CN107820215B - Unmanned aerial vehicle near-field guiding system and method - Google Patents
Unmanned aerial vehicle near-field guiding system and method Download PDFInfo
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Abstract
The invention belongs to the technical field of wireless communication, unmanned aerial vehicle wireless accurate positioning and other application, and provides an unmanned aerial vehicle near field guiding system which comprises a ground system and an airborne positioning system, wherein the ground system comprises an unmanned aerial vehicle near field sensing system and a positioning base station which are sequentially connected, the airborne positioning system comprises an airport sensing system, an airborne UWB positioning system and a position calculating system which are sequentially connected, the positioning base station is connected with a power supply module, the positioning base station is in wireless connection with the airborne UWB positioning system, and the unmanned aerial vehicle near field sensing system is in wireless connection with the airport sensing system; the positioning base station is connected with the positioning auxiliary communication system. A near-field guiding method of the unmanned aerial vehicle is also provided. The invention has ingenious conception and simple and convenient operation, and solves the technical problems of great influence on the accurate positioning by the environment and high technical cost in the prior art.
Description
Technical Field
The invention belongs to the technical field of wireless communication, wireless accurate positioning of unmanned aerial vehicles and other application, and relates to a near-field guiding system and method of an unmanned aerial vehicle.
Background
The accurate positioning of the unmanned aerial vehicle mainly depends on positioning technologies such as differential GPS, differential Beidou and the like, and the positioning precision is high, but is greatly influenced by the environment. Meanwhile, due to factors such as network coverage and the like, not every place can ensure good positioning accuracy. On the basis, technologies such as visual recognition and the like are added, the processed data volume is increased, and the cost is obviously increased.
The most typical defects of the existing system are mainly reflected in the following aspects:
1. accurate positioning is greatly affected by environment
Existing accurate positioning is mainly dependent on a differential system, which is affected by the following factors:
A. the degree of network coverage, especially in rural areas, differential network coverage is far from complete;
B. environmental impact, beside the building and the tree, a good differential signal can not be obtained, and accurate positioning can not be realized;
C. the cost of the differential system, if a differential system provider is adopted, the operation cost of each device is high, and the differential base station is built automatically, so that the implementation cost is high.
2. High technical cost
If the auxiliary visual recognition system performs matching recognition, the processing cost and the network channel requirements are high, and the implementation difficulty is high.
Disclosure of Invention
The invention provides an unmanned aerial vehicle near-field guiding system and method, which solve the technical problems that in the prior art, accurate positioning is greatly influenced by environment and the technical cost is high.
The technical scheme of the invention is realized as follows:
an unmanned plane near-field guiding system comprises a ground system and an airborne positioning system,
the ground system comprises an unmanned plane near field sensing system and a positioning base station which are connected in sequence, the airborne positioning system comprises an airport sensing system, an airborne UWB positioning system and a position calculating system which are connected in sequence,
The positioning base station is connected with the power supply module,
the positioning base station is in wireless connection with the airborne UWB positioning system, and the unmanned aerial vehicle near-field sensing system is in wireless connection with the airport sensing system.
As a further technical scheme, the positioning base station is connected with a positioning auxiliary communication system.
As a further technical scheme, the positioning base station comprises a master base station and at least two slave base stations,
UWB modules are arranged in the master base station and the slave base stations,
the positioning auxiliary communication system is arranged in the main base station,
the unmanned aerial vehicle near field perception system comprises a first perception system and a second perception system which are connected with each other, wherein the first perception system is arranged in the master base station, the second perception system is arranged in the slave base station, and the first perception system is in wireless connection with the airport perception system.
As a further technical scheme, the master base station and the slave base stations are also internally provided with motion sensors.
As a further technical scheme, the master base station and the slave base station are also internally provided with a state indication module and a power control button.
As a further technical scheme, the power supply module is a battery.
The unmanned aerial vehicle near-field guiding method comprises the following steps of:
constructing a near-field guiding system of the unmanned aerial vehicle: constructing the near-field guiding system of the unmanned aerial vehicle, and pairing and cross ranging the master base station and the slave base station;
unmanned near field perception: the main base station periodically wakes up the first perception system, and after the wake-up, the first perception system actively sends out a broadcast request message with an ID to be matched with the unmanned aerial vehicle;
unmanned aerial vehicle response: the unmanned aerial vehicle receives and matches the broadcast request message with ID sent by the main base station, after matching is successful, the airport sensing system responds to the request message, and relevant information of the unmanned aerial vehicle is added to the response message; if the matching fails, not responding;
unmanned aerial vehicle positioning: the first perception system receives unmanned aerial vehicle response messages, the master base station wakes up all the slave base stations on the ground, and the unmanned aerial vehicle starts ranging with the master base station and the slave base stations by the airborne UWB positioning system to finish unmanned aerial vehicle positioning;
unmanned aerial vehicle lands: after ranging is completed, the airborne UWB positioning system provides a ranging result for the position computing system, and the position computing system outputs the position to the unmanned aerial vehicle flight control unit for landing;
Unmanned aerial vehicle leaves perception: when the unmanned aerial vehicle is finished working and leaves, the first sensing system and the unmanned aerial vehicle airport sensing system keep communication until the signal of the unmanned aerial vehicle airport sensing system cannot be sensed, and the master base station and the slave base station enter a dormant state and wait for the next use.
As a further technical scheme, a two-channel authentication step is further provided between the unmanned aerial vehicle response step and the unmanned aerial vehicle positioning step:
after the main base station obtains the relevant information of the unmanned aerial vehicle through the first perception system, the information of the unmanned aerial vehicle is transmitted to a server through the positioning auxiliary communication system, after the confirmation of the server is received, the unmanned aerial vehicle positioning step is started, and if a negative response is received, the unmanned aerial vehicle positioning step is not started.
As a further technical scheme, the method further comprises the step of ground system management:
in the using process of the system, the server monitors and maintains the state of the base station in real time through the positioning auxiliary communication system.
As a further technical scheme, the method also comprises a positioning base station self-correction step, wherein the positioning base station self-correction step comprises a base station movement sensing step, a comparison analysis step and a result processing step,
The base station mobile sensing step: after the step of building the ground system is finished, the motion sensor starts to work, and when the motion sensor senses that the master base station or a certain slave base station is moved, the master base station reinitiates a command to enable all base stations to perform cross ranging;
the comparative analysis step: comparing and analyzing the ranging result measured in the base station mobile sensing step with the initial ranging result;
the result processing step: comparing the re-ranging result with the initial ranging result, wherein the result exceeds a set threshold value, and the system generates an alarm to the server through the positioning auxiliary communication system to stop service; the system is recalibrated to form new base station coordinates when the set value is not exceeded and the service condition is met;
wherein, the non-out-of-service condition includes the following:
at most one positioning base station is moved;
the main base station calculates the coordinates of the mobile base station through other base stations which do not move;
and notifying the updated coordinate system to the server.
The invention has the following using principle and beneficial effects:
the system is based on the accurate positioning of the near-field guidance of the unmanned aerial vehicle with ultra wideband, and mainly comprises an ultra wideband positioning base station with UWB and an auxiliary communication system, when the unmanned aerial vehicle enters the working range, the UWB positioning system starts to enter the working state, and the unmanned aerial vehicle is guided to accurately land and leave an airport. The method is mainly used for realizing accurate landing and delivery of the unmanned aerial vehicle for express delivery. The positioning systems (UWB module and airborne UWB positioning system) used in the system are IR-UWB positioning systems, and the working distance is generally within 100 meters. The sensing systems (unmanned plane near-field sensing system and airport sensing system) are all realized by 433MHz wireless communication, the sensing distance can reach 300 meters, but the sensing system is not limited to adopting 433MHz communication frequency band for communication, as long as the working distance is larger than UWB working distance. The positioning auxiliary communication system is realized by using an NBIOT module, and the NBIOT module is not limited to the communication means, such as Wi-Fi or 3G/LTE, and the like. The master base station and the slave base stations adopt clear colors for distinguishing identification, so that the method is convenient and quick.
The unmanned aerial vehicle near-field guiding system provided by the invention has the following advantages:
1. high precision
The positioning accuracy is high, the UWB-TOF ranging is adopted for accurate positioning, the positioning accuracy is as high as 10cm, the landing of the unmanned aerial vehicle can be effectively assisted, and the positioning accuracy requirement of the system is guaranteed. The positioning requirements of a plurality of unmanned aerial vehicles can be met at the same airport.
2. Low cost
The system design is realized in a low-cost mode, so that the positioning system is promoted in a large scale, and the system does not need additional operation cost, can be put into operation at one time, can last for more than three years, and greatly reduces the use cost of the system.
3. High security
The system is safer to use by adopting a completely independent authentication channel, and the unmanned aerial vehicle is prevented from falling to an incorrect airport or being illegally hijacked.
4. Low power consumption
All positioning base station master base stations and slave base stations are in a dormant state, the unmanned aerial vehicle is perceived to arrive in a periodically awakening mode, the unmanned aerial vehicle begins to awaken, service is provided, and after the unmanned aerial vehicle prompts the service to end or the unmanned aerial vehicle is perceived to leave, the positioning system reenters the dormant state.
All positioning base stations are powered by batteries, when the unmanned aerial vehicle needs to be provided with service, the base stations work, and when the unmanned aerial vehicle does not need to be provided with service, the base stations stop working, so that the power consumption can be effectively reduced. The base station adopts a plug and play mode, and if the battery needs to be replaced, only a new base station needs to be replaced.
When the base station is installed, the positioning base station is directly electrified through the association of the structure, and the positioning base station is confirmed through the state indication, so that the base station is prevented from working when not installed due to the fact that the battery is used for supplying power, and the working time of the battery is reduced.
5. Easy maintenance
Easy maintenance is embodied in several aspects, one aspect is maintenance of the base station, which requires no expert knowledge for disassembly and installation, plug and play. In addition, the position of the system is changed, all the devices periodically update the state to the cloud, and any abnormal state of the system can be monitored by the cloud management platform.
6. Self-correction
The positioning system has a complete self-checking function, when the equipment is moved, the system can repair itself, and if the self-repair fails, the system can be prompted to provide no service for maintenance. Since the system is in use, slight movements are difficult to avoid, and maintenance effort can be greatly reduced by self-calibration.
7. Safety of
All the devices adopt low-voltage intrinsic safety devices, are powered by batteries, greatly reduce safety risks, and ensure that potential safety hazards do not exist in use.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a control structure according to the present invention;
in the figure: the system comprises a 1-ground system, an 11-positioning base station, a 111-master base station, a 112-slave base station, a 113-power control button, a 114-UWB module, a 115-motion sensor, a 116-state indicating module, a 12-unmanned aerial vehicle near field sensing system, a 121-first sensing system, a 122-second sensing system, a 13-positioning auxiliary communication system, a 2-airborne positioning system, a 21-airborne UWB positioning system, a 22-airport sensing system, a 23-position calculating system and a 3-power supply module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-2, the near field guiding system of the unmanned aerial vehicle provided by the invention comprises a ground system 1 and an onboard positioning system 2,
the ground system 1 comprises an unmanned plane near field sensing system 12 and a positioning base station 11 which are connected in sequence, the airborne positioning system 2 comprises an airport sensing system 22, an airborne UWB positioning system 21 and a position calculating system 23 which are connected in sequence,
The positioning base station 11 is connected to the power supply module 3,
the positioning base station 11 is in wireless connection with an onboard UWB positioning system 21, and the unmanned aerial vehicle near-field sensing system 12 is in wireless connection with an airport sensing system 22.
Further, the positioning base station 11 is connected to a positioning assistance communication system 13.
Further, the positioning base station 11 includes a master base station 111 and a slave base station 112, at least two slave base stations 112,
a UWB module 114 is provided in each of the master base station 111 and the slave base stations 112,
the positioning assistance communication system 13 is provided in the main base station 111,
the unmanned aerial vehicle near field perception system 12 comprises a first perception system 121 and a second perception system 122 which are connected with each other, wherein the first perception system 121 is arranged in the master base station 111, the second perception system 122 is arranged in the slave base station 112, and the first perception system 121 is in wireless connection with the airport perception system 22.
Further, a motion sensor 115 is also provided in each of the master base station 111 and the slave base station 112.
Further, a status indication module 116 and a power control button 113 are also provided in both the master base station 111 and the slave base station 112.
Further, the power supply module 3 is a battery.
The invention provides an unmanned aerial vehicle near-field guiding system which is divided into two main components:
1. ground system 1
The ground system 1 consists of three main subsystems:
A. The positioning base station 11 comprises 1 master base station 111 and at least 2 slave base stations 112, and the number of the slave base stations is generally 3, and power is supplied by adopting a power supply module 3; the master base station 111 and the slave base station 112 are respectively provided with a UWB module 124, and when in use, the UWB modules 124 interact with UWB on the unmanned aerial vehicle, so that accurate ranging between the unmanned aerial vehicle and the master base station 111 or the slave base station 112 is realized, and further accurate positioning of the unmanned aerial vehicle is realized;
B. the unmanned aerial vehicle near field sensing system 12 senses unmanned aerial vehicle information, controls the positioning base station 11 to work or sleep according to the detection information, reduces the power consumption of the positioning base station 11, increases the standby time of the positioning base station 11, and reduces the system maintenance workload;
C. the positioning auxiliary communication system 13 is a second authentication channel of the unmanned aerial vehicle near-field guiding system, is communicated with the cloud, and is mainly used for positioning system management of an airport, authorized landing and the like.
2. Onboard positioning system 2
The on-board positioning system 2 mainly consists of three main subsystems:
A. the airborne UWB positioning system 21 is used for carrying out information interaction with UWB modules 124 arranged in the main base station 111 and the auxiliary base station 112 on the ground, so as to realize accurate measurement of the distance between the unmanned aerial vehicle and the main base station 111 and the auxiliary base station 112;
B. the airport sensing system 22 senses information of an airport and is used for waking up a positioning base station 11 of the airport, collecting relevant data of the airport, matching the system and the like;
C. The position calculation subsystem 23 calculates the current position of the unmanned aerial vehicle according to the result obtained by ranging the UWB module 114 in the airborne UWB positioning system 21 and the positioning base station 11, and outputs the calculation result to the unmanned aerial vehicle flight control system to carry out flight decision.
Wherein, the first sensing system 121, the second sensing system 122 and the airport sensing system 22 all adopt 433MHz wireless communication systems, the positioning auxiliary communication system 13 adopts an NBIOT system, and the airborne UWB positioning system 21 and the UWB module 114 all adopt IR-UWB systems. The positioning-assisted communication system 13 communicates using Wi-Fi or 3G/LTE.
Wherein, unmanned aerial vehicle near field perception system 12 all has the setting in all basic stations, mainly realizes being close the perception to unmanned aerial vehicle, after unmanned aerial vehicle is close ground guiding system soon, realizes the perception to unmanned aerial vehicle through unmanned aerial vehicle near field perception system 12, and its perception distance can reach 300 meters. When the unmanned aerial vehicle is perceived to need to enter the system, the positioning base station 11 is woken up to start working, and after leaving the area, the positioning base station 11 can enter a dormant state, so that the system power consumption is reduced.
The positioning auxiliary communication system 13 mainly realizes communication with the cloud as a second authentication channel to ensure the safety and reliability of the system, and after the unmanned aerial vehicle is perceived to arrive through the unmanned aerial vehicle near field perception system 12, the module can perform data communication with a server to ensure that the unmanned aerial vehicle is authorized; at the same time, the channel can also be used for system state management and maintenance.
The unmanned aerial vehicle realizes ranging with the positioning base station 11 through the airborne UWB positioning system 21, after the airport sensing system 22 and the unmanned aerial vehicle near field sensing system 12 are communicated, the airborne UWB positioning system 21 is awakened and starts working, the positioning base station 11 performs ranging, and a ranging result is output to the position calculation subsystem 23 to calculate the position.
The airport sensing system 22 is mainly in communication with the unmanned aerial vehicle near field sensing system 12, and after approaching the ground guiding system, the airport sensing system can wake up the onboard UWB positioning system 21, and when leaving, the onboard UWB positioning system 21 can be actively closed, so that the power consumption of the unmanned aerial vehicle is reduced.
The specific working procedure is as follows:
(1) Construction of ground system
(1.1) construction of master base station 111 and slave base station 112
Ground system construction refers to the construction and installation of master base station 111 and slave base stations 112. In a terrestrial positioning system, there is only one master base station 111 whose housing differs in color at the identification site from the other slave base stations 112. The power supply module 3 supplies power to the whole system (including the master base station 111 and the slave base station 112), and can adopt a disposable battery or a rechargeable battery, and if the rechargeable battery is used, the rechargeable battery can be charged in a solar energy mode.
The UWB module 114 is a supporting unmanned aerial vehicle UWB module, and supports the unmanned aerial vehicle UWB module to initiate a ranging request for positioning; the status indication module 116 is used for indicating the status of the system, such as sleep, work, error, low battery lighting, etc., so as to facilitate maintenance and judgment of the working status of the ground UWB positioning master base station 111 and the slave base station 112; the power control button 113 is a switch of the whole system, and is associated with a mounting mechanism, and after the mounting is completed, the ground UWB positioning master base station 111 and the slave base station 112 are in an operation mode, and if the power control button is removed from the mounting bracket, the power-off mode is automatically entered.
After the installation of the master base station 111 and the slave base stations 112 is completed, the motion sensor 115 starts to work, and when the motion sensor senses that the master base station 111 is moved, the master base station 111 is awakened, and simultaneously all the slave base stations 112 are awakened through the first sensing system 121 to perform position reconfirmation or alarming; when it senses that the slave base station 112 is moved, the slave base station 112 will wake up and a relocation acknowledge is made by the second sensing system 122. Wherein the first perception system 121 mainly performs two functions: near field perception of the unmanned aerial vehicle; and all slave base stations 112 to perform installation pairing, status information collection, secondary location confirmation, etc. The second sensing system 122 mainly communicates with the main base station 111 to implement installation pairing, status information transmission, secondary location confirmation, and the like.
The positioning auxiliary communication system 13 mainly realizes two functions: the authentication channel is mainly used for passing authentication of the unmanned aerial vehicle; and the management channel is used for collecting all equipment information and is used for management and maintenance of the server side. The positioning auxiliary communication system 13 may be Wi-Fi connected to the cloud server through a router, or may be a channel such as GPRS or 3G/LTE, so long as the Wi-Fi can be connected to the cloud server through a network. But cannot connect to the server through a tunnel on the drone, which must be a separate tunnel.
There are at least 2 slave base stations 112 on the ground, whose outer shells differ in colour from the master base station 111 in the identification site.
(1.2) installation of devices
After the installation of the master base station 111 and the slave base stations 112 is completed, the automatic power supply is completed through a trigger mechanism designed by the base stations, and the confirmation can be completed through a status indication module 116 on each base station. The master base station 111 communicates with and recognizes the slave base station 112 through the first sensing system 121 to complete the pairing operation. The master base station 111 will maintain the relevant configuration information of the slave base station 112.
(1.3) coordinate setting and confirmation
By manually confirming the longitude and latitude accurate values of the master base station 111 and the slave base station 112, the master base station 111 can actively obtain the accurate coordinate information of all the base stations from the cloud, and confirm the secondary spatial position relationship in a ranging mode.
All the master base stations 111 and the slave base stations 112 perform cross ranging, after ranging is completed, the ranging results are converged to the master base station 111, the master base station 111 compares the obtained ranging results with accurate GPS coordinates, and if serious deviation exists, a warning is given to a system, and measurement errors possibly exist.
(1.4) motion awareness
In all ground UWB base stations, there are motion sensing sensors, which can cause large deviations or even complete inaccuracies in the positioning due to the movement of the base station position. Therefore, it is necessary to make a re-correction of any movement and judge whether an alarm is to be generated or not, and perform maintenance.
When any one of the ground UWB positioning base stations stops due to a moving event, the master base station 111 will re-initiate a command to allow all the base stations to perform cross ranging, compare the ranging result with the initial result, and if the comparison exceeds a set threshold, for example, 5 cm, the system will generate an alarm to the server through the communication channel to stop the service. If the threshold is not exceeded and the following conditions are met, the system may automatically recalibrate: at most only one base station can be moved; the main base station 111 calculates the coordinates of the mobile base station by pushing through other base stations which are not moved; and notifying the updated coordinate system to the cloud server.
(2) Unmanned aerial vehicle near field perception
All ground base stations are in a dormant state when no unmanned aerial vehicle enters the ground, and all base stations are required to be awakened to start working when the unmanned aerial vehicle enters the ground.
The main base station 111 periodically wakes up the first sensing system 121 of the near-field sensing channel, and after waking up, the first sensing system 121 actively transmits a broadcast request message with an ID, if an unmanned aerial vehicle exists, and the unmanned aerial vehicle matches through the ID of the landing area:
if the first sensing system 121 does not answer if the first sensing system does not pass the matching, the primary base station 111 will enter the sleep state again after waiting for the timeout.
If the matching is passed, the airport sensing system 22 responds to the request message, and adds the relevant information of the unmanned aerial vehicle to the response message, if the first sensing system 121 receives the response message, the master base station 111 wakes up all the slave base stations 112 on the ground.
(3) Dual channel authentication
After the main base station 111 obtains the information about the unmanned aerial vehicle through the first sensing system 121 of the near-field sensing channel, the information about the unmanned aerial vehicle needs to be transmitted to the server through the positioning auxiliary communication system 13 (IOT module), after the confirmation of the server is received, the ground positioning system can start to provide positioning service for the unmanned aerial vehicle, and if a negative response is received, the ground positioning system can not provide positioning service for the unmanned aerial vehicle.
(4) Unmanned aerial vehicle location
After the main base station 111 obtains authorization of the server through the positioning auxiliary communication system 13 (IOT module), information such as all base station positions on the ground, allowed landing areas and the like is provided to the unmanned aerial vehicle airport sensing system 22 through the first sensing system 121, after the unmanned aerial vehicle obtains detailed coordinate information on the ground, the unmanned aerial vehicle onboard UWB positioning system 21 starts ranging with the main base station 111 and the slave base station 112, after ranging is completed, the onboard UWB positioning system 21 provides a ranging result to the position calculating system 23, and the position calculating system 23 outputs the position to the unmanned aerial vehicle flight control unit for landing. After the drone falls to the drone leaves, the entire process both the master base station 111 and the slave base station 112 continue to service the drone until the drone leaves the work area.
(5) Unmanned aerial vehicle departure sensing
During the unmanned landing and departure process, the ground base station continues to serve it, during which the master base station 111 continues to communicate with the unmanned airport sensing system 22 via the first sensing system 121 until the communication fails. Alternatively, when the unmanned aerial vehicle no longer needs to provide service for the ground system, the airport sensing system 22 or the onboard UWB positioning system 21 informs that the ground system no longer needs service, the main base station 111 reports the end of service to the server through the positioning auxiliary communication system 13, and then the ground positioning system goes to sleep to complete the round of service.
(6) Ground system management
The ground system management mainly involves the following aspects, but is performed by the positioning-assisted communication system 13: unmanned aerial vehicle landing authorization; the unmanned plane landing process ends the service and other notices; the base station state is updated, which is periodically updated, and comprises battery power, the health state of the system and the like, so that the server can manage the system conveniently; a base station position movement alarm; the coordinate calibration of the base station has deviation and deviation conditions.
The system is based on the accurate positioning of the near-field guidance of the unmanned aerial vehicle with ultra wideband, and mainly comprises an ultra wideband positioning base station with UWB and an auxiliary communication system, when the unmanned aerial vehicle enters the working range, the UWB positioning system starts to enter the working state, and the unmanned aerial vehicle is guided to accurately land and leave an airport. The method is mainly used for realizing accurate landing and delivery of the unmanned aerial vehicle for express delivery. The positioning systems employed in the present system (UWB module 114 and on-board UWB positioning system 21) are IR-UWB positioning systems, typically operating within 100 meters. The sensing systems (the unmanned plane near-field sensing system 12 and the airport sensing system 22) are all realized by 433MHz wireless communication, the sensing distance can reach 300 meters, but the sensing system is not limited to adopting 433MHz communication frequency band for communication, as long as the working distance is larger than the UWB working distance. The positioning auxiliary communication system 13 is implemented by using an NBIOT module, which is not limited to any communication means, such as Wi-Fi or 3G/LTE. Wherein, the master base station 111 and the slave base station 112 are identified by clear colors, which is convenient and quick.
The unmanned aerial vehicle near-field guiding system provided by the invention has the following advantages:
1. high precision
The positioning accuracy is high, the UWB-TOF ranging is adopted for accurate positioning, the positioning accuracy is as high as 10cm, the landing of the unmanned aerial vehicle can be effectively assisted, and the positioning accuracy requirement of the system is guaranteed. The positioning requirements of a plurality of unmanned aerial vehicles can be met at the same airport.
2. Low cost
The system design is realized in a low-cost mode, so that the positioning system is promoted in a large scale, and the system does not need additional operation cost, can be put into operation at one time, can last for more than three years, and greatly reduces the use cost of the system.
3. High security
The system is safer to use by adopting a completely independent authentication channel, and the unmanned aerial vehicle is prevented from falling to an incorrect airport or being illegally hijacked.
4. Low power consumption
All positioning base stations (111) and (112) are in a dormant state, and the unmanned aerial vehicle is perceived to come in a periodically awakening mode to start awakening, provide services, and enter the dormant state again after the unmanned aerial vehicle is prompted to finish the services or is perceived to leave.
All positioning base stations are powered by batteries, when the unmanned aerial vehicle needs to be provided with service, the base stations work, and when the unmanned aerial vehicle does not need to be provided with service, the base stations stop working, so that the power consumption can be effectively reduced. The base station adopts a plug and play mode, and if the battery needs to be replaced, only a new base station needs to be replaced.
When the base station is installed, the positioning base station is directly electrified through the association of the structure, and the positioning base station is confirmed through the state indication, so that the base station is prevented from working when not installed due to the fact that the battery is used for supplying power, and the working time of the battery is reduced.
5. Easy maintenance
Easy maintenance is embodied in several aspects, one aspect is maintenance of the base station, which requires no expert knowledge for disassembly and installation, plug and play. In addition, the position of the system is changed, all the devices periodically update the state to the cloud, and any abnormal state of the system can be monitored by the cloud management platform.
6. Self-correction
The positioning system has a complete self-checking function, when the equipment is moved, the system can repair itself, and if the self-repair fails, the system can be prompted to provide no service for maintenance. Since the system is in use, slight movements are difficult to avoid, and maintenance effort can be greatly reduced by self-calibration.
7. Safety of
All the devices adopt low-voltage intrinsic safety devices, are powered by batteries, greatly reduce safety risks, and ensure that potential safety hazards do not exist in use.
There are various embodiments for implementing unmanned near field guidance using unmanned near field guidance systems.
Example 1
Constructing a near-field guiding system of the unmanned aerial vehicle: constructing an unmanned aerial vehicle near-field guiding system, and performing pairing and cross ranging on a master base station 111 and a slave base station 112;
unmanned near field perception: the main base station 111 periodically wakes up the first sensing system 121, and after the wake-up, the first sensing system 121 actively sends out a broadcast request message with an ID to be matched with the unmanned aerial vehicle;
unmanned aerial vehicle response: the unmanned aerial vehicle receives and matches the broadcast request message with ID sent by the main base station 111, after matching is successful, the airport sensing system 22 responds to the request message, and adds the relevant information of the unmanned aerial vehicle to the response message; if the matching fails, not responding;
unmanned aerial vehicle positioning: the first sensing system 121 receives the unmanned aerial vehicle response message, the main base station 111 wakes up all the auxiliary base stations 112 on the ground, the unmanned aerial vehicle-mounted UWB positioning system 21 starts ranging with the main base station 111 and the auxiliary base stations 112, and unmanned aerial vehicle positioning is completed;
unmanned aerial vehicle lands: after ranging is completed, the airborne UWB positioning system 21 provides a ranging result to the position computing system 23, and the position computing system 23 outputs the position to the unmanned aerial vehicle flight control unit for landing;
unmanned aerial vehicle leaves perception: when the unmanned aerial vehicle is finished working and leaves, the first sensing system 121 and the unmanned aerial vehicle airport sensing system 22 keep communication until the signal of the unmanned aerial vehicle airport sensing system 22 cannot be sensed, and the main base station 111 and the slave base station 112 enter a dormant state and wait for the next use.
Example 2
Constructing a near-field guiding system of the unmanned aerial vehicle: constructing an unmanned aerial vehicle near-field guiding system, and performing pairing and cross ranging on a master base station 111 and a slave base station 112;
unmanned near field perception: the main base station 111 periodically wakes up the first sensing system 121, and after the wake-up, the first sensing system 121 actively sends out a broadcast request message with an ID to be matched with the unmanned aerial vehicle;
unmanned aerial vehicle response: the unmanned aerial vehicle receives and matches the broadcast request message with ID sent by the main base station 111, after matching is successful, the airport sensing system 22 responds to the request message, and adds the relevant information of the unmanned aerial vehicle to the response message; if the matching fails, not responding;
two-channel authentication: after the main base station 111 obtains the relevant information of the unmanned aerial vehicle through the first sensing system 121, the information of the unmanned aerial vehicle is transmitted to a server through the positioning auxiliary communication system 13, after the confirmation of the server is received, the unmanned aerial vehicle positioning step is started, and if a negative response is received, the unmanned aerial vehicle positioning step is not started;
unmanned aerial vehicle positioning: the first sensing system 121 receives the unmanned aerial vehicle response message, the main base station 111 wakes up all the auxiliary base stations 112 on the ground, the unmanned aerial vehicle-mounted UWB positioning system 21 starts ranging with the main base station 111 and the auxiliary base stations 112, and unmanned aerial vehicle positioning is completed;
Unmanned aerial vehicle lands: after ranging is completed, the airborne UWB positioning system 21 provides a ranging result to the position computing system 23, and the position computing system 23 outputs the position to the unmanned aerial vehicle flight control unit for landing;
unmanned aerial vehicle leaves perception: when the unmanned aerial vehicle is finished working and leaves, the first sensing system 121 and the unmanned aerial vehicle airport sensing system 22 keep communication until the signal of the unmanned aerial vehicle airport sensing system 22 cannot be sensed, and the main base station 111 and the slave base station 112 enter a dormant state and wait for the next use.
Example 3
Constructing a near-field guiding system of the unmanned aerial vehicle: constructing an unmanned aerial vehicle near-field guiding system, and performing pairing and cross ranging on a master base station 111 and a slave base station 112;
unmanned near field perception: the main base station 111 periodically wakes up the first sensing system 121, and after the wake-up, the first sensing system 121 actively sends out a broadcast request message with an ID to be matched with the unmanned aerial vehicle;
unmanned aerial vehicle response: the unmanned aerial vehicle receives and matches the broadcast request message with ID sent by the main base station 111, after matching is successful, the airport sensing system 22 responds to the request message, and adds the relevant information of the unmanned aerial vehicle to the response message; if the matching fails, not responding;
unmanned aerial vehicle positioning: the first sensing system 121 receives the unmanned aerial vehicle response message, the main base station 111 wakes up all the auxiliary base stations 112 on the ground, the unmanned aerial vehicle-mounted UWB positioning system 21 starts ranging with the main base station 111 and the auxiliary base stations 112, and unmanned aerial vehicle positioning is completed;
Unmanned aerial vehicle lands: after ranging is completed, the airborne UWB positioning system 21 provides a ranging result to the position computing system 23, and the position computing system 23 outputs the position to the unmanned aerial vehicle flight control unit for landing;
unmanned aerial vehicle leaves perception: when the unmanned aerial vehicle is finished working and leaves, the first sensing system 121 and the unmanned aerial vehicle airport sensing system 22 keep communication until the signal of the unmanned aerial vehicle airport sensing system 22 cannot be sensed, and the main base station 111 and the slave base station 112 enter a dormant state and wait for the next use.
The ground system management step is still operated all the time in the guiding process, and the server monitors and maintains the state of the base station in real time through the positioning auxiliary communication system 13 in the using process of the system.
Example 4
Constructing a near-field guiding system of the unmanned aerial vehicle: constructing an unmanned aerial vehicle near-field guiding system, and performing pairing and cross ranging on a master base station 111 and a slave base station 112;
unmanned near field perception: the main base station 111 periodically wakes up the first sensing system 121, and after the wake-up, the first sensing system 121 actively sends out a broadcast request message with an ID to be matched with the unmanned aerial vehicle;
unmanned aerial vehicle response: the unmanned aerial vehicle receives and matches the broadcast request message with ID sent by the main base station 111, after matching is successful, the airport sensing system 22 responds to the request message, and adds the relevant information of the unmanned aerial vehicle to the response message; if the matching fails, not responding;
The dual-channel authentication step: after the main base station 111 obtains the relevant information of the unmanned aerial vehicle through the first sensing system 121, the information of the unmanned aerial vehicle is transmitted to a server through the positioning auxiliary communication system 13, after the confirmation of the server is received, the unmanned aerial vehicle positioning step is started, and if a negative response is received, the unmanned aerial vehicle positioning step is not started;
unmanned aerial vehicle positioning: the first sensing system 121 receives the unmanned aerial vehicle response message, the main base station 111 wakes up all the auxiliary base stations 112 on the ground, the unmanned aerial vehicle-mounted UWB positioning system 21 starts ranging with the main base station 111 and the auxiliary base stations 112, and unmanned aerial vehicle positioning is completed;
unmanned aerial vehicle lands: after ranging is completed, the airborne UWB positioning system 21 provides a ranging result to the position computing system 23, and the position computing system 23 outputs the position to the unmanned aerial vehicle flight control unit for landing;
unmanned aerial vehicle leaves perception: when the unmanned aerial vehicle is finished working and leaves, the first sensing system 121 and the unmanned aerial vehicle airport sensing system 22 keep communication until the signal of the unmanned aerial vehicle airport sensing system 22 cannot be sensed, and the main base station 111 and the slave base station 112 enter a dormant state and wait for the next use.
The ground system management step is still operated all the time in the guiding process, and the server monitors and maintains the state of the base station in real time through the positioning auxiliary communication system 13 in the using process of the system.
Example 5
Constructing a near-field guiding system of the unmanned aerial vehicle: constructing an unmanned aerial vehicle near-field guiding system, and performing pairing and cross ranging on a master base station 111 and a slave base station 112;
unmanned near field perception: the main base station 111 periodically wakes up the first sensing system 121, and after the wake-up, the first sensing system 121 actively sends out a broadcast request message with an ID to be matched with the unmanned aerial vehicle;
unmanned aerial vehicle response: the unmanned aerial vehicle receives and matches the broadcast request message with ID sent by the main base station 111, after matching is successful, the airport sensing system 22 responds to the request message, and adds the relevant information of the unmanned aerial vehicle to the response message; if the matching fails, not responding;
unmanned aerial vehicle positioning: the first sensing system 121 receives the unmanned aerial vehicle response message, the main base station 111 wakes up all the auxiliary base stations 112 on the ground, the unmanned aerial vehicle-mounted UWB positioning system 21 starts ranging with the main base station 111 and the auxiliary base stations 112, and unmanned aerial vehicle positioning is completed;
unmanned aerial vehicle lands: after ranging is completed, the airborne UWB positioning system 21 provides a ranging result to the position computing system 23, and the position computing system 23 outputs the position to the unmanned aerial vehicle flight control unit for landing;
unmanned aerial vehicle leaves perception: when the unmanned aerial vehicle is finished working and leaves, the first sensing system 121 and the unmanned aerial vehicle airport sensing system 22 keep communication until the signal of the unmanned aerial vehicle airport sensing system 22 cannot be sensed, and the main base station 111 and the slave base station 112 enter a dormant state and wait for the next use.
The ground system management and the positioning base station self-correction are also operated all the time in the guiding process,
ground system management: during the use process of the system, the server monitors and maintains the state of the base station in real time through the positioning auxiliary communication system 13.
The self-correction of the positioning base station comprises a base station movement sensing step, a comparison analysis step and a result processing step,
base station movement sensing: after the step of constructing the ground system is completed, the motion sensor 115 starts to operate, and when it senses that the master base station 111 or a certain slave base station 112 is moved, the master base station 111 re-initiates a command to allow all the base stations to perform cross ranging;
and (3) a contrast analysis step: comparing and analyzing the ranging result measured in the base station mobile sensing step with the initial ranging result;
the result processing step: comparing the re-ranging result with the initial ranging result, wherein the result exceeds a set threshold value, and the system generates an alarm to the server through the positioning auxiliary communication system 13 to stop service; the system is recalibrated to form new base station coordinates when the set value is not exceeded and the service condition is met;
wherein, the non-out-of-service condition includes the following:
at most one positioning base station is moved;
The main base station 111 calculates the coordinates of the mobile base station by pushing through other base stations which are not moved;
and notifying the updated coordinate system to the server.
Example 6
Constructing a near-field guiding system of the unmanned aerial vehicle: constructing an unmanned aerial vehicle near-field guiding system, and performing pairing and cross ranging on a master base station 111 and a slave base station 112;
unmanned near field perception: the main base station 111 periodically wakes up the first sensing system 121, and after the wake-up, the first sensing system 121 actively sends out a broadcast request message with an ID to be matched with the unmanned aerial vehicle;
unmanned aerial vehicle response: the unmanned aerial vehicle receives and matches the broadcast request message with ID sent by the main base station 111, after matching is successful, the airport sensing system 22 responds to the request message, and adds the relevant information of the unmanned aerial vehicle to the response message; if the matching fails, not responding;
the dual-channel authentication step: after the main base station 111 obtains the relevant information of the unmanned aerial vehicle through the first sensing system 121, the information of the unmanned aerial vehicle is transmitted to a server through the positioning auxiliary communication system 13, after the confirmation of the server is received, the unmanned aerial vehicle positioning step is started, and if a negative response is received, the unmanned aerial vehicle positioning step is not started;
unmanned aerial vehicle positioning: the first sensing system 121 receives the unmanned aerial vehicle response message, the main base station 111 wakes up all the auxiliary base stations 112 on the ground, the unmanned aerial vehicle-mounted UWB positioning system 21 starts ranging with the main base station 111 and the auxiliary base stations 112, and unmanned aerial vehicle positioning is completed;
Unmanned aerial vehicle lands: after ranging is completed, the airborne UWB positioning system 21 provides a ranging result to the position computing system 23, and the position computing system 23 outputs the position to the unmanned aerial vehicle flight control unit for landing;
unmanned aerial vehicle leaves perception: when the unmanned aerial vehicle is finished working and leaves, the first sensing system 121 and the unmanned aerial vehicle airport sensing system 22 keep communication until the signal of the unmanned aerial vehicle airport sensing system 22 cannot be sensed, and the main base station 111 and the slave base station 112 enter a dormant state and wait for the next use.
The ground system management and the positioning base station self-correction are also operated all the time in the guiding process,
ground system management: during the use process of the system, the server monitors and maintains the state of the base station in real time through the positioning auxiliary communication system 13.
The self-correction of the positioning base station comprises a base station movement sensing step, a comparison analysis step and a result processing step,
base station movement sensing: after the step of constructing the ground system is completed, the motion sensor 115 starts to operate, and when it senses that the master base station 111 or a certain slave base station 112 is moved, the master base station 111 re-initiates a command to allow all the base stations to perform cross ranging;
and (3) a contrast analysis step: comparing and analyzing the ranging result measured in the base station mobile sensing step with the initial ranging result;
The result processing step: comparing the re-ranging result with the initial ranging result, wherein the result exceeds a set threshold value, and the system generates an alarm to the server through the positioning auxiliary communication system 13 to stop service; the system is recalibrated to form new base station coordinates when the set value is not exceeded and the service condition is met;
wherein, the non-out-of-service condition includes the following:
at most one positioning base station is moved;
the main base station 111 calculates the coordinates of the mobile base station by pushing through other base stations which are not moved;
and notifying the updated coordinate system to the server.
The embodiments 1-6 all adopt UWB-TOF ranging to accurately position, the positioning precision is up to 10cm, the unmanned aerial vehicle landing can be effectively assisted, and the positioning precision requirement of the system is ensured. The positioning requirements of a plurality of unmanned aerial vehicles can be met at the same airport. The system design is realized in a low-cost mode, so that the positioning system is promoted in a large scale, and the system does not need additional operation cost, can be put into operation at one time, can last for more than three years, and greatly reduces the use cost of the system.
The perception system is adopted to wake up the positioning base stations, all the main base stations 111 and the auxiliary base stations 112 of the positioning base stations are in a dormant state when not working, the unmanned aerial vehicle is perceived to arrive in a periodic wake-up mode, the unmanned aerial vehicle begins to wake up, the service is provided, and the unmanned aerial vehicle prompts that the service is finished or the unmanned aerial vehicle is perceived to leave after the positioning system reenters the dormant state.
All positioning base stations are powered by batteries, when the unmanned aerial vehicle needs to be provided with service, the base stations work, and when the unmanned aerial vehicle does not need to be provided with service, the base stations stop working, so that the power consumption can be effectively reduced. The base station adopts a plug and play mode, and if the battery needs to be replaced, only a new base station needs to be replaced. When the base station is installed, the positioning base station is directly electrified through the association of the structure, and the positioning base station is confirmed through the state indication, so that the base station is prevented from working when not installed due to the fact that the battery is used for supplying power, and the working time of the battery is reduced.
The base station is convenient to disassemble and install, and has no need of professional knowledge, and plug and play is not needed. All the devices adopt low-voltage intrinsic safety devices, are powered by batteries, greatly reduce safety risks, and ensure that potential safety hazards do not exist in use.
Embodiments 2, 4 and 6 provide two-channel authentication steps, and the system is safer to use by adopting completely independent authentication channels, so that the unmanned aerial vehicle is prevented from falling to an incorrect airport or being illegally hijacked.
Embodiments 3, 4, 5 and 6 provide ground system management steps, all devices periodically update the state to the cloud, any abnormal conditions of the system can be monitored through the cloud management platform, real-time monitoring and maintenance of the ground system are realized, the risk of faults of the ground system is further reduced, and smooth running of near-field guidance of the unmanned aerial vehicle is ensured.
Embodiments 5 and 6 further provide a positioning base station self-correction step, which realizes that the positioning system has a complete self-checking function, when the device is moved, the system can self-repair, and if the self-repair fails, the system can be prompted to fail to provide service for maintenance. Since the system is in use, slight movements are difficult to avoid, and maintenance effort can be greatly reduced by self-calibration.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. The unmanned aerial vehicle near-field guiding method is characterized by comprising the following steps of:
constructing an unmanned aerial vehicle near-field guiding system;
the unmanned aerial vehicle near-field guiding system comprises a ground system (1) and an airborne positioning system (2),
the ground system (1) comprises an unmanned aerial vehicle near field sensing system (12) and a positioning base station (11) which are connected in sequence, the airborne positioning system (2) comprises an unmanned aerial vehicle airport sensing system (22), an airborne UWB positioning system (21) and a position calculating system (23) which are connected in sequence,
The positioning base station (11) is connected with the power supply module (3),
the positioning base station (11) is in wireless connection with the airborne UWB positioning system (21), and the unmanned aerial vehicle near field sensing system (12) is in wireless connection with the unmanned aerial vehicle airport sensing system (22);
the positioning base station (11) is connected with the positioning auxiliary communication system (13);
the positioning base station (11) comprises a master base station (111) and slave base stations (112), wherein the number of the slave base stations (112) is at least two,
UWB modules (114) are arranged in the master base station (111) and the slave base station (112),
the positioning auxiliary communication system (13) is arranged in the main base station (111),
the unmanned aerial vehicle near field sensing system (12) comprises a first sensing system (121) and a second sensing system (122) which are connected with each other, wherein the first sensing system (121) is arranged in the master base station (111), the second sensing system (122) is arranged in the slave base station (112), and the first sensing system (121) is in wireless connection with the unmanned aerial vehicle airport sensing system (22);
-the master base station (111) paired and cross ranging with the slave base station (112);
Unmanned near field perception: the main base station (111) wakes up the first perception system (121) periodically, and after the wake-up, the first perception system (121) actively sends out a broadcast request message with an ID to be matched with the unmanned aerial vehicle;
unmanned aerial vehicle response: the unmanned aerial vehicle receives and matches the broadcast request message with ID sent by the main base station (111), after matching is successful, the unmanned aerial vehicle airport sensing system (22) responds to the request message, and relevant information of the unmanned aerial vehicle is added on the response message; if the matching fails, not responding;
unmanned aerial vehicle positioning: the first perception system (121) receives unmanned aerial vehicle response messages, the master base station (111) wakes up all the slave base stations (112) on the ground, and the unmanned aerial vehicle starts ranging with the master base station (111) and the slave base stations (112) by the airborne UWB positioning system (21) to finish unmanned aerial vehicle positioning;
unmanned aerial vehicle lands: after ranging, the airborne UWB positioning system (21) provides a ranging result to the position computing system (23), and the position computing system (23) outputs the position to the unmanned plane flight control unit for landing;
unmanned aerial vehicle leaves perception: when the unmanned aerial vehicle finishes working and leaves, the first sensing system (121) and the unmanned aerial vehicle airport sensing system (22) keep communication until the signal of the unmanned aerial vehicle airport sensing system (22) cannot be sensed, and the master base station (111) and the slave base station (112) enter a dormant state and wait for the next use.
2. A method of unmanned aerial vehicle near field guidance according to claim 1, wherein the master base station (111) and the slave base station (112) are each further provided with a motion sensor (115).
3. The unmanned aerial vehicle near-field guiding method according to claim 1, wherein the master base station (111) and the slave base station (112) are each further provided with a status indication module (116) and a power control button (113).
4. A method of near field guidance for unmanned aerial vehicles according to any of the claims 1, wherein the power supply module (3) is a battery.
5. The unmanned aerial vehicle near-field guidance method of claim 1, wherein a two-channel authentication step is further provided between the unmanned aerial vehicle response step and the unmanned aerial vehicle positioning step:
after the main base station (111) obtains the relevant information of the unmanned aerial vehicle through the first sensing system (121), the information of the unmanned aerial vehicle is transmitted to a server through the positioning auxiliary communication system (13), after the server is confirmed, the unmanned aerial vehicle positioning step is started, and if a negative response is received, the unmanned aerial vehicle positioning step is not started.
6. The unmanned aerial vehicle near-field guidance method of claim 1, further comprising a ground system management step of:
in the using process of the system, the server monitors and maintains the state of the base station in real time through the positioning auxiliary communication system (13).
7. The method of claim 2, further comprising a positioning base station self-correction step, wherein the positioning base station self-correction step comprises a base station movement sensing step, a contrast analysis step and a result processing step,
the base station mobile sensing step: after the ground system is constructed, the motion sensor (115) starts to work, and when the motion sensor senses that the master base station (111) or one of the slave base stations (112) is moved, the master base station (111) reinitiates a command to enable all the base stations to perform cross ranging;
the comparative analysis step: comparing and analyzing the ranging result measured in the base station mobile sensing step with the initial ranging result;
the result processing step: comparing the re-ranging result with the initial ranging result, wherein the result exceeds a set threshold value, and the system generates an alarm to the server through the positioning auxiliary communication system (13) to stop service; the system is recalibrated to form new base station coordinates when the set value is not exceeded and the service condition is met;
Wherein, the non-out-of-service condition includes the following:
at most one positioning base station is moved;
the main base station (111) calculates the coordinates of the mobile base station through other base stations which are not moved;
and notifying the updated coordinate system to the server.
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