CN108181637A - A kind of redundance UAV Navigation System and method based on RTK technologies - Google Patents
A kind of redundance UAV Navigation System and method based on RTK technologies Download PDFInfo
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- CN108181637A CN108181637A CN201711464188.5A CN201711464188A CN108181637A CN 108181637 A CN108181637 A CN 108181637A CN 201711464188 A CN201711464188 A CN 201711464188A CN 108181637 A CN108181637 A CN 108181637A
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- common gps
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The present invention provides a kind of redundance UAV Navigation System and method based on RTK technologies, wherein, after flight control computer receives the satellite data of the airborne mobile base stations of RTK, it is determining that in RTK patterns and unmanned plane position excursion does not occur for the airborne mobile base stations of RTK, is being navigated using the satellite data of the airborne mobile base stations of RTK；In the case of determining the airborne mobile base stations of RTK not for RTK patterns and common GPS the operation is stable, navigated using common GPS satellite data；After receiving common GPS satellite data, position excursion does not occur in common GPS steady operations and unmanned plane or does not have steady operation in common GPS, is navigated using the satellite data of the airborne mobile base stations of RTK；Position excursion occurs in common GPS steady operations and unmanned plane, is navigated using the satellite data of common GPS.The present invention can improve the stability and reliability of unmanned plane by adding common GPS.
Description
Technical field
The present invention relates to Navigation of Pilotless Aircraft field, more particularly, to a kind of redundance Navigation of Pilotless Aircraft based on RTK technologies
System and method.
Background technology
UAV abbreviation unmanned plane (Unmanned Aerial Vehicle, abbreviation UAV) is a kind of using nothing
The not manned aircraft that line electrical remote control equipment and the presetting apparatus provided for oneself manipulate.With the fast development of unmanned air vehicle technique, nothing
It is man-machine to be widely used in the industries such as city management, agricultural, geology, meteorology, electric power, rescue and relief work, video capture.
Usual unmanned plane includes flight controller, IMU (Inertial measurement unit, Inertial Measurement Unit)
Module, gyroscope, elevation carrection module (such as barometer, ultrasonic ranging, radar range finding).
Flight controller reads the related flying quality such as IMU modules, gyroscope, elevation carrection module, and using from RTK
The difference knot of (real time kinematic, in real time dynamically) mobile base station satellite data and the data from RTK ground base stations
Fruit controls the flight of unmanned plane.
However, during practical flight control, the greatest problem that RTK technologies encounter is exactly mobile base station correction data
EFFECTIVE RANGE.The spatial coherence of GPS error gradually loses line with the increase of RTK mobile base stations and unmanned plane distance
Property, therefore (the single-frequency under relatively long distance>L0km, double frequency>30km), the unmanned plane correlation flying quality after difference processing is still
So containing very big observation error, so as to be easy to cause the position excursion of unmanned plane, can not be accurately positioned.
Invention content
The purpose of the present invention is be directed to presently, there are the problem of, a kind of redundance unmanned plane based on RTK technologies is provided and is led
Boat system and method, pass through the present invention so that RTK ground base stations in Air-ground data link communicating interrupt or lead to airborne mobile base station
In the case that the variation of moment discreteness occurs for position data caused by news distance increases, accurate reliable location can be still realized.
The purpose of the present invention is achieved through the following technical solutions：
The object of the present invention is to provide a kind of redundance UAV Navigation System based on RTK technologies, including：RTK
Face base station, the airborne mobile base stations of RTK and flight control computer；It is further included：
The common GPS being independently arranged on unmanned plane；
The airborne mobile base stations of RTK, the equal real-time reception satellite data of common GPS and RTK ground base stations；
Data between the airborne mobile base stations of RTK and RTK ground base stations communicate to be controlled by flight control computer with flying control ground
Wirelessly transmitting data chain between system station communicates；Common GPS directly communicates with flight control computer；
Flight control computer includes data transmission module, RTK operating modes judgment module, position excursion judgment module, common
GPS working conditions identification module and remaining calculation processing module；
Flight control computer includes data transmission module, RTK operating modes judgment module, position excursion judgment module, common
GPS working conditions identification module and remaining calculation processing module；
The data transmission module, for monitor in real time whether receive satellite data from the airborne mobile base stations of RTK and
The satellite data of common GPS；If receiving the satellite data from the airborne mobile base stations of RTK, it is given to RTK operating modes and sentences
Disconnected module；If received from common GPS satellite data, it is given to common GPS working conditions identification module；
RTK operating mode judgment modules, for whether determining the airborne mobile base stations of RTK in RTK operating modes, if so,
The satellite data of the airborne mobile base stations of RTK is then given to position excursion judgment module；If the Working mould of the airborne mobile base stations of RTK
Formula has not been RTK operating modes, then notifies remaining calculation processing module；
Position excursion judgment module, for judging unmanned plane position and general according to the satellite data of the airborne mobile base stations of RTK
The satellite data of logical GPS judges whether unmanned plane occurs position excursion, and result is informed the remaining calculation processing module；
Common GPS working condition identification modules, for the satellite data according to common GPS come determine common GPS whether
Steady operation, and when determining common GPS steady operations, notify position excursion judgment module and the remaining calculation processing mould
Block；If it is determined that common GPS does not have steady operation, then the remaining calculation processing module is notified directly to use the airborne mobile bases of RTK
The satellite data stood is navigated；
The remaining calculation processing module, for determining unmanned plane generation position excursion and common GPS steady operations feelings
Not in RTK operating modes and common GPS steady operations under condition or, in the airborne mobile base stations of RTK, using common
POS coordinate datas in the satellite data of GPS calculate flight parameter and generate actuator control signal to navigate；In unmanned seat in the plane
It puts and drift does not occur and the airborne mobile base stations of RTK are in RTK operating modes, use the satellite number of the airborne mobile base stations of RTK
POS coordinate datas in calculate flight parameter and generate actuator control signal to navigate.
The present invention also provides a kind of redundance Navigation of Pilotless Aircraft method based on RTK technologies, including：
Step S100, whether flight control computer is monitored in real time receives satellite data from the airborne mobile base stations of RTK and general
The satellite data of logical GPS；
Step S101, flight control computer acknowledge receipt of the satellite data from the airborne mobile base stations of RTK；
Step S102, the operating mode for judging the airborne mobile base stations of RTK according to the satellite data of the airborne mobile base stations of RTK are
No is RTK patterns, if not RTK patterns, then be transferred to step S103；If RTK operating modes then perform step S106；
Step S103 judges whether common GPS is efficiently and stably working according to the satellite data of common GPS received,
If so, it is transferred to step S107；Otherwise S108 is entered step；
Step S106, POS coordinates and the newest satellite numbers of common GPS in the satellite data of the airborne mobile base stations of RTK
The comparison results of POS coordinate datas in determines whether unmanned plane position drifts about；If unmanned plane position has occurred and that
Drift, then enter step S107；If unmanned plane position does not drift about, it is transferred to step S108；
Step S107, flight control computer uses the POS coordinate datas in common GPS satellite data, and is controlled from this moment winged afterwards
Computer is only with the POS coordinate datas in common GPS satellite data；
Step S108, flight control computer are led using the POS coordinate datas in the satellite data of the airborne mobile base stations of RTK
Boat；
And
Step S104, flight control computer acknowledge receipt of the satellite data from common GPS；
Step S105, according to the satellite data of common GPS received judge common GPS whether efficient stable work,
If it is transferred to step S106；Otherwise S108 is entered step.
It is highly preferred that judge common GPS whether in the mistake efficiently and stably to work in the step S103 and step S105
Journey includes：
Effective number of satellite in the satellite data of common GPS is judged higher than 15 and horizontal and vertical precision is less than 2 meters,
If meet the condition, it is determined that common GPS is efficiently and stably working；Otherwise determine that common GPS does not work steadily.
It is highly preferred that POS coordinates in the step S106 in the satellite data of the airborne mobile base stations of RTK with it is common
The comparison result of POS coordinate datas in the newest satellite datas of GPS determines process packet that whether unmanned plane position drifts about
It includes：
Compare whether the POS coordinates in the satellite data of the airborne mobile base stations of RTK are located at the newest satellite datas of common GPS
In POS coordinate datas for the center of circle setting radius in, if so, determine unmanned plane position do not drift about, otherwise determine
Unmanned plane position has occurred and that drift.
It is highly preferred that the step S107 is further included：
The fault alarm of the airborne mobile base stations of triggering RTK simultaneously enters pattern of making a return voyage automatically.By the technical side of the invention described above
Case can be seen that the present invention and have the following technical effect that：
The application in Navigation of Pilotless Aircraft alignment system by adding a common GPS device, and in flight control computer
Increase remaining calculation processing module so that unmanned plane since RTK navigation equipments height relies on peripheral hardware ground installation when something goes wrong,
By remaining calculation process, it is used without carrying out navigator fix to unmanned plane to the common GPS device that peripheral apparatus relies on, from
And cause RTK ground base stations and airborne mobile base station positional number caused by Air-ground data link communicating interrupt or communication distance increase
In the case of the variation of moment discreteness occurs, accurate reliable location can be still realized, and then the steady of unmanned plane can be improved
Qualitative and reliability.
Description of the drawings
Fig. 1 is the structure diagram of the embodiment of the present invention one；
Fig. 2 is the flow chart of the embodiment of the present invention two.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the technical solution of the application, below with reference to attached drawing to this hair
It is bright to be described in further details.
The orientation such as upper, lower, left, right, front and rear in present specification term be based on position relationship shown in the drawings and
It establishes.Attached drawing is different, then corresponding position relationship is also possible to change therewith, therefore cannot be interpreted as with this to protecting model
The restriction enclosed.
Embodiment one：
The embodiment of the present invention one provides a kind of redundance UAV Navigation System based on RTK technologies, structure such as Fig. 1 institutes
Show, including：
The airborne mobile base station of RTK ground base stations, RTK (referred to as RTK-GPS), common GPS, flight control computer, IMU moulds
Block, gyroscope and elevation carrection module (such as barometer, ultrasonic ranging, radar range finding).
Common GPS is independently arranged on unmanned plane.The airborne mobile base stations of RTK, common GPS and RTK ground base stations are real-time
Receive satellite data.
Data between the airborne mobile base stations of RTK and RTK ground base stations communicate to be controlled by flight control computer with flying control ground
Wirelessly transmitting data chain between system station communicates, to receive the satellite data of RTK ground base stations, and by RTK ground base stations
The satellite data that is received with oneself of satellite data carry out difference processing, obtain differential data and be transmitted to flight control computer；
Common GPS directly communicates with flight control computer, with real-time Transmission satellite data to flight control computer.
Flight control computer reads IMU modules, gyroscope, the measurement data of elevation carrection module acquisition and the airborne movements of RTK
The correlation flying quality such as differential data of base station, using these flying qualities and differential data generation actuator control signal, and
Unmanned plane actuator is supplied to for controlling unmanned plane during flying.
Whether flight control computer is monitored in real time receives defending for satellite data and common GPS from the airborne mobile base stations of RTK
Sing data.If the satellite data from the airborne mobile base stations of RTK, then the Working mould of the airborne mobile base stations of RTK is determined first
Formula whether or RTK operating modes, if the operating mode of the airborne mobile base stations of RTK is RTK operating modes, continue to judge nobody
Whether seat in the plane is put drifts about, and is determining that unmanned plane position excursion is switched in time in the satellite data using common GPS
POS coordinate datas navigate；If the operating mode of the airborne mobile base stations of RTK has not been RTK operating modes, illustrate RTK
The satellite data chain of airborne mobile base station is already off, at this time then using in the common GPS satellite data of efficient stable work
The correlation flying quality such as POS coordinate datas and the IMU modules read, gyroscope, elevation carrection module is calculated and is generated
Actuator controls signal, and actuator is supplied to be used for controlling unmanned plane during flying.If flight control computer is listened to receive and be come from
The satellite data of common GPS, then determine first common GPS whether efficient stable work, then by comparing the airborne shiftings of RTK
The satellite data of base station and the satellite data of common GPS are moved to determine whether unmanned plane position drifts about, and determining nobody
Seat in the plane is put drift about after navigated using the satellite data of common GPS；Otherwise still using the satellite of the airborne mobile base stations of RTK
Data are navigated.The above-mentioned function of flight control computer is realized by following module：
Data transmission module, RTK operating modes judgment module, position excursion judgment module, the identification of common GPS working conditions
Module and remaining calculation processing module；
Flight control computer includes data transmission module, RTK operating modes judgment module, position excursion judgment module, common
GPS working conditions identification module and remaining calculation processing module；
The data transmission module, for monitor in real time whether receive satellite data from the airborne mobile base stations of RTK and
The satellite data of common GPS；If receiving the satellite data from the airborne mobile base stations of RTK, it is given to RTK operating modes and sentences
Disconnected module；If received from common GPS satellite data, it is given to common GPS working conditions identification module；
RTK operating mode judgment modules, for whether determining the airborne mobile base stations of RTK in RTK operating modes, if so,
The satellite data of the airborne mobile base stations of RTK is then given to position excursion judgment module；If the Working mould of the airborne mobile base stations of RTK
Formula has not been RTK operating modes, then notifies remaining calculation processing module；
Position excursion judgment module, for judging unmanned plane position and general according to the satellite data of the airborne mobile base stations of RTK
The satellite data of logical GPS judges whether unmanned plane occurs position excursion, and result is informed the remaining calculation processing module；
Common GPS working condition identification modules, for the satellite data according to common GPS come determine common GPS whether
Steady operation, and when determining common GPS steady operations, notify position excursion judgment module and the remaining calculation processing mould
Block；If it is determined that common GPS does not have steady operation, then the remaining calculation processing module is notified directly to use the airborne mobile bases of RTK
The satellite data stood is navigated；
The remaining calculation processing module, for determining unmanned plane generation position excursion and common GPS steady operations feelings
Not in RTK operating modes and common GPS steady operations under condition or, in the airborne mobile base stations of RTK, using common
POS coordinate datas in the satellite data of GPS calculate flight parameter and generate actuator control signal to navigate；In unmanned seat in the plane
It puts and drift does not occur and the airborne mobile base stations of RTK are in RTK operating modes, use the satellite number of the airborne mobile base stations of RTK
POS coordinate datas in calculate flight parameter and generate actuator control signal to navigate.
Embodiment two：
The embodiment of the present invention two provides a kind of redundance Navigation of Pilotless Aircraft method based on RTK technologies, in the air navigation aid,
Flight control computer monitors the satellite data for whether receiving satellite data and common GPS from the airborne mobile base stations of RTK in real time, and
Situation is compared according to the satellite data of the airborne mobile base stations of the RTK received or the satellite data of common GPS and determines what navigation used
Data.Specific implementation is as shown in Fig. 2, include the following steps：
Step S100, whether flight control computer is monitored in real time receives satellite data from the airborne mobile base stations of RTK and general
The satellite data of logical GPS；
Step S101, flight control computer receive the satellite data from the airborne mobile base stations of RTK (RTK-GPS)；
Step S102, whether the operating mode for judging the airborne mobile base stations of RTK is RTK patterns, if not RTK patterns, then
It is transferred to step S103；If RTK operating modes then perform step S106.
When differential data is no longer transmitted in the airborne mobile base stations of RTK, then it is assumed that the operating mode of the airborne mobile base stations of RTK is not
It is RTK patterns again, otherwise it is assumed that the operating mode of the airborne mobile base stations of RTK is still RTK patterns.
Step S103 judges whether to meet following condition：Effective number of satellite in the satellite data of common GPS is higher than 15
And horizontal and vertical precision be less than 2 meters, if meeting the condition, illustrate that common GPS is efficiently and stably working, be then transferred to step
S107；Otherwise S108 is entered step.
Step S106, compares whether the POS coordinates in the satellite data of the airborne mobile base stations of RTK are located at common GPS most
POS coordinate datas in new satellite data is in 2 meters of radiuses in the center of circle；If it is not, illustrate that unmanned plane position has occurred and that drift, then
Enter step S107；If so, it is transferred to step S108.
Step S107, flight control computer uses the POS coordinate datas in common GPS satellite data, and is controlled from this moment winged afterwards
Computer is gone forward side by side only with the POS coordinate datas in common GPS satellite data, the fault alarm of the airborne mobile base stations of triggering RTK
Enter automatic pattern of making a return voyage.
Step S108, flight control computer are led using the POS coordinate datas in the satellite data of the airborne mobile base stations of RTK
Boat.
Above-mentioned flow is after description flight control computer receives the satellite data from the airborne mobile base stations of RTK (RTK-GPS)
Processing procedure, if after flight control computer receives the satellite data from common GPS, if process flow in accordance with the following steps
It performs：
Step S104, flight control computer receive the satellite data from common GPS；
Step S105 judges whether to meet following condition：Effective number of satellite in the satellite data of common GPS is higher than 15
And horizontal and vertical precision be less than 2 meters, if satisfied, then illustrating that common GPS just in the work of efficient stable, is then transferred to step
S106；Otherwise S108 is entered step.
Step S106, compares whether the POS coordinates in the satellite data of the airborne mobile base stations of RTK are located at common GPS most
POS coordinate datas in new satellite data is in 2 meters of radiuses in the center of circle；If it is not, S107 is then entered step, i.e., using common GPS
POS coordinate datas, and flight control computer only with the POS coordinate datas of common GPS, go forward side by side by triggering fault alarm after this moment
Enter automatic pattern of making a return voyage；If so, being transferred to step S108, i.e., flight control computer is used in the airborne mobile base station satellite datas of RTK
POS coordinate datas.
It is airborne to receive RTK for flight control computer in the present invention it can be seen from the scheme of the specific embodiment of the invention described above
After the satellite data of mobile base station, determining that in RTK patterns and unmanned plane position excursion situation does not occur for the airborne mobile base stations of RTK
Under, it is navigated using the satellite data of the airborne mobile base stations of RTK；It is not RTK patterns and common to determine the airborne mobile base stations of RTK
In the case of GPS the operation is stable, navigated using common GPS satellite data；It is steady in common GPS after receiving common GPS satellite data
Fixed work and unmanned plane do not occur do not have steady operation in the case of position excursion or in common GPS, using RTK machines
The satellite data of mobile base station is carried to navigate；Position excursion occurs in common GPS steady operations and unmanned plane, utilization is general
Lead to the satellite data of GPS to navigate.
It can be seen that the present invention is controlled by adding a common GPS device in Navigation of Pilotless Aircraft alignment system, and winged
Increase remaining calculation processing module in computer so that unmanned plane goes out since RTK navigation equipments height relies on peripheral hardware ground installation
During existing problem, by remaining calculation process, it is used without leading unmanned plane the common GPS device that peripheral apparatus relies on
Boat positioning, so that RTK ground base stations are led with airborne mobile base station in Air-ground data link communicating interrupt or communication distance increase
In the case that the variation of moment discreteness occurs for the position data of cause, accurate reliable location can be still realized, and then can improve
The stability and reliability of unmanned plane.
Although the present invention has been described by way of example and in terms of the preferred embodiments, embodiment does not limit the present invention.This hair is not being departed from
Any equivalence changes done in bright spirit and scope or retouching also belong to the protection domain of the present invention.Therefore the present invention
Protection domain should be using the content that claims hereof is defined as standard.
Claims (5)
1. a kind of redundance UAV Navigation System based on RTK technologies, including：The airborne mobile base of RTK ground base stations, RTK
It stands and flight control computer；It is characterized in that, the redundance UAV Navigation System further includes：
The common GPS being independently arranged on unmanned plane；
The airborne mobile base stations of RTK, the equal real-time reception satellite data of common GPS and RTK ground base stations；
Data between the airborne mobile base stations of RTK and RTK ground base stations communicate through flight control computer with flying control ground control station
Between wirelessly transmitting data chain communicate；Common GPS directly communicates with flight control computer；
Flight control computer includes data transmission module, RTK operating modes judgment module, position excursion judgment module, common GPS works
Make state recognition module and remaining calculation processing module；
Flight control computer includes data transmission module, RTK operating modes judgment module, position excursion judgment module, common GPS works
Make state recognition module and remaining calculation processing module；
Whether the data transmission module receives satellite data from the airborne mobile base stations of RTK and common for monitoring in real time
The satellite data of GPS；If receiving the satellite data from the airborne mobile base stations of RTK, it is given to RTK operating modes and judges mould
Block；If received from common GPS satellite data, it is given to common GPS working conditions identification module；
RTK operating mode judgment modules, for whether determining the airborne mobile base stations of RTK in RTK operating modes, if so, will
The satellite data of the airborne mobile base stations of RTK is given to position excursion judgment module；If the operating mode of the airborne mobile base stations of RTK is
Through not being RTK operating modes, then remaining calculation processing module is notified；
Position excursion judgment module, for judging unmanned plane position and common GPS according to the satellite data of the airborne mobile base stations of RTK
Satellite data judge whether unmanned plane occurs position excursion, and result is informed into the remaining calculation processing module；
Whether common GPS working condition identification modules determine common GPS in stabilization for the satellite data according to common GPS
Work, and when determining common GPS steady operations, notify position excursion judgment module and the remaining calculation processing module；If
It determines that common GPS does not have steady operation, then notifies the remaining calculation processing module directly defending using the airborne mobile base stations of RTK
Sing data navigates；
The remaining calculation processing module, for determining unmanned plane generation position excursion and common GPS steady operations,
Or, in the airborne mobile base stations of RTK not in RTK operating modes and common GPS steady operations, using common GPS's
POS coordinate datas in satellite data calculate flight parameter and generate actuator control signal to navigate；In unmanned plane position not
Drift occurs and the airborne mobile base stations of RTK are in RTK operating modes, the satellite data using the airborne mobile base stations of RTK
POS coordinate datas calculate flight parameter and generate actuator control signal and navigate.
2. the redundance UAV Navigation System according to claim 1 based on RTK technologies is a kind of based on RTK technologies
Redundance Navigation of Pilotless Aircraft method, which is characterized in that the redundance Navigation of Pilotless Aircraft method includes：
Step S100, flight control computer monitor whether receive satellite data and common GPS from the airborne mobile base stations of RTK in real time
Satellite data；
Step S101, flight control computer acknowledge receipt of the satellite data from the airborne mobile base stations of RTK；
Step S102, according to the satellite data of the airborne mobile base stations of RTK judge the airborne mobile base stations of RTK operating mode whether be
RTK patterns, if not RTK patterns, then be transferred to step S103；If RTK operating modes then perform step S106；
Step S103 judges whether common GPS is efficiently and stably working according to the satellite data of common GPS received, if so,
Then it is transferred to step S107；Otherwise S108 is entered step；
Step S106, POS coordinates in the satellite data of the airborne mobile base stations of RTK in the newest satellite datas of common GPS
The comparison results of POS coordinate datas determine whether unmanned plane position drifts about；If unmanned plane position has occurred and that drift,
Then enter step S107；If unmanned plane position does not drift about, it is transferred to step S108；
Step S107, flight control computer uses the POS coordinate datas in common GPS satellite data, and is calculated from control is flown afterwards this moment
Machine is only with the POS coordinate datas in common GPS satellite data；
Step S108, flight control computer are navigated using the POS coordinate datas in the satellite data of the airborne mobile base stations of RTK；
And
Step S104, flight control computer acknowledge receipt of the satellite data from common GPS；
Step S105, according to the satellite data of common GPS received judge common GPS whether efficient stable work, if
It is transferred to step S106；Otherwise S108 is entered step.
A kind of 3. redundance Navigation of Pilotless Aircraft method based on RTK technologies according to claim 2, which is characterized in that institute
It states and judges whether common GPS includes in the process efficiently and stably to work in step S103 and step S105：
Effective number of satellite in the satellite data of common GPS is judged higher than 15 and horizontal and vertical precision is less than 2 meters, if full
Foot condition, it is determined that common GPS is efficiently and stably working；Otherwise determine that common GPS does not work steadily.
A kind of 4. redundance Navigation of Pilotless Aircraft method based on RTK technologies according to claim 2, which is characterized in that institute
It states in POS coordinates and the newest satellite datas of common GPS in step S106 in the satellite data of the airborne mobile base stations of RTK
The comparison result of POS coordinate datas determines that the process whether unmanned plane position drifts about includes：
Compare whether the POS coordinates in the satellite data of the airborne mobile base stations of RTK are located at in the newest satellite datas of common GPS
POS coordinate datas is in the setting radius in the center of circle, if so, determining that unmanned plane position does not drift about, otherwise determine nobody
Seat in the plane, which is put, has occurred and that drift.
5. a kind of redundance Navigation of Pilotless Aircraft method based on RTK technologies according to claim 2,3 or 4, feature exist
In the step S107 is further included：
The fault alarm of the airborne mobile base stations of triggering RTK simultaneously enters pattern of making a return voyage automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711464188.5A CN108181637B (en) | 2017-12-28 | 2017-12-28 | Redundancy unmanned aerial vehicle navigation system and method based on RTK technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711464188.5A CN108181637B (en) | 2017-12-28 | 2017-12-28 | Redundancy unmanned aerial vehicle navigation system and method based on RTK technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108181637A true CN108181637A (en) | 2018-06-19 |
| CN108181637B CN108181637B (en) | 2021-10-29 |
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