CN107782308A - A kind of vehicular automatically controls UAS, localization method and control method - Google Patents
A kind of vehicular automatically controls UAS, localization method and control method Download PDFInfo
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- CN107782308A CN107782308A CN201610767650.8A CN201610767650A CN107782308A CN 107782308 A CN107782308 A CN 107782308A CN 201610767650 A CN201610767650 A CN 201610767650A CN 107782308 A CN107782308 A CN 107782308A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000004807 localization Effects 0.000 title claims abstract description 9
- 238000001914 filtration Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000009187 flying Effects 0.000 claims description 15
- 230000008054 signal transmission Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The present invention relates to riding vehicle and mobile vehicle technology field, especially a kind of vehicular automatically controls UAS, localization method and control method, including unmanned plane and vehicle-mounted middle control platform, unmanned plane is provided with photographing module, and photographing module is by the image information real-time Transmission of acquisition to vehicle-mounted middle control platform to aid in driver to drive.The unmanned plane of the present invention is positioned using GPS, GLONASS and BDS Samsung Combined Calculation, high accuracy positioning can be realized, be advantageous to improve positioning precision and reliability under severe observing environment, and shorten initialization time, the present invention calculates Eulerian angles using filtering algorithm and Attitude Algorithm, while pid control algorithm controlled motor adjustment of rotational speed Eulerian angles are used, control accuracy is higher.
Description
Technical field
The present invention relates to riding vehicle and mobile vehicle technology field, especially vehicular automatically controls unmanned plane system
System, localization method and control method.
Background technology
In recent years, with the fast development of science and technology, the automobile main traffic as the mankind and transport in today's society
Instrument, the trip to the mankind bring great convenience.It is also more next with car problem as road surface is got on the car increasingly the increasing of quantity
More of interest by people, such as the problems such as traffic congestion, pathfinding and driving vision, the peak period on and off duty either in city is still saved
The highway of holiday, people have a headache endlessly to traffic congestion problem.Existing map navigation system navigation interface is relatively more abstract, no
Enough directly perceived, in the case where running into complicated road, often another driver goes to the wrong way or sought the situation less than road.Meanwhile night
Between drive and rely primarily on the lamp lighting of headlamp at present to provide driving vision, in the section of lighting environment difference, vehicle front lighting
Lamp can not provide the driving vision of abundance, and great potential safety hazard can be brought to driving.
The content of the invention
The purpose of the present invention is the defects of overcoming prior art to exist, there is provided a kind of raising positioning precision and control accuracy
Vehicular automatically controls UAS, localization method and control method.
In order to realize the purpose of the present invention, used technical scheme is：
The vehicular of the present invention, which automatically controls UAS, includes unmanned plane and vehicle-mounted middle control platform, the unmanned plane peace
Equipped with photographing module, the photographing module by the image information real-time Transmission of acquisition to the vehicle-mounted middle control platform, it is described nobody
Machine is positioned using GPS, GLONASS and BDS Samsung Combined Calculation, and the unmanned plane calculates Europe using filtering algorithm and Attitude Algorithm
Angle is drawn, while uses pid control algorithm controlled motor adjustment of rotational speed Eulerian angles.
Unmanned plane of the present invention also include body and fuselage control system on body, signal transmission module,
Power set and sensor assembly.
The signal of signal transmission module transmission of the present invention includes remote signal, data transfer signal and image transmitting
Signal, the image transmitting of the photographing module use the digital modulation-demodulation techniques of COFDM.
Power set of the present invention include motor and lithium battery.
Sensor assembly of the present invention includes gyroscope, accelerometer, electronic compass and barometertic altimeter.
Vehicle-mounted middle control platform of the present invention has unmanned plane during flying management system, and the unmanned plane during flying management system is adopted
Constructing communication network is carried out with .G frequency ranges wireless signal, repeater span is that unmanned plane is in flight course, if any it within km within km
His unmanned plane during flying, unmanned plane during flying management system will send signal prompt other unmanned planes landing.
The present invention also provides a kind of vehicular and automatically controls unmanned plane localization method, is automatically controlled for above-mentioned vehicular
UAS, the unmanned plane are positioned using GPS, GLONASS and BDS Samsung Combined Calculation, comprised the following steps：
A. data acquisition is carried out by the built-in terminal of vehicle-mounted middle control platform, enters line position further according to combined pseudorange positioning equation
Put calculating；
Tri- systems of b.GPS, GLONASS, BDS receive data, the ephemeris according to corresponding to its own system, enter line position respectively
Calculating is put, then the coordinate system of three and time system are subjected to unification, location Calculation is carried out according to pseudorange, pseudorange rate of change,
From least square method, combined pseudorange positioning equation is linearized, then iterated, calculates the current position of unmanned plane
Put；
C. if any system fails in tri- systems of GPS, GLONASS, BDS, other two system can be pseudo- according to combination
Locus resolving is carried out away from positioning update equation；D. if two of which thrashing, then carried out individually with remaining system
Location Calculation, ensure that position fixing process is uninterrupted.
The present invention also provides a kind of vehicular and automatically controls unmanned aerial vehicle (UAV) control method, is automatically controlled for above-mentioned vehicular
UAS, comprise the following steps：
A. the filtering algorithm is Kalman filtering algorithm, using the algorithm by the accelerometer of acquisition and the number of gyroscope
According to being merged after carrying out denoising, the angle-data of unmanned plane is drawn；
B. the Attitude Algorithm is Quaternion Algorithm, and the angle-data obtained by filtering algorithm is carried out as Quaternion Algorithm
Resolve, draw the angle of deviation of unmanned plane coordinate system and space coordinates, i.e. Eulerian angles；
C. each motor speed of unmanned plane is controlled by pid control algorithm, Eulerian angles is adjusted with correction.
The vehicular of the present invention automatically controls the beneficial effect of UAS, localization method and control method：This hair
Bright vehicular automatically controls UAS and is provided with photographing module including unmanned plane and vehicle-mounted middle control platform, unmanned plane, takes the photograph
As module by the image information real-time Transmission of acquisition to vehicle-mounted middle control platform to aid in driver to drive, inform in front of driver or
Person rear road conditions, enable a driver to adjust traffic route in time, and the situation for avoiding blocking up or going to the wrong way road occurs.If
Driver is unfamiliar with to road ahead, first unmanned plane can be sent to carry out investigations road ahead, and can go up to the air during automobile parking offer
360 ° of visual angles, auxiliary driver's parking.In addition, the unmanned plane of the present invention is determined using GPS, GLONASS and BDS Samsung Combined Calculation
Position, it is possible to achieve high accuracy positioning, be advantageous to improve positioning precision and reliability under severe observing environment, and shorten just
The beginningization time, the present invention calculates Eulerian angles using filtering algorithm and Attitude Algorithm, while is turned using pid control algorithm controlled motor
The whole Eulerian angles of velocity modulation, control accuracy are higher.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is that the vehicular of the present invention automatically controls the theory diagram of UAS.
Wherein：Body 1, fuselage control system 2, signal transmission module 3, power set 4, sensor assembly 5.
Embodiment
In the description of the invention, it is to be understood that term " radial direction ", " axial direction ", " on ", " under ", " top ", " bottom ",
The orientation or position relationship of the instructions such as " interior ", " outer " are based on orientation shown in the drawings or position relationship, are for only for ease of and retouch
State the present invention and simplify description, rather than indicate or imply that signified device or element there must be specific orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.In the description of the invention, unless otherwise indicated,
" multiple " are meant that two or more.
In the description of the invention, it is necessary to which explanation, unless otherwise clearly defined and limited, term " installation ", " sets
Put ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be to be joined directly together, can also be indirectly connected by intermediary.For the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in figure 1, the vehicular of the present embodiment, which automatically controls UAS, includes unmanned plane and vehicle-mounted middle control platform,
Unmanned plane is provided with photographing module, and photographing module is by the image information real-time Transmission of acquisition to vehicle-mounted middle control platform to aid in driving
Member drives, it is preferred that and photographing module is 720P high-definition cameras, and ground outdoor scene can be obtained by the photographing module on unmanned plane,
Then by picture real-time Transmission to vehicle-mounted middle control platform and including on middle control display screen, informing driver's front or behind road
Condition, enable a driver to adjust traffic route in time, the situation for avoiding blocking up or going to the wrong way road occurs.If driver couple
Road ahead is unfamiliar with, and first unmanned plane can be sent to carry out investigations road ahead, can go up to the air during automobile parking and provide 360 ° of visual angles,
Aid in driver's parking.
The unmanned plane of the present embodiment also includes body 1 and fuselage control system 2 on body 1, signal transmission mould
Block 3, power set 4, sensor assembly 5.Preferably, body 1 is made of carbon fibre reinforced composite, is set using four rotors
Meter, the signal that signal transmission module 3 transmits include remote signal, data transfer signal and image transmitting signal, photographing module
Image transmitting uses the digital modulation-demodulation techniques of COFDM, and power set 4 are lithium battery, sensor assembly 5 include gyroscope,
Accelerometer, electronic compass and barometertic altimeter.
Unmanned plane cruising time in the present embodiment is 1h, can vehicle-mounted charge, flying radius 2.5km, flying height is
1km, it can hover, advance, overturning to provide 360 ° of visual angles.
Unmanned plane such as column can be avoided automatically, and position is sent when in danger to driver, and be released a parachute, in electricity
Amount is maked a return voyage automatically with to when half or lost contact, and vehicle-mounted middle control platform alarm driver original place waits.
Unmanned plane in the present embodiment is positioned using GPS, GLONASS and BDS Samsung Combined Calculation, it is possible to achieve high accuracy
Positioning, be advantageous to improve positioning precision and reliability under severe observing environment, and shorten initialization time.
Unmanned plane in the present embodiment calculates Eulerian angles using filtering algorithm and Attitude Algorithm, while is calculated using PID control
Method controlled motor adjustment of rotational speed Eulerian angles, the gyroscope on body 1 is by data information transfer to fuselage control system 2, fuselage control
System 2 processed adjusts Eulerian angles according to the method described above.
Vehicle-mounted middle control platform has unmanned plane during flying management system, and unmanned plane during flying management system is carried out using wireless signal
Constructing communication network, specifically, unmanned plane during flying management system carry out constructing communication network using 5.8G frequency ranges wireless signal, and repeater span is
Within 1km, unmanned plane will be sent in flight course within 1km if any other unmanned plane during flyings, unmanned plane during flying management system
Signal prompt other unmanned planes landing.In case of blocked up, pass through wireless communication network, scheduling portion unmanned plane between vehicle-mounted unmanned aerial vehicle
Take off, obtain road surface latest Status, but vehicle-mounted unmanned aerial vehicle of the spacing distance less than 100m need not take off.
The present embodiment, which also provides a kind of vehicular and automatically controls unmanned plane localization method, to be comprised the following steps：
A. data acquisition is carried out by the built-in terminal of vehicle-mounted middle control platform, enters line position further according to combined pseudorange positioning equation
Put calculating；
Tri- systems of b.GPS, GLONASS, BDS receive data, the ephemeris according to corresponding to its own system, enter line position respectively
Calculating is put, then the coordinate system of three and time system are subjected to unification, location Calculation is carried out according to pseudorange, pseudorange rate of change,
From least square method, combined pseudorange positioning equation is linearized, then iterated, calculates the current position of unmanned plane
Put；
C. if any system fails in tri- systems of GPS, GLONASS, BDS, other two system can be pseudo- according to combination
Locus resolving is carried out away from positioning update equation；D. if two of which thrashing, then carried out individually with remaining system
Location Calculation, ensure that position fixing process is uninterrupted.
Unmanned plane in the present embodiment is positioned using GPS, GLONASS and BDS Samsung Combined Calculation, it is possible to achieve high accuracy
Positioning, be advantageous to improve positioning precision and reliability under severe observing environment, and shorten initialization time.
The present embodiment also provides a kind of vehicular and automatically controls unmanned aerial vehicle (UAV) control method, comprises the following steps：
A. the filtering algorithm is Kalman filtering algorithm, using the algorithm by the accelerometer of acquisition and the number of gyroscope
According to being merged after carrying out denoising, the angle-data of unmanned plane is drawn；
B. the Attitude Algorithm is Quaternion Algorithm, and the angle-data obtained by filtering algorithm is carried out as Quaternion Algorithm
Resolve, draw the angle of deviation of unmanned plane coordinate system and space coordinates, i.e. Eulerian angles；
C. each motor speed of unmanned plane is controlled by pid control algorithm, Eulerian angles is adjusted with correction.
The present invention calculates Eulerian angles using filtering algorithm and Attitude Algorithm, while is turned using pid control algorithm controlled motor
The whole Eulerian angles of velocity modulation, control accuracy are higher.
It should be appreciated that specific embodiment described above is only used for explaining the present invention, it is not intended to limit the present invention.By
Among the obvious changes or variations that the spirit of the present invention is extended out is still in protection scope of the present invention.
Claims (8)
1. a kind of vehicular automatically controls UAS, including unmanned plane and vehicle-mounted middle control platform, the unmanned plane are provided with
Photographing module, the photographing module is by the image information real-time Transmission of acquisition to the vehicle-mounted middle control platform, it is characterised in that：Institute
State unmanned plane to position using GPS, GLONASS and BDS Samsung Combined Calculation, the unmanned plane uses filtering algorithm and Attitude Algorithm
Eulerian angles are calculated, while use pid control algorithm controlled motor adjustment of rotational speed Eulerian angles.
2. vehicular according to claim 1 automatically controls UAS, it is characterised in that：The unmanned plane also includes
Body (1) and fuselage control system (2), signal transmission module (3), power set (4) and sensor on body (1)
Module (5).
3. vehicular according to claim 2 automatically controls UAS, it is characterised in that：Described signal transmission mould
The signal of block (3) transmission includes remote signal, data transfer signal and image transmitting signal, the image transmitting of the photographing module
Using the digital modulation-demodulation techniques of COFDM.
4. vehicular according to claim 3 automatically controls UAS, it is characterised in that：The power set (4)
Including motor and lithium battery.
5. vehicular according to claim 4 automatically controls UAS, it is characterised in that：The sensor assembly
(5) gyroscope, accelerometer, electronic compass and barometertic altimeter are included.
6. vehicular according to claim 5 automatically controls UAS, it is characterised in that：The vehicle-mounted middle control platform
With unmanned plane during flying management system, the unmanned plane during flying management system carries out communication set using 5.8G frequency ranges wireless signal
Net, repeater span are that unmanned plane is in flight course, if any other unmanned plane during flyings, unmanned plane during flying within 1km within 1km
Management system will send signal prompt other unmanned planes landing.
7. a kind of vehicular automatically controls unmanned plane localization method, for vehicular as claimed in any one of claims 1 to 6
Automatically control UAS, it is characterised in that：The unmanned plane is positioned using GPS, GLONASS and BDS Samsung Combined Calculation,
Comprise the following steps：
A. data acquisition is carried out by the built-in terminal of vehicle-mounted middle control platform, position meter is carried out further according to combined pseudorange positioning equation
Calculate；
Tri- systems of b.GPS, GLONASS, BDS receive data, the ephemeris according to corresponding to its own system, carry out position meter respectively
Calculate, then the coordinate system of three and time system are subjected to unification, location Calculation is carried out according to pseudorange, pseudorange rate of change, selected
Least square method, combined pseudorange positioning equation is linearized, then iterated, calculate the current position of unmanned plane；
C. if any system fails in tri- systems of GPS, GLONASS, BDS, other two system can determine according to combined pseudorange
Position update equation carries out locus resolving；
D. if two of which thrashing, then independent location Calculation is carried out with remaining system, ensures that position fixing process is uninterrupted.
8. a kind of vehicular automatically controls unmanned aerial vehicle (UAV) control method, for vehicular as claimed in any one of claims 1 to 6
Automatically control UAS, it is characterised in that：Unmanned aerial vehicle (UAV) control method comprises the following steps：
A. the filtering algorithm is Kalman filtering algorithm, is entered the data of the accelerometer of acquisition and gyroscope using the algorithm
Merged after row denoising, draw the angle-data of unmanned plane；
B. the Attitude Algorithm is Quaternion Algorithm, and the angle-data obtained by filtering algorithm is solved as Quaternion Algorithm
Calculate, draw the angle of deviation of unmanned plane coordinate system and space coordinates, i.e. Eulerian angles；
C. each motor speed of unmanned plane is controlled by pid control algorithm, Eulerian angles is adjusted with correction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610767650.8A CN107782308A (en) | 2016-08-28 | 2016-08-28 | A kind of vehicular automatically controls UAS, localization method and control method |
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| CN201610767650.8A CN107782308A (en) | 2016-08-28 | 2016-08-28 | A kind of vehicular automatically controls UAS, localization method and control method |
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ID=61449886
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| CN110132268A (en) * | 2019-06-10 | 2019-08-16 | 西北工业大学 | A kind of vehicle-mounted aircraft initial attitude acquisition methods |
| CN112051856A (en) * | 2020-07-31 | 2020-12-08 | 深圳市贝贝特科技实业有限公司 | Composite sensing system for dynamic recovery of unmanned aerial vehicle |
| WO2022178720A1 (en) * | 2021-02-24 | 2022-09-01 | 华为技术有限公司 | Assisted driving method, stop recess, chip, electronic device, and storage medium |
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| WO2022178720A1 (en) * | 2021-02-24 | 2022-09-01 | 华为技术有限公司 | Assisted driving method, stop recess, chip, electronic device, and storage medium |
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