teamwork mode in a specific example
Figure；
Fig. 4 is the schematic diagram that the unmanned device mode of lost contact is positioned in a specific example；
Fig. 5 is the composed structure schematic diagram of the unmanned device positioning device in one embodiment；
Fig. 6 is the refinement composed structure schematic diagram of positioning unit in one of the embodiments in Fig. 5.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, with reference to the accompanying drawings and embodiments, to this
Invention is described in further detail.It should be appreciated that the specific embodiments described herein are only used to explain the present invention,
And the scope of protection of the present invention is not limited.
It is shown in Figure 1, a kind of unmanned device localization method is provided in one of the embodiments, in the embodiment
Unmanned device localization method is illustrated by taking VAS application -to-terminal service equipment as an example.It in the present embodiment, in advance will be by multiple unmanned dresses
The unmanned device team for setting composition is configured to teamwork mode, wherein each unmanned device is in the teamwork mould
Information exchange is carried out when under formula between each other, interactive information includes the self poisoning information and displacement when carrying out information exchange
Status information.As shown in Figure 1, the unmanned device localization method in the present embodiment includes:
Step S101: when determining the current unmanned device lost contact in the unmanned device team, to the unmanned device
The unmanned device of residue in team sends interactive information request instruction；
Step S102: team's interaction letter that the unmanned device of residue is returned according to the interactive information request instruction is received
Breath, wherein team's interactive information include the current unmanned device of object time the first location information, described work as
Second location information of the speed of service value of preceding unmanned device and the unmanned device of residue, the object time refer to described current
At the time of unmanned device and the unmanned device last time of the residue carry out information exchange；
Step S103: institute is determined according to first location information, the speed of service value and second location information
State the target position information of current unmanned device.
It accordingly, is the unmanned device that will be made of in advance multiple unmanned devices according to the scheme in above-mentioned the present embodiment
Team is configured to teamwork mode, and each unmanned device carries out information exchange between each other when being under teamwork mode, hands over
Mutual information includes the self poisoning information and displacement status information when carrying out information exchange, and terminal device is determining unmanned dress
When setting the current unmanned device lost contact in team, the unmanned device of residue into unmanned device team sends interactive information request and refers to
It enables, and receives remaining unmanned device and information is being carried out with current unmanned device last time according to the return of interactive information request instruction
Currently the first location information of unmanned device, the speed of service value of current unmanned device and remaining unmanned device at the time of interaction
Second location information, terminal device determine current unmanned dress according to the first location information, speed of service value and the second location information
The target position information set, in this way, can will current unmanned device (the unmanned device of lost contact in other words) be located in one it is lesser
In range, the search difficulty of current unmanned device is advantageously reduced, search efficiency has been correspondingly improved and has reduced searching cost.
The scheme of the present embodiment in order to facilitate understanding below explains above-mentioned each process in the present embodiment in detail
It states.
Wherein, each unmanned device in the unmanned device team carries out information exchange between each other and refers to: the nothing
The unmanned device of each of people's device team sends the interactive information such as self poisoning information and displacement status information respectively
To other each unmanned devices in unmanned device team.For example, for nobody including n (n is positive integer) a unmanned device
Device team, unmanned device 1 by the location information of unmanned device 1 and movement state information be sent respectively to unmanned device 2, nobody
Device 3 ..., unmanned device n, the location information of unmanned device 2 and movement state information be sent respectively to nothing by unmanned device 2
People's device 1, unmanned device 3, unmanned device 4 ..., unmanned device n, unmanned device 3 is by the location information and fortune of unmanned device 3
Dynamic status information is sent respectively to unmanned device 1, unmanned device 2, unmanned device 4, unmanned device 5 ..., unmanned device
The location information of unmanned device n and movement state information are sent respectively to unmanned device 1, unmanned dress by n ... ..., unmanned device n
Set 2, unmanned device 3 ..., unmanned device n-1.
Wherein, after information exchange frequency can be configured by terminal device, terminal device hands over the information set
Crossing over frequency is sent to each unmanned device in the unmanned device team, and each unmanned device is according to the information exchange received
Frequency carries out information exchange.The terminal device can change the information according to the environment that the unmanned device team executes task
Frequency of interaction.In addition, as needed, in interactive information can also include ambient condition information when carrying out information exchange.
In the present embodiment, each unmanned device in the unmanned device team carries out information exchange between each other, can
To realize the intercommunication of information, resource-sharing.
It should be noted that under normal circumstances, all it is that each unmanned device is communicated with terminal device respectively, and this reality
Apply in example, each unmanned device during the work time, communicated with terminal device simultaneously also and around each unmanned dress
Carry out information exchange is set, the frequency of information exchange generally takes the larger value, once the communication chain of some unmanned device and terminal device
When road disconnects, terminal device can accurately obtain the location information of unmanned device by the unmanned device around the terminal device.
In above-mentioned steps S101, the current unmanned device can be any one nothing in the unmanned device team
People's device, the unmanned device of residue are generally multiple unmanned devices, are preferred with three or more.Terminal device and it is described nobody
It can be determined that the current unmanned device lost contact after the communication disruption of current unmanned device in device team, or receive institute
After stating the unmanned device feedback of other in unmanned device team and the communication disruption information of the current unmanned device, it is possible to determine that institute
Current unmanned device lost contact is stated, in order to orient the position of the current unmanned device, into the unmanned device team
The unmanned device of residue send interactive information request instruction, the interactive information request instruction is for requesting the unmanned dress of last time
It sets the unmanned device of residue in team and the current unmanned device carries out the interactive information of information exchange.
When the unmanned device of residue into the unmanned device team sends interactive information request instruction, can be to surplus
Any one or multiple unmanned devices in remaining unmanned device send interactive information request instruction, be also possible to it is remaining nobody
The unmanned device of whole in device sends interactive information request instruction.Due to each unmanned device of unmanned device team configuration
Information exchange is carried out when being under teamwork mode between each other, therefore, any one unmanned dress in remaining unmanned device
The information for setting record all has the interactive information of unmanned device team, that is to say, that even if only into remaining unmanned device one
A transmission interactive information request instruction can also know the interactive information of entire unmanned device team.
In above-mentioned steps S102, the interactive information request instruction may include the mark for having the current unmanned device
Information.Specifically, the unmanned device of residue is when receiving the interactive information request instruction, according to the current unmanned dress
The identification information-enquiry set is in the first location information of the current unmanned device of object time, the current unmanned device
Speed of service value, and inquire the location information in the unmanned device of residue of object time, i.e. the second location information；The residue nothing
People's device is using first location information inquired, the speed of service value and second location information as team's interaction
Information returns to terminal device, and terminal device receives team's interactive information that the unmanned device of the residue returns.
Generally, the information exchange between unmanned device and terminal device is by base station, for example, above-mentioned interaction
Information request instruction is sent by base station, and above-mentioned team's interactive information is received by base station.
In above-mentioned steps S103, the target position information refers to the current location range letter of the current unmanned device
Breath.Specifically, firstly, respectively according to first location information, the speed of service value and the corresponding unmanned device of residue
Second location information determines a position range of the current unmanned device, in this way, multiple unmanned devices of residue then can be with
Multiple position ranges are accordingly determined, secondly, the public intersecting area of this multiple position range is obtained, by the public intersection
The location information in domain is determined as target position information.
Team's interactive information further includes the object time in one of the embodiments,；As shown in Fig. 2, described
The mesh of the current unmanned device is determined according to first location information, the speed of service value and second location information
The step of cursor position information may include:
Step S201: the lost contact duration of the current unmanned device is determined according to the object time and current time；
Wherein, a length of from the object time to the time interval the current time when lost contact, when current
At the time of carving the remaining unmanned device transmission interactive information request instruction being directed toward in the unmanned device team.
It should be noted that determining that the mode of the lost contact duration is also not necessarily limited to this, for example, it is also possible to will be from the target
Moment determines the lost contact of the current unmanned device to the time interval determined between at the time of the current unmanned device lost contact
Duration.
Step S202: according to first location information and second location information determine the current unmanned device and
First distance value between the unmanned device of residue, wherein the first distance value, which refers to, to be worked as described in the object time
The distance between preceding unmanned device and the unmanned device of residue value；
Wherein, the first distance value refers to the current unmanned device and the remaining unmanned dress in the object time
The distance between set value, that is to say, that the first distance value refer to the current unmanned device and the unmanned device of residue into
Distance value when row last time information exchange.
Specifically, first distance value can be determined by following formula (1) or formula (2).
Wherein, Si' refer to first distance value between the current unmanned device and i-th of remaining unmanned device, (x0, y0,
z0) or (x0, y0) it is the first location information, i.e., described current position coordinates of the unmanned device in the object time, (xi, yi,
zi) or (xi, yi) be i-th of remaining unmanned device the second location information, i.e., i-th remaining unmanned device is in the target
The position coordinates at moment, i are positive integer.
Typically, for the unmanned device team of work in the same plane (such as in same level), can use
Above-mentioned formula (2) determines first distance value, for the unmanned device team to work in three-dimensional space, can use above-mentioned
Formula (1) determines first distance value.
It, can also be with it should be noted that above-mentioned steps S201 and step S202 can not use above-mentioned sequencing to execute
It is performed simultaneously.
Step S203: it is determined according to the lost contact duration, the first distance value and the speed of service value described current
Second distance value between unmanned device and the unmanned device of residue；
Under normal circumstances, the second distance value between the current unmanned device and i-th of remaining unmanned device should be
Si'-Δ tv and SiBetween '+Δ tv, i.e. S ∈ (S '-Δ tv, S '+Δ tv), wherein SiRefer to the current unmanned device and i-th
Second distance value between remaining unmanned device, Si' refer between the current unmanned device and i-th of remaining unmanned device the
One distance value, Δ t refer to the lost contact duration, and v refers to the speed of service value.
In the present embodiment, second distance value characterizes the current position and the residue of the unmanned device at current time
Distance of the unmanned device between the position of object time.
Step S204: the mesh of the current unmanned device is determined according to the second distance value and second location information
Cursor position information；
Specifically, it can be determined respectively according to the corresponding second distance value of each unmanned device of residue and the second location information
A position range of the current unmanned device out, in this way, multiple unmanned devices of residue then can accordingly determine it is multiple
Position range determines public intersecting area according to this multiple position range, and the location information of the public intersecting area is determined
For target position information.Determining that the mode of position range can be will be believed with positioning according to the second of the corresponding unmanned device of residue
Position determined by ceasing is the center of circle or the centre of sphere, using the corresponding second distance value of the unmanned device of the residue as the center of circle or the circle of the centre of sphere
Or the spherical position range for being determined as the current unmanned device.
As described above, S ∈ (S '-Δ tv, S '+Δ tv), but in order to ensure unmanned device falls in the target position information
In corresponding region.Unmanned device quantity is at least four in the unmanned device team in one of the embodiments, described
The number of unmanned device in remaining unmanned device is at least three；
It is described that the current unmanned dress is determined according to the lost contact duration, the first distance value and the speed of service value
The step of setting the second distance value between the unmanned device of residue include: according to following formula (3) respectively determine described in
Second distance value between current unmanned device and each unmanned device of residue；
Si=Si'+Δtv (3)
Wherein, SiRefer to the second distance value between the current unmanned device and i-th of remaining unmanned device, Si' refer to it is described
First distance value between current unmanned device and i-th of remaining unmanned device, Δ t refer to the lost contact duration, and v refers to the operation
Velocity amplitude；
The target position that the current unmanned device is determined according to the second distance value and second location information
The step of confidence ceases includes: respectively using the corresponding position of second location information of each unmanned device of residue as the center of circle or ball
The heart, corresponding second distance value are that radius determines that each unmanned device of residue is corresponding round or spherical, according to each circle
Either each spherical public intersecting area for determining each round or each spherical shape, by the position of the public intersecting area
Confidence breath is determined as target position information.
In the present embodiment, using Si=Si'+Δ tv determines second distance value, i.e., by the direction of motion of current unmanned device
It is approximately the direction far from the corresponding unmanned device of residue, available maximized border circular areas or spheric region, to protect
Current unmanned device is demonstrate,proved centainly to fall in the area.Simultaneously as what the information exchange frequency between unmanned device can be set
Very high, correspondingly, Δ t is smaller, so that the finally determining corresponding region of target position information (public intersecting area) will not be because
Increase for approximation (direction of motion by current unmanned device is approximately the direction far from each unmanned device of residue) herein
Add very much.
In addition, in the present embodiment, the number of the unmanned device in remaining unmanned device is more, the circle that can be drawn out
Or it is spherical also more, the precision of identified target position information is also higher.Meanwhile the unmanned dress in remaining unmanned device
When the number set is more than 3, the related letter of a part of (no less than 3) unmanned device can also be selected from remaining unmanned device
Breath carries out the determination of the target position information.
It is fixed to the unmanned device of lost contact in order to be promoted in view of some environmental factors influence whether the flying speed of unmanned device
The accuracy of position, in one of the embodiments, team's interactive information further include the current unmanned device environment because
Prime information, the environmental factor information include wind-force information or/and Resistance Pressure information；
It is described that the current unmanned dress is determined according to the lost contact duration, the first distance value and the speed of service value
The step of setting the second distance value between the unmanned device of residue includes: according to the wind-force information or the resistance
Force information is modified the speed of service value, according to the lost contact duration, the first distance value and revised operation
Velocity amplitude determines the second distance value between the current unmanned device and the unmanned device of residue.
Wherein, being modified according to the wind-force information or the Resistance Pressure information to the speed of service value can be with
By the way of it arbitrarily may be implemented, it will not be described here；According to the lost contact duration, the first distance value and revised
Speed of service value determines the second distance value specific implementation between the current unmanned device and the unmanned device of residue
It may is that and determined between the current unmanned device and each unmanned device of residue respectively according to following formula (4)
Second distance value；
Si=Si'+Δtv' (4)
Wherein, SiRefer to the second distance value between the current unmanned device and i-th of remaining unmanned device, Si' refer to it is described
First distance value between current unmanned device and i-th of remaining unmanned device, Δ t refers to the lost contact duration, after v' refers to amendment
Speed of service value.
As described above, according to Si=SiThe second distance value that '+Δ tv is determined is approximation, in order to more precisely
Determine second distance value, team's interactive information further includes the current unmanned device in one of the embodiments,
Run azimuth information；It is described determined according to the lost contact duration, the first distance value and the speed of service value it is described current
Second distance value between unmanned device and the unmanned device of residue includes: according to the lost contact duration, the first distance
Value, the speed of service value and the operation azimuth information determine between the current unmanned device and the unmanned device of residue
Second distance value.
Specifically, can be determined according to the operation azimuth information operation orientation of current unmanned device with it is separate corresponding
The unmanned device of residue direction angle, the current unmanned device and each institute is determined by following formula (5) respectively
State the second distance value between remaining unmanned device；
Si=Si'+Δtvcosθi (5)
Wherein, θiFor current unmanned device operation orientation and current unmanned device far from i-th unmanned device of residue
The angle in direction.
In addition, the scheme of above-mentioned two embodiment can also be combined in one of the embodiments, specifically,
Team's interactive information further includes the environmental factor information of the current unmanned device, and the environmental factor information includes wind-force
Information or/and Resistance Pressure information, team's interactive information further include the operation azimuth information of the current unmanned device；
It is described that the current unmanned dress is determined according to the lost contact duration, the first distance value and the speed of service value
The step of setting the second distance value between the unmanned device of residue includes: according to the wind-force information or the resistance
Force information is modified the speed of service value, according to the lost contact duration, the first distance value, revised operation speed
Angle value and the operation azimuth information determine the second distance value between the current unmanned device and the unmanned device of residue.
Specifically, can be determined respectively by following formula (6) the current unmanned device and each remaining nothing
Second distance value between people's device.
Si=Si'+Δtv'cosθi (6)
Parameters define the definition that may refer to parameter in above-mentioned formula in formula (6), and it will not be described here.
Specific example
Scheme to facilitate the understanding of the present invention is illustrated below by way of a specific example.In the specific example
In, the number of unmanned device is 4, and 4 unmanned device work are in the same plane, but this can simultaneously be constituted to the present invention program
Restriction.
As shown in figure 3, unmanned device 1,2,3,4 one-tenth team's operating modes, start to carry out corresponding region acquisition of information and
Other tasks, backstage (being equivalent to above-mentioned terminal device), which needs then to pass through distant place base station when the information of unmanned device acquisition, to be sent
Information is uploaded to background devices by base station after receiving instruction by instruction, unmanned device.Pass through nothing inside unmanned device team
Line communication pattern carries out information exchange, and wherein interaction message includes self poisoning information, running state information and ambient enviroment
Information；The information exchange can be changed according to the environment difference of performed task by being configured from the background in information exchange frequency
Frequency.Using the teamwork mode, information mutual communication, resource-sharing can be achieved between each unmanned device.
When unmanned device 1 (being equivalent to above-mentioned current unmanned device) and background communication are interrupted, backstage determines unmanned dress
1 lost contact is set, it from the background can be by the interactive information that unmanned device 2,3,4 (being equivalent to the above-mentioned unmanned device of residue) obtains to mistake
Join unmanned device (i.e. unmanned device 1) to be positioned.It is out of touch with unmanned device 1 from the background such as Fig. 3, pass through base from the background at this time
It stands to issue to unmanned device 2,3,4 and instruct, to the correlation letter of the unmanned device 1 of backstage upload after the unmanned reception of device 2,3,4 instruction
Breath.Backstage can to unmanned device 2,3,4 obtain team interactive information, information at this moment include unmanned device 2,3,4 last
The secondary data that information exchange is carried out with the unmanned device 1 of lost contact, the data include the location information of unmanned device team, operation shape
State information, the first location information including at least unmanned device 1 in last time information exchange, unmanned device 1 are most here
A speed of service value when information exchange and unmanned device 2,3,4 the second location information in last time information exchange afterwards.
Backstage can accurately calculate the position of the unmanned device 1 of lost contact according to these data, can readily recycle at this time to it.
The principle that above-mentioned position determines are as follows: in a three-dimensional space, the position of any one point can pass through three
Coordinate data x, y, z is determined.That is, as long as three coordinate datas of x, y, z can be obtained, so that it may know any one
The position of point in space.If certain point can be measured at a distance from other 3 points A, B, C, so that it may set up a ternary side
Journey group, solves the coordinate data of the unknown point, to obtain the accurate location of the point.And in this specific example, obtain nothing
2,3,4 the last time of people's device knows the information such as location information, the speed of service and the environmental factor of unmanned device 1.Backstage receives
Pass through S after to these informationi=Si'+Δ tv calculating can probably determine unmanned device 1 at a distance from unmanned device 2,3,4.By
It is very high in the information interaction frequency of unmanned device, so Δ t is smaller in formula, therefore can be by the traffic direction of unmanned device 1
It is approximately the direction far from unmanned device 2,3,4.
At this time using unmanned device 2,3,4 in the position of last time and unmanned 1 information exchange of device as the center of circle, calculate
The distance S arrivediMake a circle for radius, then available three circles as shown in Figure 4, these three circles have one
Public intersecting area, unmanned device will be in the public intersecting area at this time.Also unmanned dress can accurate be obtained
Set 1 location information.
According to the unmanned device localization method in above-described embodiment, the present invention also provides a kind of unmanned device positioning devices.
Teamwork mode is configured by the unmanned device team being made of multiple unmanned devices in advance in one of the embodiments,
Wherein, information exchange is carried out between each other when each unmanned device is under the teamwork mode, and interactive information includes
The self poisoning information and displacement status information when information exchange are carried out, as shown in figure 5, the unmanned device in the embodiment
Positioning device includes instruction sending unit 501, information receiving unit 502 and positioning unit 503:
Instruction sending unit 501, for when determining the current unmanned device lost contact in the unmanned device team, to institute
The unmanned device of residue stated in unmanned device team sends interactive information request instruction；
Information receiving unit 502 is returned for receiving the unmanned device of residue according to the interactive information request instruction
Team's interactive information, wherein team's interactive information include object time the current unmanned device it is first fixed
Position information, the current speed of service value of unmanned device and the second location information of the unmanned device of residue, the target
At the time of moment refers to that the current unmanned device and the unmanned device last time of the residue carry out information exchange；
Positioning unit 503, for according to first location information, the speed of service value and second location information
Determine the target position information of the current unmanned device.
Team's interactive information further includes the object time in one of the embodiments, as shown in fig. 6, positioning
Unit 503 may include:
Duration calculation unit 601, for determining the current unmanned device according to the object time and current time
Lost contact duration；
First distance computing unit 602, for determining institute according to first location information and second location information
State the first distance value between current unmanned device and the unmanned device of residue, wherein the first distance value refers to described
Current the distance between unmanned device and the unmanned device of the residue value of object time；
Second distance computing unit 603, for according to the lost contact duration, the first distance value and the speed of service
Value determines the second distance value between the current unmanned device and the unmanned device of residue；
Target position judging unit 604, for according to the second distance value and second location information determination
The target position information of current unmanned device.
Unmanned device quantity is at least four in the unmanned device team in one of the embodiments, the residue
The number of unmanned device in unmanned device is at least three；
Second distance computing unit 603 can be according to Si=Si'+Δ tv determines the current unmanned device and each respectively
Second distance value between the unmanned device of residue, wherein SiRefer to the current unmanned device and i-th of remaining unmanned device
Between second distance value, Si' refer to first distance value between the current unmanned device and i-th of remaining unmanned device, Δ t
Refer to the lost contact duration, v refers to the speed of service value；
Target position judging unit 604 can be respectively with the corresponding position of second location information of each unmanned device of residue
It is set to the center of circle or the centre of sphere, corresponding second distance value is that radius determines that each unmanned device of residue is corresponding round or spherical, root
It is according to each described round or each spherical public intersecting area for determining each round or each spherical shape, this is public
The location information of intersecting area is determined as target position information.
In one of the embodiments, team's interactive information can also include the current unmanned device environment because
Prime information, the environmental factor information include wind-force information or/and Resistance Pressure information；
Second distance computing unit 603 can be according to the wind-force information or the Resistance Pressure information to the operation
Velocity amplitude is modified, and is worked as according to the determination of the lost contact duration, the first distance value and revised speed of service value
Second distance value between preceding unmanned device and the unmanned device of residue.
Team's interactive information can also include the operation side of the current unmanned device in one of the embodiments,
Position information；
Second distance computing unit 603 can be according to the lost contact duration, the first distance value, the speed of service value
And the operation azimuth information determines the second distance value between the current unmanned device and the unmanned device of residue.
The description of unmanned device positioning device provided in an embodiment of the present invention, the description with above-mentioned unmanned device localization method
It is similar, and the beneficial effect with above-mentioned unmanned device localization method repeats no more to save length；Therefore, above
To undisclosed technical detail in unmanned device positioning device provided in an embodiment of the present invention, the unmanned dress of above-mentioned offer is please referred to
Set the description of localization method.
According to the unmanned device positioning device in above-described embodiment, the present invention also provides a kind of unmanned apparatus positioning system,
Unmanned apparatus positioning system in the embodiment include terminal device and be preconfigured to teamwork mode by multiple nothings
The unmanned device team of people's device composition, the terminal device includes instruction sending unit, information receiving unit and positioning unit；
Each unmanned device carries out information exchange, interactive information packet when being under the teamwork mode between each other
The self poisoning information and displacement status information when carrying out information exchange are included, the system comprises:
Described instruction transmission unit is used for when determining the current unmanned device lost contact in the unmanned device team, to institute
The unmanned device of residue stated in unmanned device team sends interactive information request instruction；
The information receiving unit is returned for receiving the unmanned device of residue according to the interactive information request instruction
Team's interactive information, wherein team's interactive information include object time the current unmanned device it is first fixed
Position information, the current speed of service value of unmanned device and the second location information of the unmanned device of residue, the target
At the time of moment refers to that the current unmanned device and the unmanned device last time of the residue carry out information exchange；
The positioning unit is used for according to first location information, the speed of service value and second location information
Determine the target position information of the current unmanned device.
It should be noted that the technical detail disclosed in the description of the unmanned device positioning device of above-mentioned offer, is also suitable
In the unmanned apparatus positioning system that embodiment provides, it is not repeated to be repeated herein.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of unmanned device localization method, which is characterized in that the unmanned device team that will be made of in advance multiple unmanned devices
It is configured to teamwork mode, wherein each unmanned device carries out letter when being under the teamwork mode between each other
Breath interaction, interactive information include the self poisoning information and displacement status information when carrying out information exchange, the method packet
It includes:
Remaining nothing when determining the current unmanned device lost contact in the unmanned device team, into the unmanned device team
People's device sends interactive information request instruction；
Receive team's interactive information that the unmanned device of residue is returned according to the interactive information request instruction, wherein described
Team's interactive information includes the first location information in the current unmanned device of object time, the current unmanned device
Second location information of speed of service value and the unmanned device of residue, the object time refer to the current unmanned device and institute
At the time of stating remaining unmanned device last time progress information exchange；
The current unmanned device is determined according to first location information, the speed of service value and second location information
Target position information.
2. unmanned device localization method according to claim 1, which is characterized in that team's interactive information further includes described
Object time；
It is described according to first location information, the speed of service value and second location information determine it is described it is current nobody
The step of target position information of device includes:
The lost contact duration of the current unmanned device is determined according to the object time and current time；
According to first location information and second location information determine the current unmanned device and it is described it is remaining nobody
First distance value between device, wherein the first distance value refer to the object time the current unmanned device and
The distance between described unmanned device of residue value；
The current unmanned device and described is determined according to the lost contact duration, the first distance value and the speed of service value
Second distance value between remaining unmanned device；
The target position information of the current unmanned device is determined according to the second distance value and second location information.
3. unmanned device localization method according to claim 2, which is characterized in that unmanned dress in the unmanned device team
It sets quantity and is at least four, the number of the unmanned device in the unmanned device of residue is at least three；
It is described according to the lost contact duration, the first distance value and the speed of service value determine the current unmanned device and
The step of second distance value between the unmanned device of residue includes: according to Si=Si'+Δ tv determines the current nothing respectively
Second distance value between people's device and each unmanned device of residue, wherein SiRefer to the current unmanned device and i-th
Second distance value between remaining unmanned device, Si' refer between the current unmanned device and i-th of remaining unmanned device the
One distance value, Δ t refer to the lost contact duration, and v refers to the speed of service value；
It is described to determine that the target position of the current unmanned device is believed according to the second distance value and second location information
The step of breath includes: respectively using the corresponding position of second location information of each unmanned device of residue as the center of circle or the centre of sphere, right
The second distance value answered is that radius determines that each unmanned device of residue is corresponding round perhaps spherical according to each described round or each
The spherical public intersecting area for determining each round or each spherical shape, by the location information of the public intersecting area
It is determined as target position information.
4. unmanned device localization method according to claim 2, which is characterized in that team's interactive information further includes institute
The environmental factor information of current unmanned device is stated, the environmental factor information includes wind-force information or/and Resistance Pressure information；
It is described according to the lost contact duration, the first distance value and the speed of service value determine the current unmanned device and
The step of second distance value between the unmanned device of residue includes: to be believed according to the wind-force information or the resistance
Breath is modified the speed of service value, according to the lost contact duration, the first distance value and the revised speed of service
Value determines the second distance value between the current unmanned device and the unmanned device of residue.
5. unmanned device localization method according to claim 2, which is characterized in that team's interactive information further includes institute
State the operation azimuth information of current unmanned device；
It is described according to the lost contact duration, the first distance value and the speed of service value determine the current unmanned device and
Second distance value between the unmanned device of residue includes: according to the lost contact duration, the first distance value, the operation
Velocity amplitude and the operation azimuth information determine the second distance between the current unmanned device and the unmanned device of residue
Value.
6. a kind of unmanned device positioning device, which is characterized in that the unmanned device team that will be made of in advance multiple unmanned devices
It is configured to teamwork mode, wherein each unmanned device carries out letter when being under the teamwork mode between each other
Breath interaction, interactive information include the self poisoning information and displacement status information when carrying out information exchange, described device packet
It includes:
Instruction sending unit, for when determining the current unmanned device lost contact in the unmanned device team, to it is described nobody
The unmanned device of residue in device team sends interactive information request instruction；
Information receiving unit is handed over for receiving the unmanned device of residue according to the team that the interactive information request instruction returns
Mutual information, wherein team's interactive information includes currently first location information of unmanned device, institute in object time
The current speed of service value of unmanned device and the second location information of the unmanned device of residue are stated, the object time refers to described
At the time of current unmanned device and the unmanned device last time of the residue carry out information exchange；
Positioning unit, for determining institute according to first location information, the speed of service value and second location information
State the target position information of current unmanned device.
7. unmanned device positioning device according to claim 6, which is characterized in that team's interactive information further includes described
Object time, the positioning unit include:
Duration calculation unit, when for determining the lost contact of the current unmanned device according to the object time and current time
It is long；
First distance computing unit, for determining the current nothing according to first location information and second location information
First distance value between people's device and the unmanned device of residue, wherein the first distance value refers in the object time
Current the distance between the unmanned device and the unmanned device of residue be worth；
Second distance computing unit, for being determined according to the lost contact duration, the first distance value and the speed of service value
Second distance value between the current unmanned device and the unmanned device of residue；
Target position judging unit, for according to the second distance value and second location information determine it is described it is current nobody
The target position information of device.
8. unmanned device positioning device according to claim 7, which is characterized in that unmanned dress in the unmanned device team
It sets quantity and is at least four, the number of the unmanned device in the unmanned device of residue is at least three；
The second distance computing unit is according to Si=Si'+Δ tv determines the current unmanned device and each residue respectively
Second distance value between unmanned device, wherein SiRefer to the between the current unmanned device and i-th of remaining unmanned device
Two distance values, Si' referring to first distance value between the current unmanned device and i-th of remaining unmanned device, Δ t refers to the mistake
Join duration, v refers to the speed of service value；
The target position judging unit is respectively circle with the corresponding position of second location information of each unmanned device of residue
The heart or the centre of sphere, corresponding second distance value are that radius determines that each unmanned device of residue is corresponding round or spherical, according to each institute
Round or each spherical public intersecting area for determining each round or each spherical shape is stated, by the public intersection
The location information in domain is determined as target position information.
9. unmanned device positioning device according to claim 7, which is characterized in that team's interactive information further includes institute
State the environmental factor information of current unmanned device, the environmental factor information includes wind-force information or/and Resistance Pressure information,
The second distance computing unit according to the wind-force information or the Resistance Pressure information to the speed of service value into
Row amendment determines the current unmanned dress according to the lost contact duration, the first distance value and revised speed of service value
Set the second distance value between the unmanned device of residue；
Or team's interactive information further includes the operation azimuth information of the current unmanned device,
The second distance computing unit is according to the lost contact duration, the first distance value, the speed of service value and described
Operation azimuth information determines the second distance value between the current unmanned device and the unmanned device of residue.
10. a kind of unmanned apparatus positioning system, which is characterized in that including terminal device and be preconfigured to teamwork mode
The unmanned device team being made of multiple unmanned devices, the terminal device includes instruction sending unit, information receiving unit
And positioning unit；
Each unmanned device carries out information exchange between each other when being under the teamwork mode, interactive information include into
Self poisoning information and displacement status information when row information interaction, the system comprises:
Described instruction transmission unit is used for when determining the current unmanned device lost contact in the unmanned device team, to the nothing
The unmanned device of residue in people's device team sends interactive information request instruction；
The information receiving unit is for receiving the group that the unmanned device of residue is returned according to the interactive information request instruction
Team's interactive information, wherein team's interactive information includes the first positioning letter in the current unmanned device of object time
Breath, the current speed of service value of unmanned device and the second location information of the unmanned device of residue, the object time
At the time of referring to that the current unmanned device and the unmanned device last time of the residue carry out information exchange；
The positioning unit is used to be determined according to first location information, the speed of service value and second location information
The target position information of the current unmanned device.
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| CN110086936A (en) * | 2019-04-28 | 2019-08-02 | 四川轻化工大学 | A kind of personal safety servo method and system based on on-line data analysis |
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