CN108267753A - The method, system and device that a kind of UAV Landing point automatically configures - Google Patents
The method, system and device that a kind of UAV Landing point automatically configures Download PDFInfo
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- CN108267753A CN108267753A CN201711457516.9A CN201711457516A CN108267753A CN 108267753 A CN108267753 A CN 108267753A CN 201711457516 A CN201711457516 A CN 201711457516A CN 108267753 A CN108267753 A CN 108267753A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
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- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The present invention relates to the method and system that Navigation of Pilotless Aircraft technical field more particularly to a kind of UAV Landing point automatically configure.The method that the UAV Landing point automatically configures includes step：S1, the GPS positioning information of terrestrial mobile terminal acquisition terrestrial mobile terminal position；The terrestrial mobile terminal is arranged on UAV Landing point；S2, ground service terminal and terrestrial mobile terminal establish bluetooth connection, obtain the GPS positioning information of terrestrial mobile terminal；S3, ground service terminal parse the GPS positioning information generation UAV Landing point information；The UAV Landing point information is sent to unmanned plane by S4, ground service terminal.Advantageous effect of the present invention：Can precise acquisition landing point location information and be sent to ground service terminal, and also to the location information carry out reliability verification.Compared to manually in the UAV Landing point precision higher of ground station software input, the characteristics of reliability is stronger, the degree of automation higher.
Description
Technical field
The method that is automatically configured the present invention relates to Navigation of Pilotless Aircraft technical field more particularly to a kind of UAV Landing point,
System and device.
Background technology
Landing point configuration mode more traditional at present is merely by ground station software.At PC ends clicked by mouse
Corresponding position sets landing point on the station software map of ground, and in mobile terminal setting landing point is to click earth station by finger
The location information obtained from map is then uploaded to by software map (generally using satellite map) corresponding position come what is set
Unmanned plane flies to control (flight control system of unmanned plane).But there are 2 reasons that can cause to generate when setting landing point under which
Large error.
First point：Resolution ratio of the map software under satellite map pattern is relatively low, due to the limitation of map software resolution ratio,
Landing point can not be set to accurate position on map, so as to which there are an intrinsic errors.Second point：Control uses ground
Figure coordinate system is WGS-84 (raw GPS coordinate system), and the map software used in earth station it is general at home there are two types of：Gao De
Map and Baidu map.Such as the GCJ-02 coordinate systems that Amap uses, the BD-09II coordinate systems that Baidu map uses, all
It is different from WGS-84.And it is the presence of offset between different map coordinates systems.So when planned on map landing point it
Also to carry out coordinate system conversion afterwards, i.e., by GCJ-02 coordinate systems or by BD-09II coordinate systems be converted into WGS-84 coordinate systems it
Unmanned plane is uploaded to again afterwards to fly to control, it in this way will necessarily there are a transformed errors.So traditional landing point configuration mode is to deposit
In large error, along with the flight characteristics, that is, flare maneuver amplitude of fixed-wing unmanned plane in itself is big, landing difficulty is high, lands
Uncertainty of Shi Fengxiang etc., small error can be all amplified, so as to cause practical landing point when landing and the landing of configuration
Point tolerance is larger.
The Chinese patent of Publication No. CN104679013A discloses a kind of Autonomous Landing of UAV system, and feature exists
In the system comprises aerial camera, terrestrial reference locator, unmanned plane driving equipment and master controller, the aerial cameras
Doubtful landmark region under machine is shot to obtain doubtful landmark image, the terrestrial reference locator doubtful is marked on a map to described
As carrying out image procossing so that there are unmanned plane is obtained during terrestrial reference apart from the relatively high of terrestrial reference in the doubtful landmark image is determined
Degree and relative positioning distance, the master controller are connect respectively with the terrestrial reference locator and the unmanned plane driving equipment, base
In unmanned plane driving equipment described in the relative altitude and the relative positioning distance controlling the UAV Landing to be driven to arrive
It puts on ground.The patent of invention uses image processing techniques, it is necessary to carry out real-time landing point discrimination.
The Chinese patent of Publication No. CN204856213U discloses a kind of UAV Landing guiding system, which includes
The landing guidance capstan head of signal connection and manipulation display station, landing guidance capstan head include the multispectral sensor being connected with each other and turn
Tower platform；Extending direction of the initial sighted direction of multispectral sensor along landing runway, and it is parallel with landing runway, it is multispectral
Sensor aims at unmanned plane, and is sent to capstan head platform between the aiming center of multispectral sensor and the tracking center of unmanned plane
Pixel difference；Capstan head platform adjust multispectral sensor sighted direction so that the aiming center of multispectral sensor and nobody
The tracking center of machine overlaps；And the current sighted direction of multispectral sensor is sent to manipulation display station；Manipulate display station
Position adjustment amount of the unmanned plane relative to planning course line is sent to unmanned plane, to guide UAV Landing, but not at nobody
Landing point is configured in aerial mission by machine before taking off.
The Chinese patent of Publication No. CN205942447U discloses a kind of UAV Landing guiding system, and system includes four
Rotor wing unmanned aerial vehicle, landing platform are respectively arranged with laser pick-off unit on four wings of unmanned plane, nothing are provided in unmanned plane
Man-machine GPS unit, unmanned aerial vehicle (UAV) control unit and UAV Communication unit, unmanned plane GPS unit, UAV Communication unit, laser
Receiving unit is connected respectively with unmanned aerial vehicle (UAV) control unit, on landing platform swing be provided with first laser transmitter unit, second swash
Light emitting unit is provided with platform control unit, Platform communication unit, platform GPS unit, first laser transmitting in landing platform
Unit, second laser transmitter unit, Platform communication unit, platform GPS unit are connected respectively with platform control unit, and unmanned plane leads to
Letter unit is wirelessly connected with platform communication unit.The patent is that unmanned plane is guided by laser, realizes unmanned plane essence
It determines that position is landed, but also not landing point is configured in aerial mission before unmanned plane takes off, and landing must be added
Platform, portability are poor.
Above-mentioned UAV Landing technology has as a drawback that：Large error is generated when landing point is set；It must carry out in real time
Landing point distinguishes；Not landing point is configured in aerial mission before unmanned plane takes off, and landing platform must be added, just
The property taken is poor.
Invention content
The technical problems to be solved by the invention are：It is high to provide a kind of accuracy, related ancillary equipment nothing easy to carry
The method, system and device that man-machine landing point automatically configures.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is matched automatically to provide a kind of UAV Landing point
The method put, including step：
S1, the GPS positioning information of terrestrial mobile terminal acquisition terrestrial mobile terminal position；The terrestrial mobile terminal
It is arranged on UAV Landing point；
S2, ground service terminal and terrestrial mobile terminal establish bluetooth connection, obtain the GPS positioning letter of terrestrial mobile terminal
Breath；
S3, ground service terminal parse the GPS positioning information generation UAV Landing point information；
The UAV Landing point information is sent to unmanned plane by S4, ground service terminal.
Another technical solution provided by the invention is to provide the system that a kind of UAV Landing point automatically configures, including nobody
Machine, terrestrial mobile terminal and ground service terminal；The terrestrial mobile terminal is arranged on UAV Landing point；
The terrestrial mobile terminal includes the first memory being connected with each other, microcontroller, GPS positioning module, the first bluetooth
Module and power module；The the first computer journey that further includes storage on the first memory and can be run on the microcontroller
Sequence；
The ground service terminal includes second memory, the second bluetooth module, processor and is stored in described second
On memory and the second computer program that can run on the processor；
The microcontroller realizes following steps when performing first computer program：
The GPS positioning information of S1, terrestrial mobile terminal acquisition UAV Landing point；
The processor realizes following steps when performing the second computer program：
S2, ground service terminal and terrestrial mobile terminal establish bluetooth connection, obtain the GPS positioning letter of terrestrial mobile terminal
Breath；
S3, ground service terminal parse the GPS positioning information generation landing point information；
The landing point information is sent to unmanned plane by S4, ground service terminal.
Another technical solution provided by the invention is to provide the device that a kind of UAV Landing point automatically configures, including nobody
Machine, terrestrial mobile terminal and ground service terminal；The terrestrial mobile terminal is arranged on UAV Landing point；
The terrestrial mobile terminal includes the first memory being connected with each other, microcontroller, GPS positioning module, bluetooth module
And power module；The ground service terminal includes second memory, the second bluetooth module and processor.
Advantageous effect of the present invention：The method, system and device that UAV Landing point of the present invention automatically configures overcome existing
UAV Landing point configuration mode error is larger, the problem of cost is higher and inconvenient to carry, can be before unmanned plane takes off
Landing point is configured in aerial mission, by the terrestrial mobile terminal comprising GPS module can precise acquisition landing point position
Confidence ceases and is sent to ground-based server terminal, and also carries out reliability verification to the location information.Compared to manually in earth station
The UAV Landing point precision higher of software input, reliability is stronger, the degree of automation higher, and low with price, carrying side
Just the characteristics of.
Description of the drawings
Fig. 1 is the flow chart of method that the UAV Landing point in the specific embodiment of the invention automatically configures；
Fig. 2 is the structure diagram of system that the UAV Landing point in the specific embodiment of the invention automatically configures；
Label declaration：
1st, terrestrial mobile terminal；11st, first memory；12nd, microcontroller；13rd, GPS positioning module；
14th, the first bluetooth module；15th, power module；
2nd, ground service terminal；21st, second memory；22nd, the second bluetooth module；23rd, processor；
3rd, unmanned plane.
Specific embodiment
For the technology contents that the present invention will be described in detail, the objects and the effects, below in conjunction with embodiment and coordinate attached
Figure is explained.
The design of most critical of the present invention is：It can precise acquisition landing point by the terrestrial mobile terminal comprising GPS module
Location information and be sent to ground-based server, and also to the location information carry out reliability verification.
Fig. 1 is please referred to, the present invention provides a kind of method that UAV Landing point automatically configures, including step：
S1, the GPS positioning information of terrestrial mobile terminal acquisition terrestrial mobile terminal position；The terrestrial mobile terminal
It is arranged on UAV Landing point；
S2, ground service terminal and terrestrial mobile terminal establish bluetooth connection, obtain the GPS positioning letter of terrestrial mobile terminal
Breath；
S3, ground service terminal parse the GPS positioning information generation UAV Landing point information；
The UAV Landing point information is sent to unmanned plane by S4, ground service terminal.
Preferably, in the method that above-mentioned UAV Landing point automatically configures, step is further included after the step S2：Ground
Service terminal judges whether the quantity of GPS positioning satellite in the GPS positioning information received is more than in preset value and GPS positioning information
Longitude and latitude degrees of data be not sky, if so, data are reliable, carry out step S3；If it is not, the new of terrestrial mobile terminal is then received again
GPS positioning information.
Preferably, in the method that above-mentioned UAV Landing point automatically configures, the ground-based server is tablet computer or intelligence
It can mobile phone.
Fig. 2 is please referred to, the present invention also provides the system that a kind of UAV Landing point automatically configures, including unmanned plane 3, ground
Mobile terminal 1 and ground service terminal 2；The terrestrial mobile terminal 1 is arranged on UAV Landing point；
The terrestrial mobile terminal 1 includes the first memory 11 being connected with each other, microcontroller 12, GPS positioning module 13, the
One bluetooth module 14 and power module 15；First that further includes storage on the first memory and can be run on the microcontroller
Computer program；
The ground service terminal 2 includes second memory 21, the second bluetooth module 22, processor 23 and is stored in institute
State the second computer program that can be run on second memory and on the processor；
The microcontroller realizes following steps when performing first computer program：
The GPS positioning information of S1, terrestrial mobile terminal acquisition UAV Landing point；
The processor realizes following steps when performing the second computer program：
S2, ground service terminal and terrestrial mobile terminal establish bluetooth connection, obtain the GPS positioning letter of terrestrial mobile terminal
Breath；
S3, ground service terminal parse the GPS positioning information generation landing point information；
The landing point information is sent to unmanned plane by S4, ground service terminal.
Preferably, in the system that above-mentioned UAV Landing point automatically configures, step is further included after the step S2：Ground
Service terminal judges whether the quantity of GPS positioning satellite in the GPS positioning information received is more than in preset value and GPS positioning information
Longitude and latitude degrees of data be not sky, if so, data are reliable, carry out step S3；If it is not, the new of terrestrial mobile terminal is then received again
GPS positioning information.
Preferably, in the system that above-mentioned UAV Landing point automatically configures, the ground-based server is tablet computer or intelligence
It can mobile phone.
The present invention also provides the device that a kind of UAV Landing point automatically configures, including unmanned plane, terrestrial mobile terminal and
Ground service terminal；The terrestrial mobile terminal is arranged on UAV Landing point；
The terrestrial mobile terminal includes the first memory being connected with each other, microcontroller, GPS positioning module, bluetooth module
And power module；The ground service terminal includes second memory, the second bluetooth module and processor.
Preferably, in the device that above-mentioned UAV Landing point automatically configures, the ground-based server is tablet computer or intelligence
It can mobile phone.
By upper description it is found that the method, system and device that UAV Landing of the present invention point automatically configures overcome existing nothing
The problem of man-machine landing point configuration mode error is larger, cost is higher and inconvenient to carry can incite somebody to action before unmanned plane takes off
Land point is configured in aerial mission, by the terrestrial mobile terminal comprising GPS module can precise acquisition landing point position believe
It ceases and is sent to ground-based server terminal, and reliability verification also is carried out to the location information.Compared to manually in ground station software
The UAV Landing point precision higher of input, reliability is stronger, the degree of automation higher, and low with price, easy to carry
Feature.
Embodiment one
The system that a kind of UAV Landing point automatically configures, including unmanned plane, terrestrial mobile terminal and ground service terminal；
The terrestrial mobile terminal is arranged on UAV Landing point；
The terrestrial mobile terminal includes the first memory being connected with each other, microcontroller, GPS positioning module, the first bluetooth
Module and power module；The the first computer journey that further includes storage on the first memory and can be run on the microcontroller
Sequence；
The ground service terminal includes second memory, the second bluetooth module, processor and is stored in described second
On memory and the second computer program that can run on the processor；
The microcontroller realizes following steps when performing first computer program：
The GPS positioning information of S1, terrestrial mobile terminal acquisition UAV Landing point；
The processor realizes following steps when performing the second computer program：
S2, ground service terminal and terrestrial mobile terminal establish bluetooth connection, obtain the GPS positioning letter of terrestrial mobile terminal
Breath；
Ground service terminal judge receive GPS positioning information in GPS positioning satellite quantity whether be more than preset value and
Longitude and latitude degrees of data in GPS positioning information is not sky, if so, data are reliable, carries out step S3；If it is not, then receive ground again
The new GPS positioning information of face mobile terminal.
S3, ground service terminal parse the GPS positioning information generation landing point information；
The landing point information is sent to unmanned plane by S4, ground service terminal.
Above-mentioned terrestrial mobile terminal includes MCU core boards, connects GPS module on MCU core boards respectively and bluetooth module is made
For hardware circuit part, hardware circuit part is wrapped up as outer packing using upper shell and lower casing.Battery is as electricity
Source is partially disposed in the battery case of lower casing and is wrapped up with power supply lid.Terrestrial mobile terminal can acquire GPS numbers in real time
According to, parse raw GPS data and with ground service terminal carry out Bluetooth connection data communication.
Ground service terminal can be tablet computer or smart mobile phone, and bluetooth equipment can be searched for, matching, connected, data
Transmitting-receiving, data parsing, data reliability verify and automatically configure landing point in the aerial mission of unmanned plane.
The system that above-mentioned UAV Landing point automatically configures uses：
(1) power supply of terrestrial mobile terminal is opened, terrestrial mobile terminal is arranged on UAV Landing point, ground moving
The current GPS positioning information of terminal-pair is acquired, and is hung on；
(2) software of ground service terminal prepackage is opened；The bluetooth module of ground service terminal searching terrestrial mobile terminal
Bluetooth signal and initiate it pairing request (connection can be directly established if successful match), after completion to be matched
Automatically it can be attached, the GPS positioning information of UAV Landing point will be received after successful connection automatically, while can be certainly
It is dynamic to parse the data received and verify its reliability, user is prompted to receive again if data are unreliable, if data can
The flight control system of unmanned plane is sent in aerial mission by then automatically generating landing point information and being added to, is not existed thus
It needs to input landing point on map manually.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalents that bright specification and accompanying drawing content are made directly or indirectly are used in relevant technical field, similarly include
In the scope of patent protection of the present invention.
Claims (8)
1. a kind of method that UAV Landing point automatically configures, which is characterized in that including step：
S1, the GPS positioning information of terrestrial mobile terminal acquisition terrestrial mobile terminal position；The terrestrial mobile terminal setting
On UAV Landing point；
S2, ground service terminal and terrestrial mobile terminal establish bluetooth connection, obtain the GPS positioning information of terrestrial mobile terminal；
S3, ground service terminal parse the GPS positioning information generation UAV Landing point information；
The UAV Landing point information is sent to unmanned plane by S4, ground service terminal.
2. the method that UAV Landing point automatically configures according to claim 1, which is characterized in that after the step S2 also
Including step：Ground service terminal judge receive GPS positioning information in GPS positioning satellite quantity whether be more than preset value and
Longitude and latitude degrees of data in GPS positioning information is not sky, if so, data are reliable, carries out step S3；If it is not, then receive ground again
The new GPS positioning information of face mobile terminal.
3. the method that UAV Landing point automatically configures according to claim 1, which is characterized in that the ground service terminal
For tablet computer or smart mobile phone.
4. a kind of system that UAV Landing point automatically configures, which is characterized in that including unmanned plane, terrestrial mobile terminal and ground
Service terminal；The terrestrial mobile terminal is arranged on UAV Landing point；
The terrestrial mobile terminal includes the first memory being connected with each other, microcontroller, GPS positioning module, the first bluetooth module
And power module；The first computer program that further includes storage on the first memory and can be run on the microcontroller；
The ground service terminal includes second memory, the second bluetooth module, processor and is stored in second storage
On device and the second computer program that can run on the processor；
The microcontroller realizes following steps when performing first computer program：
The GPS positioning information of S1, terrestrial mobile terminal acquisition UAV Landing point；
The processor realizes following steps when performing the second computer program：
S2, ground service terminal and terrestrial mobile terminal establish bluetooth connection, obtain the GPS positioning information of terrestrial mobile terminal；
S3, ground service terminal parse the GPS positioning information generation landing point information；
The landing point information is sent to unmanned plane by S4, ground service terminal.
5. the system that UAV Landing point automatically configures according to claim 4, which is characterized in that after the step S2 also
Including step：Ground service terminal judge receive GPS positioning information in GPS positioning satellite quantity whether be more than preset value and
Longitude and latitude degrees of data in GPS positioning information is not sky, if so, data are reliable, carries out step S3；If it is not, then receive ground again
The new GPS positioning information of face mobile terminal.
6. the system that UAV Landing point according to claim 4 automatically configures, which is characterized in that the ground service is whole
It holds as tablet computer or smart mobile phone.
7. a kind of device that UAV Landing point automatically configures, which is characterized in that including unmanned plane, terrestrial mobile terminal and ground
Service terminal；The terrestrial mobile terminal is arranged on UAV Landing point；
The terrestrial mobile terminal includes the first memory, microcontroller, GPS positioning module, bluetooth module and the electricity that are connected with each other
Source module；The ground service terminal includes second memory, the second bluetooth module and processor.
8. the device that UAV Landing point according to claim 7 automatically configures, which is characterized in that the ground service is whole
It holds as tablet computer or smart mobile phone.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112154393A (en) * | 2019-10-22 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle return control method, user terminal and unmanned aerial vehicle |
| CN112189175A (en) * | 2019-10-22 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Anti-cracking method of unmanned aerial vehicle, user terminal and unmanned aerial vehicle |
| CN112965519A (en) * | 2021-02-02 | 2021-06-15 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle landing guiding equipment, method and system |
| CN114089783A (en) * | 2021-11-17 | 2022-02-25 | 湖南精飞智能科技有限公司 | Unmanned aerial vehicle intelligent terminal based on 5g big dipper technique |
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| CN114089783B (en) * | 2021-11-17 | 2022-06-07 | 湖南精飞智能科技有限公司 | Unmanned aerial vehicle intelligent terminal based on 5g big dipper technique |
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Application publication date: 20180710 |